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作者：Min, Xiao; Baldi, Simone; Shi, Yang; Yu, Wenwu
作者单位：Nanjing University of Posts & Telecommunications; Southeast University - China; University of Victoria
摘要：In its standard formulation, the control barrier function (CBF) method scales poorly as the order of the system dynamics increases. On the one hand, the need of recursively extending the control with higher-order terms along the backstepping procedure inevitably results in dynamically increasing complexity. On the other hand, the lack of an explicit form of the CBF leads to implicit formulations of the safety conditions, to be solved numerically via quadratic programming. These high complexity...
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作者：Tang, Jennifer; Adler, Aviv; Ajorlou, Amir; Jadbabaie, Ali
作者单位：Massachusetts Institute of Technology (MIT); Massachusetts Institute of Technology (MIT); Analog Devices, Inc.
摘要：Social pressure is a key factor affecting the evolution of opinions on networks in many types of settings, pushing people to conform to their neighbors' opinions. To study this, the interacting P & oacute;lya urn model was introduced by Jadbabaie et al., 2023, in which each agent has two kinds of opinion: inherent beliefs, which are hidden from the other agents and fixed; and declared opinions, which are randomly sampled at each step from a distribution which depends on the agent's inherent be...
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作者：Alsalti, Mohammad; Lopez, Victor G.; Muller, Matthias A.
作者单位：Leibniz University Hannover
摘要：Recent works have approached the data-driven design of dynamic output-feedback controllers for discrete-time linear time-invariant (LTI) systems by constructing nonminimal state vectors composed of past inputs and outputs. Depending on the system's complexity (order n, lag & ell; and number of outputs p), it was observed in several works that such an approach presents significant limitations. In particular, many works require to restrict the class of LTI systems to those satisfying the relatio...
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作者：Liu, Siyuan; Saoud, Adnane; Dimarogonas, Dimos V.
作者单位：Royal Institute of Technology; Mohammed VI Polytechnic University
摘要：This article considers the problem of controller synthesis of a fragment of signal temporal logic (STL) specifications for large-scale multiagent systems, where the agents are dynamically coupled and subject to collaborative tasks. A compositional framework based on continuous-time assume-guarantee contracts (AGCs) is developed to break the complex and large synthesis problem into subproblems of manageable sizes. We first show how to formulate the collaborative STL tasks as AGCs by leveraging ...
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作者：Villa, Eugenia; Breschi, Valentina; Tanelli, Mara
作者单位：Polytechnic University of Milan; Eindhoven University of Technology
摘要：While control theory can be pivotal in addressing societal challenges and helping policymakers in shaping our future, control schemes must incorporate elements of social justice to be both up to the task and fair. In turn, this requires the formulation of new constraints and control objectives and their integration into existing or new control design strategies. Devising a formally sound framework to ensure social fairness in control can enable a leap in understanding the implications of justi...
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作者：Yuan, Liwei; Ishii, Hideaki
作者单位：Hunan University; University of Tokyo
摘要：In this article, we study the problem of resilient consensus for a multiagent network, where some adversarial nodes attempt to prevent consensus of nonfaulty nodes by transmitting faulty values. Our approach is based on that of the so-called mean subsequence reduced (MSR) algorithm with a special emphasis on its use in agents capable to communicate with multihop neighbors. The MSR algorithm provides an effective technique for agents to achieve resilient consensus if the multiagent network sati...
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作者：Han, Qi; Wang, Lei; Chen, Zhiyong
作者单位：Zhejiang University; University of Newcastle
摘要：Achieving global input-to-state stability (ISS) in closed-loop systems becomes a challenging task when integrating an adaptive scheme into control design. This challenge is particularly prominent in the global output regulation of nonlinear systems. The current state of the art in global robust adaptive output regulators is limited to achieving a weaker form of integral-ISS. In this article, we present an ISS-based design framework for a class of nonlinear systems with input perturbation via a...
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作者：Bahreinian, Mahroo; Kermanshah, Mehdi; Tron, Roberto
作者单位：Boston University; Boston University; Boston University
摘要：We consider the problem of designing output feedback controllers that use measurements from a set of landmarks to navigate through a cell-decomposable environment using duality, control Lyapunov function and control barrier function, and linear programming. We propose two objectives for navigating in an environment, one to traverse the environment by making loops and one by converging to a stabilization point while smoothing the transition between consecutive cells. We test our algorithms in a...
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作者：Su, Yanxu; Wang, Qingling; Sun, Changyin
作者单位：Anhui University; Southeast University - China
摘要：This article concentrates on distributed optimization over networks with communication delays. Each subsystem in the network performs its local updates by using the information received from its neighbors, be it possibly outdated. The communication delays with respect to different neighbors are assumed to be arbitrary but bounded. The objective function consists of a twice differentiable coupling term and an aggregated private term. The private function of each subsystem is the sum of two poss...
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作者：Miller, Jared; Dai, Tianyu; Sznaier, Mario
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; Northeastern University; MathWorks
摘要：This article presents a sum of squares (SOS)-based framework to perform data-driven stabilization and robust control tasks on discrete-time linear systems where the full-state observations are corrupted by & ell;(infinity )bounded input, measurement, and process noise (error in variable setting). Certificates of full-state-feedback robust performance, superstabilization or quadratic stabilization of all plants in a consistency set are provided by solving a feasibility program formed by polynom...
