Timing-Robust Control over the Cloud Using On-Line Parametric Optimization
(2023) In IFAC Proceedings Volumes (IFAC-PapersOnline) 56(2). p.5560-5565- Abstract
- In this paper, we present a heuristic method for adapting a networked linear feedback controller to improve its robustness to timing complications, such as long delays, aborted computations, and dropped packets. The core concept of the approach is to log successful sampling and actuation events and then, at discrete time-points, use non-convex parametric optimization to improve the expected performance of the controller under the assumption that the future timing behavior will be similar to the current one. To reduce the time complexity of the optimization algorithm, automatic differentiation is integrated for efficient gradient descent. The approach is evaluated on a physical ball and beam plant, where both the controller and optimization... (More)
- In this paper, we present a heuristic method for adapting a networked linear feedback controller to improve its robustness to timing complications, such as long delays, aborted computations, and dropped packets. The core concept of the approach is to log successful sampling and actuation events and then, at discrete time-points, use non-convex parametric optimization to improve the expected performance of the controller under the assumption that the future timing behavior will be similar to the current one. To reduce the time complexity of the optimization algorithm, automatic differentiation is integrated for efficient gradient descent. The approach is evaluated on a physical ball and beam plant, where both the controller and optimization algorithm can be located in the Cloud. (Less)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/b90bbc6f-8cf5-48db-acf2-54b06f244634
- author
- Nyberg Carlsson, Max LU ; Vreman, Nils LU and Cervin, Anton LU
- organization
- publishing date
- 2023
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- Fault-tolerance, Data-driven robust control, Adaptive control
- in
- IFAC Proceedings Volumes (IFAC-PapersOnline)
- volume
- 56
- issue
- 2
- pages
- 6 pages
- publisher
- IFAC Secretariat
- external identifiers
-
- scopus:85184962797
- ISSN
- 2405-8963
- DOI
- 10.1016/j.ifacol.2023.10.457
- project
- Robust and Secure Control over the Cloud
- PhD student project: Robust Control over the Cloud
- language
- English
- LU publication?
- yes
- id
- b90bbc6f-8cf5-48db-acf2-54b06f244634
- date added to LUP
- 2023-04-12 08:57:45
- date last changed
- 2024-06-05 11:49:08
@article{b90bbc6f-8cf5-48db-acf2-54b06f244634, abstract = {{In this paper, we present a heuristic method for adapting a networked linear feedback controller to improve its robustness to timing complications, such as long delays, aborted computations, and dropped packets. The core concept of the approach is to log successful sampling and actuation events and then, at discrete time-points, use non-convex parametric optimization to improve the expected performance of the controller under the assumption that the future timing behavior will be similar to the current one. To reduce the time complexity of the optimization algorithm, automatic differentiation is integrated for efficient gradient descent. The approach is evaluated on a physical ball and beam plant, where both the controller and optimization algorithm can be located in the Cloud.}}, author = {{Nyberg Carlsson, Max and Vreman, Nils and Cervin, Anton}}, issn = {{2405-8963}}, keywords = {{Fault-tolerance; Data-driven robust control; Adaptive control}}, language = {{eng}}, number = {{2}}, pages = {{5560--5565}}, publisher = {{IFAC Secretariat}}, series = {{IFAC Proceedings Volumes (IFAC-PapersOnline)}}, title = {{Timing-Robust Control over the Cloud Using On-Line Parametric Optimization}}, url = {{https://lup.lub.lu.se/search/files/143732879/ifac23_cloud.pdf}}, doi = {{10.1016/j.ifacol.2023.10.457}}, volume = {{56}}, year = {{2023}}, }