10期

最新文章

• A Sparsity Approach to Scheduling and Control of Networked Systems AI翻译
  作者：Dasgupta, Anubhab; Kundu, Atreyee
  作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Kharagpur; Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Kharagpur
  摘要：We study the co-design of scheduling logic and control logic for networked control systems (NCSs) where plants communicate with their remotely located controllers over a shared band-limited communication network. Our key contribution is a new algorithm that co-designs (a) an allocation scheme of the communication network among the plants (scheduling logic) and (b) the control inputs for the plants accessing the network (control logic) under which given nonzero initial states are steered to zer...
• Robust Data-Driven Predictive Control for Unknown Linear Systems With Bounded Disturbances AI翻译
  作者：Hu, Kaijian; Liu, Tao
  作者单位：University of Hong Kong; University of Hong Kong; The University of Hong Kong Shenzhen Institute of Research & Innovation
  摘要：This article presents a robust data-driven predictive control (RDPC) framework for linear time-invariant (LTI) systems affected by bounded disturbances and measurement noise. Unlike traditional model-based approaches, the proposed method relies solely on input-state-output (ISO) data without requiring prior system identification. Given that multiple systems can be consistent with the collected data due to disturbances and noise, a set of all possible systems using quadratic matrix inequalities...
• Safe Control of Multiagent Systems via Low-Complexity Control Barrier Functions AI翻译
  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...
• Stochastic Opinion Dynamics Under Social Pressure in Arbitrary Networks AI翻译
  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...
• Robust, Positive, and Exact Model Reduction via Monotone Matrices AI翻译
  作者：Cortese, Marco; Grigoletto, Tommaso; Ticozzi, Francesco; Ferrante, Augusto
  作者单位：University of Padua
  摘要：This work focuses on the problem of exact model reduction of positive linear systems, by leveraging minimal realization theory. While determining the existence of a positive reachable realization remains in general an open problem, we are able to fully characterize the cases in which the new model is obtained with nonnegative reduction matrices, and hence positivity of the reduced model is robust with respect to small perturbations of the original system. The characterization is obtained by sp...
• Global Asymptotic Stability Analysis for Autonomous Optimization AI翻译
  作者：Jin, Zhenghong
  作者单位：Zhejiang University; Northeastern University - China; Nanyang Technological University
  摘要：This article studies the feedback optimization problem for nonlinear systems. In particular, we assume that the controlled plant admits a global asymptotic stable equilibrium corresponding to each fixed reference input and consider a modified gradient-flow optimizer augmented with a nonlinear perturbation function. With the output map of the controlled plant satisfying a linear growth condition, this article proves the existence of a perturbation function such that the resulting feedback optim...
• Design of Distributed Nonlinear Observers Without Using Global Inputs AI翻译
  作者：Cao, Ganghui; Wang, Jinzhi; Polycarpou, Marios M.
  作者单位：Peking University; University of Cyprus; University of Cyprus
  摘要：This article investigates the design of distributed observers for a class of nonlinear systems. The designed distributed observers reside in a network of sensor nodes. The communication links in the network enable each sensor node to estimate all states of the nonlinear system, even though each one can only collect a small portion of the system's outputs. However, all inputs of the system are still needed at each node to carry out a correct state estimation. For this problem, the article furth...
• Performance Analysis of Distributed Filtering Under Misspecified Noise Covariances AI翻译
  作者：Lyu, Xiaoxu; Wen, Guanghui; Shi, Ling; Duan, Peihu; Duan, Zhisheng
  作者单位：Hong Kong University of Science & Technology; Southeast University - China; Hong Kong University of Science & Technology; Beijing Institute of Technology; Peking University
  摘要：This article systematically investigates the performance of the consensus-based distributed filter under misspecified noise covariances. First, we introduce four quantities: the nominal filter parameter, the nominal estimation error covariance, the ideal filter parameter, and the ideal estimation error covariance. We derive the difference expressions among these quantities and establish the corresponding one-step relations. These relations reveal how performance deteriorates when noise covaria...
• Automatic Nonlinear MPC Approximation With Closed-Loop Guarantees AI翻译
  作者：Tokmak, Abdullah; Fiedler, Christian; Zeilinger, Melanie N.; Trimpe, Sebastian; Kohler, Johannes
  作者单位：Aalto University; RWTH Aachen University; Swiss Federal Institutes of Technology Domain; ETH Zurich
  摘要：Safety guarantees are vital in many control applications, such as robotics. Model predictive control (MPC) provides a constructive framework for controlling safety-critical systems but is limited by its computational complexity. We address this problem by presenting a novel algorithm that automatically computes an explicit approximation to nonlinear MPC schemes while retaining closed-loop guarantees. Specifically, the problem can be reduced to a function approximation problem, which we tackle ...
• Completely Distributed State Estimation for Jointly Observable Uncertain Linear Systems AI翻译
  作者：Zhang, Lan; Guay, Martin; Wang, Shimin; Lu, Maobin
  作者单位：Beijing Institute of Technology; Beijing Institute of Technology; Queens University - Canada
  摘要：This article presents a novel design of a distributed adaptive observer for distributed state estimation of continuous-time uncertain linear time-invariant systems over directed networks. In contrast to existing works, the observed system is subject to uncertainties and possibly jointly observable. The distributed estimation of such systems allows practical applications in challenging problems subject to sparse arrangement of sensors and model uncertainties. A class of fully distributed nonlin...