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作者：Zheng, Xin; Guo, Lei
作者单位：Chinese Academy of Sciences; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS
摘要：It is well known that saturated output observations are prevalent in various practical systems and that the & ell;(1)-norm is more robust than the & ell;(2)-norm-based parameter estimation. Unfortunately, adaptive identification based on both saturated observations and the & ell;(1)-optimization turns out to be a challenging nonlinear problem, and has rarely been explored in the literature. Motivated by this and the need to fit with the & ell;(1)-based index of prediction accuracy in, e.g., ju...
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作者：Liu, Tianhao; Chai, Runqi; Chen, Kaiyuan; Carrasco, Joaquin; Lennox, Barry
作者单位：Beijing Institute of Technology; Cranfield University; Tsinghua University; University of Manchester
摘要：This article studies a mobile robot trajectory optimization problem where the control path constraints are affected by stochastic parameters and the obstacle information is limited. Based on online measured data, an upper confidence bound (UCB) is designed such that the estimated obstacle regions are guaranteed to cover the real obstacles with a predefined probability, thus avoiding collisions. Using the proposed approach, the control path constraints are transformed into deterministic constra...
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作者：Shah, Suhail M.; Bollapragada, Raghu
作者单位：University of Texas System; University of Texas Austin
摘要：Decentralized optimization is typically studied under the assumption of noise-free transmission. However, real-world scenarios often involve the presence of noise due to factors such as additive white Gaussian noise channels or probabilistic quantization of transmitted data. These sources of noise have the potential to degrade the performance of decentralized optimization algorithms if not effectively addressed. In this article, we focus on the noisy communication setting and propose an algori...
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作者：Tian, Kaixin; Mei, Jie; Tian, Congcong; Ma, Guangfu
作者单位：Harbin Institute of Technology; Harbin Institute of Technology; Zhengzhou Tobacco Research Institute of CNTC
摘要：This article focuses on the interval consensus problem, which is characterized by the constraint that each agent has a lower and upper bound on the achievable consensus value. Such constraint is realized by setting saturation for neighbors' positions in agent dynamics. By using a novel system transformation, the heterogeneous high-order interval consensus problem then can be transformed into a first-order one, thus restoring the monotonic property, and further facilitating the analysis of the ...
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作者：Wang, Linyang; Zhu, Bin; Liu, Wanquan
作者单位：Sun Yat Sen University
摘要：Factor analysis is a widely used modeling technique for stationary time series, which achieves dimensionality reduction by revealing a hidden low-rank plus sparse structure of the covariance matrix. Such an idea of parsimonious modeling has also been important in the field of systems and control. In this article, a nonconvex nonsmooth optimization problem involving the l(0) norm is constructed in order to achieve the low-rank and sparse additive decomposition of the sample covariance matrix. W...
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作者：Angeli, David; Martini, Davide; Innocenti, Giacomo; Tesi, Alberto
作者单位：Imperial College London; University of Florence
摘要：This article introduces small-gain sufficient conditions for 2-contraction of feedback interconnected systems, on the basis of individual gains of suitable subsystems arising from a modular decomposition of the second additive compound matrix variational equation. The gains are computed through the solution of suitable linear matrix inequality conditions. The criterion applies even to cases when individual subsystems might fail to be contractive, thanks to the extra margin of contraction affor...
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作者：Ling, Zhaoji; Xie, Xiaochen; Lam, James; Kwok, Ka-Wai
作者单位：Harbin Institute of Technology; University of Hong Kong; Chinese University of Hong Kong
摘要：This article is focused on estimating reachable sets for periodic time-varying systems, whose dynamics are represented by trigonometric series through Fourier theory. Given the difficulty of dealing with coupled time-varying coefficients in reachable set estimation, a constructive polynomial-based approach is utilized to transform time-varying nonconvex constraints into constant vertex constraints through the property of multiaffine matrix polynomials. Based on that, when the decay rate parame...
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作者：Wan, Neng; Li, Dapeng; Hovakimyan, Naira; Voulgaris, Petros G.
作者单位：University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign; Southern University of Science & Technology; Nevada System of Higher Education (NSHE); University of Nevada Reno
摘要：Fundamental limitations or performance tradeoffs/limits are important properties and constraints of both control and filtering systems. Among various tradeoff metrics, total information rate that characterizes the sensitivity tradeoffs and time-averaged performance of control and filtering systems was conventionally studied by using the differential entropy rate and Kolmogorov-Bode formula. In this article, by extending the famous mutual information-minimum mean-square error (I-MMSE) relations...
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作者：Martins, Luis; Cardeira, Carlos; Oliveira, Paulo
作者单位：Universidade de Lisboa; Universidade de Coimbra; Universidade de Lisboa
摘要：This article proposes an innovative hybrid dynamic mechanism to uniquely and robustly lift a path from the 3-D special orthogonal group to the modified Rodrigues parameters (MRP) space. The path-lifting mechanism leverages the unique properties of the MRP representation and is crucial for developing a novel framework for the equivalence of stability results between these topological spaces. The new hybrid methodology allows the design and analysis of an attitude feedback controller in the topo...
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作者：Yi, Xinlei; Li, Xiuxian; Yang, Tao; Xie, Lihua; Hong, Yiguang; Chai, Tianyou; Johansson, Karl H.
作者单位：Tongji University; Massachusetts Institute of Technology (MIT); Northeastern University - China; Nanyang Technological University; Royal Institute of Technology
摘要：This article considers distributed online convex optimization with time-varying constraints. In this setting, a network of agents makes decisions at each round, and then, only a portion of the loss function and a coordinate block of the constraint function are privately revealed to each agent. The loss and constraint functions are convex and can vary arbitrarily across rounds. The agents collaborate to minimize static network regret and network cumulative constraint violation. A novel distribu...
