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Timing-Robust Control over the Cloud Using On-Line Parametric Optimization

Nyberg Carlsson, Max LU orcid ; Vreman, Nils LU and Cervin, Anton LU orcid (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:
author
; and
organization
publishing date
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}},
}