Robustifying Event-Triggered Control to Measurement Noise

While many event-triggered control strategies are available in the literature, most of them are designed ignoring the presence of measurement noise. As measurement noise is omnipresent in practice and can have detrimental effects, for instance, by inducing Zeno behavior in the closed-loop system and with that the lack of a positive lower bound on the inter-event times, rendering the event-triggered control design practically useless, it is of great importance to address this gap in the literature. To do so, we present a general framework for set stabilization of (distributed) event-triggered control systems affected by additive measurement noise. It is shown that, under general conditions, Zeno-free static as well as dynamic triggering rules can be designed such that the closed-loop system satisfies an input-to-state practical set stability property. We ensure Zeno-freeness by proving the existence of a uniform strictly positive lower-bound on the minimum inter-event time. The general framework is applied to point stabilization and consensus problems as particular cases, where we show that, under similar assumptions as the original work, existing schemes can be redesigned to robustify them to measurement noise. Consequently, using this framework, noise-robust triggering conditions can be designed both from the ground up and by simple redesign of several important existing schemes. Simulation results are provided that illustrate the strengths of this novel approach

Co-design of a controller and its digital implementation: the MOBY-DIC2 toolbox for embedded model predictive control

Several software tools are available in the literature for the design and embedded implementation of linear model predictive control (MPC), both in its implicit and explicit (either exact or approximate) forms. Most of them generate C code for easy implementation on a microcontroller, and the others can convert the C code into hardware description language code for implementation on a field programmable gate array (FPGA). However, a unified tool allowing one to generate efficient embedded MPC for an FPGA, starting from the definition of the plant and its constraints, was still missing. The MOBY-DIC2 toolbox described in this brief bridges this gap. To illustrate its functionalities, the tool is exploited to embed the controller and observer for a real buck power converter in an FPGA. This implementation achieves a latency of about 30 µs with the implicit controller and 240 μs with the approximate explicit controller

Observer designs for experimental non-smooth and discontinuous systems

This brief presents the design and implementation of observer design strategies for experimental non-smooth continuous and discontinuous systems. First, a piece-wise linear observer is implemented for an experimental setup consisting of a harmonically excited flexible steel beam with a one-sided support which can be considered as a benchmark for a class of flexible mechanical systems with one-sided restoring characteristics. Second, an observer is developed for an experimental setup that describes a dynamic rotor system which is a benchmark for motion systems with friction and flexibility. In both cases, the implemented observers guarantee global asymptotic stability of the estimation error dynamic in theory. Simulation and experimental results are presented to demonstrate the performance of the observers in practice. These results support the use of (switched) observers to achieve state reconstruction for such non-smooth and discontinuous mechanical systems

Constraint-Adaptive MPC for linear systems: A system-theoretic framework for speeding up MPC through online constraint removal

Reducing the computation time of model predictive control (MPC) is important, especially for systems constrained by many state constraints. In this paper, we propose a new online constraint removal framework for linear systems, for which we coin the term constraint-adaptive MPC (ca-MPC). In so-called exact ca-MPC, we adapt the imposed constraints by removing, at each time-step, a subset of the state constraints in order to reduce the computational complexity of the receding-horizon optimal control problem, while ensuring that the closed-loop behavior is {\em identical} to that of the original MPC law. We also propose an approximate ca-MPC scheme in which a further reduction of computation time can be accomplished by a tradeoff with closed-loop performance, while still preserving recursive feasibility, stability, and constraint satisfaction properties. The online constraint removal exploits fast backward and forward reachability computations combined with optimality properties

The key driver method

This chapter is a re-worked version of a paper for the International Conference on System Engineering and Applications (ICSSEA) 2006

Urgency-aware optimal routing in repeated games through artificial currencies

When people choose routes minimizing their individual delay, the aggregate congestion can be much higher compared to that experienced by a centrally-imposed routing. Yet centralized routing is incompatible with the presence of self-interested users. How can we reconcile the two? In this paper we address this question within a repeated game framework and propose a fair incentive mechanism based on artificial currencies that routes selfish users in a system-optimal fashion, while accounting for their temporal preferences. We instantiate the framework in a parallel-network whereby users commute repeatedly (e.g., daily) from a common start node to the end node. Thereafter, we focus on the specific two-arcs case whereby, based on an artificial currency, the users are charged when traveling on the first, fast arc, whilst they are rewarded when traveling on the second, slower arc. We assume the users to be rational and model their choices through a game where each user aims at minimizing a combination of today's discomfort, weighted by their urgency, and the average discomfort encountered for the rest of the period (e.g., a week). We show that, if prices of artificial currencies are judiciously chosen, the routing pattern converges to a system-optimal solution, while accommodating the users’ urgency. We complement our study through numerical simulations. Our results show that it is possible to achieve a system-optimal solution whilst significantly reducing the users’ perceived discomfort when compared to a centralized optimal but urgency-unaware policy

Projection-based Controllers with Inherent Dissipativity Properties

Projection-based Controllers (PBCs) are currently gaining traction in both scientific and engineering communities. In PBCs, the input-output signals of the controller are kept in sector-bounded sets by means of projection. In this paper, we will show how this projection operation can be used to induce useful passivity or general dissipativity properties on broad classes of (unprojected) nonlinear controllers that otherwise would not have these properties. The induced dissipativity properties of PBC will be exploited to guarantee asymptotic stability of negative feedback interconnections of passive nonlinear plants and suitably designed PBC, under mild conditions. Proper generalizations to so-called $(q,s,r)$-dissipativity will be presented as well. For illustrating the effectiveness of PBC control design via these passivity-based techniques, two numerical examples are provided.Comment: to be presented at IEEE CDC 2023 (Singapore

Lattice Boltzmann for Binary Fluids with Suspended Colloids

A new description of the binary fluid problem via the lattice Boltzmann method is presented which highlights the use of the moments in constructing two equilibrium distribution functions. This offers a number of benefits, including better isotropy, and a more natural route to the inclusion of multiple relaxation times for the binary fluid problem. In addition, the implementation of solid colloidal particles suspended in the binary mixture is addressed, which extends the solid-fluid boundary conditions for mass and momentum to include a single conserved compositional order parameter. A number of simple benchmark problems involving a single particle at or near a fluid-fluid interface are undertaken and show good agreement with available theoretical or numerical results.Comment: 10 pages, 4 figures, ICMMES 200