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作者：Cheniouni, Ishak; Berkane, Soulaimane; Tayebi, Abdelhamid
作者单位：Lakehead University; University of Quebec; University Quebec Outaouais
摘要：In this article, we propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds. The main idea consists in avoiding each obstacle via the shortest path on the cone's surface enclosing the obstacle and heading straight toward the target when the vehicle has a clear line of sight to the target location. In particular, almost global asymptotic stability of the target location is achieved in 2-D environments u...
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作者：Li, Xiaolei; Wen, Changyun; Wang, Jiange; Zhou, Jing
作者单位：Yanshan University; Nanyang Technological University; University of Agder
摘要：In this article, we present a solution to the adaptive coordination control problem for networked Lagrange systems with unknown nonsmooth actuator nonlinearities, which can represent actuator failure/attack, deadzone, backlash, friction, and hysteresis in a unified framework. An auxiliary system is firstly designed for each subsystem over a directed network, in which the final synchronized value can be regulated by given specified initial values. Then, an adaptive controller is proposed for ne...
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作者：Tao, Yangtianze; Kang, Jiayi; Yau, Stephen Shing-Toung
作者单位：Tsinghua University
摘要：This note introduces the modified extended Kalman filter (MEKF), reformulating the EKF update step within a nonlinear regression framework. We propose a novel outlier-robust scheme, MCIC-MEKF, utilizing the minimum correntropy-induced cost (MCIC) criterion. We provide a theoretical analysis of its outlier robustness through stochastic stability, proving exponentially bounded mean square posterior estimation error under natural conditions. In addition, we present a technical approximation for t...
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作者：Ding, Bo; Wei, Yuanchu; Zhang, Yong; Yang, Wu
作者单位：Yangzhou University; Wuhan University of Science & Technology; Guangxi University
摘要：In this article, we introduce a novel mixture least squares (MLSs) algorithm to deal with the problems of simultaneous parameter/state and unknown input estimation. First, the MLSs algorithm is derived to estimate the desired parameter and unknown input, which can be regarded as a unified framework for deterministic least squares and stochastic least squares. The unbiasedness and optimality of the MLSs estimators are further verified. Then, based on the established MLSs algorithm, a new soluti...
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作者：Dong, Ziwei; Jin, Yaochu; Mao, Shuai; Ren, Wei; Du, Wei; Tang, Yang
作者单位：East China University of Science & Technology; Westlake University; Nantong University; University of California System; University of California Riverside
摘要：The implementation of distributed optimization, depending on the application, imposes escalating demands on communication and computational synchronization, with the general desire for the robust performance in the face of computationally slow agents and the avoidance of unnecessary communication. In this article, we propose a distributed algorithm with asynchronous computation and event-triggered communication (DAAET) that enables the nodes to flexibly determine their update and information t...
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作者：Zhu, Quanxin
作者单位：Hunan Normal University
摘要：This article mainly discusses the stabilization issue for a class of stochastic nonlinear delay systems driven by Levy processes. Based on a novel event-triggered strategy and stochastic analysis techniques, we solve the practically pth moment exponential stability problem of the considered system. Comparing with those previous results, we do not require the global Lipschitz condition and do not use the linear matrix inequality method. Also, different from many results for stochastic systems i...
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作者：Dhamal, Swapnil; Ben-Ameur, Walid; Chahed, Tijani
作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Ropar; IMT - Institut Mines-Telecom; Institut Polytechnique de Paris; Telecom SudParis
摘要：The literature on investment strategies for steering opinion dynamics on networks primarily focuses on discrete time models. This work proposes an investment framework for a continuous time model that captures essential factors, such as opinion bias, network effect, and camp investment, by extending Friedkin-Johnsen and Taylor's models. We, hence, devise an optimal investment strategy in the presence of various constraints and present its properties, such as memorylessness. We also show that t...
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作者：Joa, Eunhyek; Borrelli, Francesco
作者单位：University of California System; University of California Berkeley
摘要：In this article, we propose a model predictive control (MPC) with a single-step prediction horizon to approximate the solution of infinite horizon optimal control problems with the expected sum of convex stage costs for constrained linear uncertain systems. The proposed method aims to enhance a given suboptimal controller, leveraging data to achieve a nearly optimal solution for the infinite horizon problem. The method is built on two techniques. First, we estimate the expected values of the c...
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作者：Stefanovski, Jovan
作者单位：St. Clement of Ohrid University of Bitola
摘要：The problem of obtaining a dynamic controller such that its poles and the modes of the closed-loop (CL) system are in specified regions ID' and ID'' in the open left complex half-plane, such that the CL transfer matrix has as small as possible norm over a prescribed frequency range B is considered. A novel optimization algorithm for controller design is presented. The algorithm is based on iterative solving linear matrix inequalities and finds in every iteration a minimal norm static output fe...
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作者：Shah, Suhail M.; Bollapragada, Raghu
作者单位：University of Texas System; University of Texas Austin
摘要：Decentralized optimization is typically studied under the assumption of noise-free transmission. However, real-world scenarios often involve the presence of noise due to factors such as additive white Gaussian noise channels or probabilistic quantization of transmitted data. These sources of noise have the potential to degrade the performance of decentralized optimization algorithms if not effectively addressed. In this article, we focus on the noisy communication setting and propose an algori...
