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## Full-Text Articles in Engineering

Data-Driven Model Predictive Control Using Random Forests For Building Energy Optimization And Climate Control, Francesco Smarra, Achin Jain, Tullio De Rubeis, Dario Ambrosini, Alessandro D'Innocenzo, Rahul Mangharam

#### Data-Driven Model Predictive Control Using Random Forests For Building Energy Optimization And Climate Control, Francesco Smarra, Achin Jain, Tullio De Rubeis, Dario Ambrosini, Alessandro D'Innocenzo, Rahul Mangharam

*Real-Time and Embedded Systems Lab (mLAB)*

Model Predictive Control (MPC) is a model-based technique widely and successfully used over the past years to improve control systems performance. A key factor prohibiting the widespread adoption of MPC for complex systems such as buildings is related to the difficulties (cost, time and effort) associated with the identification of a predictive model of a building. To overcome this problem, we introduce a novel idea for predictive control based on historical building data leveraging machine learning algorithms like regression trees and random forests. We call this approach Data-driven model Predictive Control (DPC), and we apply it to three different case ...

Data-Driven Switched Affine Modeling For Model Predictive Control, Francesco Smarra, Achin Jain, Rahul Mangharam, Alessandro D'Innocenzo

#### Data-Driven Switched Affine Modeling For Model Predictive Control, Francesco Smarra, Achin Jain, Rahul Mangharam, Alessandro D'Innocenzo

*Real-Time and Embedded Systems Lab (mLAB)*

Model Predictive Control (MPC) is a well-consolidated technique to design optimal control strategies, leveraging the capability of a mathematical model to predict the systemâ€™s behavior over a predictive horizon. However, building physics-based models for large-scale systems, such as buildings and process control, can be cost and time prohibitive. To overcome this problem we propose in this paper a methodology to exploit machine learning techniques (i.e. regression trees and random forests) in order to build a state-space switched affine dynamical model of a large scale system only using historical data. Finite Receding Horizon Control (RHC) setup using control-oriented data-driven ...

Parameter Invariant Monitoring For Signal Temporal Logic, Nima Roohi, Ramneet Kaur, James Weimer, Oleg Sokolsky, Insup Lee

#### Parameter Invariant Monitoring For Signal Temporal Logic, Nima Roohi, Ramneet Kaur, James Weimer, Oleg Sokolsky, Insup Lee

*Departmental Papers (CIS)*

*Signal Temporal Logic* (STL) is a prominent specification formalism for real-time systems, and monitoring these specifications, specially when (for different reasons such as learning) behavior of systems can change over time, is quite important. There are three main challenges in this area: (1) full observation of system state is not possible due to noise or nuisance parameters, (2) the whole execution is not available during the monitoring, and (3) computational complexity of monitoring continuous time signals is very high. Although, each of these challenges has been addressed by different works, to the best of our knowledge, no one has addressed ...

Fly-By-Logic: Control Of Multi-Drone Fleets With Temporal Logic Objectives, Yash Vardhan Pant, Houssam Abbas, Rhudii A. Quaye, Rahul Mangharam

#### Fly-By-Logic: Control Of Multi-Drone Fleets With Temporal Logic Objectives, Yash Vardhan Pant, Houssam Abbas, Rhudii A. Quaye, Rahul Mangharam

*Real-Time and Embedded Systems Lab (mLAB)*

The problem of safe planning and control for multi- drone systems across a variety of missions is of critical impor- tance, as the scope of tasks assigned to such systems increases. In this paper, we present an approach to solve this problem for multi-quadrotor missions. Given a mission expressed in Signal Temporal Logic (STL), our controller maximizes robustness to generate trajectories for the quadrotors that satisfy the STL spec- ification in continuous-time. We also show that the constraints on our optimization guarantees that these trajectories can be tracked nearly perfectly by lower level off-the-shelf position and attitude controllers. Our approach ...

Learning And Control Using Gaussian Processes, Achin Jain, Truong X Nghiem, Manfred Morari, Rahul Mangharam

#### Learning And Control Using Gaussian Processes, Achin Jain, Truong X Nghiem, Manfred Morari, Rahul Mangharam

*Real-Time and Embedded Systems Lab (mLAB)*

Building physics-based models of complex physical systems like buildings and chemical plants is extremely cost and time prohibitive for applications such as real-time optimal control, production planning and supply chain logistics. Machine learning algorithms can reduce this cost and time complexity, and are, consequently, more scalable for large-scale physical systems. However, there are many practical challenges that must be addressed before employing machine learning for closed-loop control. This paper proposes the use of Gaussian Processes (GP) for learning control-oriented models: (1) We develop methods for the optimal experiment design (OED) of functional tests to learn models of a physical system ...

Parameter-Invariant Monitor Design For Cyber Physical Systems, James Weimer, Radoslav Ivanov, Sanjian Chen, Alexander Roederer, Oleg Sokolsky, Insup Lee

#### Parameter-Invariant Monitor Design For Cyber Physical Systems, James Weimer, Radoslav Ivanov, Sanjian Chen, Alexander Roederer, Oleg Sokolsky, Insup Lee

*Departmental Papers (CIS)*

The tight interaction between information technology and the physical world inherent in Cyber-Physical Systems (CPS) can challenge traditional approaches for monitoring safety and security. Data collected for robust CPS monitoring is often sparse and may lack rich training data describing critical events/attacks. Moreover, CPS often operate in diverse environments that can have significant inter/intra-system variability. Furthermore, CPS monitors that are not robust to data sparsity and inter/intra-system variability may result in inconsistent performance and may not be trusted for monitoring safety and security. Towards overcoming these challenges, this paper presents recent work on the design of parameter-invariant ...