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Publications (4 of 4) Show all publications
Gao, Y., Yu, P., Dimarogonas, D. V., Johansson, K. H. & Xie, L. (2019). Robust self-triggered control for time-varying and uncertain constrained systems via reachability analysis. Automatica, 107, 574-581
Open this publication in new window or tab >>Robust self-triggered control for time-varying and uncertain constrained systems via reachability analysis
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2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 107, p. 574-581Article in journal (Refereed) Published
Abstract [en]

This paper develops a robust self-triggered control algorithm for time-varying and uncertain systems with constraints based on reachability analysis. The resulting piecewise constant control inputs achieve communication reduction and guarantee constraint satisfactions. In the particular case when there is no uncertainty, we propose a control design with minimum number of samplings over finite time horizon. Furthermore, when the plant is linear and the constraints are polyhedral, we prove that the previous algorithms can be reformulated as computationally tractable mixed integer linear programs. The method is compared with the robust self-triggered model predictive control in a numerical example and applied to a robot motion planning problem with temporal constraints.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD, 2019
Keywords
Constrained systems, Robust control, Self-triggered control, Reachability analysis
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-257796 (URN)10.1016/j.automatica.2019.06.015 (DOI)000481723300062 ()2-s2.0-85068268315 (Scopus ID)
Note

QC 20190913

Available from: 2019-09-13 Created: 2019-09-13 Last updated: 2019-09-13Bibliographically approved
Yu, P. & Dimarogonas, D. V. (2018). Explicit computation of sampling period in periodic event-triggered multi-agent control. 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. 3038-3043). Institute of Electrical and Electronics Engineers Inc.
Open this publication in new window or tab >>Explicit computation of sampling period in periodic event-triggered multi-agent control
2018 (English)In: Proceedings of the American Control Conference, Institute of Electrical and Electronics Engineers Inc. , 2018, p. 3038-3043Conference paper, Published paper (Refereed)
Abstract [en]

This paper investigates the synchronization of nonlinear sampled-data multi-agent systems. The purpose is to obtain an explicit formula for the maximum allowable sampling period (MASP) that guarantees exponential synchronization. Two implementation scenarios are considered. We first propose an approach on finding the MASP for periodic time-triggered sampled-data control. Then, a periodic event-triggered communication and control strategy is formulated, where a communication function and a control function are designed for each agent to determine whether or not the sampled data or the control input should be transmitted at each sampling instant. It is shown that there is a tradeoff between the sampling frequency and the convergence performance. The theoretical results are illustrated in simulations.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc., 2018
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-238032 (URN)10.23919/ACC.2018.8431128 (DOI)2-s2.0-85052587925 (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: VR, Vetenskapsrådet; Funding details: SSF, Stiftelsen för Strategisk Forskning; Funding details: Knut och Alice Wallenbergs Stiftelse; Funding details: SSF, Sjögren’s Syndrome Foundation; Funding text: This work was supported in part by the Swedish Research Council (VR), the Swedish Foundation for Strategic Research (SSF), the Knut and Alice Wallenberg Foundation (KAW) and the SRA TNG ICT project TOUCHES.

QC 20190115

Available from: 2019-01-15 Created: 2019-01-15 Last updated: 2019-01-15Bibliographically approved
Yu, P. & Dimarogonas, D. V. (2018). Explicit computation of sampling period in periodic event-triggered multi-agent control under limited data rate. IEEE Transactions on Control of Network Systems
Open this publication in new window or tab >>Explicit computation of sampling period in periodic event-triggered multi-agent control under limited data rate
2018 (English)In: IEEE Transactions on Control of Network Systems, E-ISSN 2325-5870Article in journal (Refereed) Published
Abstract [en]

This paper investigates the coordination of nonlinear sampled-data multi-agent systems subject to data rate constraint. The purpose is to design resource-efficient communication and control strategies that guarantee exponential synchronization. Two implementation scenarios are considered, the period time-triggered control and the period event-triggered control. One of the main difficulties of the problem is to obtain an explicit formula for the maximum allowable sampling period (MASP). To this end, an approach on finding the MASP for periodic time-triggered control is proposed first. Then, an asynchronous period event-triggered control strategy is formulated, a communication function and a control function are designed for each agent to determine respectively whether or not the sampled data and the control input should be transmitted at each sampling instant. Finally, the constraint of limited data rate is considered. An observer-based encoder-decoder and a finite-level quantizer are designed respectively for the Sensor-Controller communication and the Controller-Actuator communication such that certain constraint on the data rate is satisfied. It is shown that exponential synchronization can still be achieved in the presence of data rate constraint. A simulation example is given to illustrate the effectiveness of the theoretical results

National Category
Electrical Engineering, Electronic Engineering, Information Engineering Computer Sciences
Identifiers
urn:nbn:se:kth:diva-259649 (URN)10.1109/TCNS.2018.2889012 (DOI)2-s2.0-85058899039 (Scopus ID)
Note

QC 20191009

Available from: 2019-09-19 Created: 2019-09-19 Last updated: 2019-10-09Bibliographically approved
Yu, P. & Dimarogonas, D. V. (2018). Time-constrained multi-agent task scheduling based on prescribed performance control. In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC): . Paper presented at 57th IEEE Conference on Decision and Control (CDC), DEC 17-19, 2018, Miami Beach, FL (pp. 2593-2598). IEEE
Open this publication in new window or tab >>Time-constrained multi-agent task scheduling based on prescribed performance control
2018 (English)In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2018, p. 2593-2598Conference paper, Published paper (Refereed)
Abstract [en]

The problem of time-constrained multi-agent task scheduling and control synthesis is addressed. We assume the existence of a high level plan which consists of a sequence of cooperative tasks, each of which is associated with a deadline and several Quality-of-Service levels. By taking into account the reward and cost of satisfying each task, a novel scheduling problem is formulated and a path synthesis algorithm is proposed. Based on the obtained plan, a distributed hybrid control law is further designed for each agent. Under the condition that only a subset of the agents are aware of the high level plan, it is shown that the proposed controller guarantees the satisfaction of time constraints for each task. A simulation example is given to verify the theoretical results.

Place, publisher, year, edition, pages
IEEE, 2018
Series
IEEE Conference on Decision and Control, ISSN 0743-1546
National Category
Computer and Information Sciences
Identifiers
urn:nbn:se:kth:diva-245007 (URN)10.1109/CDC.2018.8618995 (DOI)000458114802071 ()2-s2.0-85062184790 (Scopus ID)978-1-5386-1395-5 (ISBN)
Conference
57th IEEE Conference on Decision and Control (CDC), DEC 17-19, 2018, Miami Beach, FL
Note

QC 20190305

Available from: 2019-03-05 Created: 2019-03-05 Last updated: 2019-04-11Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-6046-7129

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