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作者：Zhu, Shaoqin; Ji, Xiaoqiang; Longman, Richard W.; Xu, Yangsheng
作者单位：The Chinese University of Hong Kong, Shenzhen; Shenzhen Institute of Artificial Intelligence & Robotics for Society; Columbia University
摘要：Feedforward control demonstrates the capacity of precision tracking in applications, typically necessitating the solution of the inverse model. For nonminimum phase systems with unstable internal dynamics, the inverse model yields unbounded inputs, impeding the implementation of the feedforward control method. Existing stable inversion leverages noncausal input and initial state transition to achieve exact tracking with an infinite time preview of the output. However, a limited preview window ...
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作者：Gao, Yan; Bai, Chenggang; Quan, Quan
作者单位：Beihang University; Tiangong University; Tianmushan Lab
摘要：To guide a robotic swarm in a cluttered environment, a curved virtual tube is proposed in our previous work. In this article, the swarm controller design is generalized to the condition that all robots have field-of-view (FOV) constraints. Two distributed vector field controllers are proposed for different objectives. One controller focuses on the robots' safety in theory, while the other focuses on the feasibility in real practice at the cost of sacrificing safety slightly. Different from exi...
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作者：Luan, Xiaoli; Xue, Wei; Zhao, Shunyi; Liu, Fei
作者单位：Jiangnan University
摘要：A cofilter by collaboration of Kalman filter and fading memory filter improves the filter estimation performance for uncertain systems. Specifically, the influence function is utilized to quantify the influence of uncertainty on estimation performance, forming the self-perception mechanism. Then, the cofilter takes the Kalman filter as the robust lower bound and the fading memory filter as the robust upper bound and adjusts the robust parameters based on the self-perception mechanism to form a...
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作者：Huang, Pengyan; Wang, Guangchen; Wang, Shujun
作者单位：Shandong University; Shandong University of Finance & Economics; Shandong University
摘要：In this article, we focus on a type of linear-quadratic (LQ) mean-field game of stochastic differential equations with a terminal state constraint and common noise, where a coupling structure enters the state equation, cost functional, and constraint condition. First, by virtue of the mean-field method, we introduce an auxiliary problem of the original game, which is a constrained optimal control problem. Second, by virtue of the Lagrangian multiplier method and stochastic maximum principle, a...
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作者：Lan, Hua; Zhao, Shijie; Hu, Jinjie; Wang, Zengfu; Fu, Jing
作者单位：Northwestern Polytechnical University; Royal Melbourne Institute of Technology (RMIT)
摘要：This article addresses state estimation problems with unknown process and measurement noise covariances in both linear and nonlinear systems. By formulating the joint estimation of system state and noise parameters into an optimization problem, a novel adaptive Kalman filter method based on conjugate-computation variational inference, referred to as CVIAKF, is proposed to approximate the joint posterior probability density function of the latent variables. Unlike existing adaptive Kalman filte...
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作者：Daafouz, Jamal; Loheac, Jerome; Morarescu, Irinel-Constantin; Postoyan, Romain
作者单位：Universite de Lorraine; Centre National de la Recherche Scientifique (CNRS); Institut Universitaire de France
摘要：In this article, we investigate discrete-time conewise linear systems (CLS) for which all the solutions exhibit a finite number of switches. By switches, we mean transitions of a solution from one cone to another. Our interest in this class of CLS comes from the optimization-based control of an insulin infusion model, for which the fact that solutions switch finitely many times appears to be key to establish the global exponential stability of the origin. The stability analysis of this class o...
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作者：Fu, Jing; Wang, Zengfu; Chen, Jie
作者单位：Royal Melbourne Institute of Technology (RMIT); Northwestern Polytechnical University; Northwestern Polytechnical University; City University of Hong Kong
摘要：We study a large-scale patrol problem with state-dependent costs and multiagent coordination. We consider heterogeneous agents, rather general reward functions, and the capabilities of tracking agents' trajectories. We model the problem as a discrete-time Markov decision process consisting of parallel stochastic processes. The problem exhibits an excessively large state space, which increases exponentially in the number of agents and the size of patrol region. By randomizing all the action var...
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作者：Hao, Shoulin; Liu, Tao; Rogers, Eric; Wang, Youqing; Paszke, Wojciech
作者单位：Dalian University of Technology; Dalian University of Technology; University of Southampton; Beijing University of Chemical Technology; University of Zielona Gora
摘要：For industrial batch processes with unknown dynamics subject to nonrepetitive initial conditions and disturbances, this article develops a novel adaptive data-driven set-point learning control (ADDSPLC) scheme based on only the measured process input and output data, which has two loops, one for the dynamics within a batch and the other for the batch-to-batch dynamics. In the former case, a model-free tuning strategy is first presented for determining the closed-loop proportional-integral cont...
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作者：Ma, Guoqi; Ge, Shuzhi Sam
作者单位：Texas A&M University System; Texas A&M University College Station; National University of Singapore
摘要：This article investigates the effect of communicated jerk on string stabilization of connected vehicles with uncertain parasitic actuation lags. First, by feeding forward the jerk of the preceding vehicle through vehicle-to-vehicle communication, a modified cooperative adaptive cruise control law is formulated. Second, the corresponding governing equation that characterizes the propagation of the intervehicular spacing errors along the stream is deduced. Based on the resultant intervehicular s...
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作者：Manfredi, Sabato
作者单位：University of Naples Federico II
摘要：In this article, we propose a distributed algorithm to track the average of time-varying reference signals at nodes (i.e., dynamic average consensus) over networks with heterogeneous, asymmetric Gilbert-Elliott (GE) type lossy channels. The algorithm is robust to GE type network disruptions, (re)-initialization errors and agents joining, faulty or leaving the network during time. Necessary and sufficient conditions are formulated to assess almost sure and mean bounded dynamic average consensus...
