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Publications (10 of 577) 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
Adaldo, A., Liuzza, D., Dimarogonas, D. V. & Johansson, K. H. (2018). Cloud-Supported Formation Control of Second-Order Multiagent Systems. IEEE Transactions on Big Data, 5(4), 1563-1574
Open this publication in new window or tab >>Cloud-Supported Formation Control of Second-Order Multiagent Systems
2018 (English)In: IEEE Transactions on Big Data, ISSN 2325-5870, E-ISSN 2168-6750, Vol. 5, no 4, p. 1563-1574Article in journal (Refereed) Published
Abstract [en]

This paper addresses a formation problem for a network of autonomous agents with second-order dynamics and bounded disturbances. Coordination is achieved by having the agents asynchronously upload (download) data to (from) a shared repository, rather than directly exchanging data with other agents. Well-posedness of the closed-loop system is demonstrated by showing that there exists a lower bound for the time interval between two consecutive agent accesses to the repository. Numerical simulations corroborate the theoretical results.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2018
Keywords
Cloud-supported control, second-order consensus, self-triggered control
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-241229 (URN)10.1109/TCNS.2017.2732819 (DOI)000454245200006 ()2-s2.0-85028930826 (Scopus ID)
Note

QC 20190117

Available from: 2019-01-17 Created: 2019-01-17 Last updated: 2019-01-17Bibliographically approved
Pu, Y., Zhu, J., Johansson, K. H., Ramchandran, K. & Tomlin, C. J. (2018). Coded Control over Lossy Networks. In: Proceedings of the American Control Conference: . Paper presented at 2018 Annual American Control Conference, ACC 2018, 27 June 2018 through 29 June 2018 (pp. 3602-3608). Institute of Electrical and Electronics Engineers Inc.
Open this publication in new window or tab >>Coded Control over Lossy Networks
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2018 (English)In: Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc. , 2018, p. 3602-3608Conference paper, Published paper (Refereed)
Abstract [en]

We consider a networked control system with an unreliable feedback link from the sensor to the controller. Specifically, a discrete-time linear system is to be controlled via a packet-drop channel where multiple packets are transmitted at each time instance. We propose a coded control scheme that jointly designs the coding strategy, which mitigates the channel unreliability, and the control strategy, which stabilizes the unstable system. This scheme is based on the idea of successive refinement, that more important system states (or linear combinations thereof) should be better protected against the unreliable channel. The proposed scheme is simple to implement as it uses a static encoder and decoder/controller, in the sense that all encoding and decoding procedures do not require information from previous time steps. Furthermore, we compare it with two other static schemes and show that our approach strikes a good balance between optimality and complexity.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc., 2018
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-238031 (URN)10.23919/ACC.2018.8431277 (DOI)2-s2.0-85052565729 (Scopus ID)9781538654286 (ISBN)
Conference
2018 Annual American Control Conference, ACC 2018, 27 June 2018 through 29 June 2018
Note

Conference code: 138710; Export Date: 30 October 2018; Conference Paper; CODEN: PRACE; Funding details: UC Berkeley, University of California Berkeley; Funding details: P2ELP2_165137; Funding details: P2ELP2_165155; Funding text: Ye Pu, Jingge Zhu, Kannan Ramchandran and Claire J. Tomlin are with the EECS Department, University of California, Berkeley, CA, USA, e-mail: {yepu, jingge.zhu, kannanr, tomlin}@eecs.berkeley.edu. Y. Pu and J. Zhu are supported by the Swiss NSF under Projects P2ELP2_165137 and P2ELP2_165155.

QC 20190115

Available from: 2019-01-15 Created: 2019-01-15 Last updated: 2019-01-15Bibliographically approved
De Campos, G. R., Dimarogonas, D. V., Seuret, A. & Johansson, K. H. (2018). Distributed control of compact formations for multi-robot swarms. IMA Journal of Mathematical Control and Information, 35(3), 805-835
Open this publication in new window or tab >>Distributed control of compact formations for multi-robot swarms
2018 (English)In: IMA Journal of Mathematical Control and Information, ISSN 0265-0754, E-ISSN 1471-6887, Vol. 35, no 3, p. 805-835Article in journal (Refereed) Published
Abstract [en]

This article proposes a distributed algorithm for the compact deployment of robots, using both distance-and angular-based arguments in the controllers' design. Our objective is to achieve a configuration maximizing the coverage of the environment while increasing the graph's connectivity. First, we provide: (i) a dispersion protocol guaranteeing connectivity maintenance; and (ii) a compactness controller with static and variable control gains that minimizes the inter-agent angles. Second, we present a sequential, multi-stage strategy and analyse its stability. Finally, we validate our theoretical results with simulations, where a group of robots are deployed to carry out sensing or communication tasks.

Place, publisher, year, edition, pages
Oxford University Press, 2018
Keywords
multi-agent systems (MAS), dispersion, compact formations, formation shape control
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-239502 (URN)10.1093/imamci/dnw073 (DOI)000449361300006 ()
Note

QC 201811128

Available from: 2018-11-28 Created: 2018-11-28 Last updated: 2018-11-28Bibliographically approved
Teixeira, A. M. H., Araujo, J., Sandberg, H. & Johansson, K. H. (2018). Distributed Sensor and Actuator Reconfiguration for Fault-Tolerant Networked Control Systems. IEEE Transactions on Big Data, 5(4), 1517-1528
Open this publication in new window or tab >>Distributed Sensor and Actuator Reconfiguration for Fault-Tolerant Networked Control Systems
2018 (English)In: IEEE Transactions on Big Data, ISSN 2325-5870, E-ISSN 2168-6750, Vol. 5, no 4, p. 1517-1528Article in journal (Refereed) Published
Abstract [en]

In this paper, we address the problem of distributed reconfiguration of networked control systems upon the removal of misbehaving sensors and actuators. In particular, we consider systems with redundant sensors and actuators cooperating to recover from faults. Reconfiguration is performed while minimizing a steady-state estimation error covariance and quadratic control cost. A model-matching condition is imposed on the reconfiguration scheme. It is shown that the reconfiguration and its underlying computation can be distributed. Using an average dwell-time approach, the stability of the distributed reconfiguration scheme under finite-time termination is analyzed. The approach is illustrated in a numerical example.

Place, publisher, year, edition, pages
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 2018
Keywords
Distributed algorithms, fault-tolerant control, networked control systems
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-241219 (URN)10.1109/TCNS.2017.2732158 (DOI)000454245200002 ()2-s2.0-85028935577 (Scopus ID)
Note

QC 20190117

Available from: 2019-01-17 Created: 2019-01-17 Last updated: 2019-01-17Bibliographically 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, 63(10), 3608-3615
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 1558-2523, Vol. 63, no 10, p. 3608-3615Article 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)000446331200043 ()2-s2.0-85040999383 (Scopus ID)
Funder
Swedish Research CouncilKnut and Alice Wallenberg FoundationSwedish Foundation for Strategic Research
Note

QC 20180523

Available from: 2018-05-11 Created: 2018-05-11 Last updated: 2018-10-30Bibliographically approved
Valerio, T., Flärdh, O., Mårtensson, J. & Johansson, K. H. (2018). Fuel-optimal look-ahead adaptive cruise control for heavy-duty vehicles. In: 2018 Annual American Control Conference (ACC): . Paper presented at 82018 Annual American Control Conference, ACC 2018, Wisconsin Center / Hilton Milwauke City CenterMilwauke, United States, 27 June 2018 through 29 June 2018 (pp. 1841-1848). Institute of Electrical and Electronics Engineers (IEEE), Article ID 8431494.
Open this publication in new window or tab >>Fuel-optimal look-ahead adaptive cruise control for heavy-duty vehicles
2018 (English)In: 2018 Annual American Control Conference (ACC), Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 1841-1848, article id 8431494Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we investigate the problem of how to optimally control a heavy-duty vehicle following another one, commonly referred as ad-hoc or non-cooperative platooning. The problem is formulated as an optimal control problem that exploits road topography information and the knowledge of the preceding vehicle speed trajectory to compute the optimal engine torque and gear request for the vehicle under control. The optimal control problem is implemented by dynamic programming and is tested in a simulation study that compares the performance of multiple longitudinal control strategies. The proposed look-ahead adaptive cruise controller is able to achieve fuel saving up to 7% with respect to the use of a reference vehicle-following controller, by combining the benefits of adjusting the inter-vehicular distance according to the future slope with those of alternating phases of throttling and freewheeling (driving in neutral gear).

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018
Series
Proceedings of the American Control Conference, ISSN 2378-5861
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-234864 (URN)10.23919/ACC.2018.8431494 (DOI)2-s2.0-85052593065 (Scopus ID)9781538654286 (ISBN)
Conference
82018 Annual American Control Conference, ACC 2018, Wisconsin Center / Hilton Milwauke City CenterMilwauke, United States, 27 June 2018 through 29 June 2018
Note

QC 20180912

Available from: 2018-09-12 Created: 2018-09-12 Last updated: 2018-09-12Bibliographically approved
Iwaki, T. & Johansson, K. H. (2018). LQG Control and Scheduling Co-design for Wireless Sensor and Actuator Networks. In: 2018 IEEE 19TH INTERNATIONAL WORKSHOP ON SIGNAL PROCESSING ADVANCES IN WIRELESS COMMUNICATIONS (SPAWC): . Paper presented at IEEE 19th International Workshop on Signal Processing Advances in Wireless Communications (SPAWC), JUN 25-28, 2018, Kalamata, GREECE (pp. 146-150). IEEE
Open this publication in new window or tab >>LQG Control and Scheduling Co-design for Wireless Sensor and Actuator Networks
2018 (English)In: 2018 IEEE 19TH INTERNATIONAL WORKSHOP ON SIGNAL PROCESSING ADVANCES IN WIRELESS COMMUNICATIONS (SPAWC), IEEE , 2018, p. 146-150Conference paper, Published paper (Refereed)
Abstract [en]

This paper studies a co-design problem of control, scheduling and routing over a multi-hop sensor and actuator network subject to energy-saving consideration. Sensors are observing multiple independent linear systems and transmit their data to actuators in which controllers are co-located. We formulate an optimization problem, minimizing a linear combination of the averaged linear quadratic Gaussian control performance and the averaged transmission energy consumption. Optimal solutions are derived and their performance is illustrated in a numerical example. Algorithms to reconfigure routing between sensors and actuators in case of link disconnection are also provided.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE International Workshop on Signal Processing Advances in Wireless Communications, ISSN 2325-3789
Keywords
LQG control, wireless sensor and actuator networks
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:kth:diva-240037 (URN)000451080200030 ()978-1-5386-3512-4 (ISBN)
Conference
IEEE 19th International Workshop on Signal Processing Advances in Wireless Communications (SPAWC), JUN 25-28, 2018, Kalamata, GREECE
Note

QC 20181210

Available from: 2018-12-10 Created: 2018-12-10 Last updated: 2018-12-10Bibliographically approved
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Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-9940-5929

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