Daniele Astolfi, Lorenzo Marconi
In this note we deal with a new observer for nonlinear systems of dimension n in canonical observability form. We follow the standard high-gain paradigm, but instead of having an observer of dimension n with a gain that grows up to power n, we design an observer of dimension 2n-2 with a gain that grows up only to power 2.
Luca Furieri, Thomas Stastny, Lorenzo Marconi et al.
The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of environmental conditions. Due to their small size, low weight, and low speeds, they require the capability of coping with wind speeds that are approaching or even faster than the nominal airspeed. In this paper we present a principled nonlinear guidance strategy, addressing this problem. More broadly, we propose a methodology for the high-level control of non-holonomic unicycle-like vehicles in the presence of strong flowfields (e.g. winds, underwater currents) which may outreach the maximum vehicle speed. The proposed strategy guarantees convergence to a safe and stable vehicle configuration with respect to the flowfield, while preserving some tracking performance with respect to the target path. Evaluations in simulations and a challenging real-world flight experiment in very windy conditions confirm the feasibility of the proposed guidance approach.
Simone de Marco, Lorenzo Marconi, Tarek Hamel et al.
This paper deals with the problem of output regulation for systems defined on matrix Lie-Groups. Reference trajectories to be tracked are supposed to be generated by an exosystem, defined on the same Lie-Group of the controlled system, and only partial relative error measurements are supposed to be available. These measurements are assumed to be invariant and associated to a group action on a homogeneous space of the state space. In the spirit of the internal model principle the proposed control structure embeds a copy of the exosystem kinematic. This control problem is motivated by many real applications fields in aerospace, robotics, projective geometry, to name a few, in which systems are defined on matrix Lie-groups and references in the associated homogenous spaces.
Alessandro Cecconi, Michelangelo Bin, Lorenzo Marconi et al.
We study the contraction of Hodgkin-Huxley model and its role in the reliability of spike timings. Without input, the model is contractive in the region of physiological interest. With impulsive synaptic inputs, contraction is retained provided that the input events are sparse enough. Contraction is lost when the input firing rate is too high. Spike timings are shown to be reliable in the contracting regime.
Andrea Tilli, Lorenzo Marconi, Christian Conficoni
In this chapter some results related to Shunt Active Filters (SAFs) and obtained by the authors and some coauthors are reported. SAFs are complex power electronics equipments adopted to compensate for cur-rent harmonic pollution in electric mains, due to nonlinear loads. By using a proper "floating" capacitor as energy reservoir, the SAF purpose is to inject in the line grid currents canceling the polluting har-monics. Control algorithms play a key role for such devices and, in general, in many power electronics applications. Moreover, systems theory is crucial, since it is the mathematical tool that enables a deep understanding of the involved dynamics of such systems, allowing a correct dimensioning, beside an effective control. As a matter of facts, current injection objective can be straightforwardly formulated as an output tracking control problem. In this fashion, the structural and insidious marginally-stable internal/zero dynamics of SAFs can be immediately highlighted and characterized in terms of sizing and control issues. For what concerns the control design strictly, time-scale separation among output and internal dynamics can be effectively exploited to split the control design in different stages that can be later aggregated, by using singular perturbation analysis. In addition, for robust asymptotic output tracking the Internal Model Principle is adopted.
Ilario Antonio Azzollini, Nicola Mimmo, Lorenzo Gentilini et al.
This work deals with the problem of localizing a victim buried by an avalanche by means of a drone equipped with an ARVA (Appareil de Recherche de Victimes d'Avalanche) sensor. The proposed control solution is based on a "model-free" extremum seeking strategy which is shown to succeed in steering the drone in a neighborhood of the victim position. The effectiveness and robustness of the proposed algorithm is tested in Gazebo simulation environment, where a new flight mode and a new controller module have been implemented as an extension of the well-known PX4 open source flight stack. Finally, to test usability, we present hardware-in-the-loop simulations on a Pixhawk 2 Cube board.
Gianluca Cima, Domenico Lembo, Lorenzo Marconi et al.
In this paper, we propose the use of epistemic dependencies to express data protection policies in Controlled Query Evaluation (CQE), which is a form of confidentiality-preserving query answering over ontologies and databases. The resulting policy language goes significantly beyond those proposed in the literature on CQE so far, allowing for very rich and practically interesting forms of data protection rules. We show the expressive abilities of our framework and study the data complexity of CQE for (unions of) conjunctive queries when ontologies are specified in the Description Logic DL-Lite_R. Interestingly, while we show that the problem is in general intractable, we prove tractability for the case of acyclic epistemic dependencies by providing a suitable query rewriting algorithm. The latter result paves the way towards the implementation and practical application of this new approach to CQE.
Sebastiano Mengozzi, Giovanni B. Esposito, Michelangelo Bin et al.
This work addresses the full-information output regulation problem for nonlinear systems, assuming the states of both the plant and the exosystem are known. In this setting, perfect tracking or rejection is achieved by constructing a zero-regulation-error manifold $π(w)$ and a feedforward input $c(w)$ that render such manifold invariant. The pair $(π(w), c(w))$ is characterized by the regulator equations, i.e., a system of PDEs with an algebraic constraint. We focus on accurately solving the regulator equations introducing a physics-informed neural network (PINN) approach that directly approximates $π(w)$ and $c(w)$ by minimizing the residuals under boundary and feasibility conditions, without requiring precomputed trajectories or labeled data. The learned operator maps exosystem states to steady state plant states and inputs, enables real-time inference and, critically, generalizes across families of the exosystem with varying initial conditions and parameters. The framework is validated on a regulation task that synchronizes a helicopter's vertical dynamics with a harmonically oscillating platform. The resulting PINN-based solver reconstructs the zero-error manifold with high fidelity and sustains regulation performance under exosystem variations, highlighting the potential of learning-enabled solvers for nonlinear output regulation. The proposed approach is broadly applicable to nonlinear systems that admit a solution to the output regulation problem.
Lorenzo Marconi, Flavia Ricci, Riccardo Rosati
We investigate Controlled Query Evaluation (CQE) over ontologies, where information disclosure is regulated by epistemic dependencies (EDs), a family of logical rules recently proposed for the CQE framework. In particular, we combine EDs with the notion of optimal GA censors, i.e. maximal sets of ground atoms that are entailed by the ontology and can be safely revealed. We focus on answering Boolean unions of conjunctive queries (BUCQs) with respect to the intersection of all optimal GA censors - an approach that has been shown in other contexts to ensure strong security guarantees with favorable computational behavior. First, we characterize the security of this intersection-based approach and identify a class of EDs (namely, full EDs) for which it remains safe. Then, for a subclass of EDs and for DL-Lite_R ontologies, we show that answering BUCQs in the above CQE semantics is in AC^0 in data complexity by presenting a suitable, detailed first-order rewriting algorithm. Finally, we report on experiments conducted in two different evaluation scenarios, showing the practical feasibility of our rewriting function.
Lorenzo Marconi, Riccardo Rosati
Consistent Query Answering (CQA) is an inconsistency-tolerant approach to data access in knowledge bases and databases. The goal of CQA is to provide meaningful (consistent) answers to queries even in the presence of inconsistent information, e.g. a database whose data conflict with meta-data (typically the database integrity constraints). The semantics of CQA is based on the notion of repair, that is, a consistent version of the initial, inconsistent database that is obtained through minimal modifications. We study CQA in databases with data dependencies expressed by existential rules. More specifically, we focus on the broad class of disjunctive embedded dependencies with inequalities (DEDs), which extend both tuple-generating dependencies and equality-generated dependencies. We first focus on the case when the database predicates are closed, i.e. the database is assumed to have complete knowledge about such predicates, thus no tuple addition is possible to repair the database. In such a scenario, we provide a detailed analysis of the data complexity of CQA and associated tasks (repair checking) under different semantics (AR and IAR) and for different classes of existential rules. In particular, we consider the classes of acyclic, linear, full, sticky and guarded DEDs, and their combinations.
Piero Bonatti, Gianluca Cima, Domenico Lembo et al.
Controlled Query Evaluation (CQE) has been recently studied in the context of Semantic Web ontologies. The goal of CQE is concealing some query answers so as to prevent external users from inferring confidential information. In general, there exist multiple, mutually incomparable ways of concealing answers, and previous CQE approaches choose in advance which answers are visible and which are not. In this paper, instead, we study a dynamic CQE method, namely, we propose to alter the answer to the current query based on the evaluation of previous ones. We aim at a system that, besides being able to protect confidential data, is maximally cooperative, which intuitively means that it answers affirmatively to as many queries as possible; it achieves this goal by delaying answer modifications as much as possible. We also show that the behavior we get cannot be intensionally simulated through a static approach, independent of query history. Interestingly, for OWL 2 QL ontologies and policy expressed through denials, query evaluation under our semantics is first-order rewritable, and thus in AC0 in data complexity. This paves the way for the development of practical algorithms, which we also preliminarily discuss in the paper.