10,925 research outputs found
Sequence-based Anytime Control
We present two related anytime algorithms for control of nonlinear systems
when the processing resources available are time-varying. The basic idea is to
calculate tentative control input sequences for as many time steps into the
future as allowed by the available processing resources at every time step.
This serves to compensate for the time steps when the processor is not
available to perform any control calculations. Using a stochastic Lyapunov
function based approach, we analyze the stability of the resulting closed loop
system for the cases when the processor availability can be modeled as an
independent and identically distributed sequence and via an underlying Markov
chain. Numerical simulations indicate that the increase in performance due to
the proposed algorithms can be significant.Comment: 14 page
Sparse and Constrained Stochastic Predictive Control for Networked Systems
This article presents a novel class of control policies for networked control
of Lyapunov-stable linear systems with bounded inputs. The control channel is
assumed to have i.i.d. Bernoulli packet dropouts and the system is assumed to
be affected by additive stochastic noise. Our proposed class of policies is
affine in the past dropouts and saturated values of the past disturbances. We
further consider a regularization term in a quadratic performance index to
promote sparsity in control. We demonstrate how to augment the underlying
optimization problem with a constant negative drift constraint to ensure
mean-square boundedness of the closed-loop states, yielding a convex quadratic
program to be solved periodically online. The states of the closed-loop plant
under the receding horizon implementation of the proposed class of policies are
mean square bounded for any positive bound on the control and any non-zero
probability of successful transmission
Improved Distributed Estimation Method for Environmental\ud time-variant Physical variables in Static Sensor Networks
In this paper, an improved distributed estimation scheme for static sensor networks is developed. The scheme is developed for environmental time-variant physical variables. The main contribution of this work is that the algorithm in [1]-[3] has been extended, and a filter has been designed with weights, such that the variance of the estimation errors is minimized, thereby improving the filter design considerably\ud
and characterizing the performance limit of the filter, and thereby tracking a time-varying signal. Moreover, certain parameter optimization is alleviated with the application of a particular finite impulse response (FIR) filter. Simulation results are showing the effectiveness of the developed estimation algorithm
A Unified Analysis of Stochastic Optimization Methods Using Jump System Theory and Quadratic Constraints
We develop a simple routine unifying the analysis of several important
recently-developed stochastic optimization methods including SAGA, Finito, and
stochastic dual coordinate ascent (SDCA). First, we show an intrinsic
connection between stochastic optimization methods and dynamic jump systems,
and propose a general jump system model for stochastic optimization methods.
Our proposed model recovers SAGA, SDCA, Finito, and SAG as special cases. Then
we combine jump system theory with several simple quadratic inequalities to
derive sufficient conditions for convergence rate certifications of the
proposed jump system model under various assumptions (with or without
individual convexity, etc). The derived conditions are linear matrix
inequalities (LMIs) whose sizes roughly scale with the size of the training
set. We make use of the symmetry in the stochastic optimization methods and
reduce these LMIs to some equivalent small LMIs whose sizes are at most 3 by 3.
We solve these small LMIs to provide analytical proofs of new convergence rates
for SAGA, Finito and SDCA (with or without individual convexity). We also
explain why our proposed LMI fails in analyzing SAG. We reveal a key difference
between SAG and other methods, and briefly discuss how to extend our LMI
analysis for SAG. An advantage of our approach is that the proposed analysis
can be automated for a large class of stochastic methods under various
assumptions (with or without individual convexity, etc).Comment: To Appear in Proceedings of the Annual Conference on Learning Theory
(COLT) 201
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