260 research outputs found
Safety control of monotone systems with bounded uncertainties
Monotone systems are prevalent in models of engineering applications such as transportation and biological networks. In this paper, we investigate the problem of finding a control strategy for a discrete time positive monotone system with bounded uncertainties such that the evolution of the system is guaranteed to be confined to a safe set in the state space for all times. By exploiting monotonicity, we propose an approach to this problem which is based on constraint programming. We find control strategies that are based on repetitions of finite sequences of control actions. We show that, under assumptions made in the paper, safety control of monotone systems does not require state measurement. We demonstrate the results on a signalized urban traffic network, where the safety objective is to keep the traffic flow free of congestion.This work was partially supported by the NSF under grants CPS-1446151 and CMMI-1400167. (CPS-1446151 - NSF; CMMI-1400167 - NSF
Convexity and Robustness of Dynamic Traffic Assignment and Freeway Network Control
We study the use of the System Optimum (SO) Dynamic Traffic Assignment (DTA)
problem to design optimal traffic flow controls for freeway networks as modeled
by the Cell Transmission Model, using variable speed limit, ramp metering, and
routing. We consider two optimal control problems: the DTA problem, where
turning ratios are part of the control inputs, and the Freeway Network Control
(FNC), where turning ratios are instead assigned exogenous parameters. It is
known that relaxation of the supply and demand constraints in the cell-based
formulations of the DTA problem results in a linear program. However, solutions
to the relaxed problem can be infeasible with respect to traffic dynamics.
Previous work has shown that such solutions can be made feasible by proper
choice of ramp metering and variable speed limit control for specific traffic
networks. We extend this procedure to arbitrary networks and provide insight
into the structure and robustness of the proposed optimal controllers. For a
network consisting only of ordinary, merge, and diverge junctions, where the
cells have linear demand functions and affine supply functions with identical
slopes, and the cost is the total traffic volume, we show, using the maximum
principle, that variable speed limits are not needed in order to achieve
optimality in the FNC problem, and ramp metering is sufficient. We also prove
bounds on perturbation of the controlled system trajectory in terms of
perturbations in initial traffic volume and exogenous inflows. These bounds,
which leverage monotonicity properties of the controlled trajectory, are shown
to be in close agreement with numerical simulation results
On resilient control of dynamical flow networks
Resilience has become a key aspect in the design of contemporary
infrastructure networks. This comes as a result of ever-increasing loads,
limited physical capacity, and fast-growing levels of interconnectedness and
complexity due to the recent technological advancements. The problem has
motivated a considerable amount of research within the last few years,
particularly focused on the dynamical aspects of network flows, complementing
more classical static network flow optimization approaches. In this tutorial
paper, a class of single-commodity first-order models of dynamical flow
networks is considered. A few results recently appeared in the literature and
dealing with stability and robustness of dynamical flow networks are gathered
and originally presented in a unified framework. In particular, (differential)
stability properties of monotone dynamical flow networks are treated in some
detail, and the notion of margin of resilience is introduced as a quantitative
measure of their robustness. While emphasizing methodological aspects --
including structural properties, such as monotonicity, that enable tractability
and scalability -- over the specific applications, connections to
well-established road traffic flow models are made.Comment: accepted for publication in Annual Reviews in Control, 201
Formal Synthesis of Control Strategies for Positive Monotone Systems
We design controllers from formal specifications for positive discrete-time
monotone systems that are subject to bounded disturbances. Such systems are
widely used to model the dynamics of transportation and biological networks.
The specifications are described using signal temporal logic (STL), which can
express a broad range of temporal properties. We formulate the problem as a
mixed-integer linear program (MILP) and show that under the assumptions made in
this paper, which are not restrictive for traffic applications, the existence
of open-loop control policies is sufficient and almost necessary to ensure the
satisfaction of STL formulas. We establish a relation between satisfaction of
STL formulas in infinite time and set-invariance theories and provide an
efficient method to compute robust control invariant sets in high dimensions.
We also develop a robust model predictive framework to plan controls optimally
while ensuring the satisfaction of the specification. Illustrative examples and
a traffic management case study are included.Comment: To appear in IEEE Transactions on Automatic Control (TAC) (2018), 16
pages, double colum
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