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作者：Krener, Arthur J.
作者单位：United States Department of Defense; United States Navy; Naval Postgraduate School
摘要：The uncontrolled diffusion equation on the unit disk under homogeneous Neumann boundary conditions is only neutrally stable, as zero is an eigenvalue. If we add linear reaction terms, the resulting equation can be unstable. To stabilize such a reaction-diffusion equation to a uniform state, which we conveniently take to be zero, we pose and solve a linear quadratic regulator (LQR). We consider two types of control actuation-boundary arc control and boundary point control. With boundary arc con...
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作者：Shi, Lei; Zhou, Yi; Fu, Le; Ning, Nianwen; Yan, Jiayuan; Qiu, Qian
作者单位：Henan University
摘要：Consensus is a common opinion evolution phenomenon in social networks. Existing studies generally believe that opinion consensus is easy to reach when the network is connected and only trust relationships exist among agents. Distinguishing from existing studies, this article aims to explore how to reach opinion consensus on leader-follower signed social networks with both trust and distrust relationships among agents. With the help of theoretical tools including binary relation composition and...
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作者：Skovbekk, John; Laurenti, Luca; Frew, Eric; Lahijanian, Morteza
作者单位：University of Colorado System; University of Colorado Boulder; Delft University of Technology
摘要：Leveraging autonomous systems in safety-critical scenarios requires verifying their behaviors in the presence of uncertainties and black-box components that influence the system dynamics. In this work, we develop a framework for verifying discrete-time dynamical systems with unmodeled dynamics and noisy measurements against temporal logic specifications from an input-output dataset. The verification framework employs Gaussian process (GP) regression to learn the unknown dynamics from the datas...
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作者：Zhang, Xiaozhen; Yang, Qingkai; Zeng, Xianlin; Fang, Hao; Chen, Jie
作者单位：Beijing Institute of Technology; Beijing Institute of Technology; Tongji University
摘要：This article investigates the time-varying formation control problem of multiagent systems. A novel leader-follower formation architecture is proposed, termed linear formation control. In this architecture, both the shape of the formation and its translational motions are represented by a linear transformation matrix determined by the positions of the leaders. This setup allows the leaders' movements to generate time-varying desired formations. To facilitate followers' tracking of desired form...
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作者：Krupa, Pablo; Limon, Daniel; Bemporad, Alberto; Alamo, Teodoro
作者单位：IMT School for Advanced Studies Lucca; University of Sevilla
摘要：Harmonic model predictive control (HMPC) is a recent model predictive control (MPC) formulation for tracking piece-wise constant references that includes a parameterized artificial harmonic reference as a decision variable, resulting in an increased performance and domain of attraction with respect to other MPC formulations. This article presents an extension of the HMPC formulation to track periodic harmonic/sinusoidal references and discusses its use for tracking arbitrary trajectories. The ...
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作者：Ma, Yong-Sheng; Che, Wei-Wei; Wu, Zheng-Guang
作者单位：Northeastern University - China; Zhejiang University
摘要：This article studies the consensus problem in multiagent systems under the challenge of an unknown system model and limited communication resources. A novel model-free adaptive learning algorithm is developed to learn the controller from system data. A model-based event-triggered fully distributed control (ET-FDC) algorithm is proposed to achieve consensus while saving the limited communication resources. Furthermore, a data-driven systematic learning methodology for the ET-FDC algorithm is in...
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作者：Bizyaeva, Anastasia; Franci, Alessio; Leonard, Naomi Ehrich
作者单位：Cornell University; University of Liege; Princeton University
摘要：In this article, we propose and analyze a nonlinear dynamic model of continuous-time multidimensional belief formation over signed social networks. Our model accounts for the effects of a structured belief system, self-appraisal, internal biases, and various sources of cognitive dissonance posited by recent theories in social psychology. We prove that agents become opinionated as a consequence of a bifurcation. We analyze how the balance of social network effects in the model controls the natu...
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作者：Zekraoui, Salim; Espitia, Nicolas; Perruquetti, Wilfrid; Krstic, Miroslav
作者单位：Universite Claude Bernard Lyon 1; Universite de Lille; Centrale Lille; Centre National de la Recherche Scientifique (CNRS); CNRS - Institute for Information Sciences & Technologies (INS2I); Universite de Lille; Centrale Lille; University of California System; University of California San Diego
摘要：Time-varying prescribed-time (PT) controllers use growing gains not only to achieve convergence in desired time but to reduce state peaking during stabilization and to also reduce the control effort by distributing it more evenly over the time interval of convergence. In this article, we consider a 1-D reaction-diffusion system with boundary input delay and propose a general method for studying the problem of PT boundary stabilization. To achieve this objective, we first reformulate the system...
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作者：Gao, Yan; Bai, Chenggang; Quan, Quan
作者单位：Beihang University; Tiangong University; Tianmushan Lab
摘要：To guide a robotic swarm in a cluttered environment, a curved virtual tube is proposed in our previous work. In this article, the swarm controller design is generalized to the condition that all robots have field-of-view (FOV) constraints. Two distributed vector field controllers are proposed for different objectives. One controller focuses on the robots' safety in theory, while the other focuses on the feasibility in real practice at the cost of sacrificing safety slightly. Different from exi...
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作者：Luan, Xiaoli; Xue, Wei; Zhao, Shunyi; Liu, Fei
作者单位：Jiangnan University
摘要：A cofilter by collaboration of Kalman filter and fading memory filter improves the filter estimation performance for uncertain systems. Specifically, the influence function is utilized to quantify the influence of uncertainty on estimation performance, forming the self-perception mechanism. Then, the cofilter takes the Kalman filter as the robust lower bound and the fading memory filter as the robust upper bound and adjusts the robust parameters based on the self-perception mechanism to form a...
