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Publications (10 of 568) Show all publications
Stankovic, M. S., Stankovic, S. S. & Johansson, K. H. (2018). Asynchronous Distributed Blind Calibration of Sensor Networks Under Noisy Measurements. IEEE Transactions on Big Data, 5(1), 571-582
Open this publication in new window or tab >>Asynchronous Distributed Blind Calibration of Sensor Networks Under Noisy Measurements
2018 (English)In: IEEE Transactions on Big Data, ISSN 2325-5870, E-ISSN 2168-6750, Vol. 5, no 1, p. 571-582Article in journal (Refereed) Published
Abstract [en]

In this paper, a novel distributed algorithm for asynchronous blind macro-calibration in sensor networks with noisy measurements is proposed. The algorithm is formulated as a set of instrumental variable type recursions for estimating parameters of sensor calibration functions. It is proved using asynchronous stochastic approximation arguments and properties of block-diagonally dominant matrices that the algorithm achieves asymptotic consensus for sensor gains and offsets in the mean square sense and with probability one. Recommendations for system design in terms of the choice of a priori tunable weights are provided. Special attention is paid to the situation when a subset of sensors in the network (reference sensors) remains with fixed characteristics. In the case of only one reference sensor, convergence of the remaining sensors to its characteristics is proved. In the case of more than one reference sensor, it is proved that the calibration parameters converge to points that depend only on the characteristics of the reference sensors and the network properties.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2018
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-225732 (URN)10.1109/TCNS.2016.2633788 (DOI)000427871900050 ()2-s2.0-85044502030 (Scopus ID)
Funder
Swedish Research CouncilKnut and Alice Wallenberg Foundation
Note

QC 20180410

Available from: 2018-04-10 Created: 2018-04-10 Last updated: 2018-04-10Bibliographically approved
Stanković, M. S., Stanković, S. S. & Johansson, K. H. (2018). Distributed time synchronization for networks with random delays and measurement noise. Automatica, 93, 126-137
Open this publication in new window or tab >>Distributed time synchronization for networks with random delays and measurement noise
2018 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 93, p. 126-137Article in journal (Refereed) Published
Abstract [en]

In this paper a new distributed asynchronous algorithm is proposed for time synchronization in networks with random communication delays, measurement noise and communication dropouts. Three different types of the drift correction algorithm are introduced, based on different kinds of local time increments. Under nonrestrictive conditions concerning network properties, it is proved that all the algorithm types provide convergence in the mean square sense and with probability one (w.p.1) of the corrected drifts of all the nodes to the same value (consensus). An estimate of the convergence rate of these algorithms is derived. For offset correction, a new algorithm is proposed containing a compensation parameter coping with the influence of random delays and special terms taking care of the influence of both linearly increasing time and drift correction. It is proved that the corrected offsets of all the nodes converge in the mean square sense and w.p.1. An efficient offset correction algorithm based on consensus on local compensation parameters is also proposed. It is shown that the overall time synchronization algorithm can also be implemented as a flooding algorithm with one reference node. It is proved that it is possible to achieve bounded error between local corrected clocks in the mean square sense and w.p.1. Simulation results provide an additional practical insight into the algorithm properties and show its advantage over the existing methods.

Place, publisher, year, edition, pages
Elsevier, 2018
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-227532 (URN)10.1016/j.automatica.2018.03.054 (DOI)000436916200015 ()2-s2.0-85044584487 (Scopus ID)
Funder
EU, FP7, Seventh Framework Programme, PCIG12-GA-2012-334098Knut and Alice Wallenberg FoundationSwedish Foundation for Strategic Research Swedish Research Council
Note

QC 20180518

Available from: 2018-05-18 Created: 2018-05-18 Last updated: 2018-07-17Bibliographically approved
Parisio, A., Molinari, M., Varagnolo, D. & Johansson, K. H. (2018). Energy management systems for intelligent buildings in smart grids. In: Intelligent Building Control Systems: A Survey of Modern Building Control and Sensing Strategies (pp. 253-291). Springer (9783319684611)
Open this publication in new window or tab >>Energy management systems for intelligent buildings in smart grids
2018 (English)In: Intelligent Building Control Systems: A Survey of Modern Building Control and Sensing Strategies, Springer, 2018, no 9783319684611, p. 253-291Chapter in book (Refereed)
Abstract [en]

The next-generation electric grid needs to be smart and sustainable to simultaneously deal with the ever-growing global energy demand and achieve environmental goals. In this context, the role of residential and commercial buildings is crucial, due to their large share of primary energy usage worldwide. In this chapter, we describe energy management frameworks for buildings in a smart grid scenario. An Energy Management System (EMS) is responsible for optimally scheduling end-user smart appliances, heating systems, ventilation units, and local generation devices. We discuss the performance and the practical implementation of novel stochastic MPC schemes for HVAC systems, and illustrate how these schemes take into account several sources of uncertainties, e.g., occupancy and weather conditions. Furthermore, we show how to integrate local generation capabilities and storage systems into a holistic building energy management framework.

Place, publisher, year, edition, pages
Springer, 2018
Series
Advances in Industrial Control, ISSN 1430-9491
National Category
Energy Engineering
Identifiers
urn:nbn:se:kth:diva-220413 (URN)10.1007/978-3-319-68462-8_10 (DOI)2-s2.0-85037610275 (Scopus ID)978-3-319-68461-1 (ISBN)
Note

QC 20171220

Available from: 2017-12-20 Created: 2017-12-20 Last updated: 2017-12-20Bibliographically approved
Wei, J., Zhang, S., Adaldo, A., Johan, T., Hu, X. & Johansson, K. H. (2018). Finite-time attitude synchronization with distributed discontinuous protocols. IEEE Transactions on Automatic Control
Open this publication in new window or tab >>Finite-time attitude synchronization with distributed discontinuous protocols
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2018 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523Article in journal (Refereed) Published
Abstract [en]

The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and non-smooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-227718 (URN)10.1109/TAC.2018.2797179 (DOI)
Note

QC 20180523

Available from: 2018-05-11 Created: 2018-05-11 Last updated: 2018-05-23Bibliographically approved
Ren, X., Johansson, K. H., Shi, D. & Shi, L. (2018). Quickest Change Detection in Adaptive Censoring Sensor Networks. IEEE Transactions on Big Data, 5(1), 239-250
Open this publication in new window or tab >>Quickest Change Detection in Adaptive Censoring Sensor Networks
2018 (English)In: IEEE Transactions on Big Data, ISSN 2325-5870, E-ISSN 2168-6750, Vol. 5, no 1, p. 239-250Article in journal (Refereed) Published
Abstract [en]

The problem of quickest change detection with communication rate constraints is studied. A network of wireless sensors with limited computation capability monitors the environment and sends observations to a fusion center via wireless channels. At an unknown time instant, the distributions of observations at all the sensor nodes change simultaneously. Due to limited energy, the sensors cannot transmit at all the time instants. The objective is to detect the change at the fusion center as quickly as possible, subject to constraints on false detection and average communication rate between the sensors and the fusion center. A minimax formulation is proposed. The cumulative sum (CuSum) algorithm is used at the fusion center and censoring strategies are used at the sensor nodes. The censoring strategies, which are adaptive to the CuSum statistic, are fed back by the fusion center. The sensors only send observations that fall into prescribed sets to the fusion center. This CuSum adaptive censoring (CuSum-AC) algorithm is proved to be an equalizer rule and to be globally asymptotically optimal for any positive communication rate constraint, as the average run length to false alarm goes to infinity. It is also shown, by numerical examples, that the CuSum-AC algorithm provides a suitable trade-off between the detection performance and the communication rate.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2018
Keywords
Adaptive, asymptotically optimal, censoring, CuSum, minimax, quickest change detection, wireless sensor networks
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-225729 (URN)10.1109/TCNS.2016.2598250 (DOI)000427871900022 ()2-s2.0-85044505077 (Scopus ID)
Funder
Knut and Alice Wallenberg FoundationSwedish Foundation for Strategic Research Swedish Research Council
Note

QC 20180410

Available from: 2018-04-10 Created: 2018-04-10 Last updated: 2018-04-10Bibliographically approved
Raghavan, A., Wei, J., Baras, J. S. & Johansson, K. H. (2018). Stochastic Control Formulation of The Car Overtake Problem. Paper presented at 15th International-Federation-of-Automatic-Control (IFAC) Symposium on Control in Transportation Systems (CTS), JUN 06-08, 2018, ITALY. IFAC PAPERSONLINE, 51(9), 124-129
Open this publication in new window or tab >>Stochastic Control Formulation of The Car Overtake Problem
2018 (English)In: IFAC PAPERSONLINE, ISSN 2405-8963, Vol. 51, no 9, p. 124-129Article in journal (Refereed) Published
Abstract [en]

In this paper, we consider the classic car overtake problem. There are three cars, two moving along the same direction in the same lane while the third car moves in the direction opposite to that of the first two cars in the adjacent lane. The objective of the trailing car is to overtake the car in front of it avoiding collision with the other cars in the scenario. The information available to the trailing car is the relative position, relative velocities with respect to other cars and its position and past actions. The relative position and relative velocity information is corrupted by noise. Given this information, the car needs to make a decision as to whether it wants to overtake or not. We present a control algorithm for the car which minimizes the probability of collision with both the cars. We also present the results obtained by simulating the above scenario with the control algorithm. Through simulations, we study the effect of the variance of the measurement noise and the time at which the decision is made on the probability of collision.

Place, publisher, year, edition, pages
Elsevier, 2018
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-232928 (URN)10.1016/j.ifacol.2018.07.021 (DOI)000439162300022 ()2-s2.0-85050077324 (Scopus ID)
Conference
15th International-Federation-of-Automatic-Control (IFAC) Symposium on Control in Transportation Systems (CTS), JUN 06-08, 2018, ITALY
Note

QC 20180807

Available from: 2018-08-07 Created: 2018-08-07 Last updated: 2018-08-07Bibliographically approved
Park, P., Ergen, S. C., Fischione, C., Lu, C. & Johansson, K. H. (2018). Wireless Network Design for Control Systems: A Survey. IEEE Communications Surveys and Tutorials, 20(2), 978-1013
Open this publication in new window or tab >>Wireless Network Design for Control Systems: A Survey
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2018 (English)In: IEEE Communications Surveys and Tutorials, ISSN 1553-877X, E-ISSN 1553-877X, Vol. 20, no 2, p. 978-1013Article in journal (Refereed) Published
Abstract [en]

Wireless networked control systems (WNCSs) are composed of spatially distributed sensors, actuators, and controllers communicating through wireless networks instead of conventional point-to-point wired connections. Due to their main benefits in the reduction of deployment and maintenance costs, large flexibility and possible enhancement of safety, WNCS are becoming a fundamental infrastructure technology for critical control systems in automotive electrical systems, avionics control systems, building management systems, and industrial automation systems. The main challenge in WNCS is to jointly design the communication and control systems considering their tight interaction to improve the control performance and the network lifetime. In this survey, we make an exhaustive review of the literature on wireless network design and optimization for WNCS. First, we discuss what we call the critical interactive variables including sampling period, message delay, message dropout, and network energy consumption. The mutual effects of these communication and control variables motivate their joint tuning. We discuss the analysis and design of control systems taking into account the effect of the interactive variables on the control system performance. Moreover, we discuss the effect of controllable wireless network parameters at all layers of the communication protocols on the probability distribution of these interactive variables. We also review the current wireless network standardization for WNCS and their corresponding methodology for adapting the network parameters. Finally, we present the state-of-the-art wireless network design and optimization for WNCS, while highlighting the tradeoff between the achievable performance and complexity of various approaches. We conclude the survey by highlighting major research issues and identifying future research directions.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2018
Keywords
Wireless networked control systems, wireless sensor and actuator networks, joint design, delay, reliability, sampling rate, network lifetime, optimization
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-230860 (URN)10.1109/COMST.2017.2780114 (DOI)000433479400006 ()2-s2.0-8503837225 (Scopus ID)
Note

QC 20180618

Available from: 2018-06-18 Created: 2018-06-18 Last updated: 2018-06-18Bibliographically approved
Jin, M., Lavaei, J. & Johansson, K. H. (2017). A Semidefinite Programming Relaxation under False Data Injection Attacks against Power Grid AC State Estimation. In: 55th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2017: . Paper presented at 55th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2017, Allerton House Monticello, United States, 3 October 2017 through 6 October 2017 55th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2017, Allerton House Monticello, United States, 3 October 2017 through 6 October 2017 (pp. 236-243). Institute of Electrical and Electronics Engineers (IEEE)
Open this publication in new window or tab >>A Semidefinite Programming Relaxation under False Data Injection Attacks against Power Grid AC State Estimation
2017 (English)In: 55th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2017, Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 236-243Conference paper, Published paper (Refereed)
Abstract [en]

The integration of sensing and information technology renders the power grid susceptible to cyber-attacks. To understand how vulnerable the state estimator is, we study its behavior under the worst attacks possible. A general false data injection attack (FDIA) based on the AC model is formulated, where the attacker manipulates sensor measurements to mislead the system operator to make decisions based on a falsified state. To stage such an attack, the optimization problem incorporates constraints of limited resources (allowing only a limited number of measurements to be altered), and stealth operation (ensuring the cyber hack cannot be identified by the bad data detection algorithm). Due to the nonlinear AC power flow model and combinatorial selection of compromised sensors, the problem is nonconvex and cannot be solved in polynomial time; however, it is shown that convexification of the original problem based on a semidefinite programming (SDP) relaxation and a sparsity penalty is able to recover a near-optimal solution. This represents the first study to solve the AC-based FDIA. Simulations on a 30-bus system illustrate that the proposed attack requires only sparse sensor manipulation and remains stealthy from the residual-based bad data detection mechanism. In light of the analysis, this study raises new challenges on grid defense mechanism and attack detection strategy.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2017
Series
Annual Allerton Conference on Communication Control and Computing, ISSN 2474-0195
National Category
Computer Sciences
Identifiers
urn:nbn:se:kth:diva-226277 (URN)10.1109/ALLERTON.2017.8262743 (DOI)000428047800033 ()2-s2.0-85048023842 (Scopus ID)978-1-5386-3266-6 (ISBN)
Conference
55th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2017, Allerton House Monticello, United States, 3 October 2017 through 6 October 2017 55th Annual Allerton Conference on Communication, Control, and Computing, Allerton 2017, Allerton House Monticello, United States, 3 October 2017 through 6 October 2017
Note

QC 20180419

Available from: 2018-04-19 Created: 2018-04-19 Last updated: 2018-06-11Bibliographically approved
Ebadat, A., Varagnolo, D., Bottegal, G., Wahlberg, B. & Johansson, K. H. (2017). Application-oriented input design for room occupancy estimation algorithms. In: 2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC): . Paper presented at IEEE 56th Annual Conference on Decision and Control (CDC), DEC 12-15, 2017, Melbourne, AUSTRALIA. IEEE
Open this publication in new window or tab >>Application-oriented input design for room occupancy estimation algorithms
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2017 (English)In: 2017 IEEE 56TH ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2017Conference paper, Published paper (Refereed)
Abstract [en]

We consider the problem of occupancy estimation in buildings using available environmental information. In particular, we study the problem of how to collect data that is informative enough for occupancy estimation purposes. We thus propose an application-oriented input design approach for designing the ventilation signal to be used while collecting the system identification datasets. The main goal of the method is to guarantee a certain accuracy in the estimated occupancy levels while minimizing the experimental time and effort. To take into account potential limitations on the actuation signals we moreover formulate the problem as a recursive nonlinear and nonconvex optimization problem, solved then using exhaustive search methods. We finally corroborate the theoretical findings with some numerical examples, which results show that computing ventilation signals using experiment design concepts leads to occupancy estimator performing 4 times better in terms of Mean Square Error (MSE).

Place, publisher, year, edition, pages
IEEE, 2017
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
Keywords
Occupancy estimation, CO2 dynamics, application-oriented input design, minimum-time input design
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:kth:diva-223848 (URN)000424696903050 ()978-1-5090-2873-3 (ISBN)
Conference
IEEE 56th Annual Conference on Decision and Control (CDC), DEC 12-15, 2017, Melbourne, AUSTRALIA
Funder
Swedish Research Council
Note

QC 20180306

Available from: 2018-03-06 Created: 2018-03-06 Last updated: 2018-03-06Bibliographically approved
Meng, Z., Dimarogonas, D. V. & Johansson, K. H. (2017). Attitude Coordinated Control of Multiple Underactuated Axisymmetric Spacecraft. IEEE Transactions on Big Data, 4(4), 816-825
Open this publication in new window or tab >>Attitude Coordinated Control of Multiple Underactuated Axisymmetric Spacecraft
2017 (English)In: IEEE Transactions on Big Data, ISSN 2325-5870, E-ISSN 2168-6750, Vol. 4, no 4, p. 816-825Article in journal (Refereed) Published
Abstract [en]

Attitude coordinated control of multiple underactuated spacecraft is studied in this paper. We adopt the parametrization proposed by Tsiotras et al. (1995) to describe attitude kinematics, which has been shown to be very convenient for control of underactuated axisymmetric spacecraft with two control torques. We first propose a partial attitude coordinated controller with angular velocity commands. The controller is based on the exchange of each spacecraft's information with local neighbors and a self-damping term. Under a necessary and general connectivity assumption and by use of a novel Lyapunov function, we show that the symmetry axes of all spacecraft are eventually aligned. Full attitude control of multiple underactuated spacecraft is also considered and a discontinuous distributed control algorithm is proposed. It is shown that the proposed algorithm succeeds in achieving stabilization given that control parameters are chosen properly. Discussions on the cases without self damping are also provided for both partial and full attitude controls. Simulations are given to validate the theoretical results and different steadystate behaviors are observed.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2017
Keywords
Attitude coordination, partial and full attitude control, switching topology, underactuated spacecraft
National Category
Computer Sciences
Identifiers
urn:nbn:se:kth:diva-220840 (URN)10.1109/TCNS.2016.2562503 (DOI)000418575400013 ()
Funder
Knut and Alice Wallenberg FoundationSwedish Research Council
Note

QC 20180111

Available from: 2018-01-11 Created: 2018-01-11 Last updated: 2018-02-21Bibliographically approved
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ORCID iD: ORCID iD iconorcid.org/0000-0001-9940-5929

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