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作者：Chang, Zeze; Jiao, Junjie; Li, Zhongkui
作者单位：Peking University; Technical University of Munich
摘要：This article considers a localized data-driven consensus problem for leader-follower multiagent systems with unknown discrete-time agent dynamics, where each follower computes its local control gain using only their locally collected state and input data. Both noiseless and noisy data-driven protocols are presented to achieve leader-follower consensus, by addressing the challenge of the heterogeneity in control gains caused by the localized data sampling and distinct parameters of agents. The ...
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作者：Sun, Qingdong; Yang, Guang-Hong
作者单位：Northeastern University - China; Northeastern University - China
摘要：This article studies the secure state estimation problem of continuous-time cyber-physical systems affected by sensor attacks and actuator faults, where the attackers do not target fixed transmission channels but instead stochastically select the channels to attack at each moment based on a specific Markov process. To address these challenges, a reduced-order observer is designed to simultaneously estimate the original system states, faults, and attacks, while ensuring that its observation err...
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作者：Xu, Yong; Wu, Zheng-Guang
作者单位：Beijing Institute of Technology; Zhejiang University
摘要：This article investigates the adaptive optimal output regulation of completely unknown linear time-invariant systems. First, a dynamic state feedback control policy with assured convergence rate requirement is developed such that the output regulation problem is transformed into a tractable optimization problem by incorporating the internal model. Then, an online-verifiable initial excitation-based dual-integrator-based learning algorithm is first proposed for establishing data-driven learning...
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作者：Chatterjee, Soham; Natarajan, Vivek
作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Bombay
摘要：We consider the problem of finding an input signal which transfers a linear boundary controlled 1-D parabolic partial differential equation with spatially varying coefficients from a given initial state to a desired final state. The initial and final states have certain smoothness and the transfer must occur over a given time interval. We address this motion planning problem by first discretizing the spatial derivatives in the parabolic equation using the finite-difference approximation to obt...
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作者：Cros, Colin; Amblard, Pierre-Olivier; Prieur, Christophe; Da Rocha, Jean-Francois
作者单位：Universite de Toulouse; Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS); Thales Group
摘要：Linear fusion is a cornerstone of estimation theory. Implementing optimal linear fusion requires knowledge of the covariance of the vector of errors associated with all the estimators. In distributed or cooperative systems, the cross-covariance terms cannot be computed, and to avoid underestimating the estimation error, conservative fusions must be performed. A conservative fusion provides a fused estimator with a covariance bound that is guaranteed to be larger than the true, but computationa...
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作者：Zou, Lei; Wang, Zidong; Shen, Bo; Dong, Hongli
作者单位：Donghua University; Brunel University; Northeast Petroleum University
摘要：This article addresses the problem of secure recursive state estimation for a networked linear system, which may be vulnerable to interception of transmitted measurement data by eavesdroppers. To effectively protect information security, an encryption-decryption-based communication scheme can be used, but encrypting all the measurement data from sensors can result in significant computational costs. To address this issue, a partial-encryption-decryption (PED) mechanism is proposed to enhance i...
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作者：Funk, Christopher; Noack, Benjamin
作者单位：Otto von Guericke University
摘要：This work introduces a flexible and versatile method for the data-efficient yet conservative transmission of covariance matrices, where a matrix element is only transmitted if a triggering condition is satisfied for the element. Here, triggering conditions can be parameterized on a per-element basis, applied simultaneously to yield combined triggering conditions or applied only to certain subsets of elements. This allows, e.g., to specify transmission accuracies for individual elements or to c...
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作者：Hilborne, Peter; Lanzon, Alexander; Khong, Sei Zhen
作者单位：University of Manchester; National Sun Yat Sen University
摘要：In this article, we develop the concept of input-restricted stability, which determines whether a feedback interconnection remains stable only for inputs in a given subset of all possible inputs in a specified signal space. Graph separation concepts and continuity are employed to derive an input-restricted feedback stability theorem, which guarantees input-restricted stability of a feedback interconnection if both systems in the interconnection fulfil some given criteria related to their input...
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作者：Stratoglou, Efstratios; Simoes, Alexandre Anahory; Bloch, Anthony; Colombo, Leonardo J.
作者单位：Madrid Open University, UDIMA; Universidad Politecnica de Madrid; IE University; University of Michigan System; University of Michigan; Consejo Superior de Investigaciones Cientificas (CSIC); Universidad Politecnica de Madrid; CSIC-UPM - Centro de Automatica y Robotica
摘要：Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic systems are mechanical systems with nonintegrable constraints on the velocities. In this work, we introduce the notion of virtual nonlinear nonholonomic constraints in a geometric framework which is a controlled invariant submanifold and we show the existence and uniqueness of a control law preserving this submanifold.
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作者：Xia, Zicong; Liu, Yang; Kou, Kit Ian; Lu, Jianquan; Gui, Weihua
作者单位：Zhejiang Normal University; Southeast University - China; Zhejiang Normal University; Zhejiang Normal University; University of Macau; Central South University
摘要：In this article, a paradigm of momentum-based systems is introduced for nonconvex optimization. Based on the paradigm, a momentum-based system and a momentum-based multiagent system are developed for nonconvex constrained optimization and distributed nonconvex optimization, respectively, and the convergence and convergence rate to a local optimal solution are proven. In addition, a hybrid swarm intelligence algorithm is established, which consists of multiple momentum-based systems for scatter...
