Latest in cs.sy

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Herding an Adversarial Attacker to a Safe Area for Defending Safety-Critical InfrastructureMar 15 2019This paper investigates a problem of defending safety-critical infrastructure from an adversarial aerial attacker in an urban environment. A circular arc formation of defenders is formed around the attacker, and vector-field based guidance laws herd the ... More
Bayesian topology identification of linear dynamic networksMar 14 2019In networks of dynamic systems, one challenge is to identify the interconnection structure on the basis of measured signals. Inspired by a Bayesian approach in [1], in this paper, we explore a Bayesian model selection method for identifying the connectivity ... More
Arbitrage with Power Factor Correction using Energy StorageMar 14 2019The importance of reactive power compensation for power factor (PF) correction will significantly increase with the large-scale integration of distributed generation interfaced via inverters producing only active power. In this work, we focus on co-optimizing ... More
Analyzing Occupancy-Driven Thermal Dynamics in Smart BuildingsMar 14 2019The fact that a proper HVAC control strategy can reduce the energy consumption of a building by up to 45% has driven significant research in demand-based HVAC control. This paper presents a novel framework for modeling and analysis of thermal dynamics ... More
A Game-Theoretic Framework for Autonomous Vehicles Velocity Control: Bridging Microscopic Differential Games and Macroscopic Mean Field GamesMar 14 2019A transportation system with fully autonomous vehicles can be modeled as a multi-agent system, where autonomous vehicles interact with one another through coupled optimal driving strategies. However, the existing literature on autonomous vehicle longitudinal ... More
Dynamics Concentration of Large-Scale Tightly-Connected NetworksMar 14 2019The ability to achieve coordinated behavior -- engineered or emergent -- on networked systems has attracted widespread interest over several fields. This has led to remarkable advances on the development of a theoretical understanding of the conditions ... More
Guaranteed Control of Sampled Switched Systems using Semi-Lagrangian Schemes and One-Sided Lipschitz ConstantsMar 14 2019In this paper, we propose a new method for ensuring formally that a controlled trajectory stay inside a given safety set S for a given duration T. Using a finite gridding X of S, we first synthesize, for a subset of initial nodes x of X , an admissible ... More
A New Approach for Distributed Hypothesis Testing with Extensions to Byzantine-ResilienceMar 14 2019We study a setting where a group of agents, each receiving partially informative private observations, seek to collaboratively learn the true state (among a set of hypotheses) that explains their joint observation profiles over time. To solve this problem, ... More
On Applications of Bootstrap in Continuous Space Reinforcement LearningMar 14 2019In decision making problems for continuous state and action spaces, linear dynamical models are widely employed. Specifically, policies for stochastic linear systems subject to quadratic cost functions capture a large number of applications in reinforcement ... More
Delayed state synchronization of homogeneous continuous-time multi-agent systems in the presence of unknown communication delays (including complete proofs)Mar 14 2019This paper studies delayed synchronization of continuous-time multi-agent systems (MAS) in presence of unknown nonuniform communication delays. A delay-free transformation is developed based on a communication network which is a directed spanning tree, ... More
Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State SpaceMar 13 2019This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references are generated ... More
Secure State Estimation with Byzantine Sensors: A Probabilistic ApproachMar 13 2019This paper studies static state estimation in multi-sensor settings, with a caveat that an unknown subset of the sensors are compromised by an adversary, whose measurements can be manipulated arbitrarily. A new performance metric, which quantifies the ... More
On the Trade-off Between Controllability and Robustness in Networks of Diffusively Coupled AgentsMar 13 2019In this paper, we study the relationship between two crucial properties in linear dynamical networks of diffusively coupled agents -- controllability and robustness to noise and structural changes in the network. In particular, for any given network size ... More
Efficient Implementation of Rate Constraints for Nonlinear Optimal ControlMar 13 2019We propose a general approach to directly implement rate constraints on the discretization mesh for all collocation methods, for both state and input variables. Unlike conventional approaches that may lead to singular control arcs, this on-mesh implementation ... More
Impacts of Grid Structure on PLL-Synchronization Stability of Converter-Integrated Power SystemsMar 13 2019Small-signal instability of grid-connected power converters may arise when the converters use phase-locked loop (PLL) to synchronize with a weak grid. Commonly, this stability problem (referred as PLL-synchronization stability in this paper) was studied ... More
A Distributed Observer for a Discrete-Time Linear SystemMar 13 2019A simply structured distributed observer is described for estimating the state of a discrete-time, jointly observable, input-free, linear system whose sensed outputs are distributed across a time-varying network. It is explained how to construct the local ... More
Age-of-Information vs. Value-of-Information Scheduling for Cellular Networked Control SystemsMar 13 2019Age-of-Information (AoI) is a recently introduced metric for network operation with sensor applications which quantifies the freshness of data. In the context of networked control systems (NCSs), we compare the worth of the AoI metric with the value-of-information ... More
A Framework for On-line Learning of Underwater Vehicles Dynamic ModelsMar 13 2019Learning the dynamics of robots from data can help achieve more accurate tracking controllers, or aid their navigation algorithms. However, when the actual dynamics of the robots change due to external conditions, on-line adaptation of their models is ... More
Regularity/Controllability/Observability of an NDS with Descriptor Form Subsystems and Generalized LFTsMar 13 2019This paper investigates regularity, controllability and observability for a networked dynamic system (NDS) with its subsystems being described in a descriptor form and system matrices of each subsystem being represented by a generalized linear fractional ... More
Correct-by-construction control synthesis for buck converters with event-triggered state measurementMar 13 2019In this paper, we illustrate a new correct-by-construction switching controller for a power converter with event-triggered measurements. The event-triggered measurement scheme is beneficial for high frequency power converters because it requires relatively ... More
Zero-Shot Autonomous Vehicle Policy Transfer: From Simulation to Real-World via Adversarial LearningMar 12 2019In this paper, we demonstrate the first successful zero-shot transfer of an autonomous driving policy directly from simulator to a scaled autonomous vehicle under stochastic disturbances. Using adversarial multi-agent reinforcement learning, in which ... More
Zero-Shot Autonomous Vehicle Policy Transfer: From Simulation to Real-World via Adversarial LearningMar 12 2019Mar 15 2019In this paper, we demonstrate the first successful zero-shot transfer of an autonomous driving policy directly from simulator to a scaled autonomous vehicle under stochastic disturbances. Using adversarial multi-agent reinforcement learning, in which ... More
A Review of Reinforcement Learning for Autonomous Building Energy ManagementMar 12 2019The area of building energy management has received a significant amount of interest in recent years. This area is concerned with combining advancements in sensor technologies, communications and advanced control algorithms to optimize energy utilization. ... More
Krasovskii's PassivityMar 12 2019In this paper we introduce a new notion of passivity which we call Krasovskii's passivity and provide a sufficient condition for a system to be Krasovskii's passive. Based on this condition, we investigate classes of port-Hamiltonian and gradient systems ... More
Blackbox End-to-End Verification of Ground Robot Safety and LivenessMar 12 2019We formally prove end-to-end correctness of a ground robot implemented in a simulator. We use an untrusted controller supervised by a verified sandbox. Contributions include: (i) A model of the robot in differential dynamic logic, which specifies assumptions ... More
Estimation of Photovoltaic Generation Forecasting Models using Limited InformationMar 12 2019This work deals with the problem of estimating a photovoltaic generation forecasting model in scenarios where measurements of meteorological variables (i.e. solar irradiance and temperature) at the plant site are not available. A novel algorithm for the ... More
Analysis of CVR Impact on Voltage Stability Margin using T&D Co-SimulationMar 12 2019This paper demonstrates the importance of modeling the distribution network for studying the impact of conservation by voltage reduction (CVR) on voltage stability margin (VSM). Since CVR is deployed in the distribution system, modeling a detailed distribution ... More
Investigation of Relevant Distribution System Representation with DG for Voltage Stability Margin AssessmentMar 12 2019This paper emphasizes the importance of including the unbalance in the distribution networks for stability studies in power systems. The paper aims to: discuss the various simulation methods for power system analysis; highlight the need for modeling unbalanced ... More
Control Barrier Functions for Systems with High Relative DegreeMar 12 2019Mar 13 2019This paper extends control barrier functions (CBFs) to high order control barrier functions (HOCBFs) that can be used for high relative degree constraints. The proposed HOCBFs are more general than recently proposed (exponential) HOCBFs. We introduce ... More
Estimating multi-class dynamic origin-destination demand through a forward-backward algorithm on computational graphsMar 12 2019Transportation networks are unprecedentedly complex with heterogeneous vehicular flow. Conventionally, vehicle classes are considered by vehicle classifications (such as standard passenger cars and trucks). However, vehicle flow heterogeneity stems from ... More
Synthesizing More Expressive Invariants by Semidefinite ProgrammingMar 12 2019Invariant generation plays a central role in the verification of programs and hybrid systems. In this paper, we propose an approach to synthesize invariants using semidefinite programming (SDP) that combine advantages of both symbolic constraint solving ... More
Accelerated Learning in the Presence of Time Varying Features with Applications to Machine Learning and Adaptive ControlMar 12 2019Features in machine learning problems are often time varying and may be related to outputs in an algebraic or dynamical manner. The dynamic nature of these machine learning problems renders current accelerated gradient descent methods unstable or weakens ... More
MPC for Energy Efficient HVAC Control with Humidity and Latent Heat ConsiderationsMar 11 2019Even though energy efficient climate control of buildings using model predictive control (MPC) has been widely investigated, most MPC formulations ignore humidity and latent heat. The inclusion of moisture makes the problem considerably more challenging, ... More
A New Microscopic Traffic Model Using a Spring-Mass-Damper-Clutch SystemMar 11 2019Microscopic traffic models describe how cars interact with their neighbors in an uninterrupted traffic flow and are frequently used for reference in advanced vehicle control design. In this paper, we propose a novel mechanical system inspired microscopic ... More
A Hybrid Controller for Obstacle Avoidance in an n-dimensional Euclidean SpaceMar 11 2019For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded spherical region. ... More
A Uniform Approach to Maximal Permissiveness in Modular Control of Discrete-Event SystemsMar 11 2019Mar 12 2019In this paper, a uniform approach to maximal permissiveness in modular control of discrete-event systems is proposed. It is based on three important concepts of modular closed-loops: monotonicity, distributivity, and exchangeability. Monotonicity of various ... More
A Uniform Approach to Maximal Permissiveness in Modular Control of Discrete-Event SystemsMar 11 2019In this paper, a uniform approach to maximal permissiveness in modular control of discrete-event systems is proposed. It is based on three important concepts of modular closed-loops: monotonicity, distributivity, and exchangeability. Monotonicity of various ... More
Prescribed Performance Control Guided Policy Improvement for Satisfying Signal Temporal Logic TasksMar 11 2019Signal temporal logic (STL) provides a user-friendly interface for defining complex tasks for robotic systems. Recent efforts aim at designing control laws or using reinforcement learning methods to find policies which guarantee satisfaction of these ... More
Adaptive Fault Detection exploiting Redundancy with Uncertainties in Space and TimeMar 11 2019The Internet of Things (IoT) connects millions of devices of different cyber-physical systems (CPSs) providing the CPSs additional (implicit) redundancy during runtime. However, the increasing level of dynamicity, heterogeneity, and complexity adds to ... More
Observer-Based Drag-Tracking Guidance for Entry Vehicles Considering Input Saturation ConstraintMar 11 2019This paper studies the drag-tracking guidance design problem of uncertain entry vehicles. With employing a Nussbaum type function to deal with input saturation constraint, an output feedback guidance law (bank angle magnitude) with a high-gain observer ... More
Grid-Constrained Distributed Optimization for Frequency Control with Low-Voltage FlexibilityMar 11 2019Providing frequency control services with flexible assets connected to the low-voltage distribution grid, amongst which residential battery storage or electrical hot water boilers, can lead to congestion problems and voltage issues in the distribution ... More
Bullwhip effect attenuation in supply chain management via control-theoretic tools and short-term forecasts: A preliminary study with an application to perishable inventoriesMar 11 2019Supply chain management and inventory control provide most exciting examples of control systems with delays. Here, Smith predictors, model-free control and new time series forecasting techniques are mixed in order to derive an efficient control synthesis. ... More
Techno-Economic Analysis and Optimal Control of Battery Storage for Frequency Control Services, Applied to the German MarketMar 11 2019Optimal investment in battery energy storage systems, taking into account degradation, sizing and control, is crucial for the deployment of battery storage, of which providing frequency control is one of the major applications. In this paper, we present ... More
Multiobject fusion with minimum information lossMar 11 2019Generalized covariance intersection (GCI) has been effective in fusing multiobject densities from multiple agents for multitarget tracking and mapping purposes. From an information-theoretic viewpoint, it has been shown that GCI fusion essentially minimizes ... More
Sign Patterns of Inverse Doubly-Nonnegative MatricesMar 11 2019The sign patterns of inverse doubly-nonnegative matrices are examined. A necessary and sufficient condition is developed for a sign matrix to correspond to an inverse doubly-nonnegative matrix. In addition, for a doubly-nonnegative matrix whose graph ... More
Sign Patterns of Inverse Doubly-Nonnegative MatricesMar 11 2019Mar 12 2019The sign patterns of inverse doubly-nonnegative matrices are examined. A necessary and sufficient condition is developed for a sign matrix to correspond to an inverse doubly-nonnegative matrix. In addition, for a doubly-nonnegative matrix whose graph ... More
On Separable Quadratic Lyapunov Functions for Convex Design of Distributed ControllersMar 11 2019We consider the problem of designing a stabilizing and optimal static controller with a pre-specified sparsity pattern. Since this problem is NP-hard in general, it is necessary to resort to approximation approaches. In this paper, we characterize a class ... More
Orbital Stabilization of Nonlinear Systems via Mexican Sombrero Energy Shaping and Pumping-and-Damping InjectionMar 10 2019In this paper we show that a slight modification to the widely popular interconnection and damping assignment passivity-based control method---originally proposed for stabilization of equilibria of nonlinear systems---allows us to provide a solution to ... More
Rethinking System Health ManagementMar 10 2019Health management of complex dynamic systems has traditionally evolved separately from automated control, planning, and scheduling (generally referred to in the paper as decision making). A goal of Integrated System Health Management has been to enable ... More
A full controller for a fixed-wing UAVMar 10 2019This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed considering ... More
DeepPool: Distributed Model-free Algorithm for Ride-sharing using Deep Reinforcement LearningMar 09 2019The success of modern ride-sharing platforms crucially depends on the profit of the ride-sharing fleet operating companies, and how efficiently the resources are managed. Further, ride-sharing allows sharing costs and, hence, reduces the congestion and ... More
Continuous-time Signal Temporal Logic Planning with Control Barrier FunctionMar 09 2019Temporal Logic (TL) guided control problems have gained interests in recent years. By using the TL, one can specify a wide range of temporal constraints on the system and is widely used in cyber-physical systems. On the other hand, Control Barrier Functions ... More
An Input-Output Parametrization of Stabilizing Controllers: amidst Youla and System Level SynthesisMar 09 2019This paper proposes a novel input-output parametrization of the set of internally stabilizing output-feedback controllers for linear time invariant (LTI) systems. Our underlying idea is to directly treat the closed-loop transfer matrices from disturbances ... More
Performance evaluation of a production line operated under an echelon buffer policyMar 09 2019We consider a production line consisting of several machines in series separated by intermediate finite-capacity buffers. The line operates under an "echelon buffer" (EB) policy according to which each machine can store the parts that it produces in any ... More
A tractable ellipsoidal approximation for voltage regulation problemsMar 09 2019We present a machine learning approach to the solution of chance constrained optimizations in the context of voltage regulation problems in power system operation. The novelty of our approach resides in approximating the feasible region of uncertainty ... More
Adaptive Power System Emergency Control using Deep Reinforcement LearningMar 09 2019Power system emergency control is generally regarded as the last safety net for grid security and resiliency. Existing emergency control schemes are usually designed off-line based on either the conceived "worst" case scenario or a few typical operation ... More
Self-triggered Control for Safety Critical Systems using Control Barrier FunctionsMar 08 2019We propose a real-time control strategy that combines self-triggered control with Control Lyapunov Functions (CLF) and Control Barrier Functions (CBF). Similar to related works proposing CLF-CBF-based controllers, the computation of the controller is ... More
A framework of learning controller with Lyapunov-based constraint and applicationMar 08 2019In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis of a controller ... More
On the Informativeness of Measurements in Shiryaev's Bayesian Quickest Change DetectionMar 08 2019This paper provides the first description of a weak practical super-martingale phenomenon that can emerge in the test statistic in Shiryaev's Bayesian quickest change detection (QCD) problem. We establish that this super-martingale phenomenon can emerge ... More
Quickest Detection and Identification of Intermittent Signals with Application to Vision Based Aircraft DetectionMar 08 2019In this paper we consider the problem of detection and identification of an intermittent signal that can (repeatedly) change between multiple states. We pose and solve this quickest intermittent signal detection and identification (ISDI) problem in a ... More
Optimal discrete-time output feedback control for multi-area load frequency control using evolutionary programmingMar 07 2019The interconnected power system presents a great challenge to both system analyzers and control designers. The load-frequency control (LFC) problem has gained much importance because of the complexity and size of modern interconnected power systems. In ... More
Input-Output Stability of Barrier-Based Model Predictive ControlMar 07 2019Mar 11 2019Conditions for input-output stability of barrier-based model predictive control of linear systems with linear and convex nonlinear (hard or soft) constraints are established through the construction of integral quadratic constraints (IQCs). The IQCs can ... More
Input-Output Stability of Barrier-Based Model Predictive ControlMar 07 2019Conditions for input-output stability of barrier-based model predictive control of linear systems with linear and convex nonlinear (hard or soft) constraints are established through the construction of integral quadratic constraints (IQCs). %are constructed ... More
Linear quadratic regulation of polytopic time-inhomogeneous Markov jump linear systems (extended version)Mar 07 2019In most real cases transition probabilities between operational modes of Markov jump linear systems cannot be computed exactly and are time-varying. We take into account this aspect by considering Markov jump linear systems where the underlying Markov ... More
Optimal Vehicle Dynamics and Powertrain Control for Connected and Automated VehiclesMar 07 2019The implementation of connected and automated vehicle technologies enables for a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. In this paper, we present a two-level control ... More
On the Traffic Impacts of Optimally Controlled Connected and Automated VehiclesMar 07 2019The implementation of connected and automated vehicle (CAV) technologies enables a novel computational framework for real-time control actions aimed at optimizing energy consumption and associated benefits. Several research efforts reported in the literature ... More
Real-Time Boiler Control Optimization with Machine LearningMar 07 2019In coal-fired power plants, it is critical to improve the operational efficiency of boilers for sustainability. In this work, we formulate real-time boiler control as an optimization problem that looks for the best distribution of temperature in different ... More
Dynamic NE Seeking for Multi-Integrator Networked Agents with Disturbance RejectionMar 06 2019In this paper, we consider game problems played by (multi)-integrator agents, subject to external disturbances. We propose Nash equilibrium seeking dynamics based on gradient-play, augmented with a dynamic internal-model based component, which is a reduced-order ... More
Combining Optimal Control and Learning for Visual Navigation in Novel EnvironmentsMar 06 2019Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the environment is a priori ... More
Nonlinear input design as optimal control of a Hamiltonian systemMar 06 2019We propose an input design method for a general class of parametric probabilistic models, including nonlinear dynamical systems with process noise. The goal of the procedure is to select inputs such that the parameter posterior distribution concentrates ... More
Training in Task Space to Speed Up and Guide Reinforcement LearningMar 06 2019Recent breakthroughs in the reinforcement learning (RL) community have made significant advances towards learning and deploying policies on real world robotic systems. However, even with the current state-of-the-art algorithms and computational resources, ... More
Output-feedback online optimal control for a class of nonlinear systemsMar 05 2019In this paper an output-feedback model-based reinforcement learning (MBRL) method for a class of second-order nonlinear systems is developed. The control technique uses exact model knowledge and integrates a dynamic state estimator within the model-based ... More
Optimal Battery Energy Storage Placement for Transient Voltage Stability EnhancementMar 05 2019A placement problem for multiple Battery Energy Storage System (BESS) units is formulated towards power system transient voltage stability enhancement in this paper. The problem is solved by the Cross-Entropy (CE) optimization method. A simulation-based ... More
Augmented Reality, Cyber-Physical Systems, and Feedback Control for Additive Manufacturing: A ReviewMar 05 2019Our objective in this paper is to review the application of feedback ideas in the area of additive manufacturing. Both the application of feedback control to the 3D printing process, and the application of feedback theory to enable users to interact better ... More
Anisotropy-based robust performance criteria for statistically uncertain linear continuous time invariant stochastic systemsMar 05 2019This paper is concerned with robust performance criteria for linear continuous time invariant stochastic systems driven by statistically uncertain random processes. The uncertainty is understood as the deviation of imprecisely known probability distributions ... More
On the Global Synchronization of Pulse-coupled Oscillators Interacting on Chain and Directed Tree GraphsMar 05 2019Driven by increased applications in biological networks and wireless sensor networks, synchronization of pulse-coupled oscillators (PCOs) has gained increased popularity. However, most existing results address the local synchronization of PCOs with initial ... More
On the Global Synchronization of Pulse-coupled Oscillators Interacting on Chain and Directed Tree GraphsMar 05 2019Mar 07 2019Driven by increased applications in biological networks and wireless sensor networks, synchronization of pulse-coupled oscillators (PCOs) has gained increased popularity. However, most existing results address the local synchronization of PCOs with initial ... More
On the Global Synchronization of Pulse-coupled Oscillators Interacting on Chain and Directed Tree GraphsMar 05 2019Mar 06 2019Driven by increased applications in biological networks and wireless sensor networks, synchronization of pulse-coupled oscillators (PCOs) has gained increased popularity. However, most existing results address the local synchronization of PCOs with initial ... More
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic SystemsMar 04 2019Many modern nonlinear control methods aim to endow systems with guaranteed properties, such as stability or safety, and have been successfully applied to the domain of robotics. However, model uncertainty remains a persistent challenge, weakening theoretical ... More
A behavior driven approach for sampling rare event situations for autonomous vehiclesMar 04 2019Performance evaluation of urban autonomous vehicles requires a realistic model of the behavior of other road users in the environment. Learning such models from data involves collecting naturalistic data of real-world human behavior. In many cases, acquisition ... More
Cyber-Physical Simulation Platform for Security Assessment of Transactive Energy SystemsMar 04 2019Transactive energy systems (TES) are emerging as a transformative solution for the problems that distribution system operators face due to an increase in the use of distributed energy resources and rapid growth in scalability of managing active distribution ... More
Identification and Validation of Virtual Battery Model for Heterogeneous DevicesMar 04 2019The potential of distributed energy resources in providing grid services can be maximized with the recent advancements in demand side control. Effective utilization of this control strategy requires the knowledge of aggregate flexibility of the distributed ... More
Fully Distributed DC Optimal Power Flow Based on Distributed Economic Dispatch and Distributed State EstimationMar 04 2019Optimal power flow (OPF) is an important technique for power systems to achieve optimal operation while satisfying multiple constraints. The traditional OPF are mostly centralized methods which are executed in the centralized control center. This paper ... More
Distributed Voltage Control with Communication DelaysMar 04 2019The increased penetration of volatile renewable energy into distribution networks necessities more efficient distributed (VAR) voltage control. In these control algorithms each bus regulates its voltage fluctuations based on local voltage measurements ... More
A Fundamental Performance Limitation for Adversarial ClassificationMar 04 2019Despite the widespread use of machine learning algorithms to solve problems of technological, economic, and social relevance, provable guarantees on the performance of these data-driven algorithms are critically lacking, especially when the data originates ... More
Mixed-Triggered Reliable Control for Singular Networked Cascade Control Systems with Randomly Occurring Cyber AttackMar 04 2019In this paper, the issue of mixed-triggered reliable dissipative control is investigated for singular networked cascade control systems (NCCSs) with actuator saturation and randomly occurring cyber attacks. In order to utilize the limited communication ... More
Systematic Design of Decentralized Algorithms for Consensus OptimizationMar 04 2019We propose a separation principle that enables a systematic way of designing decentralized algorithms used in consensus optimization. Specifically, we show that a decentralized optimization algorithm can be constructed by combining a non-decentralized ... More
A Separation Principle for Discrete-Time Fractional-Order Dynamical Systems and its Implications to Closed-loop NeurotechnologyMar 03 2019Closed-loop neurotechnology requires the capability to predict the state evolution and its regulation under (possibly) partial measurements. There is evidence that neurophysiological dynamics can be modeled by fractional-order dynamical systems. Therefore, ... More
Analysis of Gradient-Based Expectation-Maximization-Like Algorithms via Integral Quadratic ConstraintsMar 03 2019The Expectation-Maximization (EM) algorithm is one of the most popular methods used to solve the problem of distribution-based clustering in unsupervised learning. In this paper, we propose an analysis of a generalized EM (GEM) algorithm and a designed ... More
Solving Power System Differential Algebraic Equations Using Differential TransformationMar 03 2019This paper proposes a novel non-iterative approach for solving power system nonlinear differential algebraic equations (DAEs) based on Differential Transformation. The approach has three steps. First, it applies Differential Transformation to transform ... More
Topological Information-Theoretic Belief Space Planning with Optimality GuaranteesMar 03 2019Determining a globally optimal solution of belief space planning (BSP) in high-dimensional state spaces is computationally expensive, as it involves belief propagation and objective function evaluation for each candidate action. Our recently introduced ... More
Verifying Aircraft Collision Avoidance Neural Networks Through Linear Approximations of Safe RegionsMar 02 2019The next generation of aircraft collision avoidance systems frame the problem as a Markov decision process and use dynamic programming to optimize the alerting logic. The resulting system uses a large lookup table to determine advisories given to pilots, ... More
Design and Validation of a Bluetooth 5 Fog Computing Based Industrial CPS Architecture for Intelligent Industry 4.0 Shipyard WorkshopsMar 02 2019Navantia, one of Europe's largest shipbuilders, is creating a fog computing-based Industrial Cyber-Physical System (ICPS) for remote monitoring in real-time of their pipe workshops. Such a monitoring process, which involves pipe traceability and tracking, ... More
Lie-algebraic connections between two classes of risk-sensitive performance criteria for linear quantum stochastic systemsMar 02 2019This paper is concerned with the original risk-sensitive performance criterion for quantum stochastic systems and its recent quadratic-exponential counterpart. These functionals are of different structure because of the noncommutativity of quantum variables ... More
A Performance and Stability Analysis of Low-inertia Power Grids with Stochastic System InertiaMar 02 2019Traditional synchronous generators with rotational inertia are being replaced by low-inertia renewable energy resources (RESs) in many power grids and operational scenarios. Due to emerging market mechanisms, inherent variability of RESs, and existing ... More
Formal Policy Learning from Demonstrations for Reachability PropertiesMar 02 2019We consider the problem of learning structured, closed-loop policies (feedback laws) from demonstrations in order to control under-actuated robotic systems, so that formal behavioral specifications such as reaching a target set of states are satisfied. ... More
A Reachability Method for Verifying Dynamical Systems with Deep Neural Network ControllersMar 01 2019Deep neural networks can be trained to be efficient and effective controllers for dynamical systems; however, the mechanics of deep neural networks are complex and difficult to guarantee. This work presents a general approach for providing guarantees ... More
Trajectory convergence from coordinate-wise decrease of quadratic energy functions, and applications to platoonsMar 01 2019We consider trajectories where the sign of the derivative of each entry is opposite to that of the corresponding entry in the gradient of an energy function. We show that this condition guarantees convergence when the energy function is quadratic and ... More
Robust Hybrid Output Regulation for Linear Systems with Periodic Jumps: the non-semiclassical caseMar 01 2019This paper solves the robust hybrid output regulation problem for arbitrary uncertain hybrid MIMO linear systems with periodic jumps without the restrictive assumptions used in all previous works on the subject. A necessary condition for solving the problem ... More
Approximate Robust Control of Uncertain Dynamical SystemsMar 01 2019This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the worst-case performance ... More