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  • High Performance Low Complexity Multitarget Tracking Filter for a Array of Non-directional Sensors
    arXiv.cs.SY Pub Date : 2020-09-16
    Christopher Thron; Khoi Tran; Joseph Raquepas

    This paper develops an accurate, efficient filter (called the `TT filter') for tracking multiple targets using a spatially-distributed network of amplitude sensors that estimate distance but not direction. Several innovations are included in the algorithm that increase accuracy and reduce complexity. For initial target acquisition once tracking begins, a constrained Hessian search is used to find the

    更新日期:2020-09-20
  • Coordinated PV re-phasing: a novel method to maximize renewable energy integration in LV networks by mitigating network unbalances
    arXiv.cs.SY Pub Date : 2020-09-17
    W. G. Chaminda Bandara; G. M. R. I. Godaliyadda; M. P. B. Ekanayake; J. B. Ekanayake

    As combating climate change has become a top priority and as many countries are taking steps to make their power generation sustainable, there is a marked increase in the use of renewable energy sources (RESs) for electricity generation. Among these RESs, solar photovoltaics (PV) is one of the most popular sources of energy connected to LV distribution networks. With the greater integration of solar

    更新日期:2020-09-20
  • A Two-stage Stochastic Programming DSO Framework for Comprehensive Market Participation of DER Aggregators under Uncertainty
    arXiv.cs.SY Pub Date : 2020-09-15
    Mohammad Mousavi; Meng Wu

    In this paper, a distribution system operator (DSO) framework is proposed for comprehensive retail and wholesale markets participation of distributed energy resource (DER) aggregators under uncertainty based on two-stage stochastic programming. Different kinds of DER aggregators including energy storage aggregators (ESAGs), demand response aggregators (DRAGs), electric vehicle (EV) aggregating charging

    更新日期:2020-09-20
  • Logical Signal Processing: a Fourier Analysis of Temporal Logic
    arXiv.cs.SY Pub Date : 2020-09-17
    Niraj Basnet; Houssam Abbas

    What is the frequency content of temporal logic formulas? That is, when we monitor a signal against a formula, which frequency bands of the signal are relevant to the logic and should be preserved, and which can be safely discarded? This question is relevant whenever signals are filtered or compressed before being monitored, which is almost always the case for analog signals. To answer this question

    更新日期:2020-09-20
  • Control coordination between DFIG-based wind turbines and synchronous generators for optimal primary frequency response
    arXiv.cs.SY Pub Date : 2020-09-16
    Samaneh Morovati; Hector Pulgar-Painemal

    This paper proposes a novel coordinating mechanism between synchronous generators (SGs) and wind turbines (WTs) based on doubly-fed induction generators (DFIGs) for enhanced primary frequency regulation. WTs are urged to participate on frequency regulation, specially if wind power penetration keeps increasing. WTs control support is possible, but it is transient due to the WTs lack of energy storage

    更新日期:2020-09-20
  • Energy and Flow Effects of Optimal Automated Driving in Mixed Traffic: Vehicle-in-the-Loop Experimental Results
    arXiv.cs.SY Pub Date : 2020-09-16
    Tyler Ard; Longxiang Guo; Robert Austin Dollar; Alireza Fayazi; Nathan Goulet; Yunyi Jia; Beshah Ayalew; Ardalan Vahidi

    This paper experimentally demonstrates the effectiveness of an anticipative car-following algorithm in reducing energy use of gasoline engine and electric Connected and Automated Vehicles (CAV), without sacrificing safety and traffic flow. We propose a Vehicle-in-the-Loop (VIL) testing environment in which experimental CAVs driven on a track interact with surrounding virtual traffic in real-time. We

    更新日期:2020-09-20
  • Elastica: A compliant mechanics environment for soft robotic control
    arXiv.cs.SY Pub Date : 2020-09-17
    Noel Naughton; Jiarui Sun; Arman Tekinalp; Girish Chowdhary; Mattia Gazzola

    Soft robots are notoriously hard to control. This is partly due to the scarcity of models able to capture their complex continuum mechanics, resulting in a lack of control methodologies that take full advantage of body compliance. Currently available simulation methods are either too computational demanding or overly simplistic in their physical assumptions, leading to a paucity of available simulation

    更新日期:2020-09-20
  • Efficiency-optimized design of PCB-integrated magnetorquers for CubeSats
    arXiv.cs.SY Pub Date : 2020-09-17
    Nicholas J. Sorensen

    CubeSats are miniature satellites used to carry experimental payloads into orbit, where it is often critical to precisely control their spatial orientation. One way to do this is through the use of magnetorquers, which can be integrated into PCBs. This technique saves considerable space and capital when compared with more common torque-rod magnetorquer systems. Here we derive a method of analyzing

    更新日期:2020-09-20
  • Multiport Rapid Charging Power Converter
    arXiv.cs.SY Pub Date : 2020-09-16
    Yikun Chen; Ahmad Elkhateb

    Rapid charger is getting more and more important as the electric vehicle (EV) getting popular. The rapid charging technique plays an important part in the electric vehicle development. Multiport converter is used in the rapid charging technique to reduce the required current and also provides some other advantages. In this paper, the literature review form multiport converter to the rapid charger of

    更新日期:2020-09-18
  • Ultra Buck DC/DC Converter for Electric Vehicles
    arXiv.cs.SY Pub Date : 2020-09-16
    Luoqi Chen; Ahmad Elkhateb; Nikolaos Athanasopoulos

    A critical challenge in power conversion in electric vehicles is the efficient use of DC-DC buck converters that need to provide 12-V supply for load systems from 400/800-V batteries. This paper presents a literature review on the development of DC-DC buck converters. Moreover, one novel four-phase interleaved step-down topology is selected for simulation and hardware experiments. Based on the four-phase

    更新日期:2020-09-18
  • Trajectory planning with a dynamic obstacle clustering strategy using Mixed-Integer Linear Programming
    arXiv.cs.SY Pub Date : 2020-09-16
    Vinicius Antonio Battagello; Nei Yoshihiro Soma; Rubens Junqueira Magalhaes Afonso

    In this paper we propose a technique that assigns obstacles to clusters used for collision avoidance via Mixed-Integer Programming. This strategy enables a reduction in the number of binary variables used for collision avoidance, thus entailing a decrease in computational cost, which has been a hindrance to the application of Model Predictive Control approaches with Mixed-Integer Programming formulations

    更新日期:2020-09-18
  • Distributed formation maneuver control by manipulating the complex Laplacian
    arXiv.cs.SY Pub Date : 2020-09-16
    Hector Garcia de Marina

    This paper proposes a novel maneuvering technique for the complex-Laplacian-based formation control. We show how to modify the original weights that build the Laplacian such that a designed steady-state motion of the desired shape emerges from the local interactions among the agents. These collective motions can be exploited to solve problems such as the shaped consensus (the rendezvous with a particular

    更新日期:2020-09-18
  • Exploiting Linear Substructure In LRKFs (Extended)
    arXiv.cs.SY Pub Date : 2020-09-16
    M. Greiff; K. Berntorp; A. Robertsson

    We exploit knowledge of linear substructure in the linear-regression Kalman filters (LRKFs) to simplify the problem of moment matching. The theoretical results yield quantifiable and significant computational speedups at no cost of estimation accuracy, assuming partially linear estimation models. The results apply to any symmetrical LRKF, and reductions in computational complexity are stated as a function

    更新日期:2020-09-18
  • Functional sets with typed symbols: Framework and mixed Polynotopes for hybrid nonlinear reachability and filtering
    arXiv.cs.SY Pub Date : 2020-09-15
    Christophe Combastel

    Verification and synthesis of Cyber-Physical Systems (CPS) are challenging and still raise numerous issues so far. In this paper, an original framework with mixed sets defined as function images of symbol type domains is first proposed. Syntax and semantics are explicitly distinguished. Then, both continuous (interval) and discrete (signed, boolean) symbol types are used to model dependencies through

    更新日期:2020-09-18
  • Characterizing Attitudinal Network Graphs through Frustration Cloud
    arXiv.cs.SY Pub Date : 2020-09-16
    Lucas Rusnak; Jelena Tešić

    Attitudinal Network Graphs (ANG) are network graphs where edges capture an expressed opinion: two vertices connected by an edge can be agreeable (positive) or antagonistic (negative). Measure of consensus in attitudinal graph reflects how easy or difficult consensus can be reached that is acceptable by everyone. Frustration index is one such measure as it determines the distance of a network from a

    更新日期:2020-09-18
  • Random-Sampling Monte-Carlo Tree Search Methods for Cost Approximation in Long-Horizon Optimal Control
    arXiv.cs.SY Pub Date : 2020-09-15
    Shankarachary Ragi; Hans D. Mittelmann

    In this paper, we develop Monte-Carlo based heuristic approaches to approximate the objective function in long horizon optimal control problems. In these approaches, to approximate the expectation operator in the objective function, we evolve the system state over multiple trajectories into the future while sampling the noise disturbances at each time-step, and find the average (or weighted average)

    更新日期:2020-09-18
  • Bearing-Only Navigation with Field of View Constraints
    arXiv.cs.SY Pub Date : 2020-09-15
    Arman Karimian Roberto Tron

    This paper addresses the problem of navigation using only relative direction measurements (i.e., relative distances are unknown) under field of view constraints. We present a novel navigation vector field for the bearing-based visual homing problem with respect to static visual landmarks in 2-D and 3-D environments. Our method employs two control fields that are tangent and normal to ellipsoids having

    更新日期:2020-09-18
  • Hardware-Assisted Detection of Firmware Attacks in Inverter-Based Cyberphysical Microgrids
    arXiv.cs.SY Pub Date : 2020-09-16
    Abraham Peedikayil Kuruvila; Ioannis Zografopoulos; Kanad Basu; Charalambos Konstantinou

    The electric grid modernization effort relies on the extensive deployment of microgrid (MG) systems. MGs integrate renewable resources and energy storage systems, allowing to generate economic and zero-carbon footprint electricity, deliver sustainable energy to communities using local energy resources, and enhance grid resilience. MGs as cyberphysical systems include interconnected devices that measure

    更新日期:2020-09-18
  • Verifying Stochastic Hybrid Systems with Temporal Logic Specifications via Model Reduction
    arXiv.cs.SY Pub Date : 2020-09-16
    Yu Wang; Nima Roohi; Matthew West; Mahesh Viswanathan; Geir E. Dullerud

    We present a scalable methodology to verify stochastic hybrid systems. Using the Mori-Zwanzig reduction method, we construct a finite state Markov chain reduction of a given stochastic hybrid system and prove that this reduced Markov chain is approximately equivalent to the original system in a distributional sense. Approximate equivalence of the stochastic hybrid system and its Markov chain reduction

    更新日期:2020-09-18
  • MATS: An Interpretable Trajectory Forecasting Representation for Planning and Control
    arXiv.cs.SY Pub Date : 2020-09-16
    Boris Ivanovic; Amine Elhafsi; Guy Rosman; Adrien Gaidon; Marco Pavone

    Reasoning about human motion is a core component of modern human-robot interactive systems. In particular, one of the main uses of behavior prediction in autonomous systems is to inform ego-robot motion planning and control. However, a majority of planning and control algorithms reason about system dynamics rather than the predicted agent tracklets that are commonly output by trajectory forecasting

    更新日期:2020-09-18
  • A priori guarantees of finite-time convergence for Deep Neural Networks
    arXiv.cs.SY Pub Date : 2020-09-16
    Anushree Rankawat; Mansi Rankawat; Harshal B. Oza

    In this paper, we perform Lyapunov based analysis of the loss function to derive an a priori upper bound on the settling time of deep neural networks. While previous studies have attempted to understand deep learning using control theory framework, there is limited work on a priori finite time convergence analysis. Drawing from the advances in analysis of finite-time control of non-linear systems,

    更新日期:2020-09-18
  • Cell A* for Navigation of Unmanned Aerial Vehicles in Partially-known Environments
    arXiv.cs.SY Pub Date : 2020-09-16
    Wenjian Hao; Rongyao Wang; Alexander Krolicki; Yiqiang Han

    Proper path planning is the first step of robust and efficient autonomous navigation for mobile robots. Meanwhile, it is still challenging for robots to work in a complex environment without complete prior information. This paper presents an extension to the A* search algorithm and its variants to make the path planning stable with less computational burden while handling long-distance tasks. The implemented

    更新日期:2020-09-18
  • Sensitivity-based Data Augmentation for Learning an Approximate Model Predictive Controller
    arXiv.cs.SY Pub Date : 2020-09-16
    Dinesh Krishnamoorthy

    Recently, there has been a surge of interest in approximating the model predictive control (MPC) law using expert supervised learning techniques, such as deep neural networks (DNN). Approximating the MPC control policy requires labeled training data sets, which is typically obtained by sampling the state-space and evaluating the control law by solving the numerical optimization problem offline for

    更新日期:2020-09-18
  • Machine learning and robust MPC for frequency regulation with heat pumps
    arXiv.cs.SY Pub Date : 2020-09-15
    Felix Bünning; Joseph Warrington; Philipp Heer; Roy S. Smith; John Lygeros

    With the increased amount of volatile renewable energy sources connected to the electricity grid, there is an increased need for frequency regulation. On the demand side, frequency regulation services can be offered by buildings that are equipped with electric heating or cooling systems, by exploiting the thermal inertia of the building. Existing approaches for tapping into this potential typically

    更新日期:2020-09-16
  • Distributed Model Predicted Control of Multi-agent Systems with Applications to Multi-vehicle Cooperation
    arXiv.cs.SY Pub Date : 2020-09-15
    Yougang Bian; Changkun Du; Manjiang Hu; Haikuo Liu

    This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent exchanges assumed state trajectories with neighbors and solves a local open-loop optimization problem to obtain the optimal control input. In the optimization problem

    更新日期:2020-09-16
  • Optical Gaze Tracking with Spatially-Sparse Single-Pixel Detectors
    arXiv.cs.SY Pub Date : 2020-09-15
    Richard Li; Eric Whitmire; Michael Stengel; Ben Boudaoud; Jan Kautz; David Luebke; Shwetak Patel; Kaan Akşit

    Gaze tracking is an essential component of next generation displays for virtual reality and augmented reality applications. Traditional camera-based gaze trackers used in next generation displays are known to be lacking in one or multiple of the following metrics: power consumption, cost, computational complexity, estimation accuracy, latency, and form-factor. We propose the use of discrete photodiodes

    更新日期:2020-09-16
  • A Satisficing Control Design Framework with Safety and Performance Guarantees for Constrained Systems under Disturbances
    arXiv.cs.SY Pub Date : 2020-09-15
    Yuzhen Han; Hamidreza Modares

    This paper presents a safe robust policy iteration (SR-PI) algorithm to design controllers with satisficing (good enough) performance and safety guarantee. This is in contrast to standard PI-based control design methods with no safety certification. It also moves away from existing safe control design approaches that perform pointwise optimization and are thus myopic. Safety assurance requires satisfying

    更新日期:2020-09-16
  • Compositional Models for Power Systems
    arXiv.cs.SY Pub Date : 2020-09-15
    John S. NolanUniversity of Maryland; Blake S. PollardNational Institute of Standards and Technology; Spencer BreinerNational Institute of Standards and Technology; Dhananjay AnandNational Institute of Standards and Technology; Eswaran SubrahmanianCarnegie Mellon University

    The problem of integrating multiple overlapping models and data is pervasive in engineering, though often implicit. We consider this issue of model management in the context of the electrical power grid as it transitions towards a modern 'Smart Grid.' We present a methodology for specifying, managing, and reasoning within multiple models of distributed energy resources (DERs), entities which produce

    更新日期:2020-09-16
  • VRFT with ARX controller model and constrained total least squares
    arXiv.cs.SY Pub Date : 2020-09-14
    Cristiane Silva Garcia; Alexandre Sanfelici Bazanella

    The virtual reference feedback tuning (VRFT) is a non-iterative data-driven (DD) method employed to tune a controller's parameters aiming to achieve a prescribed closed-loop performance. In its most common formulation, the parameters of a linearly parametrized controller are estimated by solving a least squares (LS) problem, which in the presence of noise leads to a biased estimate of the controller's

    更新日期:2020-09-16
  • Comparisons of Fuzzy MRAS and PID Controllers for EMS Maglev Train
    arXiv.cs.SY Pub Date : 2020-08-29
    Mustefa Jibril; Eliyas Alemayehu Tadese

    In this paper, a Magnetic Levitation (MAGLEV) train is designed with a first degree of freedom electromagnetbased totally system that permits to levitate vertically up and down. Fuzzy logic, PID and MRAS controllers are used to improve the Magnetic Levitation train passenger comfort and road handling. A matlab Simulink model is used to compare the performance of the three controllers using step input

    更新日期:2020-09-16
  • Design and Simulation of a Steam Turbine Generator using Observer Based and LQR Controllers
    arXiv.cs.SY Pub Date : 2020-08-29
    Mustefa Jibril; Messay Tadese; Eliyas Alemayehu Tadese

    Steam turbine generator is an electromechanical system which converts heat energy to electrical energy. In this paper, the modeling, design and analysis of a simple steam turbine generator have done using Matlab/Simulink Toolbox. The open loop system have been analyzed to have an efficiency of 76.92 %. Observer based & linear quadratic regulator (LQR) controllers have been designed to improve the generating

    更新日期:2020-09-16
  • Grid-forming frequency shaping control
    arXiv.cs.SY Pub Date : 2020-09-14
    Yan Jiang; Andrey Bernstein; Petr Vorobev; Enrique Mallada

    As power systems transit to a state of high renewable penetration, little or no presence of synchronous generators makes the prerequisite of well-regulated frequency for grid-following inverters unrealistic. Thus, there is a trend to resort to grid-forming inverters which set frequency directly. We propose a novel grid-forming frequency shaping control that is able to shape the aggregate system frequency

    更新日期:2020-09-16
  • Safe learning-based trajectory tracking for underactuated vehicles with partially unknown dynamics
    arXiv.cs.SY Pub Date : 2020-09-14
    Thomas Beckers; Leonardo Colombo; Sandra Hirche

    Underactuated vehicles have gained much attention in the recent years due to the increasing amount of aerial and underwater vehicles as well as nanosatellites. The safe tracking control of these vehicles is a substantial aspect for an increasing range of application domains. However, external disturbances and parts of the internal dynamics are often unknown or very time-consuming to model. To overcome

    更新日期:2020-09-16
  • A Self-Decoupled 32 Channel Receive Array for Human Brain Magnetic Resonance Imaging at 10.5T
    arXiv.cs.SY Pub Date : 2020-09-15
    Nader Tavaf; Russell L. Lagore; Steve Jungst; Shajan Gunamony; Jerahmie Radder; Andrea Grant; Steen Moeller; Edward Auerbach; Kamil Ugurbil; Gregor Adriany; Pierre-Francois Van de Moortele

    Purpose: Receive array layout, noise mitigation and B0 field strength are crucial contributors to signal-to-noise ratio (SNR) and parallel imaging performance. Here, we investigate SNR and parallel imaging gains at 10.5Tesla (T) compared to 7T using 32-channel receive arrays at both fields. Methods: A self-decoupled 32-channel receive array for human brain imaging at 10.5T (10.5T-32Rx), consisting

    更新日期:2020-09-16
  • Comments on "Design of momentum fractional LMS for Hammerstein nonlinear system identification with application to electrically stimulated muscle model"
    arXiv.cs.SY Pub Date : 2020-09-11
    Abdul Wahab; Shujaat Khan; Farrukh Zeeshan Khan

    The purpose of this article is to discuss some aspects of the convergence analysis performed in the paper [Design of momentum fractional LMS for Hammerstein nonlinear system identification with application to electrically stimulated muscle model, Eur. Phys. J. Plus (2019) \textbf{134}: 407]. It is highlighted that the way the authors prove convergence, suffers lack of correct and valid mathematical

    更新日期:2020-09-16
  • Harness the Power of DERs for Secure Communications in Electric Energy Systems
    arXiv.cs.SY Pub Date : 2020-09-15
    Ioannis Zografopoulos; Juan Ospina; Charalambos Konstantinou

    Electric energy systems are undergoing significant changes to improve system reliability and accommodate increasing power demands. The penetration of distributed energy resources (DERs) including roof-top solar panels, energy storage, electric vehicles, etc., enables the on-site generation of economically dispatchable power curtailing operational costs. The effective control of DERs requires communication

    更新日期:2020-09-16
  • Deep Reinforcement Learning Based Fast Initial Access For mmWave Based User-centric Systems
    arXiv.cs.SY Pub Date : 2020-09-15
    Insaf Ismath; Shashika Manosha; Samad Ali; Nandana Rajatheva; Matti Latva-aho

    User-centric (UC) systems face a complex problem of initial access (IA) beam discovery due to a large number of distributed access points (APs). The use of millimeter-wave (mmWave) frequencies, further exacerbates the IA problem due to its shorter channel coherence time and higher blockage susceptibility compared to the lower frequency bands. In this paper, we provide a novel deep reinforcement learning-based

    更新日期:2020-09-16
  • Stability of Fractional Nonlinear Systems with Mittag-Leffler Kernel and Design of State Observers
    arXiv.cs.SY Pub Date : 2020-09-15
    Oscar Martínez-Fuentes; Sergio M. Delfín-Prieto

    Atangana and Baleanu proposed a new fractional derivative with non-local and no-singular Mittag-Leffler kernel to solve some problems proposed by researchers in the field of fractional calculus. This new derivative is better to describe essential aspects of non-local dynamical systems. We present some results regarding Lyapunov stability theory, particularly the Lyapunov Direct Method for fractional-order

    更新日期:2020-09-16
  • Energy-Efficient Multi-UAV Data Collection for IoT Networks with Time Deadlines
    arXiv.cs.SY Pub Date : 2020-09-15
    Oussama Ghdiri; Wael Jaafar; Safwan Alfattani; Jihene Ben Abderrazak; Halim Yanikomeroglu

    In this paper, we focus on energy-efficient UAV-based IoT data collection in sensor networks in which the sensed data have different time deadlines. In the investigated setting, the sensors are clustered and managed by cluster heads (CHs), and multiple UAVs are used to collect data from the CHs. The formulated problem is solved through a two-step approach. In the first step, an efficient method is

    更新日期:2020-09-16
  • Microscope Based HER2 Scoring System
    arXiv.cs.SY Pub Date : 2020-09-15
    Jun Zhang; Kuan Tian; Pei Dong; Haocheng Shen; Kezhou Yan; Jianhua Yao; Junzhou Huang; Xiao Han

    The overexpression of human epidermal growth factor receptor 2 (HER2) has been established as a therapeutic target in multiple types of cancers, such as breast and gastric cancers. Immunohistochemistry (IHC) is employed as a basic HER2 test to identify the HER2-positive, borderline, and HER2-negative patients. However, the reliability and accuracy of HER2 scoring are affected by many factors, such

    更新日期:2020-09-16
  • Analysis of Random Access in NB-IoT Networks with Three Coverage Enhancement Groups: A Stochastic Geometry Approach
    arXiv.cs.SY Pub Date : 2020-09-14
    Yan Liu; Yansha Deng; Nan Jiang; Maged Elkashlan; Arumugam Nallanathan

    NarrowBand-Internet of Things (NB-IoT) is a new 3GPP radio access technology designed to provide better coverage for Low Power Wide Area (LPWA) networks. To provide reliable connections with extended coverage, a repetition transmission scheme and up to three Coverage Enhancement (CE) groups are introduced into NB-IoT during both Random Access CHannel (RACH) procedure and data transmission procedure

    更新日期:2020-09-16
  • Automatic Trajectory Synthesis for Real-Time Temporal Logic
    arXiv.cs.SY Pub Date : 2020-09-14
    Rafael Rodrigues da Silva; Vince Kurtz; Hai Lin

    Many safety-critical systems must achieve high-level task specifications with guaranteed safety and correctness. Much recent progress towards this goal has been made through controller synthesis from temporal logic specifications. Existing approaches, however, have been limited to relatively short and simple specifications. Furthermore, existing methods either consider some prior discretization of

    更新日期:2020-09-16
  • Frequency Estimation of Multi-Sinusoidal Signals in Finite-Time
    arXiv.cs.SY Pub Date : 2020-09-14
    Anastasiia Vediakova; Alexey Vedyakov; Anton Pyrkin; Alexey Bobtsov; Vladislav Gromov

    This paper considers the problem of frequency estimation for a multi-sinusoidal signal consisting of n sinuses in finite-time. The parameterization approach based on applying delay operators to a measurable signal is used. The result is the nth order linear regression model with n parameters, which depends on the signals frequencies. We propose to use Dynamic Regressor Extension and Mixing method to

    更新日期:2020-09-15
  • Correction to:"Position estimation from direction or range measurements"
    arXiv.cs.SY Pub Date : 2020-09-14
    Tarek Hamel; Claude Samson

    This technical communiqu\'e aims at correcting an erroneous statement (Lemma 2.4) in an earlier paper by the same authors concerning a sufficient condition of uniform observability for a Linear Time-Varying (LTV) system. In this earlier paper, the proofs of two other lemmas, about body-pose estimation from range measurements, relied on this erroneous statement. For the sake of conciseness, only a new

    更新日期:2020-09-15
  • Observer-Based Fault-Tolerant Spacecraft Attitude Tracking Using Sequential Lyapunov Analyses
    arXiv.cs.SY Pub Date : 2020-09-14
    Haichao Gui

    The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using attitude and angular velocity estimates from an arbitrary stable stand-alone observer. Rigorous analysis shows that the controller ensures robust stability of the entire

    更新日期:2020-09-15
  • Consensus of Multi-agent System via Constrained Invariant Set of a class of Unstable System
    arXiv.cs.SY Pub Date : 2020-09-14
    Chong Jin Ong; Bonan Hou

    This work shows an approach to achieve output consensus among heterogeneous agents in a multi-agent environment where each agent is subject to input constraints. The communication among agents is described by a time-varying directed/undirected graph. The approach is based on the well-known Internal Model Principle which uses an unstable reference system. One main contribution of this work is the characterization

    更新日期:2020-09-15
  • Cyber Attack and Machine Induced Fault Detection and Isolation Methodologies for Cyber-Physical Systems
    arXiv.cs.SY Pub Date : 2020-09-14
    Mahdi Taheri; Khashayar Khorasani; Iman Shames; Nader Meskin

    In this paper, the problem of simultaneous cyber attack and fault detection and isolation (CAFDI) in cyber-physical systems (CPS) is studied. The proposed solution methodology consists of two filters on the plant and the command and control (C\&C) sides of the CPS and an unknown input observer (UIO) based detector on the plant side. Conditions under which the proposed methodology can detect deception

    更新日期:2020-09-15
  • Mitigation and Resiliency of Multi-Agent Systems Subject to Malicious Cyber Attacks on Communication Links
    arXiv.cs.SY Pub Date : 2020-09-14
    Mahdi Taheri; Khashayar Khorasani; Iman Shames; Nader Meskin

    This paper aims at investigating a novel type of cyber attack that is injected to multi-agent systems (MAS) having an underlying directed graph. The cyber attack, which is designated as the controllability attack, is injected by the malicious adversary into the communication links among the agents. The adversary, leveraging the compromised communication links disguises the cyber attack signals and

    更新日期:2020-09-15
  • Undetectable Cyber Attacks on Communication Links in Multi-Agent Cyber-Physical Systems
    arXiv.cs.SY Pub Date : 2020-09-14
    Mahdi Taheri; Khashayar Khorasani; Iman Shames; Nader Meskin

    The objective in this paper is to study and develop conditions for a network of multi-agent cyber-physical systems (MAS) where a malicious adversary can utilize vulnerabilities in order to ensure and maintain cyber attacks undetectable. We classify these cyber attacks as undetectable in the sense that their impact cannot be observed in the generated residuals. It is shown if an agent that is the root

    更新日期:2020-09-15
  • Distributed Peer-to-Peer Energy Trading for Residential Fuel Cell Combined Heat and Power Systems
    arXiv.cs.SY Pub Date : 2020-09-14
    Dinh Hoa Nguyen; Tatsumi Ishihara

    This paper studies the optimal energy management in a group of dwellings having micro fuel cell combined heat and power systems. To increase the self-sufficiency and resilience of such local community, a peer-to-peer energy trading system between dwellings is proposed in which output powers from fuel cells working under their rated powers can be sold to those already reach their rated outputs but still

    更新日期:2020-09-15
  • Peak Estimation and Recovery with Occupation Measures
    arXiv.cs.SY Pub Date : 2020-09-14
    Jared Miller; Didier Henrion; Mario Sznaier

    Peak Estimation aims to find the maximum value of a state function achieved by a dynamical system. This problem is non-convex when considering standard Barrier and Density methods for invariant sets, and has been treated heuristically by using auxiliary functions. A convex formulation based on occupation measures is proposed in this paper to solve peak estimation. This method is dual to the auxiliary

    更新日期:2020-09-15
  • Band-Passing Nonlinearity in Reset Elements
    arXiv.cs.SY Pub Date : 2020-09-13
    Nima Karbasizadeh; Ali Ahmadi Dastjerdi; Niranjan Saikumar; S. Hassan HosseinNia

    This paper addresses nonlinearity in reset elements and their effects. Reset elements are known for having less phase lag compared to their linear counterparts; however, they are nonlinear elements and produce higher-order harmonics. This paper investigates the higher-order harmonics for reset elements with one resetting state and proposes an architecture and a method of design which allows for band-passing

    更新日期:2020-09-15
  • An Overview of Microinverter Design Characteristics and MPPT Control
    arXiv.cs.SY Pub Date : 2020-09-13
    Sean Ritson; Ahmad Elkhateb

    Micro-inverter technologies are becoming increasingly popular as a choice of grid connection for small-scale photovoltaic systems. Efficiently harvesting the maximum energy from a photovoltaic system reduces the Levelized cost for solar energy, enhancing its role in combatting climate change. Various topologies are proposed through research and have been summarised in this paper. Furthermore, this

    更新日期:2020-09-15
  • Set operations and order reductions for constrained zonotopes
    arXiv.cs.SY Pub Date : 2020-09-13
    Vignesh Raghuraman; Justin P. Koeln

    This paper presents methods for using zonotopes and constrained zonotopes to improve the practicality of a wide variety of set-based operations commonly used in control theory. The proposed methods extend the use of constrained zonotopes to represent sets resulting from operations including halfspace intersections, convex hulls, robust positively invariant sets, and Pontryagin differences. Order reduction

    更新日期:2020-09-15
  • Rumor-robust Decentralized Gaussian Process Learning, Fusion, and Planning for Modeling Multiple Moving Targets
    arXiv.cs.SY Pub Date : 2020-09-13
    Chang Liu; Zhihao Liao; Silvia Ferrari

    This paper presents a decentralized Gaussian Process (GP) learning, fusion, and planning (RESIN) formalism for mobile sensor networks to actively learn target motion models. RESIN is characterized by both computational and communication efficiency, and the robustness to rumor propagation in sensor networks. By using the weighted exponential product rule and the Chernoff information, a rumor-robust

    更新日期:2020-09-15
  • Inertia and feedback parameters adaptive control of virtual synchronous generator
    arXiv.cs.SY Pub Date : 2020-09-13
    Hai-Peng Ren; Qi Chen; Liang-Liang Zhang; Jie Li

    The virtual synchronous generator technology analogs the characteristics of the synchronous generator via the controller design. It improved the stability of the grid systems which include the new energy. At the same time, according to the adjustable characteristics of the virtual synchronous generator parameters, the parameter adaptive adjustment is used to improve the dynamic performance of the system

    更新日期:2020-09-15
  • A Data-driven Hierarchical Control Structure for Systems with Uncertainty
    arXiv.cs.SY Pub Date : 2020-09-13
    Lu Shi; Hanzhe Teng; Xinyue Kan; Konstantinos Karydis

    The paper introduces a Data-driven Hierarchical Control (DHC) structure to improve performance of systems operating under the effect of system and/or environment uncertainty. The proposed hierarchical approach consists of two parts: 1) A data-driven model identification component to learn a linear approximation between reference signals given to an existing lower-level controller and uncertain time-varying

    更新日期:2020-09-15
  • Identifying Grey-box Thermal Models with Bayesian Neural Networks
    arXiv.cs.SY Pub Date : 2020-09-13
    Md Monir Hossain; Tianyu Zhang; Omid Ardakanian

    Smart thermostats are one of the most prevalent home automation products. They learn occupant preferences and schedules, and utilize an accurate thermal model to reduce the energy use of heating and cooling equipment while maintaining the temperature for maximum comfort. Despite the importance of having an accurate thermal model for the operation of smart thermostats, fast and reliable identification

    更新日期:2020-09-15
  • Distributed Kalman Estimation with Decoupled Local Filters
    arXiv.cs.SY Pub Date : 2020-09-12
    Damián Marelli; Tianju Sui; Minyue Fu

    We study a distributed Kalman filtering problem in which a number of nodes cooperate without central coordination to estimate a common state based on local measurements and data received from neighbors. This is typically done by running a local filter at each node using information obtained through some procedure for fusing data across the network. A common problem with existing methods is that the

    更新日期:2020-09-15
  • Grid-Forming Converters control based on DC voltage feedback
    arXiv.cs.SY Pub Date : 2020-09-12
    Yuan Gao; Hai-Peng Ren; Jie Li

    The renewable energy is connected to the power grid through power electronic converters, which are lack of make the inertia of synchronous generator/machine (SM) be lost. The increasing penetration of renewable energy in power system weakens the frequency and voltage stability. The Grid-Forming Converters (GFCs) simulate the function of synchronous motor through control method in order to improve the

    更新日期:2020-09-15
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