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• 151.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Dynamic Control Design Based on Limited Model Information2011Inngår i: Proceedings of the 49th Annual Allerton Conference on Communication, Control, and Computing, 2011, s. 1576-1583Konferansepaper (Fagfellevurdert)

The design of optimal H_2 dynamic controllers for interconnected linear systems using limited plant model information is considered. Control design strategies based on various degrees of model information are compared using the competitive ratio as a performance metric, that is, the worst case control performance for a given design strategy normalized with the optimal control performance based on full model information. An explicit minimizer of the competitive ratio is found. It is shown that this control design strategy is not dominated by any other strategy with the same amount of model information. The result applies to a class of system interconnections and design information characterized through given plant, control, and design graphs.

• 152.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Investigating the Interaction Between Traffic Flow and Vehicle Platooning Using a Congestion Game2014Inngår i: Proceedings of the 19th IFAC World Congress, 2014 / [ed] Boje, Edward; Xia, Xiaohua, 2014, s. 4170-4177Konferansepaper (Fagfellevurdert)

We consider a congestion game with two types of agents to describe the traffic flow on a road at various time intervals in each day. The first type of agents (cars) maximize a utility which is determined by a sum of a penalty for using the road at a time other than their preferred time interval, the average velocity of the traffic flow, and the congestion tax. The second type of agents (trucks or heavy-duty vehicles) can benefit from using the road together with other second-type agents. This is because the trucks can form platoons to save fuel through reducing the air drag force. We study a Nash equilibrium of this game to study the interaction between the traffic flow and the platooning incentives. We prove that the introduced congestion game does not admit a potential function unless we devise an appropriate congestion taxing policy. We use joint strategy fictitious play and average strategy fictitious play to learn a pure strategic Nash equilibrium of this congestion game. Lastly, we demonstrate the developed results on a numerical example using data from a highway segment in Stockholm.

• 153.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Limited Model Information Control Design for Linear Discrete-Time Systems with Stochastic Parameters2012Inngår i: 2012 IEEE 51st Annual Conference on Decision And Control (CDC), IEEE , 2012, s. 855-861Konferansepaper (Fagfellevurdert)

We design optimal local controllers for large-scale networked systems using exact local model information and statistical beliefs about the model of the rest of the system. We study the value of model information in control design using the closed-loop performance degradation caused by the lack of full model information in the control design procedure. This performance degradation is captured using the ratio of the cost of the optimal controller with limited model information over the cost of the optimal controller with full model information. Both finite-horizon and infinite-horizon cost functions are considered. A numerical example illustrates the developed approach.

• 154.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Optimal control design under limited model information for discrete-time linear systems with stochastically-varying parameters2015Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 60, nr 3, s. 684-699Artikkel i tidsskrift (Fagfellevurdert)

The value of plant model information available in the control design process is discussed. We design optimal state-feedback controllers for interconnected discrete-time linear systems with stochastically-varying parameters. The parameters are assumed to be independently and identically distributed random variables in time. The design of each controller relies only on (i) exact local plant model information and (ii) statistical beliefs about the model of the rest of the system. We consider both finite-horizon and infinite-horizon quadratic cost functions. The optimal state-feedback controller is derived in both cases. The optimal controller is shown to be linear in the state and to depend on the model parameters and their statistics in a particular way. Furthermore, we study the value of model information in optimal control design using the performance degradation ratio which is defined as the supremum (over all possible initial conditions) of the ratio of the cost of the optimal controller with limited model information scaled by the cost of the optimal controller with full model information. An upper bound for the performance degradation ratio is presented for the case of fully-actuated subsystems. Comparisons are made between designs based on limited, statistical, and full model information. Throughout the paper, we use a power network example to illustrate concepts and results.

• 155.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Optimal Control Design under Structured Model Information Limitation Using Adaptive Algorithms2012Artikkel i tidsskrift (Fagfellevurdert)

Networked control strategies based on limited information about the plant model usually results in worse closed-loop performance than optimal centralized control with full plant model information. Recently, this fact has been established by utilizing the concept of competitive ratio, which is defined as the worst case ratio of the cost of a control design with limited model information to the cost of the optimal control design with full model information. In this paper, we show that with an adaptive networked controller with limited plant model information, it is indeed possible to achieve a competitive ratio equal to one. We show that an adaptive controller introduced by Campi and Kumar asymptotically achieves closed-loop performance equal to the optimal centralized controller with full model information. The plant model considered in the paper belongs to a compact set of stochastic linear time-invariant systems and the closed loop performance measure is the ergodic mean of a quadratic function of the state and control input. We illustrate the applicability of the results numerically on a vehicle platooning problem.

• 156.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Stochastic Sensor Scheduling for Networked Control Systems2014Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 59, nr 5, s. 1147-1162Artikkel i tidsskrift (Fagfellevurdert)

Optimal sensor scheduling with applications to networked estimation and control systems is considered. We model sensor measurement and transmission instances using jumps between states of a continuous-time Markov chain. We introduce a cost function for this Markov chain as the summation of terms depending on the average sampling frequencies of the subsystems and the effort needed for changing the parameters of the underlying Markov chain. By minimizing this cost function through extending Brockett's recent approach to optimal control of Markov chains, we extract an optimal scheduling policy to fairly allocate the network resources among the control loops. We study the statistical properties of this scheduling policy in order to compute upper bounds for the closed-loop performance of the networked system, where several decoupled scalar subsystems are connected to their corresponding estimator or controller through a shared communication medium. We generalize the estimation results to observable subsystems of arbitrary order. Finally, we illustrate the developed results numerically on a networked system composed of several decoupled water tanks.

• 157.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Stochastic sensor scheduling with application to networked control2013Inngår i: 2013 American Control Conference (ACC), AACC American Automatic Control Council , 2013, s. 2325-2332Konferansepaper (Fagfellevurdert)

We consider stochastic sensor scheduling with application to networked control systems. We model sampling instances (in a networked system) using jumps between states of a continuous-time Markov chain. We introduce a cost function for this Markov chain which is composed of terms depending on the average sampling frequencies of the subsystems and the effort needed for changing the parameters of the underlying Markov chain. By extending Brockett's recent contribution in optimal control of Markov chains, we extract an optimal scheduling policy to fairly allocate network resources (i.e., access to the network) among the control loops. We apply this scheduling policy to a networked control system composed of several scalar decoupled subsystems and compute upper bounds for their closed-loop performance. We illustrate the developed results numerically on a networked system composed of several water tanks.

• 158.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
University of California at Berkeley. University of California at Berkeley. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
When Do Potential Functions Exist in Heterogeneous Routing Games?2014Rapport (Annet vitenskapelig)

We study a heterogeneous routing game in which vehicles might belong to more than one type. The type determines the cost of traveling along an edge as a function of the flow of various types of vehicles over that edge. We relax the assumptions needed for the existence of a Nash equilibrium in this heterogeneous routing game. We extend the available results to present necessary and sufficient conditions for the existence of a potential function. We characterize a set of tolls that guarantee the existence of a potential function when only two types of users are participating in the game. We present an upper bound for the price of anarchy (i.e., the worst-case ratio of the social cost calculated for a Nash equilibrium over the social cost for a socially optimal flow) for the case in which only two types of players are participating in a game with affine edge cost functions. A heterogeneous routing game with vehicle platooning incentives is used as an example throughout the article to clarify the concepts and to validate the results.

• 159.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
University of California at Berkeley. University of California at Berkeley. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
A Heterogeneous Routing Game2013Inngår i: 2013 51st Annual Allerton Conference on Communication, Control, and Computing, Allerton 2013, IEEE conference proceedings, 2013, s. 448-455Konferansepaper (Fagfellevurdert)

Most literature on routing games make the assumption that drivers or vehicles are of the same type and, hence, experience the same latency or cost when traveling along the edges of the network. In contrast, in this article, we propose a heterogeneous routing game in which each driver or vehicle belongs to a certain type. The type determines the cost of traveling along an edge as a function of the flow of all types of drivers or vehicles over that edge. We examine the existence of a Nash equilibrium in this heterogeneous routing game. We study the conditions for which the problem of finding a Nash equilibrium can be posed as a convex optimization problem and is therefore numerically tractable. Numerical simulations are presented to validate the results.

• 160.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Illinois, USA.. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Control Design with Limited Model Information2011Inngår i: Proceedings of the 2011 American Control Conference, AACC , 2011, s. 4697-4704Konferansepaper (Fagfellevurdert)

We introduce the family of limited model information control design methods, which construct controllers by accessing the plant’s model in a constrained way, according to a given design graph. This class generalizes the notion of communication-less control design methods recently introduced by one of the authors, which construct each sub-controller using only local plant model information. We study the tradeoff between the amount of model information exploited by a control design method and the quality of controllers it can produce. In particular, we quantify the benefit (in terms of the competitive ratio and domination metrics) of giving the control designer access to the global interconnection structure of the plant-to-be-controlled, in addition to local model information.

• 161.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Illinois, USA.. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Decentralized Disturbance Accommodation with Limited Plant Model Information2013Inngår i: SIAM Journal of Control and Optimization, ISSN 0363-0129, E-ISSN 1095-7138, Vol. 51, nr 2, s. 1543-1573Artikkel i tidsskrift (Fagfellevurdert)

The design of optimal disturbance accommodation and servomechanism controllers with limited plant model information is studied in this paper. We consider discrete-time linear time-invariant systems that are fully actuated and composed of scalar subsystems, each of which is controlled separately and influenced by a scalar disturbance. Each disturbance is assumed to be generated by a system with known dynamics and unknown initial conditions. We restrict ourselves to control design methods that produce structured dynamic state feedback controllers where each subcontroller, at least, has access to the state measurements of those subsystems that can affect its corresponding subsystem. The performance of such control design methods is compared using a metric called the competitive ratio, which is the worst-case ratio of the cost of a given control design strategy to the cost of the optimal control design with full model information. We find an explicit minimizer of the competitive ratio and show that it is undominated, that is, there is no other control design strategy that performs better for all possible plants while having the same worst-case ratio. This optimal controller can be separated into a static feedback law and a dynamic disturbance observer. For step disturbances, it is shown that this structure corresponds to proportional-integral control.

• 162.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Illinois, USA.. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Decentralized H2 Control Design with Limited Model Information2011Rapport (Annet vitenskapelig)

This paper deals with designing optimal decentralized H2 controller for interconnected discrete-time time-invariant systems with limited model information. We adapt the notion of limited model information designs to handle the dynamic H2 controllers. The best decentralized control design strategy, in terms of the competitive ratio and domination metrics, is found for different acyclic plant graphs when the control graph is a super-graph of the plant graph.

• 163.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Illinois, USA.. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
On Designing Optimal Controllers with Limited Model Information2010Rapport (Annet vitenskapelig)

We introduce the family of limited model information designs, which construct controllers by accessing the plant's model in a constrained manner. We investigate the closed loop performance of the best controller that they can produce. For a class of linear discrete-time, time invariant plants, we show that there exists a limited model information control design which results in a controller whose performance is in a bounded neighborhood of the optimal control design and we show that this controller is the best controller that one can design with limited information about the plant model. We investigate the plant model structure and the model information on this neighborhood.

• 164.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Illinois, USA.. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Optimal Disturbance Accommodation with Limited Model Information2012Inngår i: 2012 American Control Conference (ACC), IEEE Computer Society, 2012, s. 4757-4764Konferansepaper (Fagfellevurdert)

The design of optimal dynamic disturbance accommodation controller with limited model information is considered. We adapt the family of limited model information control design strategies, defined earlier by the authors, to handle dynamic controllers. This family of limited model information design strategies construct subcontrollers distributively by accessing only local plant model information. The closed-loop performance of the dynamic controllers that they can produce are studied using a performance metric called the competitive ratio which is the worst case ratio of the cost a control design strategy to the cost of the optimal control design with full model information.

• 165.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Department of Aerospace Engineering and the Coordinated Science Laboratory, University of Illinois at Urbana-Champaign, Illinois, USA.. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Optimal Structured Static State-Feedback Control Design with Limited Model Information for Fully-Actuated Systems2013Inngår i: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 49, nr 2, s. 326-337Artikkel i tidsskrift (Fagfellevurdert)

We introduce the family of limited model information control design methods, which construct controllers by accessing the plant's model in a constrained way, according to a given design graph. We investigate the closed-loop performance achievable by such control design methods for fully-actuated discrete-time linear time-invariant systems, under a separable quadratic cost. We restrict our study to control design methods which produce structured static state feedback controllers, where each subcontroller can at least access the state measurements of those subsystems that affect its corresponding subsystem. We compute the optimal control design strategy (in terms of the competitive ratio and domination metrics) when the control designer has access to the local model information and the global interconnection structure of the plant-to-be-controlled. Finally, we study the trade-off between the amount of model information exploited by a control design method and the best closed-loop performance (in terms of the competitive ratio) of controllers it can produce.

KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. Scania CV AB, Sweden. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
Cooperation Patterns between Fleet Owners for Transport Assignments2015Inngår i: 2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015), IEEE conference proceedings, IEEE , 2015, s. 1124-1129Konferansepaper (Fagfellevurdert)

We study cooperation patterns between the heavy- duty vehicle fleet owners to reduce their costs, improve their fuel efficiency, and decrease their emissions. We consider a distributed cooperation pattern in which the fleet owners can communicate directly with each other to form alliances. A centralized cooperation pattern is studied in which the fleet owners pay to subscribe to a third-party service provider that pairs their vehicles for cooperation. The effects of various pricing strategies on the behaviour of fleet owners and their inclusiveness are analyzed. It is shown that the fleet size has an essential role.

• 167.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Complexity Reduction for Parameter-Dependent Linear Systems2013Inngår i: 2013 American Control Conference (ACC), American Automatic Control Council , 2013, s. 2624-2630Konferansepaper (Fagfellevurdert)

We present a complexity reduction algorithm for a family of parameter-dependent linear systems when the system parameters belong to a compact semi-algebraic set. This algorithm potentially describes the underlying dynamical system with fewer parameters or state variables. To do so, it minimizes the distance (i.e., $H_\infty$-norm of the difference) between the original system and its reduced version. We present a sub-optimal solution to this problem using sum-of-squares optimization methods. We present the results for both continuous-time and discrete-time systems. Lastly, we illustrate the applicability of our proposed algorithm on numerical examples.

• 168.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Optimal H-Infinity Control Design under Model Information Limitations and State Measurement Constraints2013Inngår i: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), IEEE conference proceedings, 2013, s. 6218-6225Konferansepaper (Fagfellevurdert)

We present a suboptimal control design algorithm for a family of continuous-time parameter-dependent linear systems that are composed of interconnected subsystems. We are interested in designing the controller for each subsystem such that it only utilizes partial state measurements (characterized by a directed graph called the control graph) and limited model parameter information (characterized by the design graph). The algorithm is based on successive local minimizations and maximizations (using the subgradients) of the H∞-norm of the closed-loop transfer function with respect to the controller gains and the system parameters. We use a vehicle platooning example to illustrate the applicability of the results.

• 169.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
University of Melbourne, Australia. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Distributed MPC Via Dual Decomposition and Alternating Direction Method of Multipliers2013Inngår i: Distributed Model Predictive Control Made Easy / [ed] Rudy R. Negenborn and Jose M. Maestre, Springer, 2013Kapittel i bok, del av antologi (Fagfellevurdert)

A conventional way to handle model predictive control (MPC) problems distributedly is to solve them via dual decomposition and gradient ascent. However, at each time-step, it might not be feasible to wait for the dual algorithm to converge. As a result, the algorithm might be needed to be terminated prematurely. One is then interested to see if the solution at the point of termination is close to the optimal solution and when one should terminate the algorithm if a certain distance to optimality is to be guaranteed. In this chapter, we look at this problem for distributed systems under general dynamical and performance couplings, then, we make a statement on validity of similar results where the problem is solved using alternative direction method of multipliers.

• 170.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Kommunikationsteori. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Networked Estimation Using Sparsifying Basis Prediction2013Inngår i: IFAC Proceedings Volumes, 2013, s. 174-181Konferansepaper (Fagfellevurdert)

We present a framework for networked state estimation, where systems encode their (possibly high dimensional) state vectors using a mutually agreed basis between the system and the estimator (in a remote monitoring unit). The basis sparsifies the state vectors, i.e., it represents them using vectors with few non-zero components, and as a result, the systems might need to transmit only a fraction of the original information to be able to recover the non-zero components of the transformed state vector. Hence, the estimator can recover the state vector of the system from an under-determined linear set of equations. We use a greedy search algorithm to calculate the sparsifying basis. Then, we present an upper bound for the estimation error. Finally, we demonstrate the results on a numerical example.

• 171.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Enhancing TCP over HSDPA by cross-layer signalling2007Inngår i: GLOBECOM 2007: 2007 IEEE GLOBAL TELECOMMUNICATIONS CONFERENCE, 2007, s. 5362-5366Konferansepaper (Fagfellevurdert)

A comprehensive performance evaluation of a cross-layer solution to increase users' downlink data rates over HSDPA is provided. The solution consists of a proxy entity between a server and the Radio Network Controller, and cross-layer signalling from the base station to the proxy. The performance of the solution is evaluated though a detailed ns-2 simulator environment, which includes all HSDPA features, as well as some existing TCP enhancing protocols widely adopted for internet traffic over wireless links. Numerical results show that the proxy significantly increases the users' throughput, while also improving the utilization of the radio resources.

• 172.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
Cooperative Diversity with Disconnection Constraints and Sleep Discipline for Power Control in Wireless Sensor Networks2006Inngår i: 2006 IEEE 63RD VEHICULAR TECHNOLOGY CONFERENCE, IEEE , 2006, s. 578-582Konferansepaper (Fagfellevurdert)

We derive a power control policy for a group of sensor nodes that are monitoring a real-time application sensitive to disconnections (outages) of the communication. Specifically, we suggest that the sensor nodes perform cooperative diversity while running a sleep discipline. After the description of a detailed model of the wireless links, we propose a power minimization algorithm with a constraint expressed in terms of outage probability. Suboptimal solutions are also discussed. Numerical examples are provided for various number of nodes; wireless scenarios and nodes activities. It is argued that nodes with reduced activity show better performance.

• 173.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
Performance Analysis of Collaborative Spatio-Temporal Processing for Wireless Sensor Networks2006Inngår i: 2006 3RD IEEE CONSUMER COMMUNICATIONS AND NETWORKING CONFERENCE, 2006, s. 325-329Konferansepaper (Fagfellevurdert)

Spatio-temporal processing (STP) is a control technique to increase the quality of the received signals in wireless networks. Outage events have a strong influence not only on the performance of the physical layer, but also on routing, MAC, and application layers. In this paper, we propose an outage-based performance analysis of collaborative STP for wireless sensor networks (WSNs). After an accurate characterization of the wireless channel, we derive the outage statistics as a function of the STP coefficients, and investigate the effects of STP on the probability, average duration and rate of the outage events. Furthermore, we show that a proper control policy for the STP coefficients can be derived according to the requirements from the application and communication layers.

• 174.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Power and Rate Control with Outage Constraints in CDMA Wireless Networks2009Inngår i: IEEE Transactions on Communications, ISSN 0090-6778, E-ISSN 1558-0857, Vol. 57, nr 8, s. 2225-2229Artikkel i tidsskrift (Fagfellevurdert)

A radio power control strategy to achieve maximum throughput for the up-link of CDMA wireless systems with variable spreading factor is investigated. The system model includes slow and fast fading, rake receiver, and multi-access interference caused by users with heterogeneous data sources. The quality of the communication is expressed in terms of outage probability, while the throughput is defined as the sum of the users' transmit rates. The outage probability is accounted for by resorting to a lognormal approximation. A mixed integer-real optimization problem P-1, where the objective function is the throughput under outage probability constraints, is investigated. Problem P-1 is solved in two steps: firstly, we propose a modified problem P-2 to provide feasible solutions, and then the optimal solution is obtained with an efficient branch-and-bound search. Numerical results are presented and discussed to assess the validity of our approach.

• 175.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Medium Access Control Analytical Modeling and Optimization in Unslotted IEEE 802.15.4 Wireless Sensor Networks2009Inngår i: 2009 6TH ANNUAL IEEE COMMUNICATIONS SOCIETY CONFERENCE ON SENSOR, MESH AND AD HOC COMMUNICATIONS AND NETWORKS (SECON 2009), NEW YORK: IEEE , 2009, s. 440-448Konferansepaper (Fagfellevurdert)

Accurate analytical expressions of delay and packet reception probabilities, and energy consumption of duty-cycled wireless sensor networks with random medium access control (MAC) are instrumental for the efficient design and optimization of these resource-constrained networks. Given a clustered network topology with unslotted IEEE 802.15.4 and preamble sampling MAC, a novel approach to the modeling of the delay, reliability, and energy consumption is proposed. The challenging part in such a modeling is the random MAC and sleep policy of the receivers, which prevents to establish the exact time of data packet transmission. The analysis gives expressions as function of sleep time, listening time, traffic rate and MAC parameters. The analytical results are then used to optimize the duty cycle of the nodes and MAC protocol parameters. The approach provides a significant reduction of the energy consumption compared to existing solutions in the literature. Monte Carlo simulations by ns2 assess the validity of the analysis.

• 176.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
Distributed cooperative processing and control over wireless sensor networks2006Inngår i: IWCMC 2006 - Proceedings of the 2006 International Wireless Communications and Mobile Computing Conference, 2006, Vol. 2006, s. 1311-1316Konferansepaper (Annet vitenskapelig)

An overview of some recent advances in distributed information processing for control over wireless sensor networks is presented in this paper. Firstly, a taxonomy of fundamental control and communication schemes for these systems is introduced. Next, specific research issues are proposed and discussed with three prominent examples on distributed source coding with packet aggregation, distributed cooperative diversity and distributed cooperative localization. In regard to these examples, it is argued about some open research problems and suggestions for further investigations on joint control and communication design for distributed processing and control over wireless sensor networks.

• 177.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
Analysis of TCP/IP over WCDMA Wireless Systems under Power Control, MAI and Link Level Error Recovery2005Inngår i: Proceedings International Workshop on Convergent Technologies (IWCT), 2005Konferansepaper (Fagfellevurdert)
• 178.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Design principles of wireless sensor networks protocols for control applications2011Inngår i: Wireless Networking Based Control / [ed] Sudip K. Mazumder, Springer-Verlag New York, 2011, s. 203-238Kapittel i bok, del av antologi (Fagfellevurdert)

Control applications over wireless sensor networks (WSNs) require timely, reliable, and energy efficient communications. This is challenging because reliability and latency of delivered packets and energy are at odds, and resource constrained nodes support only simple algorithms. In this chapter, a new system-level design approach for protocols supporting control applications over WSNs is proposed. The approach suggests a joint optimization, or co-design, of the control specifications, networking layer, the medium access control layer, and physical layer. The protocol parameters are adapted by an optimization problem whose objective function is the network energy consumption, and the constraints are the reliability and latency of the packets as requested by the control application. The design method aims at the definition of simple algorithms that are easily implemented on resource constrained sensor nodes. These algorithms allow the network to meet the reliability and latency required by the control application while minimizing for energy consumption. The design method is illustrated by two protocols: Breath and TREnD, which are implemented on a test-bed and compared to some existing solutions. Experimental results show good performance of the protocols based on this design methodology in terms of reliability, latency, low duty cycle, and load balancing for both static and time-varying scenarios. It is concluded that a system-level design is the essential paradigm to exploit the complex interaction among the layers of the protocol stack and reach a maximum WSN efficiency.

• 179.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Analytical modeling and optimization of duty-cycles in preamble-based IEEE 802.15.4 wireless sensor networks2009Inngår i: IEEE/ACM Transactions on Networking, ISSN 1063-6692, E-ISSN 1558-2566Artikkel i tidsskrift (Fagfellevurdert)
• 180.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Peer-to-peer Estimation over Wireless Sensor Networks via Lipschitz Optimization2009Inngår i: 2009 INTERNATIONAL CONFERENCE ON INFORMATION PROCESSING IN SENSOR NETWORKS (IPSN 2009), NEW YORK: IEEE , 2009, s. 241-252Konferansepaper (Fagfellevurdert)

Motivated by a peer-to-peer estimation algorithm in which adaptive weights are optimized to minimize the estimation error variance, we formulate and solve a novel non-convex Lipschitz optimization problem that guarantees global stability of a large class of peer-to-peer consensus-based algorithms for wireless sensor network. Because of packet. losses, the solution of this optimization problem cannot be achieved efficiently with either traditional centralized methods or distributed Lagrangian message passing. The prove that the optimal solution can be obtained by solving a set of nonlinear equations. A fast distributed algorithm, which requires only local computations, is presented for solving these equations. Analysis and computer simulations illustrate the algorithm and its application to various network topologies.

• 181.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH.
Minimum Energy Coding in CDMA Wireless Sensor Networks2009Inngår i: IEEE Transactions on Wireless Communications, ISSN 1536-1276, E-ISSN 1558-2248, Vol. 8, nr 2, s. 985-994Artikkel i tidsskrift (Fagfellevurdert)

A theoretical framework is proposed for accurate comparison of minimum energy coding in Coded Division Multiple Access (CDMA) Wireless Sensor Networks (WSNs). Energy consumption and reliability are analyzed for two coding schemes: Minimum Energy coding (ME), and Modified Minimum Energy coding (MME). A detailed model of consumed energy is described as function of the coding, radio transmit power, the characteristics of the transceivers, and the dynamics of the wireless channel. Since CDMA is strongly limited by multi-access interference, the system model includes all the relevant characteristics of wireless propagation. A distributed and asynchronous algorithm, which minimizes the total energy consumption by controlling the radio power, is developed. Numerical results are presented to validate the theoretical analysis and show under which conditions MME outperforms ME with respect to energy consumption and bit error rate. It is concluded that MME is more energy efficient than ME only for short codewords.

• 182.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
A Control Framework for Online Error Control Adaptation in Networked Applications2006Inngår i: Proceedings of IEEE Second International Symposium on Control, Communications, and Signal Processing, 2006Konferansepaper (Fagfellevurdert)

For many real-time applications running over packet-switched networks, it is important to maintain delivered data quality using a limited amount of network resources. It is therefore natural to employ cost functions that allow online trade-off between the experienced application quality and the resource usage. However, minimizing such cost functions requires perfect knowledge of the network state at the transmission side, while, in general, such information is only partially available. In this paper, we introduce a new adaptive error correction algorithm that optimizes the amount of redundancy based on the available information from the application and the network. An extremum-seeking control algorithm is employed to deal with the high level of uncertainty in the network models. The validity of our approach is illustrated in simulations with varying network loads and loss correlation.

• 183.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Analysis of a simple feedback scheme for error correction over a lossy network2007Inngår i: 2007 IEEE INTERNATIONAL CONFERENCE ON NETWORKING, SENSING, AND CONTROL, IEEE , 2007, s. 261-266Konferansepaper (Fagfellevurdert)

A control theoretic analysis of a simple error correction scheme for lossy packet-switched networks is presented. Based on feedback information from the error correction process in the receiver, the sender adjusts the amount of redundancy using a so called extremum-seeking controller, which do not rely on any accurate model of the network loss process. The closed-loop system is shown to converge to a limit cycle in a neighborhood of the optimal redundancy. The result are validated using packet-based simulations with data from wireless sensor network experiments.

• 184.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
A comparison of control structures for error correction in packet-switched networks2005Konferansepaper (Fagfellevurdert)
• 185.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
A new feedback control mechanism for error correction in packet-switched networks2005Inngår i: 44th IEEE Conference on Decision and Control & European Control Conference, 2005, s. 488-493Konferansepaper (Fagfellevurdert)

Error correction mechanisms enable control and other real-time applications to be executed over unreliable packet-switched networks. By adding carefully adjusted redundancy to transmitted data at the sender, it is possible to recover lost data at the receiver and thereby improve effective throughput. We describe simple models for packet loss, which allow us to find the optimal redundancy as a function of packet loss probability. Two feedforward control mechanisms based on the packet loss probability are presented: one that is computed off-line and another one using an on-line algorithm. A drawback with these approaches is their dependency on accurate network state information and precise loss models. To cope with these issues, we propose a new feedback solution that tracks the optimum using gradient estimation. Simulations in ns-2 illustrate the behavior of the error correction schemes, demonstrating that the feedback solution outperforms the feedforward solution in presence of model errors.

• 186.
KTH, Tidigare Institutioner, Signaler, sensorer och system.
KTH, Tidigare Institutioner, Signaler, sensorer och system. KTH, Tidigare Institutioner, Signaler, sensorer och system.
Hybrid modeling of communication networks using Modelica2002Konferansepaper (Fagfellevurdert)

Modeling and simulation of communication networks using the modeling language Modelica are discussed. Congestion control in packet-switched networks, such as the Internet, is today mainly analyzed through time-consuming simulations of individual packets. We show, by developing a model library based on a recent hybrid systems model, that Modelica provides an efficient platform for the analysis of communication networks. As an example, a comparison between the two congestion control protocols is presented.

• 187.
KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Distributed Freeway Ramp Metering: Optimization on Flow Speed2017Inngår i: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017, IEEE , 2017Konferansepaper (Fagfellevurdert)

This paper studies the distributed freeway ramp metering problem, for which the cell transmission model (CTM) is utilized. Considering the jam density and the upper bounds on the queue lengths and the ramp metering, we first provide feasibility conditions with respect to the external demand to ensure the controllability of the freeway. Assuming that the freeway is controllable, we formulate an optimization problem which tradeoffs the maximum average flow speed and the minimum waiting queue for each cell. Although the cells of the CTM are dynamically coupled, we propose a distributed backward algorithm for the optimization problem and prove that the solution to the problem is a Nash equilibrium. Furthermore, if the optimization problem is simplified to only maximization of the average flow speed, we argue that the obtained explicit distributed controller is globally optimal. A numerical example is given to illustrate the effectiveness of the proposed control algorithm.

• 188.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
Hong Kong Univ Sci & Technol, Elect & Comp Engn, Kowloon, Clear Water Bay, Hong Kong, Peoples R China.. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre. Hong Kong Univ Sci & Technol, Elect & Comp Engn, Kowloon, Clear Water Bay, Hong Kong, Peoples R China.. Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore..
Stochastic Optimal Control of Dynamic Queue Systems: A Probabilistic Perspective2018Inngår i: 2018 15TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV), IEEE , 2018, s. 837-842Konferansepaper (Fagfellevurdert)

Queue overflow of a dynamic queue system gives rise to the information loss (or packet loss) in the communication buffer or the decrease of throughput in the transportation network. This paper investigates a stochastic optimal control problem for dynamic queue systems when imposing probability constraints on queue overflows. We reformulate this problem as a Markov decision process (MDP) with safety constraints. We prove that both finite-horizon and infinite-horizon stochastic optimal control for MDP with such constraints can be transformed as a linear program (LP), respectively. Feasibility conditions are provided for the finite-horizon constrained control problem. Two implementation algorithms are designed under the assumption that only the state (not the state distribution) can be observed at each time instant. Simulation results compare optimal cost and state distribution among different scenarios, and show the probability constraint satisfaction by the proposed algorithms.

• 189. Garin, Federica
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
Distributed estimation of diameter, radius and eccentricities in anonymous networks2012Inngår i: Estimation and Control of Networked Systems, Vol 3. Part 1, IFAC , 2012, s. 13-18Konferansepaper (Fagfellevurdert)

We consider how a set of collaborating agents can distributedly infer some of the properties of the communication network that they form. We specifically focus on estimating quantities that can characterize the performance of other distributed algorithms, namely the eccentricities of the nodes, and the radius and diameter of the network. We propose a strategy that can be implemented in any network, even under anonymity constraints, and has the desirable properties of being fully distributed, parallel and scalable. We analytically characterize the statistics of the estimation error, and highlight how the performance of the algorithm depends on a parameter tuning the communication complexity.

• 190. Giani, A.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
The VIKING project: An initiative on resilient control of power networks2009Konferansepaper (Fagfellevurdert)

This paper presents the work on resilient and secure power transmission and distribution developed within the VIKING (vital infrastructure, networks, information and control system management) project. VIKING receives funding from the European Community's Seventh Framework Program. We will present the consortium, the motivation behind this research, the main objective of the project together with the current status.

• 191. Guinajdo, M.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
Reducing communication and actuation in distributed control systems2013Inngår i: 2013 IEEE 52nd Annual Conference on Decision and Control (CDC), IEEE conference proceedings, 2013, s. 5288-5293Konferansepaper (Fagfellevurdert)

This paper addresses the problem of reducing the number of transmissions and control updates in a distributed control network of interconnected linear systems. Each node in the network decides when to transmit its state through the network and when to update the control law. Both decisions are event-driven and based on local information. It is shown that the stability of the system is preserved and the state of the system converges to a small region around the origin, whose size depends on the parameters of the transmission and control update trigger functions. A strictly positive lower bound for the inter-event times is derived. The results are illustrated through simulations showing the effectiveness of the proposed approach.

• 192. Guinaldo, M.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
Distributed event-based control for interconnected linear systems2015Inngår i: Asynchronous Control for Networked Systems, Springer, 2015, s. 149-179Kapittel i bok, del av antologi (Annet vitenskapelig)

For large-scale interconnected systems, the control performance can be improved by means of distributed control solutions in which the subsystems communicate over the network. In this chapter, different distributed event-based control strategies are analyzed. Each subsystem broadcasts its state over the network according to certain triggering rules which depend on local information only.

• 193. Guinaldo, M.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Distributed event-based control for interconnected linear systems2011Inngår i: 2011 50th IEEE Conference on Decision and Control andEuropean Control Conference (CDC-ECC), 2011, s. 2553-2558Konferansepaper (Fagfellevurdert)

This paper presents a distributed event-basedcontrol strategy for a networked dynamical system consistingof N linear time-invariant interconnected subsystems. Eachsubsystem broadcasts its state over the network accordingto some triggering rules which depend on local informationonly. The system converges to an adjustable region aroundthe equilibrium point under the proposed control design, andthe existence of a lower bound for the broadcasting period isguaranteed. The effect of the coupling terms over the region ofconvergence and broadcasting period lower bound is analyzed,and a novel model-based approach is derived to reduce thecommunications. Simulation results show the effectiveness ofthe proposed approaches and illustrate the theoretical results.

• 194. Guinaldo, M.
KTH, Skolan för elektro- och systemteknik (EES). KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Distributed event-triggered control with network delays and packet losses2013Inngår i: IEEE 51st Annual Conference on Decision and Control (CDC), 2012, IEEE conference proceedings, 2013, s. 1-6Konferansepaper (Fagfellevurdert)

This paper presents a distributed event-based control approach to cope with communication delays and packet losses affecting a networked dynamical system consisting of N linear time-invariant coupled systems. Two communication protocols are proposed to deal with these communication effects. It is shown that both protocols preserve the system stability in the sense that the state of every subsystem converges to a small region around the origin if the delay and the number of packet losses are bounded. Analytical expressions for the delay bound and the maximum number of consecutive packet losses are derived. Simulations illustrate the results.

• 195. Guinaldo, M.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
Distributed event-triggered control for non-reliable networks2014Inngår i: Journal of the Franklin Institute, ISSN 0016-0032, E-ISSN 1879-2693, Vol. 351, nr 12, s. 5250-5273Artikkel i tidsskrift (Fagfellevurdert)

This paper presents a distributed event-based control approach to cope with communication delays and packet losses affecting a networked dynamical system. Two network protocols are proposed to deal with these communication effects. The stability of the system is analyzed for constant and time-dependent trigger functions, showing that asymptotic stability can be achieved with the latter design, and this also guarantees a lower bound for the inter-event times. Analytical expressions for the delay bound and the maximum number of consecutive packet losses are derived for different scenarios. Finally, the results are illustrated through a simulation example.

• 196. Guinaldo, Maria
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
Distributed event-based control strategies for interconnected linear systems2013Inngår i: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 7, nr 6, s. 877-886Artikkel i tidsskrift (Fagfellevurdert)

This study presents distributed event-based control strategies for a networked dynamical system consisting of N linear time-invariant interconnected subsystems. Each subsystem broadcasts its state over the network according to certain triggering rules that only depend on local information. The system can converge asymptotically to the equilibrium point under the proposed control design, and the existence of a lower bound for the broadcasting period is guaranteed. A novel model-based approach is derived to reduce the communication between the agents. Simulation results show the effectiveness of the proposed approaches and illustrate the theoretical results.

• 197.
KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Distributed real-time fault detection and isolation for cooperative multi-agent systems2012Inngår i: 2012 American Control Conference (ACC), IEEE Computer Society, 2012, s. 5270-5275Konferansepaper (Fagfellevurdert)

In this paper we propose a distributed real-time fault detection, isolation and mitigation framework for multiagent systems performing cooperative tasks. Various system models and detection schemes with respect to communication and sensing are considered. Two communication protocols for fault detection are introduced first and proved to be effective. Then a scheme based on limited relative state measurements is developed. Furthermore, we propose fault isolation and mitigation steps to guarantee the accomplishment of a global objective. All schemes are distributed in the sense that at each step of the fault detection, isolation and mitigation every agent only uses locally available information. One key feature of the framework is the significant reduction of required computational resource when compared with the fault detection and isolation schemes based on unknown input observers. Later we show that the proposed framework can be applied to the consensus and other cooperative formation problems. Several computer simulations are presented to demonstrate the efficiency of the framework.

• 198.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Motion and Action Planning under LTL Specifications using Navigation Functions and Action Description Language2013Inngår i: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE , 2013, s. 240-245Konferansepaper (Fagfellevurdert)

We propose a novel framework to combine model-checking-based motion planning with action planning using action description languages, aiming to tackle task specifications given as Linear Temporal Logic (LTL) formulas. The specifications implicitly require both sequential regions to visit and the desired actions to perform at these regions. The robot's motion is abstracted based on sphere regions of interest in the workspace and the structure of navigation function(NF)-based controllers, while the robot's action map is constructed based on precondition and effect functions associated with the actions. An optimal planner is designed that generates the discrete motion-and-action plan fulfilling the specification, as well as the low-level hybrid controllers that implement this plan. The whole framework is demonstrated by a case study.

• 199.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
Revising motion planning under Linear Temporal Logic specifications in partially known workspaces2013Inngår i: 2013 IEEE International Conference on Robotics and Automation (ICRA), IEEE Computer Society, 2013, s. 5025-5032Konferansepaper (Fagfellevurdert)

In this paper we propose a generic framework for real-time motion planning based on model-checking and revision. The task specification is given as a Linear Temporal Logic formula over a finite abstraction of the robot motion. A preliminary motion plan is first generated based on the initial knowledge of the system model. Then real-time information obtained during the runtime is used to update the system model, verify and further revise the motion plan. The implementation and revision of the motion plan are performed in real-time. This framework can be applied to partially-known workspaces and workspaces with large uncertainties. Computer simulations are presented to demonstrate the efficiency of the framework.

• 200. Guo, Z.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
A study of packet-reordering integrity attack on remote state estimation2016Inngår i: Proceedings of the 35th Chinese Control Conference 2016, IEEE Computer Society, 2016, Vol. 2016, s. 7250-7255, artikkel-id 7554505Konferansepaper (Fagfellevurdert)

Recent years have witnessed the surge of interest of security issues in cyber-physical systems. In this paper, we consider malicious cyber attacks in a remote state estimation scenario using time division multiple access communication protocol. A gateway collects the local measurement innovation of each sensor every time instant, while only transmits data packets to a remote estimator during specific time slots. It is assumed that a residue-based detection algorithm is used at the remote side to detect data anomalies. We propose a novel packet-reordering attack strategy where the attacker is able to change the order of the transmitted data packets, without being detected, by compromising the gateway. Furthermore, the evolution of the remote estimation error covariance is derived and the degradation of system performance under the proposed attack is analyzed. Finally, we obtain a sufficient condition for the attack policy to be optimal using the terminal estimation error covariance as a performance metric. Simulations are provided to illustrate the theoretical results.

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