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作者：Hallinan, Liam; Watson, Jeremy D.; Lestas, Ioannis
作者单位：University of Cambridge; University of Canterbury
摘要：Passivity-based approaches have been suggested as a solution to the problem of decentralized control design in many multiagent network control problems as stability can often be determined independently of the network topology. However, it is not clear if these controllers are optimal at a network level due to their inherently local formulation, with designers often relying on heuristics to achieve desired global performance. On the other hand, solving for an optimal controller is not guarante...
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作者：Khan, Shiraz; Hwang, Inseok
作者单位：Purdue University System; Purdue University
摘要：This article considers the problem of error identification and correction (EIC) in sensor networks, wherein the objective is to identify the agents that have erroneous state estimates and reconstruct their errors. We develop a general framework for reconstructing errors by processing nonlinear measurements obtained across the sensor network, based on the assumptions that the errors are sparse (i.e., only a fraction of the agents have errors) and that the sensor network is sparsely connected. I...
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作者：Shi, Jun; Ye, Maojiao; Ding, Lei; Xu, Shengyuan; Han, Qing-Long
作者单位：Nanjing University of Science & Technology; Nanjing University of Posts & Telecommunications; Swinburne University of Technology
摘要：This article is concerned with game-based distributed least-distance formation tracking with a moving target. More specifically, the agents aim to form a desired shape while enclosing a moving target with a least overall distance. Different from most of the existing results on formation tracking, the key challenge for least-distance formation tracking under consideration is that the distances between the agents and the target are not required to be predefined but are autonomously adjusted by s...
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作者：Xu, Lei; Yi, Xinlei; Sun, Jiayue; Shi, Yang; Johansson, Karl H.; Yang, Tao
作者单位：Northeastern University - China; University of Victoria; Tongji University; Royal Institute of Technology
摘要：This article considers distributed optimization for minimizing the average of local nonconvex cost functions, by using local information exchange over undirected communication networks. To reduce the required communication capacity, we introduce an encoder-decoder scheme. By integrating it with distributed gradient tracking and proportional integral algorithms, respectively, we then propose two quantized distributed nonconvex optimization algorithms. Assuming the global cost function satisfies...
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作者：Deng, Yaosheng; Ogura, Masaki; Bai, Yang; Wang, Yujie; Feroskhan, Mir
作者单位：Nanyang Technological University; Hiroshima University; University of Wisconsin System; University of Wisconsin Madison
摘要：In this article, we propose a novel control barrier function (CBF)-based controller for nonlinear systems with complex, time-varying input constraints. To deal with these constraints, we introduce an auxiliary control input to transform the original system into an augmented one, thus reformulating the constrained-input problem into a constrained-output one. This transformation simplifies the quadratic programming formulation and enhances compatibility with the CBF framework. As a result, the p...
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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...
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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...
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作者：Li, Yibei; Xie, Lihua
作者单位：Chinese Academy of Sciences; Nanyang Technological University
摘要：In this article, the inverse problem is studied for a class of nonzero-sum linear quadratic (LQ) games with indistinguishable observations. The goal is to reconstruct the unknown individual objectives from permuted observations of the Nash equilibrium trajectories, where the main challenge lies in the unknown and time-varying permutations of agent states. Taking advantage of the symmetry in the game structure, the identifiability of the underlying game model is established and the well-posedne...
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作者：Wang, Ji; Krstic, Miroslav
作者单位：Xiamen University; University of California System; University of California San Diego
摘要：In this article, we propose a new adaptive control barrier function (aCBF) method to design the output-positive adaptive control law for a hyperbolic PDE-ODE cascade with parametric uncertainties. This method employs the recent adaptive control approach with batch least-squares identification (BaLSI, pronounced ballsy) that completes perfect parameter identification in finite time and offers a previously unforeseen advantage in safe control design with aCBF, which we elucidate in this article....
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作者：Meng, Yiming; Zhou, Ruikun; Liu, Jun
作者单位：University of Illinois System; University of Illinois Urbana-Champaign; University of Waterloo
摘要：The estimation for the region of attraction of an asymptotically stable equilibrium point is crucial in the analysis of nonlinear systems. There has been a recent surge of interest in estimating the solution to Zubov's equation, whose nontrivial sublevel sets form the exact ROA. In this article, we propose a lifting approach to map observable data into an infinite-dimensional function space, which generates a flow governed by the proposed Zubov-Koopman operators. By learning a Zubov-Koopman op...
