Model-Based Policy Search for Automatic Tuning of Multivariate PID Controllers

PID control architectures are widely used in industrial applications. Despite their low number of open parameters, tuning multiple, coupled PID controllers can become tedious in practice. In this paper, we extend PILCO, a model-based policy search framework, to automatically tune multivariate PID controllers purely based on data observed on an otherwise unknown system. The system's state is extended appropriately to frame the PID policy as a static state feedback policy. This renders PID tuning possible as the solution of a finite horizon optimal control problem without further a priori knowledge. The framework is applied to the task of balancing an inverted pendulum on a seven degree-of-freedom robotic arm, thereby demonstrating its capabilities of fast and data-efficient policy learning, even on complex real world problems.Comment: Accepted final version to appear in 2017 IEEE International Conference on Robotics and Automation (ICRA

Joint Beamforming and Power Control in Coordinated Multicell: Max-Min Duality, Effective Network and Large System Transition

This paper studies joint beamforming and power control in a coordinated multicell downlink system that serves multiple users per cell to maximize the minimum weighted signal-to-interference-plus-noise ratio. The optimal solution and distributed algorithm with geometrically fast convergence rate are derived by employing the nonlinear Perron-Frobenius theory and the multicell network duality. The iterative algorithm, though operating in a distributed manner, still requires instantaneous power update within the coordinated cluster through the backhaul. The backhaul information exchange and message passing may become prohibitive with increasing number of transmit antennas and increasing number of users. In order to derive asymptotically optimal solution, random matrix theory is leveraged to design a distributed algorithm that only requires statistical information. The advantage of our approach is that there is no instantaneous power update through backhaul. Moreover, by using nonlinear Perron-Frobenius theory and random matrix theory, an effective primal network and an effective dual network are proposed to characterize and interpret the asymptotic solution.Comment: Some typos in the version publised in the IEEE Transactions on Wireless Communications are correcte

Frequency domain iterative feedforward/feedback tuning for MIMO ANVC

A new gradient estimation method is proposed that relies on efficient computation of the negative gradient of the average linear quadratic cost function completely in the frequency domain. Based on the proposed theory, a new iterative tuning method is developed to solve linear multi-input multi-output Active Noise/Vibration Control problems. Compared with published iterative tuning methods, the new method has the added advantage that the number of experiments per iteration is reduced to one. Combined with the other advantage of relativelysimple controller structures, the method is suitable for real-time implementation as an adaptive controlle

A Python package for the Virtual Reference Feedback Tuning, a direct data-driven control method

In this paper, thepyvrft, a Python package for the data-driven control method known as Virtual Reference Feedback Tuning (VRFT), is presented. Virtual Reference Feedback Tuning is a control designtechnique that does not use a mathematical model from the process to be controlled. Instead, it uses input and output data from an experiment to compute the controller’s parameters, aiming to minimizean H2 Model Reference criterion. The package implements an unbiased estimate of the controller for MIMO (Multiple-Input Multiple-Output) processes using both least-squares and instrumental variabletechniques. The package also provides accessory functions to import data and to perform MIMO systems simulations, together with some examples

A stochastic approximation algorithm for stochastic semidefinite programming

Motivated by applications to multi-antenna wireless networks, we propose a distributed and asynchronous algorithm for stochastic semidefinite programming. This algorithm is a stochastic approximation of a continous- time matrix exponential scheme regularized by the addition of an entropy-like term to the problem's objective function. We show that the resulting algorithm converges almost surely to an $\varepsilon$-approximation of the optimal solution requiring only an unbiased estimate of the gradient of the problem's stochastic objective. When applied to throughput maximization in wireless multiple-input and multiple-output (MIMO) systems, the proposed algorithm retains its convergence properties under a wide array of mobility impediments such as user update asynchronicities, random delays and/or ergodically changing channels. Our theoretical analysis is complemented by extensive numerical simulations which illustrate the robustness and scalability of the proposed method in realistic network conditions.Comment: 25 pages, 4 figure

Decomposition by Partial Linearization: Parallel Optimization of Multi-Agent Systems

We propose a novel decomposition framework for the distributed optimization of general nonconvex sum-utility functions arising naturally in the system design of wireless multiuser interfering systems. Our main contributions are: i) the development of the first class of (inexact) Jacobi best-response algorithms with provable convergence, where all the users simultaneously and iteratively solve a suitably convexified version of the original sum-utility optimization problem; ii) the derivation of a general dynamic pricing mechanism that provides a unified view of existing pricing schemes that are based, instead, on heuristics; and iii) a framework that can be easily particularized to well-known applications, giving rise to very efficient practical (Jacobi or Gauss-Seidel) algorithms that outperform existing adhoc methods proposed for very specific problems. Interestingly, our framework contains as special cases well-known gradient algorithms for nonconvex sum-utility problems, and many blockcoordinate descent schemes for convex functions.Comment: submitted to IEEE Transactions on Signal Processin

A 2D systems approach to iterative learning control for discrete linear processes with zero Markov parameters

In this paper a new approach to iterative learning control for the practically relevant case of deterministic discrete linear plants with uniform rank greater than unity is developed. The analysis is undertaken in a 2D systems setting that, by using a strong form of stability for linear repetitive processes, allows simultaneous con-sideration of both trial-to-trial error convergence and along the trial performance, resulting in design algorithms that can be computed using Linear Matrix Inequalities (LMIs). Finally, the control laws are experimentally verified on a gantry robot that replicates a pick and place operation commonly found in a number of applications to which iterative learning control is applicable