Imperial College London
Portrait Picture

Prof David Angeli

Faculty of Engineering, Department of Electrical and Electronic Engineering

Professor of Nonlinear Network Dynamics
 
 
 
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Contact

 

+44 (0)20 7594 6283d.angeli Website

 
 
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Location

 

1107CElectrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Publication Type
Year
to

238 results found

Angeli D, Casavola A, Mosca E, 2015, Set-point output tracking under positional and rate actuator saturation, Pages: 2072-2077

A receding-horizon strategy is presented for set-point tracking and global stabilization of ANCBI plants in the presence of actuators with position and rate saturation constraints. The algorithm, providing an integral action, is able to handle any piecewise constant disturbance acting on the system output and state.

Conference paper

Angeli D, Casavola A, Mosca E, 2015, Command governors for constrained linear systems under partial state information, Pages: 2078-2083

A method is presented for designing command governors for discrete-time linear systems under partial state information and in the presence of unknown but bounded input and measurement disturbances. The solution is based on the set-membership state estimation paradigm and hinges upon the state uncertainty tube, viz. the set of all state trajectories compatible with the given measurements and initial state uncertainty. A convergence analysis is presented for both the case wherein the exact state uncertainty tube is used, and the computationally less demanding case wherein suitable outer approximations of the state uncertainty tube are exploited.

Conference paper

De Paola A, Angeli D, Strbac G, 2015, Distributed Control of Micro-Storage Devices With Mean Field Games, IEEE Transactions on Smart Grid, Vol: 7, Pages: 1119-1127, ISSN: 1949-3061

This paper proposes a fully distributed control strategyfor the management of micro-storage devices that performenergy arbitrage. For large storage populations the problem canbe approximated as a differential game with infinite players(Mean Field Game). Through the resolution of coupled partialdifferential equations (PDEs), it is possible to determine, as afixed point, the optimal feedback strategy for each player andthe resulting price of energy if that strategy is applied. Oncethis price is calculated, it can be communicated to the deviceswhich are able to independently determine their optimal chargeprofile. Simulation results are provided, calculating the fixedpoint through numerical integration of the PDEs. The originalmodel is then extended in order to consider additional elementssuch as multiple population of devices and demand uncertainty.

Journal article

Angeli D, Casavola A, Tedesco F, 2015, Theoretical advances on Economic Model Predictive Control with time-varying costs, 5th IFAC Conference on Nonlinear-Model-Predictive-Control (NMPC), Publisher: ELSEVIER, Pages: 272-277, ISSN: 2405-8963

Conference paper

Angeli D, Casavola A, Tedesco F, 2015, Economic Model Predictive Control with Parameter-Varying Cost and Guaranteed Average Performance, 54th IEEE Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 4314-4319, ISSN: 0743-1546

Conference paper

Forni P, Angeli D, 2015, Input-to-State Stability for cascade systems with decomposable invariant sets, 54th IEEE Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 3742-3747, ISSN: 0743-1546

Conference paper

Forni P, Angeli D, 2015, Integral ISS for systems with multiple invariant sets, 54th IEEE Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 3736-3741, ISSN: 0743-1546

Conference paper

Angeli D, Casavola A, Tedesco F, 2015, On Average Performance of Economic Model Predictive Control with Time-Varying Cost and Terminal Constraints, American Control Conference, Publisher: IEEE, Pages: 2974-2979, ISSN: 0743-1619

Conference paper

Manfredi S, Angeli D, 2015, Consensus of time-varying nonlinear non-autonomous networks with application to field sampling by mobile robots, 54th IEEE Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 4848-4853, ISSN: 0743-1546

Conference paper

Mueller MA, Angeli D, Allgoewer F, Amrit R, Rawlings JBet al., 2014, Convergence in economic model predictive control with average constraints, Automatica, Vol: 50, Pages: 3100-3111, ISSN: 0005-1098

In this paper, we thoroughly investigate various aspects of economic model predictive control with average constraints, i.e., constraints on average values of state and input variables. In particular, we first show that a certain time-varying output constraint has to be included into the MPC problem formulation in order to ensure fulfillment of these average constraints. Optimizing a general (possibly economic) performance criterion may result in a non-converging behavior of the corresponding closed-loop system. While such a behavior might be acceptable in some cases, it may be undesirable for other types of applications. Hence as a second contribution, we provide a Lyapunov-like analysis to conclude that indeed asymptotic convergence to the optimal steady-state follows if the system satisfies a certain dissipativity condition. Finally, for the case that this dissipativity property is not satisfied but still a convergent behavior of the closed-loop is required, we examine two different methods how convergence can be enforced within an economic MPC setup by imposing additional average constraints on the system. In the first method, an additional average constraint is defined which results in the system being dissipative, while the second consists of imposing an additional even zero-moment average constraint. We illustrate our results with various examples.

Journal article

Mueller MA, Angeli D, Allgoewer F, 2014, Transient average constraints in economic model predictive control, Automatica, Vol: 50, Pages: 2943-2950, ISSN: 1873-2836

In this paper, an economic model predictive control algorithm is proposed which ensures satisfaction of transient average constraints, i.e., constraints on input and state variables averaged over some finite time period. We believe that this stricter form of average constraints (compared to previously proposed asymptotic average constraints) is of independent interest in various applications such as the operation of a chemical reactor, where e.g. the amount of inflow or the heat flux during some fixed period of time must not exceed a certain value. Besides guaranteeing fulfillment of transient average constraints for the closed-loop system, we show that closed-loop average performance bounds and convergence results established in the setting of asymptotic average constraints also hold in case of transient average constraints. Furthermore, we illustrate our results with a chemical reactor example.

Journal article

Chaillet A, Angeli D, Ito H, 2014, Combining iISS and ISS With Respect to Small Inputs: The Strong iISS Property, IEEE TRANSACTIONS ON AUTOMATIC CONTROL, Vol: 59, Pages: 2518-2524, ISSN: 0018-9286

Journal article

Chaillet A, Angeli D, Ito H, 2014, Strong iISS is preserved under cascade interconnection, AUTOMATICA, Vol: 50, Pages: 2424-2427, ISSN: 0005-1098

Journal article

Mueller MA, Angeli D, Allgoewer F, 2014, On the performance of economic model predictive control with self-tuning terminal cost, Journal of Process Control, Vol: 24, Pages: 1179-1186, ISSN: 1873-2771

In this paper, we analyze the closed-loop performance of a recently introduced economic model predictive control (MPC) scheme with self-tuning terminal cost. To this end, we propose to use a generalized terminal region constraint instead of a generalized terminal equality constraint within the repeatedly solved optimization problem, which allows us to obtain improved closed-loop asymptotic average performance bounds. In particular, these bounds can be obtained a priori. We discuss how the necessary parameters for the generalized terminal region setting can be calculated, and we illustrate our findings with two numerical examples.

Journal article

Angeli D, Enciso GA, Sontag ED, 2014, A small-gain result for orthant-monotone systems under mixed feedback, Systems and Control Letters, Vol: 68, Pages: 9-19, ISSN: 0167-6911

This paper introduces a small-gain result for interconnected orthant-monotone systems for which no matching condition is required between the partial orders in input and output spaces. Previous results assumed that the partial orders adopted would be induced by positivity cones in input and output spaces and that such positivity cones should fulfill a compatibility rule: namely either be coincident or be opposite. Those two configurations correspond to positive feedback or negative feedback cases. We relax those results by allowing arbitrary orthant orders. A linear example is provided showing that the small-gain iteration used for the negative feedback case is not sufficient for global attractivity under mixed feedback. An algebraic characterization is given of the new small-gain condition, generalizing a result known in the negative feedback case. An application is given to nonlinear protein networks with one positive and one negative feedback loop. © 2014 Elsevier B.V. All rights reserved.

Journal article

Lee J, Angeli D, 2014, Cooperative economic model predictive control for linear systems with convex objectives, European Journal of Control, Vol: 20, Pages: 141-151, ISSN: 0947-3580

In this paper we propose a cooperative distributed economic model predictive control strategy for linear systems which consist of a finite number of coupled subsystems. The suggested feedback strategy is generating control input which converges to a set of Nash equilibria of the corresponding game provided infinite iterations are allowed at each sampling time. Moreover, the control for each subsystem is computed in itself without coordination layer except for a synchronization requirement between subsystems.We first introduce distributed linear systems with two subsystems and economic model predictive control, then show the convergence and stability properties of a suboptimal model predictive control strategy for the system. The optimization problem for the implementation of MPC is stated with a terminal equality constraint and a terminal cost.

Journal article

Angeli D, 2014, A tutorial on chemical reaction networks dynamics, Pages: 649-657

Chemical Reaction Networks (CRN for short) can be effectively modeled by means of nonlinear, parameter-dependent systems of ordinary differential equations. The uncertain knowledge of parameters makes for the need of qualitative tools which relate structure and dynamics of such nonlinear systems. We present an account of different results which allow to claim properties such as global asymptotic stability, persistence, monotonicity and existence of a unique equilibrium on the basis of graphical representations of the network.

Conference paper

Müller MA, Angeli D, Allgöwer F, 2014, Performance analysis of economic MPC with self-tuning terminal cost, Pages: 2845-2850, ISSN: 0743-1619

In this paper, we further analyze an economic model predictive control (MPC) algorithm with self-tuning terminal cost, which was recently proposed in [1]. It is shown that if a generalized terminal region constraint instead of a generalized terminal equality constraint is used, improved closed-loop asymptotic average performance bounds can be obtained. In particular, in contrast to the results in [1], these bounds can be obtained a priori. We discuss how the necessary parameters for the generalized terminal region setting can be calculated, and we illustrate our findings with a numerical example. © 2014 American Automatic Control Council.

Conference paper

Angeli D, Banaji M, Pantea C, 2014, COMBINATORIAL APPROACHES TO HOPF BIFURCATIONS IN SYSTEMS OF INTERACTING ELEMENTS, COMMUNICATIONS IN MATHEMATICAL SCIENCES, Vol: 12, Pages: 1101-1133, ISSN: 1539-6746

Journal article

Al-Radhawi MA, Angeli D, 2014, Robust Lyapunov Functions for Complex Reaction Networks: An Uncertain System Framework, 53rd IEEE Annual Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 3101-3106, ISSN: 0743-1546

Conference paper

Aunedi M, Kountouriotis P-A, Calderon JEO, Angeli D, Strbac Get al., 2013, Economic and Environmental Benefits of Dynamic Demand in Providing Frequency Regulation, IEEE TRANSACTIONS ON SMART GRID, Vol: 4, Pages: 2036-2048, ISSN: 1949-3053

Journal article

Mueller MA, Angeli D, Allgoewer F, 2013, Economic model predictive control with self-tuning terminal cost, EUROPEAN JOURNAL OF CONTROL, Vol: 19, Pages: 408-416, ISSN: 0947-3580

Journal article

Muller MA, Angeli D, Allgower F, 2013, On convergence of averagely constrained economic MPC and necessity of dissipativity for optimal steady-state operation, Proceedings of the American Control Conference, Pages: 3141-3146, ISSN: 0743-1619

The contribution of this paper is twofold. First, we discuss necessity of a dissipativity condition which was recently used to prove optimal operation of a system at steady-state in an economic MPC framework. We illustrate with several examples that this dissipativity condition is not necessary, but comes close to being so in a certain sense. Second, we provide a Lyapunov-like stability analysis for averagely constrained economic model predictive control. This closes a gap which was left open in a recent paper on economic MPC. © 2013 AACC American Automatic Control Council.

Journal article

Angeli D, Johnson R, 2013, On detachable maps and flows, Journal of Difference Equations and Applications, Vol: 19, Pages: 146-161, ISSN: 1023-6198

We study the boundary of the basin of attraction of an asymptotically stable fixed point of a diffeomorphism of ℝ2. We show that if the dynamical behaviour of f on the basin boundary is 'complex', then the boundary itself is complex in a well-defined topological sense. We also use our methods to discuss some related issues. © 2013 Copyright Taylor and Francis Group, LLC.

Journal article

Angeli D, Efimov D, 2013, On Input-to-State Stability with respect to decomposable invariant sets, 52nd IEEE Annual Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 5897-5902, ISSN: 0743-1546

Conference paper

Manfredi S, Angeli D, 2013, Frozen state conditions for asymptotic consensus of time-varying cooperative nonlinear networks, 52nd IEEE Annual Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 1325-1330, ISSN: 0743-1546

Conference paper

Mueller MA, Angeli D, Allgoewer F, 2013, Economic model predictive control with transient average constraints, 52nd IEEE Annual Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 5119-5124, ISSN: 0743-1546

Conference paper

Mueller MA, Angeli D, Allgoewer F, 2013, Economic model predictive control with self-tuning terminal weight, 2013 EUROPEAN CONTROL CONFERENCE (ECC), Pages: 2044-2049

Journal article

Al-Radhawi MA, Angeli D, 2013, Piecewise Linear in Rates Lyapunov Functions for Complex Reaction Networks, 52nd IEEE Annual Conference on Decision and Control (CDC), Publisher: IEEE, Pages: 4595-4600, ISSN: 0743-1546

Conference paper

Angeli D, Kountouriotis P-A, 2012, A Stochastic Approach to "Dynamic-Demand" Refrigerator Control, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, Vol: 20, Pages: 581-592, ISSN: 1063-6536

Journal article

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