Reduction of discrete-time two-channel delayed systems

In this letter, the reduction method is extended to time-delay systems affected by two mismatched input delays. To this end, the intrinsic feedback structure of the retarded dynamics is exploited to deduce a reduced dynamics which is free of delays. Moreover, among other possibilities, an Immersion and Invariance feedback over the reduced dynamics is designed for achieving stabilization of the original systems. A chained sampled-data dynamics is used to show the effectiveness of the proposed control strategy through simulations

Differential Dynamic Programming for time-delayed systems

Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Programming (DDP) is an optimal control method which utilizes a second-order approximation of the problem to find the control. It is fast enough to allow real-time control and has been shown to work well for trajectory optimization in robotic systems. Here we extend classic DDP to systems with multiple time-delays in the state. Being able to find optimal trajectories for time-delayed systems with DDP opens up the possibility to use richer models for system identification and control, including recurrent neural networks with multiple timesteps in the state. We demonstrate the algorithm on a two-tank continuous stirred tank reactor. We also demonstrate the algorithm on a recurrent neural network trained to model an inverted pendulum with position information only.Comment: 7 pages, 6 figures, conference, Decision and Control (CDC), 2016 IEEE 55th Conference o

Nonlinear discrete-time systems with delayed control: a reduction

In this work, the notion of reduction is introduced for discrete-time nonlinear input-delayed systems. The retarded dynamics is reduced to a new system which is free of delays and equivalent (in terms of stabilizability) to the original one. Different stabilizing strategies are proposed over the reduced model. Connections with existing predictor-based methods are discussed. The methodology is also worked out over particular classes of time-delay systems as sampled-data dynamics affected by an entire input delay

Subtraction of temperature induced phase noise in the LISA frequency band

Temperature fluctuations are expected to be one of the limiting factors for gravitational wave detectors in the very low frequency range. Here we report the characterisation of this noise source in the LISA Pathfinder optical bench and propose a method to remove its contribution from the data. Our results show that temperature fluctuations are indeed limiting our measurement below one millihertz, and that their subtraction leads to a factor 5.6 (15 dB) reduction in the noise level at the lower end of the LISA measurement band 10^{-4} Hz, which increases to 20.2 (26 dB) at even lower frequencies, i.e., 1.5x10^{-5} Hz. The method presented here can be applied to the subtraction of other noise sources in gravitational wave detectors in the general situation where multiple sensors are used to characterise the noise source.Comment: 8 pages, 6 figure

Behaviourally meaningful representations from normalisation and context-guided denoising

Many existing independent component analysis algorithms include a preprocessing stage where the inputs are sphered. This amounts to normalising the data such that all correlations between the variables are removed. In this work, I show that sphering allows very weak contextual modulation to steer the development of meaningful features. Context-biased competition has been proposed as a model of covert attention and I propose that sphering-like normalisation also allows weaker top-down bias to guide attention

Decentralized Event-Triggered Consensus of Linear Multi-agent Systems under Directed Graphs

An event-triggered control technique for consensus of multi-agent systems with general linear dynamics is presented. This paper extends previous work to consider agents that are connected using directed graphs. Additionally, the approach shown here provides asymptotic consensus with guaranteed positive inter-event time intervals. This event-triggered control method is also used in the case where communication delays are present. For the communication delay case we also show that the agents achieve consensus asymptotically and that, for every agent, the time intervals between consecutive transmissions is lower-bounded by a positive constant.Comment: 9 pages, 5 figures, A preliminary version of this manuscript has been submitted to the 2015 American Control Conferenc

Signal Reconstruction via H-infinity Sampled-Data Control Theory: Beyond the Shannon Paradigm

This paper presents a new method for signal reconstruction by leveraging sampled-data control theory. We formulate the signal reconstruction problem in terms of an analog performance optimization problem using a stable discrete-time filter. The proposed H-infinity performance criterion naturally takes intersample behavior into account, reflecting the energy distributions of the signal. We present methods for computing optimal solutions which are guaranteed to be stable and causal. Detailed comparisons to alternative methods are provided. We discuss some applications in sound and image reconstruction