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作者：Zheng, Man; Ohta, Yoshito
作者单位：Anhui University; Kyoto University
摘要：The order of an aggregated Markov model (AMM) is an index of complexity and is closely related to the reachable subspace of a model. The AMM is called reachable-space reducible when the reachable subspace is not the whole space. Previous results demonstrate that there exists a reduced-order quasi-realization, which may not satisfy the nonnegative constraints, equivalent to a given reachable-space reducible AMM. This article focuses on the structured AMM where the transition and observation mat...
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作者：Zheng, Tongjia; Han, Qing; Lin, Hai
作者单位：University of Notre Dame; University of Notre Dame
摘要：State estimation of robotic systems is essential to implementing feedback controllers, which usually provide better robustness to modeling uncertainties than open-loop controllers. However, state estimation of soft robots is very challenging because soft robots have theoretically infinite degrees of freedom while existing sensors only provide a limited number of discrete measurements. This work focuses on soft robotic manipulators, also known as continuum robots. We design an observer algorith...
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作者：Polyakov, Andrey; Orlov, Yury
作者单位：Centre National de la Recherche Scientifique (CNRS); Universite de Lille; Inria
摘要：Finite/fixed-time control design procedure is developed for an infinite dimensional system modeled by abstract evolution equation in a Hilbert space. It is based on solving certain operator equations and inequalities. For a class of partial differential equation (PDE) models, the corresponding equations/inequalities are shown to be algebraic and solvable in many cases. Theoretical results are supported by examples of controlled PDE models.
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作者：Jiang, Kaiwen; Li, Zhi; Zhang, Ying
作者单位：Harbin Institute of Technology
摘要：In this article, iterative algorithms are investigated to solve the Riccati algebraic matrix equations arising in the context of linear quadratic (LQ) optimal control of discrete-time Markov jump systems. By using the matrix inversion lemma, an equivalent form for the considered coupled Riccati matrix equation is constructed, and then two intermediate variables are introduced to further construct a new equivalent form in order to avoid the operation of matrix inversion. With the aid of the obt...
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作者：Parsa, Javad; Rojas, Cristian R.; Hjalmarsson, Hakan
作者单位：Royal Institute of Technology
摘要：The maximum absolute correlation between regressors, which is called mutual coherence, plays an essential role in sparse estimation. A regressor matrix whose columns are highly correlated may result from optimal input design, since there is no constraint on the mutual coherence, making it difficult to handle sparse estimation. This article aims to tackle this issue for fixed denominator models, which include Laguerre, Kautz, and generalized orthonormal basis function expansion models, for exam...
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作者：Angeli, David; Manfredi, Sabato
作者单位：Imperial College London; University of Florence; University of Naples Federico II
摘要：In the scientific literature of the past two decades many conditions to assess consensus-ability in multiagent networks with 1-to-1 interactions have been proposed. More recently the framework has been extended to include the m-to-1 type-interactions, referred as joint-agent interactions. In this article, we consider a novel framework of networks with 1-to-n interactions, potentially extendable to m-to-n ones, and formulate sufficient and necessary analytical conditions for consensus-ability. ...
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作者：Ding, Lei; Ye, Maojiao; Han, Qing-Long; Jia, Guobiao
作者单位：Nanjing University of Posts & Telecommunications; Nanjing University of Science & Technology; Swinburne University of Technology
摘要：This article is concerned with distributed dynamic event-triggered Nash equilibrium seeking in merely monotone games under switching communication topologies. Based on a regularization algorithm, a gradient play and a leader-following consensus protocol, a distributed Nash equilibrium seeking strategy incorporating an event- and switching-activated communication scheme is established. More specifically, the regularization algorithm is involved to compensate for the absence of strict/strong mon...
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作者：Mi, Yilin; Xu, Feng; Wang, Xueqian; Liu, Yu
作者单位：Harbin Institute of Technology; Tsinghua Shenzhen International Graduate School; Tsinghua University
摘要：this article, we develop a method to compute ellipsoidal maximal tolerable fault (e-MTF) sets of robust model predictive control (MPC) for passive fault tolerance. The maximal tolerable fault set serves as an index to evaluate the passive fault- tolerance capabilities of robust MPC frameworks. In particular, a regulation problem for a discrete-time linear time-invariant system with an additive fault model is considered. We construct convex optimization problems to compute the e-MTF sets for th...
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作者：Shi, Wenrui; Keliris, Christodoulos; Hou, Mingzhe; Duan, Guangren; Polycarpou, Marios M.
作者单位：Harbin Institute of Technology; University of Cyprus; University of Cyprus
摘要：Existing function augmented sliding mode control approaches based on preset trajectories are applicable only to matched uncertain systems. In this article, two preset-trajectory-based tracking control methods are proposed for a class of mismatched uncertain systems utilizing the backstepping method. The first method is the preset-trajectory-based practical prescribed-time tracking control method, which can guarantee that the output tracking error converges to a prescribed zone in a prescribed ...
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作者：Takayama, Yoshinari; Hashimoto, Kazumune; Ohtsuka, Toshiyuki
作者单位：Universite Paris Saclay; University of Osaka; Kyoto University
摘要：Signal temporal logic (STL) is a powerful formalism for specifying various temporal properties in dynamical systems. However, existing methods, such as mixed-integer programming and nonlinear programming, often struggle to efficiently solve control problems with complex, long-horizon STL specifications. This study introduces STLCCP, a novel convex optimization-based framework that leverages key structural properties of STL: monotonicity of the robustness function, its hierarchical tree structu...
