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Automatic Control, IEEE Transactions on

Issue 12 • Date Dec. 2013

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Displaying Results 1 - 25 of 36
  • Table of contents

    Page(s): C1 - C4
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  • IEEE Transactions on Automatic Control publication information

    Page(s): C2
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  • Scanning the issue

    Page(s): 2993 - 2994
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  • An Optimal Approximate Dynamic Programming Algorithm for Concave, Scalar Storage Problems With Vector-Valued Controls

    Page(s): 2995 - 3010
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (5652 KB) |  | HTML iconHTML  

    We prove convergence of an approximate dynamic programming algorithm for a class of high-dimensional stochastic control problems linked by a scalar storage device, given a technical condition. Our problem is motivated by the problem of optimizing energy flows for a power grid supported by grid-level storage. The problem is formulated as a stochastic, dynamic program, where we estimate the value of resources in storage using a piecewise linear value function approximation. Given the technical condition, we provide a rigorous convergence proof for an approximate dynamic programming algorithm, which can capture the presence of both the amount of energy held in storage as well as other exogenous variables. Our algorithm exploits the natural concavity of the problem to avoid any need for explicit exploration policies. View full abstract»

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  • Forwarding Design With Prescribed Local Behavior

    Page(s): 3011 - 3023
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    Among the non-linear control techniques, some Lyapunov design methods (Forwarding/Backstepping) take advantage of the structure of the system (Feedforward-form/Feedback-form) to formulate a continuous control law which stabilizes globally and asymptotically the equilibrium. In addition to stabilization, we focus on the local behaviour of the closed loop system, providing conditions under which we can predetermine the behaviour around the origin for Feedforward systems. View full abstract»

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  • Robust Self-Triggered Coordination With Ternary Controllers

    Page(s): 3024 - 3038
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (4050 KB) |  | HTML iconHTML  

    This paper regards the coordination of networked systems, studied in the framework of hybrid dynamical systems. We design a coordination scheme which combines the use of ternary controllers with a self-triggered communication policy. The communication policy requires the agents to measure, at each sampling time, the difference between their states and those of their neighbors. The collected information is then used to update the control and determine the following sampling time. We show that the proposed scheme ensures finite-time convergence to a neighborhood of a consensus state: the coordination scheme does not require the agents to share a global clock, but allows them to rely on local clocks. We then study the robustness of the proposed self-triggered coordination system with respect to skews in the agents' local clocks, to delays, and to limited precision in communication. Furthermore, we present two significant variations of our scheme. First, assuming a global clock to be available, we design a time-varying controller which asymptotically drives the system to consensus. The assumption of a global clock is then discussed, and relaxed to a certain extent. Second, we adapt our framework to a communication model in which each agent polls its neighbors separately, instead of polling all of them simultaneously. This communication policy actually leads to a self-triggered “gossip” coordination system. View full abstract»

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  • Finite Abstractions of Max-Plus-Linear Systems

    Page(s): 3039 - 3053
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (3859 KB) |  | HTML iconHTML  

    This work puts forward a novel technique to generate finite abstractions of autonomous and nonautonomous Max-Plus-Linear (MPL) models, a class of discrete-event systems used to characterize the dynamics of the timing related to successive events that synchronize autonomously. Nonautonomous versions of MPL models embed within their dynamics nondeterminism, namely a signal choice that is usually regarded as an exogenous control or schedule. In this paper, abstractions of MPL models are characterized as finite-state Labeled Transition Systems (LTS). LTS are obtained first by partitioning the state space (and, for the nonautonomous model, by covering the input space) of the MPL model and by associating states of the LTS to the introduced partitions, then by defining relations among the states of the LTS based on dynamical transitions between the corresponding partitions of the MPL state space, and finally by labeling the LTS edges according to the one-step timing properties of the events of the original MPL model. In order to establish formal equivalences, the finite abstractions are proven to either simulate or to bisimulate the original MPL model. This approach enables the study of general properties of the original MPL model by verifying (via model checking) equivalent logical specifications over the finite LTS abstraction. The computational aspects related to the abstraction procedure are thoroughly discussed and its performance is tested on a numerical benchmark. View full abstract»

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  • A Recursive Local Linear Estimator for Identification of Nonlinear ARX Systems: Asymptotical Convergence and Applications

    Page(s): 3054 - 3069
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (5593 KB) |  | HTML iconHTML  

    In this paper, we propose a recursive local linear estimator (RLLE) for nonparametric identification of nonlinear autoregressive systems with exogenous inputs (NARX). First, the RLLE is introduced. Next, the strong consistency as well as the asymptotical mean square error properties of the RLLE are established, and then an application of the RLLE to an additive nonlinear system is discussed. The RLLE provides recursive estimates not only for the function values but also their gradients at fixed points. A simulation example is provided to confirm the theoretical analysis. View full abstract»

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  • Diagnosis of Discrete Event Systems Using Satisfiability Algorithms: A Theoretical and Empirical Study

    Page(s): 3070 - 3083
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    We propose a novel algorithm for the diagnosis of systems modelled as discrete event systems. Instead of computing all paths of the model that are consistent with the observations, we use a two-level approach: at the first level diagnostic questions are generated in the form does there exist a path from a given subset that is consistent with the observations?, whilst at the second level a satisfiability (SAT) solver is used to answer the questions. Our experiments show that this approach, implemented in SAT, can solve problems that we could not solve with other techniques. View full abstract»

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  •  {cal H}_{2} -Optimal Decentralized Control Over Posets: A State-Space Solution for State-Feedback

    Page(s): 3084 - 3096
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    We develop a complete state-space solution to H2-optimal decentralized control of poset-causal systems with state-feedback. Our solution is based on the exploitation of a key separability property of the problem that enables an efficient computation of the optimal controller by solving a small number of uncoupled standard Riccati equations. Our approach gives important insight into the structure of optimal controllers, such as controller degree bounds that depend on the structure of the poset. A novel element in our state-space characterization of the controller is an intuitive description of the controller as an aggregation of local control laws. View full abstract»

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  • Stabilization of a System of n+1 Coupled First-Order Hyperbolic Linear PDEs With a Single Boundary Input

    Page(s): 3097 - 3111
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    We solve the problem of stabilization of a class of linear first-order hyperbolic systems featuring n rightward convecting transport PDEs and one leftward convecting transport PDE. We design a controller, which requires a single control input applied on the leftward convecting PDE's right boundary, and an observer, which employs a single sensor on the same PDE's left boundary. We prove exponential stability of the origin of the resulting plant-observer-controller system in the spatial L2-sense. View full abstract»

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  • Information Weighted Consensus Filters and Their Application in Distributed Camera Networks

    Page(s): 3112 - 3125
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (3202 KB) |  | HTML iconHTML  

    Due to their high fault-tolerance and scalability to large networks, consensus-based distributed algorithms have recently gained immense popularity in the sensor networks community. Large-scale camera networks are a special case. In a consensus-based state estimation framework, multiple neighboring nodes iteratively communicate with each other, exchanging their own local information about each target's state with the goal of converging to a single state estimate over the entire network. However, the state estimation problem becomes challenging when some nodes have limited observability of the state. In addition, the consensus estimate is suboptimal when the cross-covariances between the individual state estimates across different nodes are not incorporated in the distributed estimation framework. The cross-covariance is usually neglected because the computational and bandwidth requirements for its computation become unscalable for a large network. These limitations can be overcome by noting that, as the state estimates at different nodes converge, the information at each node becomes correlated. This fact can be utilized to compute the optimal estimate by proper weighting of the prior state and measurement information. Motivated by this idea, we propose information-weighted consensus algorithms for distributed maximum a posteriori parameter estimation, and their extension to the information-weighted consensus filter (ICF) for state estimation. We compare the performance of the ICF with existing consensus algorithms analytically, as well as experimentally by considering the scenario of a distributed camera network under various operating conditions. View full abstract»

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  • The Bang-Bang Funnel Controller for Uncertain Nonlinear Systems With Arbitrary Relative Degree

    Page(s): 3126 - 3141
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    The paper considers output tracking control of uncertain nonlinear systems with arbitrary known relative degree and known sign of the high frequency gain. The tracking objective is formulated in terms of a time-varying bound-a funnel-around a given reference signal. The proposed controller is bang-bang with two control values. The controller switching logic handles arbitrarily high relative degree in an inductive manner with the help of auxiliary derivative funnels. We formulate a set of feasibility assumptions under which the controller maintains the tracking error within the funnel. Furthermore, we prove that under mild additional assumptions the considered system class satisfies these feasibility assumptions if the selected control values are sufficiently large in magnitude. Finally, we study the effect of time delays in the feedback loop and we are able to show that also in this case the proposed bang-bang funnel controller works under slightly adjusted feasibility assumptions. View full abstract»

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  • Bottom-Up Symbolic Control: Attractor-Based Planning and Behavior Synthesis

    Page(s): 3142 - 3155
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (4763 KB) |  | HTML iconHTML  

    A class of hybrid systems with convergent continuous dynamics is abstracted to a special type of finite automata which operate on an infinite alphabet. The abstraction is predicate-based, enabled by the convergence properties of the continuous dynamics of the hybrid system, and encompasses existing low-level controllers rather than replacing them during synthesis. The abstract models are finite yet capable of storing and manipulating continuous data expressing attributes of the concrete hybrid model. The latter is shown to weakly simulate its discrete abstraction, and thus behaviors planned using the abstraction are always implementable on the concrete system. A case study illustrates how this methodology can be put into practice, orchestrating a temporal sequence of continuous controllers that allows the hybrid system to achieve a performance objective. View full abstract»

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  • Stability Analysis of Stochastic Hybrid Jump Linear Systems Using a Markov Kernel Approach

    Page(s): 3156 - 3168
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (5794 KB) |  | HTML iconHTML  

    In this paper, the state dynamics of a supervisor implemented with a digital sequential system are represented with a finite state machine (FSM). The supervisor monitors a symbol sequence derived from a linear closed-loop system's performance and generates a switching signal for the closed-loop system. The effect of random events on the performance of the closed-loop system is analyzed by adding an exogenous Markov process input to the FSM, and by appropriately augmenting a switched system representation of the supervisor and the closed-loop system. For this class of hybrid jump linear systems, the switching signal is, in general, a non-Markovian process, making it hard to analyze its stability properties. This is ameliorated by introducing a sufficient mean square stability test that uses only upper bounds on the one-step transition probabilities of the switching signal. These bounds are explicitly derived from a Markov kernel associated with the hybrid system model. This stability test becomes necessary and sufficient when the switching signal is Markovian. To determine tighter stability bounds, procedures to determine the upper-bound transition probability matrices when the FSM has a Moore or a Mealy type output map are presented. Two examples illustrate the applicability of the presented results. View full abstract»

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  • Task-Space Synchronization of Networked Robotic Systems With Uncertain Kinematics and Dynamics

    Page(s): 3169 - 3174
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1133 KB) |  | HTML iconHTML  

    In this technical note, we investigate the task-space synchronization for networked robots interconnected on strongly connected graphs with both the uncertain kinematics and dynamics. A cascade framework is proposed to facilitate the synchronization controller design for networked robotic systems. Under this framework, we propose an adaptive task-space synchronization scheme with indirect/direct kinematic parameter adaptations and a direct dynamic parameter adaptation for the networked robots. We employ the passive decomposition approach to show the asymptotic task-space synchronization of the networked system, and we demonstrate that the proposed control is capable of ensuring the weighted average consensus of the networked uncertain robots. Simulation results are provided to demonstrate the performance of the proposed control approach. View full abstract»

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  • Online Homotopy Algorithm for a Generalization of the LASSO

    Page(s): 3175 - 3179
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    The LASSO is a widely used shrinkage method for linear regression. We propose an online homotopy algorithm to solve a generalization of the LASSO in which the l1 regularization is applied on a linear transformation of the solution, allowing to input prior information on the structure of the problem and to improve interpretability of the results. The algorithm takes advantage of the sparsity of the solution for computational efficiency and is promising for mining large datasets. View full abstract»

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  • On the Controllability Properties of Circulant Networks

    Page(s): 3179 - 3184
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1126 KB) |  | HTML iconHTML  

    This paper examines the controllability of a group of first order agents, adopting a weighted consensus-type coordination protocol over a circulant network. Specifically, it is shown that a circulant network with Laplacian eigenvalues of maximum algebraic multiplicity q is controllable from q nodes. Our approach leverages on the Cauchy-Binet formula, which in conjunction with the Popov-Belevitch-Hautus test, leads to new insights on structural aspects of network controllability. View full abstract»

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  • Filtering a Double Threshold Model With Regime Switching

    Page(s): 3185 - 3190
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    We introduce a new double threshold model with regime switches. New filtering equations are derived based on a reference probability approach. We also propose a new and practically useful method for implementing the filtering equations. View full abstract»

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  • Stability Analysis of Quadratic MPC With a Discrete Input Alphabet

    Page(s): 3190 - 3196
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1290 KB) |  | HTML iconHTML  

    We study stability of Model Predictive Control (MPC) with a quadratic cost function for LTI systems with a discrete input alphabet. Since this kind of systems may present a steady-state error, the focus is on practical stability, i.e., ultimate boundedness of solutions. To derive sufficient conditions for practical stability and characterize the ultimately invariant set, we analyze the one-step horizon solution and adapt tools used for convex MPC formulations. View full abstract»

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  • Group and Total Dissipativity and Stability of Multi-Equilibria Hybrid Automata

    Page(s): 3196 - 3202
    Save to Project icon | Click to expandQuick Abstract | PDF file iconPDF (1790 KB) |  | HTML iconHTML  

    Complex systems, which consist of different interdependent and interlocking subsystems, typically have multiple equilibrium points associated with different set points of each operation mode. These systems are usually interpreted as hybrid systems. This paper studies the conditions for dissipativity and some stability properties of a class of hybrid systems with multiple co-existing equilibrium points, modelled as nonlinear hybrid automata. A classification of equilibria for hybrid automata is proposed. The objective is to identify dissipative components as groups of discrete locations within the hybrid automaton, formed according to existing equilibria. An example is provided. View full abstract»

    Open Access
  • Simple Sufficient Conditions for Reachability of Discrete-Time Polynomial Systems

    Page(s): 3203 - 3206
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (883 KB) |  | HTML iconHTML  

    We consider reachability of discrete-time polynomial systems. The reachability of such systems can be interpreted as the surjectivity of the polynomial mappings defined by the systems. For a polynomial mapping between suitable spaces of the same dimensions, it has been shown that the injectivity of the mapping also implies the surjectivity. By utilizing this fact, we derive sufficient conditions for the reachability of the polynomial systems, which essentially check the injectivity of the polynomial mappings. View full abstract»

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  • Biased Sinusoidal Disturbance Compensation With Unknown Frequency

    Page(s): 3207 - 3212
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    This note combines an adaptive frequency estimation scheme with a fractional-order controller for unknown biased sinusoidal disturbance rejection. The disturbance is estimated via an adaptive orthogonal signals generator based on a third-order generalized integrator. A fractional-order controller is designed which guarantees the closed-loop stability of the system if the location of the plant frequency response, at the estimated frequencies, lies in an half-plane passing through the origin of the complex plane. View full abstract»

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  • A Stochastic Maximum Principle for Delayed Mean-Field Stochastic Differential Equations and Its Applications

    Page(s): 3212 - 3217
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1548 KB) |  | HTML iconHTML  

    In this technical note, we discuss the stochastic optimal control problems of mean-field stochastic differential delayed equations (MFSDDEs) which arise naturally from various backgrounds including economics, finance, engineering and physics, etc. To this end, some new estimates are used to handle the complex structure of our controlled system due to the presence of both delay and mean-field characters. As the main result, a stochastic maximum principle for the mean-field stochastic optimal control with delay (MFSOCD) is derived in terms of necessary and sufficient conditions. In particular, applying the convex variation and duality relation, we obtain the necessary condition for optimality (see Theorem 1). In addition, the sufficient condition of the optimality is also obtained under some convex condition (see Theorem 2). Based on our maximum principle, the related mean-field linear quadratic delayed (MFLQD) optimal control problems are also investigated. The optimal control is derived and its existence is also verified (refer Theorem 3). As illustration, an example is also proposed and its explicit optimal control is derived. View full abstract»

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  • Interval Observers for Time-Varying Discrete-Time Systems

    Page(s): 3218 - 3224
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1728 KB) |  | HTML iconHTML  

    This techical note deals with interval state observer design for time-varying discrete-time systems. The problem of a similarity transformation computation which connects a (time-varying) matrix and its nonnegative representation is studied. Three solutions are proposed: for a generic time-varying system, a system with positive state, and for a particular class of periodical systems. Numerical simulations are provided to demonstrate advantages of the developed techniques. View full abstract»

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Aims & Scope

In the IEEE Transactions on Automatic Control, the IEEE Control Systems Society publishes high-quality papers on the theory, design, and applications of control engineering.  Two types of contributions are regularly considered

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Meet Our Editors

Editor-in-Chief
P. J. Antsaklis
Dept. Electrical Engineering
University of Notre Dame