On Control and Estimation of Large and Uncertain Systems

This thesis contains an introduction and six papers about the control and estimation of large and uncertain systems. The first paper poses and solves a deterministic version of the multiple-model estimation problem for finite sets of linear systems. The estimate is an interpolation of Kalman filter estimates. It achieves a provided energy gain bound from disturbances to the point-wise estimation error, given that the gain bound is feasible. The second paper shows how to compute upper and lower bounds for the smallest feasible gain bound. The bounds are computed via Riccati recursions. The third paper proves that it is sufficient to consider observer-based feedback in output-feedback control of linear systems with uncertain parameters, where the uncertain parameters belong to a finite set. The paper also contains an example of a discrete-time integrator with unknown gain. The fourth paper argues that the current methods for analyzing the robustness of large systems with structured uncertainty do not distinguish between sparse and dense perturbations and proposes a new robustness measure that captures sparsity. The paper also thoroughly analyzes this new measure. In particular, it proposes an upper bound that is amenable to distributed computation and valuable for control design. The fifth paper solves the problem of localized state-feedback L2 control with communication delay for large discrete-time systems. The synthesis procedure can be performed for each node in parallel. The paper combines the localized state-feedback controller with a localized Kalman filter to synthesize a localized output feedback controller that stabilizes the closed-loop subject to communication constraints. The sixth paper concerns optimal linear-quadratic team-decision problems where the team does not have access to the model. Instead, the players must learn optimal policies by interacting with the environment. The paper contains algorithms and regret bounds for the first- and zeroth-order information feedback

Huber Kalman Filter for Wi-Fi based Vehicle Driver\u27s Respiration Detection

The use of breath detection in vehicles can reduce the number of vehicular accidents caused by drivers in poor physical condition. Prior studies of contactless respiration detection mainly targeted a static person. However, there are emerging applications to sense a driver, with emphasis on contactless methods. For example, being able to detect a driver\u27s respiration while driving by using a vehicular Wi-Fi system can significantly enhance driving safety. The sensing system can be mounted on the back of the driver\u27s seat, and it can sense the tiny chest displacement of the driver via Wi-Fi signals. The body displacement and car vibrations could introduce significant noise in the sensed signal. The noise then needs to be filtered to obtain the driver\u27s respiration. In this work, the noise in the sensed signal is proposed to be reduced using a Huber Kalman filter to restore the original respiration curve. Through several experiments in terms of different drivers, different car models, multiple passengers, and abnormal breathing, we demonstrate the accuracy and robustness of the Huber Kalman filter in driver\u27s respiration

Interference suppression techniques for OPM-based MEG: Opportunities and challenges

One of the primary technical challenges facing magnetoencephalography (MEG) is that the magnitude of neuromagnetic fields is several orders of magnitude lower than interfering signals. Recently, a new type of sensor has been developed – the optically pumped magnetometer (OPM). These sensors can be placed directly on the scalp and move with the head during participant movement, making them wearable. This opens up a range of exciting experimental and clinical opportunities for OPM-based MEG experiments, including paediatric studies, and the incorporation of naturalistic movements into neuroimaging paradigms. However, OPMs face some unique challenges in terms of interference suppression, especially in situations involving mobile participants, and when OPMs are integrated with electrical equipment required for naturalistic paradigms, such as motion capture systems. Here we briefly review various hardware solutions for OPM interference suppression. We then outline several signal processing strategies aimed at increasing the signal from neuromagnetic sources. These include regression-based strategies, temporal filtering and spatial filtering approaches. The focus is on the practical application of these signal processing algorithms to OPM data. In a similar vein, we include two worked-through experiments using OPM data collected from a whole-head sensor array. These tutorial-style examples illustrate how the steps for suppressing external interference can be implemented, including the associated data and code so that researchers can try the pipelines for themselves. With the popularity of OPM-based MEG rising, there will be an increasing need to deal with interference suppression. We hope this practical paper provides a resource for OPM-based MEG researchers to build upon

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available