IEEE Trans Autom Control Research Articles

Lyapunov‐based MPC with robust moving horizon estimation and its triggered implementation

In this work, we consider moving horizon state estimation (MHE)‐based model predictive control (MPC) of nonlinear systems. Specifically, we consider the Lyapunov‐based MPC (LMPC) developed in (Mhaskar et al., IEEE Trans Autom Control. 2005;50:1670–1680; Syst Control Lett. 2006;55:650–659) and the robust MHE (RMHE) developed in (Liu J, Chem Eng Sci. 2013;93:376–386). First, we focus on the case that the RMHE and the LMPC are evaluated every sampling time. An estimate of the stability region of the output control system is first established; and then sufficient conditions under which the closed‐loop system is guaranteed to be stable are derived. Subsequently, we propose a triggered implementation strategy for the RMHE‐based LMPC to reduce its computational load. The triggering condition is designed based on measurements of the output and its time derivatives. To ensure the closed‐loop stability, the formulations of the RMHE and the LMPC are also modified accordingly to account for the potential open‐loop operation. A chemical process is used to illustrate the proposed approaches. © 2013 American Institute of Chemical Engineers AIChE J, 59: 4273–4286, 2013

Model selection criteria for overdispersed data and their application to the characterization of a host-parasite relationship

In the statistical modeling of a biological or ecological phenomenon, selecting an optimal model among a collection of candidates is a critical issue. To identify an optimal candidate model, a number of model selection criteria have been developed and investigated based on estimating Kullback’s (Information theory and statistics. Dover, Mineola, 1968) directed or symmetric divergence. Criteria that target the directed divergence include the Akaike (2nd international symposium on information theory. Akademia Kiado, Budapest, Hungary, pp 267–281, 1973, IEEE Trans Autom Control AC 19:716–723, 1974) information criterion, AIC, and the “corrected” Akaike information criterion (Hurvich and Tsai in Biometrika 76:297–307, 1989), AICc; criteria that target the symmetric divergence include the Kullback information criterion, KIC, and the “corrected” Kullback information criterion, KICc (Cavanaugh in Stat Probab Lett 42:333–343, 1999; Aust N Z J Stat 46:257–274, 2004). For overdispersed count data, simple modifications of AIC and AICc have been increasingly utilized: specifically, the quasi Akaike information criterion, QAIC, and its corrected version, QAICc (Lebreton et al. in Ecol Monogr 62(1):67–118 1992). In this paper, we propose analogues of QAIC and QAICc based on estimating the symmetric as opposed to the directed divergence: QKIC and QKICc. We evaluate the selection performance of AIC, AICc, QAIC, QAICc, KIC, KICc, QKIC, and QKICc in a simulation study, and illustrate their practical utility in an ecological application. In our application, we use the criteria to formulate statistical models of the tick (Dermacentor variabilis) load on a white-footed mouse (Peromyscus leucopus) in northern Missouri.

Modeling complex systems macroscopically: Case/agent-based modeling, synergetics, and the continuity equation

Recently, the continuity equation (also known as the advection equation) has been used to study stability properties of dynamical systems, where a linear transfer operator approach was used to examine the stability of a nonlinear equation both in continuous and discrete time (Vaidya and Mehta, IEEE Trans Autom Control 2008, 53, 307–323; Rajaram et al., J Math Anal Appl 2010, 368, 144–156). Our study, which conducts a series of simulations on residential patterns, demonstrates that this usage of the continuity equation can advance Haken's synergetic approach to modeling certain types of complex, self-organizing social systems macroscopically. The key to this advancement comes from employing a case-based approach that (1) treats complex systems as a set of cases and (2) treats cases as dynamical vsystems which, at the microscopic level, can be conceptualized as k dimensional row vectors; and, at the macroscopic level, as vectors with magnitude and direction, which can be modeled as population densities. Our case-based employment of the continuity equation has four benefits for agent-based and case-based modeling and, more broadly, the social scientific study of complex systems where transport or spatial mobility issues are of interest: it (1) links microscopic (agent-based) and macroscopic (structural) modeling; (2) transforms the dynamics of highly nonlinear vector fields into the linear motion of densities; (3) allows predictions to be made about future states of a complex system; and (4) mathematically formalizes the structural dynamics of these types of complex social systems. © 2012 Wiley Periodicals, Inc.

A Kinetic Flocking Model with Diffusion

We study the stability of the equilibrium states and the rate of convergence of solutions towards them for the continuous kinetic version of the Cucker-Smale flocking in presence of diffusion whose strength depends on the density. This kinetic equation describes the collective behavior of an ensemble of organisms, animals or devices which are forced to adapt their velocities according to a certain rule implying a final configuration in which the ensemble flies at the mean velocity of the initial configuration. Our analysis takes advantage both from the fact that the global equilibrium is a Maxwellian distribution function, and, on the contrary to what happens in the Cucker-Smale model (IEEE Trans Autom Control 52:852–862, 2007), the interaction potential is an integrable function. Precise conditions which guarantee polynomial rates of convergence towards the global equilibrium are found.

Lyapunov functions for time-varying systems satisfying generalized conditions of Matrosov theorem

The classical Matrosov theorem concludes uniform asymptotic stability of time-varying systems via a weak Lyapunov function (positive definite, decrescent, with negative semi-definite derivative along solutions) and another auxiliary function with derivative that is strictly nonzero where the derivative of the Lyapunov function is zero (Mastrosov in J Appl Math Mech 26:1337–1353, 1962). Recently, several generalizations of the classical Matrosov theorem have been reported in Loria et al. (IEEE Trans Autom Control 50:183–198, 2005). None of these results provides a construction of a strong Lyapunov function (positive definite, decrescent, with negative definite derivative along solutions) which is a very useful analysis and controller design tool for nonlinear systems. Inspired by generalized Matrosov conditions in Loria et al. (IEEE Trans Autom Control 50:183–198, 2005), we provide a construction of a strong Lyapunov function via an appropriate weak Lyapunov function and a set of Lyapunov-like functions whose derivatives along solutions of the system satisfy inequalities that have a particular triangular structure. Our results will be very useful in a range of situations where strong Lyapunov functions are needed, such as robustness analysis and Lyapunov function-based controller redesign. We illustrate our results by constructing a strong Lyapunov function for a simple Euler-Lagrange system controlled by an adaptive controller and use this result to determine an ISS controller.

Dynamic Sliding Mode Control for a Class of Systems with Mismatched Uncertainty

In this paper, a robust stabilization problem for a class of uncertain systems is studied using sliding mode techniques. Matched and mismatched uncertainties are both considered. By employing the sliding surface proposed by Edwards and Spurgeon in [Int J Control 1995; 62(5): 1129–1144], the stability of the sliding mode is shown first. Then, an asymptotic observer is established to estimate the system state variable based on a constrained Lyapunov equation, and a variable structure controller is proposed to stabilize the system by exploiting the estimated state and system output. The two major limitations in [IEEE Trans Autom Control 1996; 41(11): 1691–1693] are eliminated. Finally, a simulation study based on a simplified model of the HIRM aircraft system is used to illustrate the effectiveness of the results.