Networked Cyber-Physical Systems

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Godwin Bates
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University of Technology The Netherlands t.keviczky@tudelft.

1 Networked Cyber-Physical Systems Dr.ir. Tamás Keviczky Delft Center for Systems and Control Delft University of Technology The Netherlands September 5, 2017 Systems & Control MSc Information Days

2 NCPS Team Dr. Ir. Tamas Keviczky (Group head) Dr. Ir. Peyman Mohajerin Esfahani Dr. Ir. Manuel Mazo Jr. Dr. Ir. Giulia Giordano 6 PhD students 4 Post Doctoral researchers

3 Perspective on CPS Cyber-Physical = f(, υ) dx/dt = f(x,u) Combustion Control CAN/FlexRay ABS/ESP Collision Avoidance

4 Networked CPS

5 Zoo of Systems (Sub)system dynamics COMPLEXITY COMPLEXITY Interconnection September 5,

6 The Challenge of Distributed Control

7 The Challenge of Distributed Control?

8 The Challenge of Distributed Control?????

9 Optimization and Team Decision Making How can we distribute optimal team decision-making? How can this work in a real-time control system? What information should be exchanged and when? What is the impact of the communication topology?

10 Pick an MSc project in Networked Cyber Physical Systems

11 Research Agenda 1. Increased autonomy via embedded, real-time optimization-based solutions for control and estimation Utilize problem structure, parallel computing, for real-time solutions in a closed feedback loop Subsystem interactions (dynamics, objective, constraints) Component subsystems

optimization-based framework Distributed optimization as a paradigm

12 Research Agenda 2. Distributed decision-making for interconnected systems in an optimization-based framework Distributed optimization as a paradigm for distributed control and decision-making Subsystem interactions (dynamics, objective, constraints) Component subsystems

13 Research Agenda 3. Decision-making under uncertainty Dynamic nature Uncertainty/Information Scalability/Computation Applied Probability Control Theory Optimization Interdisciplinary solutions

MSc projects Security-aware Control Synthesis in

Game between the system operator and the

Buildings: an Advanced Diagnosis Approach

identify certain abnormalities Validate the

14 MSc projects Security-aware Control Synthesis in Networks Your are a white-hat hacker! Game between the system operator and the attacker Mimic natural system behaviors while maximally damage the system! How to mitigate such a damage Sustainable Buildings: an Advanced Diagnosis Approach Modeling the building dynamics Design filter to identify certain abnormalities Validate the performance through the real measurements Joint project with Dwa ( Dynamical System Filter DWA

15 Research Agenda 4. Control under communication constrains Event-based control advances: Modelling of traffic, Security, Implementations,

16 Research Agenda 5. Correct-by-design synthesis of controllers Talk on Thursday Formal methods in control: Abstraction/refinement, Symbolic regression, SMT Temporal logic properties Formal verification User-defined grammar a Population + b + x a Fitness assessment and parent selection #1 b c #2 Controller Genetic operatiors

Network-decentralized height/position estimation for

17 Research Agenda 6. Networked systems Network-decentralised control, coordination and estimation Interacting dynamic subsystems with local information and local action Network-decentralized height/position estimation for cartography: infer a global map based on local information exchanges. Network-decentralised coordination of robots with collision avoidance.

18 Research Agenda 6. Networked systems Structural analysis of biological systems Natural and biological systems global behaviour (complex interplay of local interactions) astoundingly robust to environmental changes, fluctuations and perturbations. Structural analysis: assess whether a class of systems always enjoys a given property, due to its structure (topology of the interaction graph) and not to specific parameter values. Verification of structural properties: given a graph structure, generate random functions that satisfy the assumptions and check that the property always holds. Simulation-based/analytical study of biological systems and chemical reaction networks.

19 Automotive and Mobile Robot Applications Vehicle platooning Nonlinear trajectory planning (driver assist, traffic constraints) Optimize fuel economy, ride comfort Optimize communications Verifiable Safety Driving on the limits of handling Autonomous driving, complex vehicle dynamics Exploit problem structure to enable real-time computations Distributed Robotic Networks Connectivity maximization Distributed estimation, SLAM in active sensor networks Emergent behaviours

20 Aeronautical and Space Applications Reconfigurable fault-tolerant predictive flight control Real-time, verifiable computation of constrained optimal control laws Online optimization-based robust fault estimation for constrained nonlinear systems Satellite proximity operations Distributed control of spacecraft formations and swarms

Large-Scale Infrastructure Applications CPS

control Demand side management Distributed

stochastic MPC of Aquifer Thermal Energy

21 Large-Scale Infrastructure Applications CPS security and privacy Wireless efficient control Demand side management Distributed control of water/power networks Distributed stochastic MPC of Aquifer Thermal Energy Storage smart grids Canal network Hydro power network Smart building control Cooperative control of offshore wind farm power networks

22 Zoo of Systems (Sub)system dynamics COMPLEXITY COMPLEXITY Interconnection September 5,

system and in future autonomous driving solutions Respect vehicle dynamics and

23 Real-Time Nonlinear Trajectory Planning For Long Heavy Truck Combinations MSc Project Exploit problem structure to enable real-time computations Serve as a driver assist system and in future autonomous driving solutions Respect vehicle dynamics and constraints imposed by the truck and the environment Optimize fuel economy, ride comfort, etc.

24 Zoo of Systems (Sub)system dynamics COMPLEXITY COMPLEXITY Interconnection September 5,

Real-time and verifiable computation of constrained optimal control laws

25 Reconfigurable Control Design in Aerospace Applications MSc Project Integrated fault detection, isolation, and predictive control design Real-time and verifiable computation of constrained optimal control laws Improve penetration of state-of-the-art methods into industrial practice September 5,

26 Zoo of Systems (Sub)system dynamics COMPLEXITY COMPLEXITY Interconnection September 5,

27 Multi-Agent Systems Different agents (e.g. robots, spacecraft) have to collaborate autonomously in order to reach a common goal September 5,

28 Organic Air Vehicle Formation Flight

Distributed Control and FDIR Design for Satellite Formations MSc Project Individual satellites are tightly coupled by performance requirement FDIR is critical for

29 Distributed Control and FDIR Design for Satellite Formations MSc Project Individual satellites are tightly coupled by performance requirement FDIR is critical for mission success Single central computing unit is undesirable Collaboration with ongoing space projects at Aerospace Faculty (e.g. Delfi nanosat) Delfi-C3 September 5,

Cooperative Indoor Formation Flight Control

network-based indoor localization scheme

subsystem dynamics Implementation in Networked

LR, Micro Air Vehicle Group (Bart Remes,

30 Cooperative Indoor Formation Flight Control MSc Project Cooperating quadrotor fleet Sensor network-based indoor localization scheme Coupled dynamics and control task of lifting and transporting a hung mass Optimal synchronization problem with constrained subsystem dynamics Implementation in Networked Embedded Robotics Lab In collaboration with LR, Micro Air Vehicle Group (Bart Remes, Christoph De Wagter) September 5, Check out the recent IMAV competitions!!!

31 Distributed Control of Multi-Agent Systems on a Mobile Robot Testbed MSc Project Cricket RF-US range sensor irobot Create September 5,

32 Networked Embedded Robotics Lab

33 Zoo of Systems (Sub)system dynamics COMPLEXITY COMPLEXITY Interconnection September 5,

Distributed Optimization and MPC for Large-Scale Infrastructures MSc Project Hydro power network Decomposition methods in optimization and dynamic programming

34 Distributed Optimization and MPC for Large-Scale Infrastructures MSc Project Hydro power network Decomposition methods in optimization and dynamic programming Application to Distributed MPC schemes Canal network Study of performance versus uncertainty in DMPC schemes Traffic network Achievable performance bounds September 5,

Distributed Optimization and MPC for Large-Scale Infrastructures MSc Project Decomposition methods in optimization and dynamic programming

35 Distributed Optimization and MPC for Large-Scale Infrastructures MSc Project Decomposition methods in optimization and dynamic programming Application to Distributed MPC schemes Study of performance versus uncertainty in DMPC schemes Achievable performance bounds September 5,

36 Distributed Optimization and MPC for High-Performance Buildings MSc Project

Exploit Problem Structure to Reduce Complexity of

large-scale systems by exploiting symmetry in

(structured) controllers, estimators Respect global

37 Exploit Problem Structure to Reduce Complexity of Control Design MSc Project Enable control design for large-scale systems by exploiting symmetry in interconnection subsystem dynamics Construct distributed (structured) controllers, estimators Respect global objectives and analyze performance of distributed solution September 5,

Distributed Constraint Fulfillment MSc Project Design

collision avoidance) Guaranteed feasibility in

controlled invariant sets and reachability Robust

38 Distributed Constraint Fulfillment MSc Project Design methods for coupled constraints (e.g. collision avoidance) Guaranteed feasibility in distributed MPC schemes Approximation schemes, controlled invariant sets and reachability Robust constraint fulfillment with negotiation Reducing conservativeness September 5,

Consensus in Distributed Predictive Control MSc Project Interplay between consensus seeking and MPC Incremental subgradient methods Optimal

39 Consensus in Distributed Predictive Control MSc Project Interplay between consensus seeking and MPC Incremental subgradient methods Optimal synchronization problems with constrained subsystem dynamics Application to multi-vehicle coordination, oscillator networks, etc. September 5,

with local particle filters Respecting physical constraints Local

40 Distributed Moving Horizon Estimation MSc Project Linear and nonlinear distributed solutions for dynamic systems Approximation of arrival cost with local particle filters Respecting physical constraints Local unobservability, information exchange with neighboring sensors September 5,

41 Some Recommended Courses SC42095 Digital Control SC42010 Robust and Multivariable Control Design SC42040 Adaptive and Predictive Control SC42055 Optimization in Systems and Control WI4218 Convex Optimization and Semi-Definite Programming SC42100 Networked and Distributed Control Systems SC42075 Modeling and Control of Hybrid Systems SC42060 Modeling and Nonlinear Systems Theory AE4-305 (Spacecraft Attitude Dynamics and Control) September 5,

42 Preparation for Control Theory Course Refresh linear algebra knowledge (see material also on Brightspace) Order textbook (B. Friedland, Control System Design An Introduction to State-Space Methods) September 5,

Integrated Security Destination Area Workshop May

Integrated Security Destination Area Workshop May 19 2017 Research Breakout Sessions Cyber Physical Systems Security 5/16/2017 Virginia Tech Integrated Security Destination Area Cyber Physical Systems