arXiv subjects

Andrea Iannelli

Publications and source records attributed to Andrea Iannelli.

63 records · Page 4Linked to original sources

arXiv2021

The Balanced Mode Decomposition Algorithm for Data-Driven LPV Low-Order Models of Aeroservoelastic Systems

A novel approach to reduced-order modeling of high-dimensional time varying systems is proposed. It leverages the formalism of the Dynamic Mode Decomposition technique together with the concept of balanced realization. It is assumed that the only information available on the system comes from input, state, and output trajectories generated by numerical simulations or recorded and estimated during experiments, thus the approach is fully data-driven. The goal is to obtain an input-output low dimensional linear model which approximates the system across its operating range. Since the dynamics of aeroservoelastic systems markedly changes in operation (e.g. due to change in flight speed or altitude), time-varying features are retained in the constructed models. This is achieved by generating a Linear Parameter-Varying representation made of a collection of state-consistent linear time-invariant reduced-order models. The algorithm formulation hinges on the idea of replacing the orthogonal projection onto the Proper Orthogonal Decomposition modes, used in Dynamic Mode Decomposition-based approaches, with a balancing oblique projection constructed entirely from data. As a consequence, the input-output information captured in the lower-dimensional representation is increased compared to other projections onto subspaces of same or lower size. Moreover, a parameter-varying projection is possible while also achieving state-consistency. The validity of the proposed approach is demonstrated on a morphing wing for airborne wind energy applications by comparing the performance against two algorithms recently proposed in the literature. Comparisons cover both prediction accuracy and performance in model predictive control applications.

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arXiv2021

Experiment design for impulse response identification with signal matrix models

This paper formulates an input design approach for truncated infinite impulse response identification in the context of implicit model representations recently used as basis for data-driven simulation and control approaches. Precisely, the considered model consists of a linear combination of the columns of a data (or signal) matrix. An optimal combination for the case of noisy data was recently proposed using a maximum likelihood approach, and the objective here is to optimize the input entries of the data matrix such that the mean-square error matrix of the estimate is minimized. A least-norm problem is derived in terms of the optimality criteria typically considered in the experiment design literature. Numerical results showcase the improved estimation fit achieved with the optimized input.

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arXiv2021

Structured exploration in the finite horizon linear quadratic dual control problem

This paper presents a novel approach to synthesize dual controllers for unknown linear time-invariant systems with the tasks of optimizing a quadratic cost while reducing the uncertainty. To this end, a synthesis problem is defined where the feedback law has to simultaneously gain knowledge of the system and robustly optimize the cost. By framing the problem in a finite horizon setting, the trade-offs arising when the tasks include both identification and control are formally captured in the optimization problem. Results show that efficient exploration strategies are achieved when the structure of the problem is exploited.

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arXiv2021

Active exploration in adaptive model predictive control

A dual adaptive model predictive control (MPC) algorithm is presented for linear, time-invariant systems subject to bounded disturbances and parametric uncertainty in the state-space matrices. Online set-membership identification is performed to reduce the uncertainty and thus control affects both the informativity of identification and the system's performance. The main contribution of the paper is to include this dual effect in the MPC optimization problem using a predicted worst-case cost in the objective function. This allows the controller to perform active exploration, that is, the control input reduces the uncertainty in the regions of the parameter space that have most influence on the performance. Additionally, the MPC algorithm ensures robust constraint satisfaction of state and input constraints. Advantages of the proposed algorithm are shown by comparing it to a passive adaptive MPC algorithm from the literature.

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arXiv2020

Learning Dynamical Systems using Local Stability Priors

A coupled computational approach to simultaneously learn a vector field and the region of attraction of an equilibrium point from generated trajectories of the system is proposed. The nonlinear identification leverages the local stability information as a prior on the system, effectively endowing the estimate with this important structural property. In addition, the knowledge of the region of attraction plays an experiment design role by informing the selection of initial conditions from which trajectories are generated and by enabling the use of a Lyapunov function of the system as a regularization term. Numerical results show that the proposed method allows efficient sampling and provides an accurate estimate of the dynamics in an inner approximation of its region of attraction.

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arXiv2020

Subspace Identification of Linear Time-Periodic Systems with Periodic Inputs

This paper proposes a new methodology for subspace identification of linear time-periodic (LTP) systems with periodic inputs. This method overcomes the issues related to the computation of frequency response of LTP systems by utilizing the frequency response of the time-lifted system with linear time-invariant structure instead. The response is estimated with an ensemble of input-output data with periodic inputs. This allows the frequency-domain subspace identification technique to be extended to LTP systems. The time-aliased periodic impulse response can then be estimated and the order-revealing decomposition of the block-Hankel matrix is formulated. The consistency of the proposed method is proved under mild noise assumptions. Numerical simulation shows that the proposed method performs better than multiple widely-used time-domain subspace identification methods when an ensemble of periodic data is available.

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arXiv2020

Linear Time-Periodic System Identification with Grouped Atomic Norm Regularization

This paper proposes a new methodology in linear time-periodic (LTP) system identification. In contrast to previous methods that totally separate dynamics at different tag times for identification, the method focuses on imposing appropriate structural constraints on the linear time-invariant (LTI) reformulation of LTP systems. This method adopts a periodically-switched truncated infinite impulse response model for LTP systems, where the structural constraints are interpreted as the requirement to place the poles of the non-truncated models at the same locations for all sub-models. This constraint is imposed by combining the atomic norm regularization framework for LTI systems with the group lasso technique in regression. As a result, the estimated system is both uniform and low-order, which is hard to achieve with other existing estimators. Monte Carlo simulation shows that the grouped atomic norm method does not only show better results compared to other regularized methods, but also outperforms the subspace identification method under high noise levels in terms of model fitting.

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arXiv2019

Robust Adaptive Model Predictive Control with Worst-Case Cost

A robust adaptive model predictive control (MPC) algorithm is presented for linear, time invariant systems with unknown dynamics and subject to bounded measurement noise. The system is characterized by an impulse response model, which is assumed to lie within a bounded set called the feasible system set. Online set-membership identification is used to reduce uncertainty in the impulse response. In the MPC scheme, robust constraints are enforced to ensure constraint satisfaction for all the models in the feasible set. The performance objective is formulated as a worst-case cost with respect to the modeling uncertainties. That is, at each time step an optimization problem is solved in which the control input is optimized for the worst-case plant in the uncertainty set. The performance of the proposed algorithm is compared to an adaptive MPC algorithm from the literature using Monte-Carlo simulations.

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arXiv2019

Region of attraction analysis of nonlinear stochastic systems using Polynomial Chaos Expansion

A method is presented to estimate the region of attraction (ROA) of stochastic systems with finite second moment and uncertainty-dependent equilibria. The approach employs Polynomial Chaos (PC) expansions to represent the stochastic system by a higher-dimensional set of deterministic equations. We first show how the equilibrium point of the deterministic formulation provides the stochastic moments of an uncertainty-dependent equilibrium point of the stochastic system. A connection between the boundedness of the moments of the stochastic system and the Lyapunov stability of its PC expansion is then derived. Defining corresponding notions of a ROA for both system representations, we show how this connection can be leveraged to recover an estimate of the ROA of the stochastic system from the ROA of the PC expanded system. Two optimization programs, obtained from sum-of-squares programming techniques, are provided to compute inner estimates of the ROA. The first optimization program uses the Lyapunov stability arguments to return an estimate of the ROA of the PC expansion. Based on this result and user specifications on the moments for the initial conditions, the second one employs the shown connection to provide the corresponding ROA of the stochastic system. The method is demonstrated by two examples.

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