12,512 research outputs found
Computation-Communication Trade-offs and Sensor Selection in Real-time Estimation for Processing Networks
Recent advances in electronics are enabling substantial processing to be
performed at each node (robots, sensors) of a networked system. Local
processing enables data compression and may mitigate measurement noise, but it
is still slower compared to a central computer (it entails a larger
computational delay). However, while nodes can process the data in parallel,
the centralized computational is sequential in nature. On the other hand, if a
node sends raw data to a central computer for processing, it incurs
communication delay. This leads to a fundamental communication-computation
trade-off, where each node has to decide on the optimal amount of preprocessing
in order to maximize the network performance. We consider a network in charge
of estimating the state of a dynamical system and provide three contributions.
First, we provide a rigorous problem formulation for optimal real-time
estimation in processing networks in the presence of delays. Second, we show
that, in the case of a homogeneous network (where all sensors have the same
computation) that monitors a continuous-time scalar linear system, the optimal
amount of local preprocessing maximizing the network estimation performance can
be computed analytically. Third, we consider the realistic case of a
heterogeneous network monitoring a discrete-time multi-variate linear system
and provide algorithms to decide on suitable preprocessing at each node, and to
select a sensor subset when computational constraints make using all sensors
suboptimal. Numerical simulations show that selecting the sensors is crucial.
Moreover, we show that if the nodes apply the preprocessing policy suggested by
our algorithms, they can largely improve the network estimation performance.Comment: 15 pages, 16 figures. Accepted journal versio
Convergence Analysis of Mixed Timescale Cross-Layer Stochastic Optimization
This paper considers a cross-layer optimization problem driven by
multi-timescale stochastic exogenous processes in wireless communication
networks. Due to the hierarchical information structure in a wireless network,
a mixed timescale stochastic iterative algorithm is proposed to track the
time-varying optimal solution of the cross-layer optimization problem, where
the variables are partitioned into short-term controls updated in a faster
timescale, and long-term controls updated in a slower timescale. We focus on
establishing a convergence analysis framework for such multi-timescale
algorithms, which is difficult due to the timescale separation of the algorithm
and the time-varying nature of the exogenous processes. To cope with this
challenge, we model the algorithm dynamics using stochastic differential
equations (SDEs) and show that the study of the algorithm convergence is
equivalent to the study of the stochastic stability of a virtual stochastic
dynamic system (VSDS). Leveraging the techniques of Lyapunov stability, we
derive a sufficient condition for the algorithm stability and a tracking error
bound in terms of the parameters of the multi-timescale exogenous processes.
Based on these results, an adaptive compensation algorithm is proposed to
enhance the tracking performance. Finally, we illustrate the framework by an
application example in wireless heterogeneous network
A brief review of neural networks based learning and control and their applications for robots
As an imitation of the biological nervous systems, neural networks (NN), which are characterized with powerful learning ability, have been employed in a wide range of applications, such as control of complex nonlinear systems, optimization, system identification and patterns recognition etc. This article aims to bring a brief review of the state-of-art NN for the complex nonlinear systems. Recent progresses of NNs in both theoretical developments and practical applications are investigated and surveyed. Specifically, NN based robot learning and control applications were further reviewed, including NN based robot manipulator control, NN based human robot interaction and NN based behavior recognition and generation
Constrained Nonlinear Model Predictive Control of an MMA Polymerization Process via Evolutionary Optimization
In this work, a nonlinear model predictive controller is developed for a
batch polymerization process. The physical model of the process is
parameterized along a desired trajectory resulting in a trajectory linearized
piecewise model (a multiple linear model bank) and the parameters are
identified for an experimental polymerization reactor. Then, a multiple model
adaptive predictive controller is designed for thermal trajectory tracking of
the MMA polymerization. The input control signal to the process is constrained
by the maximum thermal power provided by the heaters. The constrained
optimization in the model predictive controller is solved via genetic
algorithms to minimize a DMC cost function in each sampling interval.Comment: 12 pages, 9 figures, 28 reference
Stability Properties of the Adaptive Horizon Multi-Stage MPC
This paper presents an adaptive horizon multi-stage model-predictive control
(MPC) algorithm. It establishes appropriate criteria for recursive feasibility
and robust stability using the theory of input-to-state practical stability
(ISpS). The proposed algorithm employs parametric nonlinear programming (NLP)
sensitivity and terminal ingredients to determine the minimum stabilizing
prediction horizon for all the scenarios considered in the subsequent
iterations of the multi-stage MPC. This technique notably decreases the
computational cost in nonlinear model-predictive control systems with
uncertainty, as they involve solving large and complex optimization problems.
The efficacy of the controller is illustrated using three numerical examples
that illustrate a reduction in computational delay in multi-stage MPC.Comment: Accepted for publication in Elsevier's Journal of Process Contro
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