92,414 research outputs found
Feedback Control Goes Wireless: Guaranteed Stability over Low-power Multi-hop Networks
Closing feedback loops fast and over long distances is key to emerging
applications; for example, robot motion control and swarm coordination require
update intervals of tens of milliseconds. Low-power wireless technology is
preferred for its low cost, small form factor, and flexibility, especially if
the devices support multi-hop communication. So far, however, feedback control
over wireless multi-hop networks has only been shown for update intervals on
the order of seconds. This paper presents a wireless embedded system that tames
imperfections impairing control performance (e.g., jitter and message loss),
and a control design that exploits the essential properties of this system to
provably guarantee closed-loop stability for physical processes with linear
time-invariant dynamics. Using experiments on a cyber-physical testbed with 20
wireless nodes and multiple cart-pole systems, we are the first to demonstrate
and evaluate feedback control and coordination over wireless multi-hop networks
for update intervals of 20 to 50 milliseconds.Comment: Accepted final version to appear in: 10th ACM/IEEE International
Conference on Cyber-Physical Systems (with CPS-IoT Week 2019) (ICCPS '19),
April 16--18, 2019, Montreal, QC, Canad
European White Book on Real-Time Power Hardware in the Loop Testing : DERlab Report No. R- 005.0
The European White Book on Real-Time-Powerhardware-in-the-Loop testing is intended to serve as a reference document on the future of testing of electrical power equipment, with speciïŹ c focus on the emerging hardware-in-the-loop activities and application thereof within testing facilities and procedures. It will provide an outlook of how this powerful tool can be utilised to support the development, testing and validation of speciïŹ cally DER equipment. It aims to report on international experience gained thus far and provides case studies on developments and speciïŹ c technical issues, such as the hardware/software interface. This white book compliments the already existing series of DERlab European white books, covering topics such as grid-inverters and grid-connected storag
Stabilization of Linear Systems Over Gaussian Networks
The problem of remotely stabilizing a noisy linear time invariant plant over
a Gaussian relay network is addressed. The network is comprised of a sensor
node, a group of relay nodes and a remote controller. The sensor and the relay
nodes operate subject to an average transmit power constraint and they can
cooperate to communicate the observations of the plant's state to the remote
controller. The communication links between all nodes are modeled as Gaussian
channels. Necessary as well as sufficient conditions for mean-square
stabilization over various network topologies are derived. The sufficient
conditions are in general obtained using delay-free linear policies and the
necessary conditions are obtained using information theoretic tools. Different
settings where linear policies are optimal, asymptotically optimal (in certain
parameters of the system) and suboptimal have been identified. For the case
with noisy multi-dimensional sources controlled over scalar channels, it is
shown that linear time varying policies lead to minimum capacity requirements,
meeting the fundamental lower bound. For the case with noiseless sources and
parallel channels, non-linear policies which meet the lower bound have been
identified
From neurons to epidemics: How trophic coherence affects spreading processes
Trophic coherence, a measure of the extent to which the nodes of a directed
network are organised in levels, has recently been shown to be closely related
to many structural and dynamical aspects of complex systems, including graph
eigenspectra, the prevalence or absence of feed-back cycles, and linear
stability. Furthermore, non-trivial trophic structures have been observed in
networks of neurons, species, genes, metabolites, cellular signalling,
concatenated words, P2P users, and world trade. Here we consider two simple yet
apparently quite different dynamical models -- one a
Susceptible-Infected-Susceptible (SIS) epidemic model adapted to include
complex contagion, the other an Amari-Hopfield neural network -- and show that
in both cases the related spreading processes are modulated in similar ways by
the trophic coherence of the underlying networks. To do this, we propose a
network assembly model which can generate structures with tunable trophic
coherence, limiting in either perfectly stratified networks or random graphs.
We find that trophic coherence can exert a qualitative change in spreading
behaviour, determining whether a pulse of activity will percolate through the
entire network or remain confined to a subset of nodes, and whether such
activity will quickly die out or endure indefinitely. These results could be
important for our understanding of phenomena such as epidemics, rumours, shocks
to ecosystems, neuronal avalanches, and many other spreading processes
Disturbance Observer-based Robust Control and Its Applications: 35th Anniversary Overview
Disturbance Observer has been one of the most widely used robust control
tools since it was proposed in 1983. This paper introduces the origins of
Disturbance Observer and presents a survey of the major results on Disturbance
Observer-based robust control in the last thirty-five years. Furthermore, it
explains the analysis and synthesis techniques of Disturbance Observer-based
robust control for linear and nonlinear systems by using a unified framework.
In the last section, this paper presents concluding remarks on Disturbance
Observer-based robust control and its engineering applications.Comment: 12 pages, 4 figure
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