In this paper, we equip the conventional discrete-time queueing network with a Markovian input process, that, in addition to the usual short-term stochastics, governs the mid- to long-term behavior of the links between the network nodes. This is reminiscent of so-called Jump-Markov systems in control theory and allows the network topology to change over time. We argue that the common back-pressure control policy is inadequate to control such network dynamics and propose a novel control policy inspired by the paradigms of model-predictive control. Specifically, by defining a suitable but arbitrary prediction horizon, our policy takes into account the future network states and possible control actions. This stands in clear contrast to most other policies which are myopic, i.e. only consider the next state. We show numerically that such an approach can significantly improve the control performance and introduce several variants, thereby trading off performance versus computational complexity. In addition, we prove so-called throughput optimality of our policy which guarantees stability for all network flows that can be maintained by the network. Interestingly, in contrast to general stability proofs in model-predictive control, our proof does not require the assumption of a terminal set (i.e. for the prediction horizon to be large enough). Finally, we provide several illustrating examples, one of which being a network of synchronized queues. This one in particular constitutes an interesting system class, in which our policy exerts superiority over general back-pressure policies, that even lose their throughput optimality in those networks.
Distributed switched large-scale systems are composed by dynamically coupled subsystems, in which interactions among subsystems vary over time according to an exogenous input signal named switching signal. In this paper, we present a distributed robust switched model-based predictive control (DSwMPC) to control such systems that are subject to local state and input constraints. The proposed method guarantees stabilizing the origin of the whole closed-loop system and ensures the constraints satisfaction in the presence of an unknown switching signal. In the distributed model-based predictive co…
A plug-and-play model predictive control (PnP MPC) scheme is proposed for varying-topology networks to track piecewise constant references. The proposed scheme allows subsystems to occasionally join and leave the network while preserving asymptotic stability and recursive feasibility and comprises two main phases. In the redesign phase, passivity-based control is used to ensure that asymptotic stability of the network is preserved. In the transition phase, reconfigurable terminal ingredients are used to ensure that the distributed MPC problem is initially feasible after the PnP operation. The …
This paper proposes a novel topology for grid connected photovoltaic (PV) system based on modular multilevel converter (MMC). In this topology, a PV array is connected to capacitors of each submodule (SM) of the MMC through a DC-DC boost converter with maximum power point tracking (MPPT) control. This topology will maximize the efficiency of the system in the case of partial shading conditions, as it can regulate the SM capacitor voltages independently from each other to realize distributed MPPT. A model predictive control is used to track the AC output current, balance the SMs capacitor volta…
We introduce a "system-wide safety staffing" (SWSS) parameter for multiclass multi-pool networks of any tree topology, Markovian or non-Markovian, in the Halfin-Whitt regime. This parameter can be regarded as the optimal reallocation of the capacity fluctuations (positive or negative) of order $\sqrt{n}$ when each server pool employs a square-root staffing rule. We provide an explicit form of the SWSS as a function of the system parameters, which is derived using a graph theoretic approach based on Gaussian elimination. For Markovian networks, we give an equivalent characterization of the SWSS…
Voltage control generally requires accurate information about the grid's topology in order to guarantee network stability. However, accurate topology identification is a challenging problem for existing methods, especially as the grid is subject to increasingly frequent reconfiguration due to the adoption of renewable energy. Further, running existing control mechanisms with incorrect network information may lead to unstable control. In this work, we combine a nested convex body chasing algorithm with a robust predictive controller to achieve provably finite-time convergence to safe voltage li…
Motion planning for autonomous robots and vehicles in presence of uncontrolled agents remains a challenging problem as the reactive behaviors of the uncontrolled agents must be considered. Since the uncontrolled agents usually demonstrate multimodal reactive behavior, the motion planner needs to solve a continuous motion planning problem under these behaviors, which contains a discrete element. We propose a branch Model Predictive Control (MPC) framework that plans over feedback policies to leverage the reactive behavior of the uncontrolled agent. In particular, a scenario tree is constructed …
In this paper, a new fault tolerant dc-ac converter-fed induction motor drive is proposed to maintain motor as close as possible to its desired normal operation under open- and short-circuit switch failures. The operational principles for fault detection and isolation schemes are provided. Two control strategies including predictive control and voltage mode-controlled PWM with integral-double-lead controller for two stage of the converter are presented in conjunction with the elaborated discussion. The control strategy determines appropriate switching states for continuous operation of the dri…
Univ. of Georgia（佐治亚大学）；Univ. of Central Florida（中佛罗里达大学）
Cooperative driving, enabled by Vehicle-to-Everything (V2X) communication, is expected to significantly contribute to the transportation system's safety and efficiency. Cooperative Adaptive Cruise Control (CACC), a major cooperative driving application, has been the subject of many studies in recent years. The primary motivation behind using CACC is to reduce traffic congestion and improve traffic flow, traffic throughput, and highway capacity. Since the information flow between cooperative vehicles can significantly affect the dynamics of a platoon, the design and performance of control compo…
