Distributed Constrained Recursive Nonlinear Least-Squares Estimation: Algorithms and Asymptotics

This paper focuses on the problem of recursive nonlinear least squares parameter estimation in multi-agent networks, in which the individual agents observe sequentially over time an independent and identically distributed (i.i.d.) time-series consisting of a nonlinear function of the true but unknown parameter corrupted by noise. A distributed recursive estimator of the \emph{consensus} + \emph{innovations} type, namely $\mathcal{CIWNLS}$, is proposed, in which the agents update their parameter estimates at each observation sampling epoch in a collaborative way by simultaneously processing the latest locally sensed information~(\emph{innovations}) and the parameter estimates from other agents~(\emph{consensus}) in the local neighborhood conforming to a pre-specified inter-agent communication topology. Under rather weak conditions on the connectivity of the inter-agent communication and a \emph{global observability} criterion, it is shown that at every network agent, the proposed algorithm leads to consistent parameter estimates. Furthermore, under standard smoothness assumptions on the local observation functions, the distributed estimator is shown to yield order-optimal convergence rates, i.e., as far as the order of pathwise convergence is concerned, the local parameter estimates at each agent are as good as the optimal centralized nonlinear least squares estimator which would require access to all the observations across all the agents at all times. In order to benchmark the performance of the proposed distributed $\mathcal{CIWNLS}$ estimator with that of the centralized nonlinear least squares estimator, the asymptotic normality of the estimate sequence is established and the asymptotic covariance of the distributed estimator is evaluated. Finally, simulation results are presented which illustrate and verify the analytical findings.Comment: 28 pages. Initial Submission: Feb. 2016, Revised: July 2016, Accepted: September 2016, To appear in IEEE Transactions on Signal and Information Processing over Networks: Special Issue on Inference and Learning over Network

A distributed predictive control approach for periodic flow-based networks: application to drinking water systems

This paper proposes a distributed model predictive control approach designed to work in a cooperative manner for controlling flow-based networks showing periodic behaviours. Under this distributed approach, local controllers cooperate in order to enhance the performance of the whole flow network avoiding the use of a coordination layer. Alternatively, controllers use both the monolithic model of the network and the given global cost function to optimise the control inputs of the local controllers but taking into account the effect of their decisions over the remainder subsystems conforming the entire network. In this sense, a global (all-to-all) communication strategy is considered. Although the Pareto optimality cannot be reached due to the existence of non-sparse coupling constraints, the asymptotic convergence to a Nash equilibrium is guaranteed. The resultant strategy is tested and its effectiveness is shown when applied to a large-scale complex flow-based network: the Barcelona drinking water supply system.Peer ReviewedPostprint (author's final draft

Robust model-based fault estimation and fault-tolerant control : towards an integration

To maintain robustly acceptable system performance, fault estimation (FE) is adopted to reconstruct fault signals and a fault-tolerant control (FTC) controller is employed to compensate for the fault effects. The inevitably existing system and estimation uncertainties result in the so-called bi-directional robustness interactions defined in this work between the FE and FTC functions, which gives rise to an important and challenging yet open integrated FE/FTC design problem concerned in this thesis. An example of fault-tolerant wind turbine pitch control is provided as a practical motivation for integrated FE/FTC design.To achieve the integrated FE/FTC design for linear systems, two strategies are proposed. A H∞ optimization based approach is first proposed for linear systems with differentiable matched faults, using augmented state unknown input observer FE and adaptive sliding mode FTC. The integrated design is converted into an observer-based robust control problem solved via a single-step linear matrix inequality formulation.With the purpose of an integrated design with more freedom and also applicable for a range of general fault scenarios, a decoupling approach is further proposed. This approach can estimate and compensate unmatched non-differentiable faults and perturbations by combined adaptive sliding mode augmented state unknown input observer and backstepping FTC controller. The observer structure renders a recovery of the Separation Principle and allows great freedom for the FE/FTC designs.Integrated FE/FTC design strategies are also developed for Takagi-Sugeno fuzzy modelling nonlinear systems, Lipschitz nonlinear systems, and large-scale interconnected systems, based on extensions of the H∞ optimization approach for linear systems.Tutorial examples are used to illustrate the design strategies for each approach. Physical systems, a 3-DOF (degree-of-freedom) helicopter and a 3-machine power system, are used to provide further evaluation of the proposed integrated FE/FTC strategies. Future research on this subject is also outlined

Battery Integration to the Power Grid and Frequency Regulation

The growing interest in battery energy storage systems (BESSs) at both small-scale and large-scale levels in power grids highlights their significant roles in future power grids. The future grid in the presence of renewable resources such as hydro-power, wind, and solar energy face two major technical challenges; location of potential renewable sources and uncertainty, which can cause serious issues such as blackouts in power systems. However, in both cases, BESSs is one of the promising solutions. While small-scale battery energy storage systems can decrease the need for long-distance heavy load transportation in the power system, which is one of the primary reasons for the blackouts, large-scale BESSs can provide load frequency control to their fast response. A well-managed large-scale battery integration to the power grid reduces load flow deviation in the tie-lines and frequency oscillations caused by small load disturbances. In general, the battery’s small time-constants, fast response, and high energy density creates a large spectrum of potential applications for BESSs in power systems. This thesis focuses on the battery integration to the power system in both distribution and transmission level to evaluate its potential impact on power grid; then, it focuses on the frequency regulation by taking the advantage of the small-scale and large-scale batteries. The first part of this research investigates the small-scale battery integration to the power system in the distribution level and its potential effects on the transmission level\u27s frequency deviation. It is shown that the higher penetration level of the renewables can cause serious issues such as overvoltage, thermal, and frequency deviation issues in the distribution and transmission levels under current tariffs. The load profile\u27s sensitivity to the battery characteristics and its efficiency, and electricity tariffs are studied. Then, tariff modification as one of the promising tools for load profile adjustment is introduced to modify the customers\u27 load profile and mitigate the frequency deviation. The results under modified tariffs are compared to the frequency control results in a small microgrid using model predictive control. In the second chapter, the effect of those new loads on the power flow and inter-area oscillation modes are studied. Then a servomechanism controller is designed to damp the inter-area oscillations. Considering the small time constant of the large-scale battery, we model a large-scale battery integration to the power system to study the effect of its integration on the power system\u27s stability. Finally, centralized and decentralized hybrid controls are designed on the inverter\u27s firing angle to manage the large-scale battery\u27s active and reactive power to damp the oscillations. Results show a notable improvement on frequency deviations

Control Strategies for Complex Systems for Use in Aerospace Avionics

Coordinated Science Laboratory was formerly known as Control Systems LaboratoryAir Force Office of Scientific Research (AFSC) / AF-AFOSR 78-363

Multimodeling, Singular Perturbations and Stochastic Decision Problems

Coordinated Science Laboratory was formerly known as Control Systems LaboratoryJoint Services Electronics Program / N00014-79-C-042

Singular Perturbations and Time-Scale Methods in Control Theory: Survey 1976-1982

Coordinated Science Laboratory was formerly known as Control Systems LaboratoryJoint Services Electronics Program / N00014-79-C-0424U.S. Air Force / AFOSR 78-363

Novel optimization schemes for service composition in the cloud using learning automata-based matrix factorization

A thesis submitted to the University of Bedfordshire, in partial fulfilment of the requirements for the degree of Doctor of PhilosophyService Oriented Computing (SOC) provides a framework for the realization of loosely couple service oriented applications (SOA). Web services are central to the concept of SOC. They possess several benefits which are useful to SOA e.g. encapsulation, loose coupling and reusability. Using web services, an application can embed its functionalities within the business process of other applications. This is made possible through web service composition. Web services are composed to provide more complex functions for a service consumer in the form of a value added composite service. Currently, research into how web services can be composed to yield QoS (Quality of Service) optimal composite service has gathered significant attention. However, the number and services has risen thereby increasing the number of possible service combinations and also amplifying the impact of network on composite service performance. QoS-based service composition in the cloud addresses two important sub-problems; Prediction of network performance between web service nodes in the cloud, and QoS-based web service composition. We model the former problem as a prediction problem while the later problem is modelled as an NP-Hard optimization problem due to its complex, constrained and multi-objective nature. This thesis contributed to the prediction problem by presenting a novel learning automata-based non-negative matrix factorization algorithm (LANMF) for estimating end-to-end network latency of a composition in the cloud. LANMF encodes each web service node as an automaton which allows v it to estimate its network coordinate in such a way that prediction error is minimized. Experiments indicate that LANMF is more accurate than current approaches. The thesis also contributed to the QoS-based service composition problem by proposing four evolutionary algorithms; a network-aware genetic algorithm (INSGA), a K-mean based genetic algorithm (KNSGA), a multi-population particle swarm optimization algorithm (NMPSO), and a non-dominated sort fruit fly algorithm (NFOA). The algorithms adopt different evolutionary strategies coupled with LANMF method to search for low latency and QoSoptimal solutions. They also employ a unique constraint handling method used to penalize solutions that violate user specified QoS constraints. Experiments demonstrate the efficiency and scalability of the algorithms in a large scale environment. Also the algorithms outperform other evolutionary algorithms in terms of optimality and calability. In addition, the thesis contributed to QoS-based web service composition in a dynamic environment. This is motivated by the ineffectiveness of the four proposed algorithms in a dynamically hanging QoS environment such as a real world scenario. Hence, we propose a new cellular automata-based genetic algorithm (CellGA) to address the issue. Experimental results show the effectiveness of CellGA in solving QoS-based service composition in dynamic QoS environment

Adaptive Control

Adaptive control has been a remarkable field for industrial and academic research since 1950s. Since more and more adaptive algorithms are applied in various control applications, it is becoming very important for practical implementation. As it can be confirmed from the increasing number of conferences and journals on adaptive control topics, it is certain that the adaptive control is a significant guidance for technology development.The authors the chapters in this book are professionals in their areas and their recent research results are presented in this book which will also provide new ideas for improved performance of various control application problems