2025

最新文章

• Virtual Nonholonomic Constraints-Based Motion Control for Underactuated UAV Slung-Payload Systems AI翻译
  作者：Kang, Junjie; Shan, Jinjun
  作者单位：York University - Canada
  摘要：The uncrewed aerial vehicle (UAV) slung-payload transportation system, characterized by highly nonlinear and coupled dynamics, poses a significant control challenge due to the two-degree underactuation of the tethered payload. This note investigates online trajectory generation and control for this system, focusing on the asymptotic stabilization of both the actuated UAV's positions and the unactuated payload's swings. First, we introduce a virtual nonholonomic constraint (VNHC)-based approach...
• Riemannian Online Optimistic Algorithms With Dynamic Regret AI翻译
  作者：Wang, Xi; Yuan, Deming; Hong, Yiguang; Hu, Zihao; Wang, Lei; Shi, Guodong
  作者单位：University of New South Wales Sydney; Nanjing University of Science & Technology; Tongji University; Hong Kong University of Science & Technology; Zhejiang University; University of Sydney
  摘要：this article, we consider Riemannian online convex optimization with dynamic regret, which involves minimizing the cumulative loss difference between a learner's decisions and a sequence of adaptive decisions across dynamic environments over time on Riemannian manifolds. First, we propose Riemannian online optimistic gradient descent (R-OOGD), which extends the classical optimistic algorithms to Riemannian manifolds, requiring one gradient inquiry per round. We then propose Riemannian adaptive...
• K-Step Opacity Verification and Enforcement of Time Labeled Petri Net Systems AI翻译
  作者：Dong, Yifan; Lefebvre, Dimitri; Li, Zhiwu
  作者单位：Macau University of Science & Technology; Universite Le Havre Normandie
  摘要：This article presents a procedure for K-step opacity verification and enforcement of timed observations generated from discrete event systems modeled by time labeled Petri nets. Within the framework of a timed discrete event system that is partially observed by an intruder, a K-step opaque timed observation means that an intruder has observed the system with time stamps but is not able to deduce the secret information within the knowledge derived from the last K steps of the timed observation....
• Accelerated Successive Convex Approximation for Nonlinear Optimization-Based Control AI翻译
  作者：Wu, Jinxian; Dai, Li; Dou, Songshi; Xia, Yuanqing
  作者单位：Beijing Institute of Technology; University of Hong Kong
  摘要：The successive convex approximation (SCA) methods stand out as the viable option for nonlinear optimization-based control, as it effectively addresses the challenges posed by nonlinear (potentially nonconvex) optimization problems by transforming them into a sequence of strongly convex subproblems. However, the current SCA algorithm exhibits a slow convergence rate, resulting in a relatively poor performance within a limited sample time. In this article, the process of SCA is retreated as solv...
• Optimal Feedback Control for a Class of Nonlinear Time-Delay Systems AI翻译
  作者：Hu, Hongxiao; Zhou, Zixin; Xu, Liguang; Ding, Zhengtao
  作者单位：University of Shanghai for Science & Technology; University of Shanghai for Science & Technology; University of Manchester
  摘要：This article addresses the problem of optimal nonlinear feedback control for a class of nonlinear time-delay systems over an infinite horizon, involving a nonlinear-nonquadratic performance functional. To this end, we propose a framework for analyzing and designing nonlinear feedback controllers that minimize such cost functionals for these systems. By applying the Lyapunov functional method, the stability of a class of nonlinear time-delay systems is determined over an infinite horizon. This ...
• A Stochastic Surveillance Stackelberg Game: Co-Optimizing Defense Placement and Patrol Strategy AI翻译
  作者：John, Yohan; Diaz-Garcia, Gilberto; Duan, Xiaoming; Marden, Jason R.; Bullo, Francesco
  作者单位：University of California System; University of California Santa Barbara; Shanghai Jiao Tong University
  摘要：Stochastic patrol routing is known to be advantageous in adversarial settings; however, the optimal choice of stochastic routing strategy is dependent on a model of the adversary. We adopt a worst-case omniscient adversary model from the literature and extend the formulation to accommodate heterogeneous defenses at the various nodes of the graph. Introducing this heterogeneity leads to interesting new patrol strategies. We identify efficient methods for computing these strategies in certain cl...
• Gain Scheduling With a Neural Operator for a Transport PDE With Nonlinear Recirculation AI翻译
  作者：Lamarque, Maxence; Bhan, Luke; Vazquez, Rafael; Krstic, Miroslav
  作者单位：Universite PSL; MINES ParisTech; University of California System; University of California San Diego; University of Sevilla
  摘要：To stabilize partial differential equation (PDE) models, control laws typically require space-dependent functional gains mapped by nonlinear operators from the PDE functional coefficients. When a PDE is nonlinear and its pseudocoefficient functions are state-dependent, a gain-scheduling (GS) nonlinear design is the simplest approach to the design of nonlinear feedback.The GS version of PDE backstepping employs gains obtained by solving a PDE at each value of the state. Performing such PDE comp...
• The Variance Margin for the Stabilization of Stochastic Systems and Applications to the Solvability of GAREs AI翻译
  作者：Li, Lin; Li, Yanan; Feng, Wei
  作者单位：Shandong Agricultural University
  摘要：A variance margin problem for linear systems with multiplicative noise is considered. The variance margin vm is the maximal variance tolerance such that the systems can be robustly stabilized by a state-feedback control. vm also provides a fundamental limit for the solvability of a generalized algebraic Riccati equation (GARE). Fundamental limits in literature are only valid for modified algebraic Riccati equations, which are special cases of GAREs. The purpose of this article is to derive new...
• A Feedback-Type Optimal Solution for Partially-Observed Linear-Quadratic Risk-Sensitive Optimal Control Problem of Mean-Field Type Stochastic Systems AI翻译
  作者：Oh, Yuna; Moon, Jun
  作者单位：Hanyang University
  摘要：We study the linear-quadratic (LQ) risk-sensitive optimal control problem for mean-field type stochastic differential equations (MF-SDEs) driven by Brownian motion. The expected values of state and control variables are included in the MF-SDE as well as the objective functional, and the objective functional is of the risk-sensitive type. The control has access to the noisy state information from the mean-field type stochastic observation model. Under this setting, we obtain the practically imp...
• Boundary Consensus of Networked Hyperbolic Systems of Conservation Laws AI翻译
  作者：Zhan, Jingyuan; Zhang, Liguo; Qiao, Junfei
  作者单位：Beijing University of Technology
  摘要：Concerning the consensus problem of a networked hyperbolic system of two linear conservation laws, this article proposes a boundary consensus protocol and establishes a theoretical framework for consensus analysis under both fixed and switching communication topologies. First, we present a consensus analysis under fixed topologies by utilizing the Lyapunov approach, where both undirected graph and digraph cases are considered. Under the assumption that the undirected graph is connected or the ...