9期

最新文章

• Achieving Local Consensus Over Compact Submanifolds AI翻译
  作者：Hu, Jiang; Zhang, Jiaojiao; Deng, Kangkang
  作者单位：University of California System; University of California Berkeley; Royal Institute of Technology; National University of Defense Technology - China
  摘要：Decentralized optimization often relies on achieving consensus among disparate agents. This article addresses the consensus problem in decentralized networks, focusing on the challenges posed by a nonconvex compact submanifold constraint. We identify conditions on network topology that facilitate local linear convergence to global consensus, where the achieved linear rate matches that of the Euclidean setting. Central to our analysis are the convex-like properties, specifically proximal smooth...
• Performance-Barrier Event-Triggered PDE Control of Traffic Flow AI翻译
  作者：Zhang, Peihan; Rathnayake, Bhathiya; Diagne, Mamadou; Krstic, Miroslav
  作者单位：University of California System; University of California San Diego; University of California System; University of California San Diego
  摘要：For stabilizing stop-and-go oscillations in traffic flow by actuating a variable speed limit (VSL) at a downstream boundary of a freeway segment, we introduce event-triggered partial differential equation (PDE) backstepping designs employing the recent concept of performance-barrier event-triggered control (P-ETC). Our design is for linearized hyperbolic Aw-Rascle-Zhang (ARZ) PDEs governing traffic velocity and density. Compared to continuous feedback, ETC provides a piecewise-constant VSL com...
• Adaptive Nonlinear Prescribed-Time Control With Filterless Least Squares AI翻译
  作者：Li, Wuquan; Krstic, Miroslav
  作者单位：Ludong University; University of California System; University of California San Diego
  摘要：For linearly parametrized nonlinear systems in normal form, we first develop a new prescribed-time (PT) least-squares identification scheme (abbreviated PT-LS) characterized by a blow-up function, and then design a new PT adaptive controller which ensures that the plant state is regulated to zero in the prescribed time and the parameter estimate converges to a vector-valued constant in the same PT. Under a moderate interval excitation (IE) condition where the IE is fulfilled at the time strict...
• On Uniform Observability of Linear Time-Varying Systems With Respect to Subspaces and Its Applications AI翻译
  作者：Liu, Tao; Huang, Jie
  作者单位：Southern University of Science & Technology; Chinese University of Hong Kong
  摘要：Recently, the notion of uniform observability with respect to a subspace was proposed in (Xia et al., 2022) and was utilized to solve the synchronization problem for single-integrator multiagent systems with time-varying matrix-weighted couplings. This article further explores the concept of uniform observability of a linear time-varying system with respect to a subspace. We will first establish the invariance property of uniform observability with respect to some invariant subspace under time...
• Robust Model Predictive Control Exploiting Monotonicity Properties AI翻译
  作者：Heinlein, Moritz; Subramanian, Sankaranarayanan; Lucia, Sergio
  作者单位：Dortmund University of Technology; Dortmund University of Technology
  摘要：Robust model predictive control (MPC) algorithms are essential for addressing unavoidable errors due to the uncertainty in predicting real-world systems. However, the formulation of such algorithms typically results in a tradeoff between conservatism and computational complexity. Monotone systems facilitate the efficient computation of reachable sets and thus the straightforward formulation of a robust MPC approach optimizing over open-loop predictions. We present an approach based on the divi...
• Event-Triggered Nonlinear Control With Reset Dynamics AI翻译
  作者：Zhu, Lijun; Chen, Zhiyong
  作者单位：Huazhong University of Science & Technology; University of Newcastle
  摘要：In this article, we propose an improved event-triggered control law based on the Lyapunov function method for a class of nonlinear systems by integrating a monotonically decreasing dynamics with a reset mechanism at each sampling instance. It is rigorously guaranteed that the sampling interval can be increased compared to a recently designed Lyapunov-function-based event-triggered control law when adopted at each step, while the advantages compared with other existing event-triggered control l...
• Distributional Uncertainty Propagation via Optimal Transport AI翻译
  作者：Aolaritei, Liviu; Lanzetti, Nicolas; Chen, Hongruyu; Dorfler, Florian
  作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich
  摘要：This article addresses the limitations of standard uncertainty models, i.e., robust (norm-bounded) and stochastic (one fixed distribution, e.g., Gaussian), and proposes to model uncertainty via optimal transport (OT) ambiguity sets. These constitute a very rich uncertainty model, which enjoys many desirable geometrical, statistical, and computational properties, and which naturally generalizes both robust and stochastic models, and captures many additional real-world uncertainty phenomena (e.g...
• Multiple Model Reference Adaptive Control With Blending for Nonsquare Multivariable Systems AI翻译
  作者：Lovi, Alex; Fidan, Baris; Nielsen, Christopher
  作者单位：University of Waterloo; University of Waterloo
  摘要：In this article, we develop a multiple model reference adaptive controller (MMRAC) with blending. The systems under consideration are Non square, i.e., the num-ber of inputs is not equal to the number of states; multi-input, linear, time-invariant with uncertain parameters that lie inside of a known, compact, and convex set. Moreover, the full state of the plant is available for feedback. A multiple model online identification scheme for the plant's state and input matrices is developed that g...
• Dynamic-High-Gain-Based Decentralized Optimal Fault-Tolerant Control for a Class of Interconnected Nonlinear Systems AI翻译
  作者：Yang, Xinyu; Puig, Vicenc; Wang, Xingjian; Wang, Shaoping; Sun, Chen; Zhang, Yixin
  作者单位：Beihang University; Universitat Politecnica de Catalunya; Consejo Superior de Investigaciones Cientificas (CSIC); CSIC - Institut de Robotica i Informatica Industrial (IRII); Beihang University; Beihang University; Tianmushan Lab; China University of Mining & Technology
  摘要：In this article, a dynamic high-gain-based decentralized optimal fault-tolerant control (FTC) strategy for a class of strong interconnected systems with unknown actuator faults is proposed. The interactions considered are bounded by some functions that depend on all subsystems' states. A two-layer control framework is presented for each subsystem to steer its tracking error asymptotically to zero. In the upper layer, an error optimizer is designed to generate optimal error trajectory based on ...
• STLCCP: Efficient Convex Optimization-Based Framework for Signal Temporal Logic Specifications AI翻译
  作者：Takayama, Yoshinari; Hashimoto, Kazumune; Ohtsuka, Toshiyuki
  作者单位：Universite Paris Saclay; University of Osaka; Kyoto University
  摘要：Signal temporal logic (STL) is a powerful formalism for specifying various temporal properties in dynamical systems. However, existing methods, such as mixed-integer programming and nonlinear programming, often struggle to efficiently solve control problems with complex, long-horizon STL specifications. This study introduces STLCCP, a novel convex optimization-based framework that leverages key structural properties of STL: monotonicity of the robustness function, its hierarchical tree structu...