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Decentralized Control of Switched Systems With Receding Horizon Modal Information and Path-Dependent Performance Specifications: Theory and an Application

Joao Paulo Jansch-Porto, Geir E. Dullerud
2021 IEEE Transactions on Control Systems Technology  
In this article, we develop synthesis methods for decentralized control of switched systems with mode-dependent (more generally, path-dependent) performance specifications and apply them to an experimental  ...  More specifically, under these specifications, we derive exact conditions for the existence of block lower triangular path-dependent controllers with 2 -induced-norm performance.  ...  Closed-Loop System Using the path-dependent controller (5) with the modedependent system (1), we get a closed-loop system that is also path-dependent with memory L and look-ahead horizon H .  ... 
doi:10.1109/tcst.2021.3072043 fatcat:eyq4xjonnnbxrhts33nnakkfyu

2013 Index IEEE Transactions on Automatic Control Vol. 58

2013 IEEE Transactions on Automatic Control  
., and Shroff, N. B  ...  ., +, TAC Oct. 2013 2603-2608 Information filtering Square Root Receding Horizon Information Filters for Nonlinear Dynamic System Models. Kim, D.  ...  ., +, TAC May 2013 1221-1235 Square Root Receding Horizon Information Filters for Nonlinear Dynamic System Models. Kim, D.  ... 
doi:10.1109/tac.2013.2295962 fatcat:3zpqog4r4nhoxgo4vodx4sj3l4

2014 Index IEEE Transactions on Automatic Control Vol. 59

2014 IEEE Transactions on Automatic Control  
., +, TAC April 2014 953-965 Control of Linear Switched Systems With Receding Horizon Modal Information.  ...  Borkar, V., +, TAC Sept. 2014 2574-2579 Tsinias, J., +, TAC June 2014 1654-1659 Control of Linear Switched Systems With Receding Horizon Modal Infor- mation.  ... 
doi:10.1109/tac.2014.2382720 fatcat:jah5kqkafvejrd7xpvyikmi53e

2020 Index IEEE Transactions on Automation Science and Engineering Vol. 17

2020 IEEE Transactions on Automation Science and Engineering  
Wu, J., +, TASE April 2020 761- 770 Formal specification Control of Black-Box Embedded Systems by Integrating Automaton Learn- ing and Supervisory Control Theory of Discrete-Event Systems.  ...  ., +, TASE April 2020 684-696 Receding Horizon Control for Station Inventory Management in a Bike-Sharing System.  ...  ., +, TASE Jan. 2020 41-55 PROLOG A System Architecture for CAD-Based Robotic Assembly With Sensor-Based Skills.  ... 
doi:10.1109/tase.2020.3037603 fatcat:kyt63444lfc45amrjebyjw34qu

Active Sensing for Search and Tracking: A Review [article]

Luca Varotto, Angelo Cenedese, Andrea Cavallaro
2021 arXiv   pre-print
Success in APE depends on the level of cooperation of the sensing platforms, their number, their degrees of freedom and the quality of the information gathered.  ...  It is also beneficial to promote the development of robust active sensing methods for search and tracking applications.  ...  an time horizon is often considered in real-life applications [236]– [238].  ... 
arXiv:2112.02381v1 fatcat:zxptl2lhcne6hjephtrefoy5ju

Control Design for Autonomous Vehicles: A Dynamic Optimization Perspective

Fernando Lobo Pereira
2001 European Journal of Control  
Control design for autonomous vehicles involves a number of issues that are not satisfactorily addressed in classical control systems theory.  ...  This paper provides an overview of three control projects designed at the Underwater Systems and Technology Laboratory, and discusses the new challenges from the dynamic optimization viewpoint.  ...  By addressing the overall structure and properties of the controlled system, the control architecture dictates the organization of the overall system's control design into specific subproblems that can  ... 
doi:10.3166/ejc.7.178-202 fatcat:vvuipm5xnncaboyjo4t6qpjcnu

2020 Index IEEE Transactions on Systems, Man, and Cybernetics: Systems Vol. 50

2020 IEEE Transactions on Systems, Man & Cybernetics. Systems  
The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  The Subject Index contains entries describing the item under all appropriate subject headings, plus the first author's name, the publication abbreviation, month, and year, and inclusive pages.  ...  ., +, TSMC Oct. 2020 3554-3561 Stability Analysis of T-S Fuzzy Control System With Sampled-Dropouts Stability and l 2 -Gain Analysis of Discrete-Time Switched Systems with Mode-Dependent Average Dwell  ... 
doi:10.1109/tsmc.2021.3054492 fatcat:zartzom6xvdpbbnkcw7xnsbeqy

Sensor Planning for Large Numbers of Robots [article]

Micah Corah
2021 arXiv   pre-print
In technical terms, this planning and control process forms an example of receding-horizon control.  ...  One way to simplify planning for these tasks is to focus on maximizing sensing performance over a short time horizon.  ...  In technical terms, this planning and control process forms an example of receding-horizon control.  ... 
arXiv:2102.04054v1 fatcat:zgg75lo6wfdwvekn5twqpmi7oe

Control Systems Engineering [chapter]

2010 Controlling Uncertainty  
In addition, the receding horizon approach of model predictive control results in an adaptive, on-line control strategy that can take changes in the system automatically into account.  ...  Members of the Control Systems Engineering group and the Information and Communication Theory group are responsible for the realization of the Information Processing Unit.  ... 
doi:10.1002/9781444328226.ch3 fatcat:vbg2pm3qang3ricvbfo65rlgdq

Control systems engineering

1986 Microprocessors and microsystems  
In addition, the receding horizon approach of model predictive control results in an adaptive, on-line control strategy that can take changes in the system automatically into account.  ...  Members of the Control Systems Engineering group and the Information and Communication Theory group are responsible for the realization of the Information Processing Unit.  ... 
doi:10.1016/0141-9331(86)90308-x fatcat:z4rjfal2uja3dnt3ptvvmk6buq

Active learning in robotics: A review of control principles

Annalisa T. Taylor, Thomas A. Berrueta, Todd D. Murphey
2021 Mechatronics (Oxford)  
This poses a distinct set of control-oriented challenges -- one must choose suitable measures as objectives, synthesize real-time control, and produce analyses that guarantee performance and safety with  ...  We conclude with a discussion of control-oriented open challenges, including safety-constrained learning and distributed learning.  ...  Acknowledgments We would like to thank Muchen Sun, Ana Pervan, Kyra Rudy, Frank Park, and the anonymous reviewers of the first draft for their many helpful comments on this manuscript.  ... 
doi:10.1016/j.mechatronics.2021.102576 fatcat:qt47bncznzdtdc7ntpmis5dqw4

A Survey on Cooperative Longitudinal Motion Control of Multiple Connected and Automated Vehicles

Ziran Wang, Yougang Bian, Steven E. Shladover, Guoyuan Wu, Shengbo Eben Li, Matthew J. Barth
2019 IEEE Intelligent Transportation Systems Magazine  
Specifically, the architecture of various cooperative CAV systems is reviewed to answer how cooperative longitudinal motion control can work with the help of multiple system modules.  ...  This paper concludes by describing an overall landscape of cooperative longitudinal motion control of CAVs, as well as pointing out opportunities and challenges in the future research and experimental  ...  The extent of the performance reduction depends on the severity of the communication fault, and the specifics of the CAV application, and how heavily it depends on the information that cannot be obtained  ... 
doi:10.1109/mits.2019.2953562 fatcat:2yxtceuddzbvjmzg5nncao6cfy

Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems [article]

Amanda Prorok, Matthew Malencia, Luca Carlone, Gaurav S. Sukhatme, Brian M. Sadler, Vijay Kumar
2021 arXiv   pre-print
One of our key contributions is a formal taxonomy of approaches, which also helps us discuss the defining factors and stressors for a resilient system.  ...  As society increasingly depends on connected automated systems to provide key infrastructure services (e.g., logistics, transport, and precision agriculture), providing the means to achieving resilient  ...  ., receding horizon ) control for coordinating multi-robot systems consists of continuously finding paths for all robots in the system, such that a global objective is optimized (such as traffic throughput  ... 
arXiv:2109.12343v1 fatcat:vxt62eluljfelcifzdlosv34cq

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge [article]

Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi (+60 others)
2021 arXiv   pre-print
We discuss various components of the NeBula framework, including: (i) geometric and semantic environment mapping; (ii) a multi-modal positioning system; (iii) traversability analysis and local planning  ...  NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions  ...  Acknowledgments The work is partially supported by the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004  ... 
arXiv:2103.11470v4 fatcat:rq2wgczzl5clphzgujjdbd3ywm

Certifying Unstability of Switched Systems Using Sum of Squares Programming

Benoît Legat, Pablo Parrilo, Raphaël Jungers
2020 SIAM Journal of Control and Optimization  
From an analysis and controller design point of view, it is known that GSPT and its adaptation to control systems [4], provide mathematical tools to understand the dynamics, and design controllers from  ...  ., 10(4):757-769, 2016. [2] 4 Acknowledgements We can generalize these result when the allowed switching sequences of the system (1) are constrained by an automaton.  ...  We study stability certificates for switching systems under arbitrary switching. These are multi-modal systems whose dynamics may vary depending the active mode.  ... 
doi:10.1137/18m1173460 fatcat:ytlzbwk7vbampbuyo6snenz33m
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