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作者：Zuliani, Riccardo; Balta, Efe C.; Lygeros, John
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich
摘要：Model predictive control (MPC) is pervasive in research and industry. However, designing the cost function and the constraints of the MPC to maximize closed-loop performance remains an open problem. To achieve optimal tuning, we propose a backpropagation scheme that solves a policy optimization problem with nonlinear system dynamics and MPC policies. We enforce the system dynamics using linearization and allow the MPC problem to contain elements that depend on the current system state and on p...
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作者：Krener, Arthur J.
作者单位：United States Department of Defense; United States Navy; Naval Postgraduate School
摘要：The uncontrolled diffusion equation on the unit disk under homogeneous Neumann boundary conditions is only neutrally stable, as zero is an eigenvalue. If we add linear reaction terms, the resulting equation can be unstable. To stabilize such a reaction-diffusion equation to a uniform state, which we conveniently take to be zero, we pose and solve a linear quadratic regulator (LQR). We consider two types of control actuation-boundary arc control and boundary point control. With boundary arc con...
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作者：Shi, Lei; Zhou, Yi; Fu, Le; Ning, Nianwen; Yan, Jiayuan; Qiu, Qian
作者单位：Henan University
摘要：Consensus is a common opinion evolution phenomenon in social networks. Existing studies generally believe that opinion consensus is easy to reach when the network is connected and only trust relationships exist among agents. Distinguishing from existing studies, this article aims to explore how to reach opinion consensus on leader-follower signed social networks with both trust and distrust relationships among agents. With the help of theoretical tools including binary relation composition and...
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作者：Skovbekk, John; Laurenti, Luca; Frew, Eric; Lahijanian, Morteza
作者单位：University of Colorado System; University of Colorado Boulder; Delft University of Technology
摘要：Leveraging autonomous systems in safety-critical scenarios requires verifying their behaviors in the presence of uncertainties and black-box components that influence the system dynamics. In this work, we develop a framework for verifying discrete-time dynamical systems with unmodeled dynamics and noisy measurements against temporal logic specifications from an input-output dataset. The verification framework employs Gaussian process (GP) regression to learn the unknown dynamics from the datas...
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作者：Zhang, Xiaozhen; Yang, Qingkai; Zeng, Xianlin; Fang, Hao; Chen, Jie
作者单位：Beijing Institute of Technology; Beijing Institute of Technology; Tongji University
摘要：This article investigates the time-varying formation control problem of multiagent systems. A novel leader-follower formation architecture is proposed, termed linear formation control. In this architecture, both the shape of the formation and its translational motions are represented by a linear transformation matrix determined by the positions of the leaders. This setup allows the leaders' movements to generate time-varying desired formations. To facilitate followers' tracking of desired form...
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作者：Coutinho, Pedro Henrique Silva; Oliveira, Tiago Roux; Krstic, Miroslav
作者单位：Universidade do Estado do Rio de Janeiro; University of California System; University of California San Diego
摘要：This article deals with the gradient extremum seeking control for static scalar maps with actuators governed by distributed diffusion partial differential equations (PDEs). To achieve the real-time optimization objective, we design a compensation controller for the distributed diffusion PDE via backstepping transformation in infinite dimensions. A further contribution of this article is the appropriate motion planning design of the so-called probing (or perturbation) signal, which is more invo...
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作者：Feng, Qian; Xiao, Feng; Wang, Xiaoyu
作者单位：North China Electric Power University
摘要：Dissipative estimator (observer) design for continuous time-delay systems poses a significant challenge when multiple pointwise and general distributed delays (DDs) are present. We propose an effective solution to this semiopen problem using the Krasovski functional (KF) framework in conjunction with a quadratic supply rate function, where both the plant and the estimator can accommodate a finite but unlimited number of pointwise and general DDs with square-integrable kernels. A key contributi...
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作者：Wang, Peng; Lu, Yang; Lian, Jianming; Pan, Lulu; Shao, Haibin; Li, Ning
作者单位：Shanghai Jiao Tong University; Lancaster University; United States Department of Energy (DOE); Oak Ridge National Laboratory
摘要：A privacy-preserving average consensus algorithm is proposed that synergizes the Beaver triple in secret sharing theory and noise obfuscation. The algorithm safeguards the initial values of agents against passive adversaries in a multiagent system. It is proved that the proposed algorithm can concurrently ensure average consensus and privacy, while also reducing the online computation and communication overhead compared to encryption-based ones. In addition, it imposes a less stringent conditi...
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作者：Kanakis, George S.; Rovithakis, George A.
作者单位：Aristotle University of Thessaloniki
摘要：In this article we consider the motion planning problem in an n-dimensional Euclidean space, n >= 2, containing finitely many obstacles with boundaries possessing a smooth structure. Obstacle boundaries are assumed to be compact and connected embedded submanifolds of the ambient Euclidean space of codimension 1. The proposed solution guarantees both global asymptotic stability of a target configuration and avoidance of the obstacles. The controller is based on a switching scheme between two mo...
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作者：Lin, Lin; Lam, James; Shi, Peng; Ng, Michael K.; Lam, Hak-Keung
作者单位：University of Hong Kong; University of Adelaide; Obuda University; Hong Kong Baptist University; University of London; King's College London
摘要：This article studies controllability and observability problems for a class of mixed-valued probabilistic logical control networks (PLCNs). First, PLCN is transformed into the algebraic state-space representation (ASSR)-form by resorting to the semitensor product method. Then, the formulas are presented to calculate the lower and upper bounds of the transition probability matrix, which further derive the controllability and observability criteria. Furthermore, the ASSR-form of a PLCN can be re...
