-
作者：Wang, Youqing; Li, Ying; Parisini, Thomas; Zhao, Dong
作者单位：Beijing University of Chemical Technology; Imperial College London; University of Trieste; Beihang University
摘要：We address a distributed adaptive control methodology for nonlinear interconnected systems possibly affected by replay cyber-attacks. In the framework of adaptive approximation, the distributed controller and parameter estimator are designed by exploiting a backstepping approach. The stability of the attacked distributed control system is analyzed, where both the local replay attack and neighboring attack propagation effects are simultaneously considered. To quantify the resilience of the inte...
-
作者：Ma, Yuwen; Li, Xianwei; Li, Shaoyuan; Lin, Zongli
作者单位：Shanghai Jiao Tong University; Shanghai Jiao Tong University; University of Virginia
摘要：This article studies reduced-order dynamic consensus protocols for homogeneous linear multiagent systems using pure relative output information. By applying H infinity control theory, a separation principle like method with an additional small-gain constraint is proposed for designing an (n(x)-n(u))th order protocol, where n(x )and n(u )are the numbers of states and inputs of each agent, respectively. Existence conditions for the protocol are then systematically discussed from the graph, low-g...
-
作者：Miller, Jared; Sznaier, Mario
作者单位：University of Stuttgart; Northeastern University
摘要：Common tasks in system analysis and control include optimal control, peak estimation, reachable set estimation, and maximum control invariant set estimation. A standard method to solve these problems is to lift them into infinite-dimensional convex linear programs. However, finite-dimensional truncations of these problems suffer a curse of dimensionality with respect to the size of the state and input. In the case where the dynamical system is input-affine and the input is restricted to a conv...
-
作者：Liu, Wenliang; Alsalehi, Suhail; Mehdipour, Noushin; Bartocci, Ezio; Belta, Calin
作者单位：Boston University; Boston University; Technische Universitat Wien; University System of Maryland; University of Maryland College Park; University System of Maryland; University of Maryland College Park
摘要：In this article, we study control synthesis problems for multiagent systems (MASs) that must comply with spatio-temporal logic requirements. We define a logic called team spatio-temporal reach and escape logic (t-STREL) and a robustness metric for it that is continuous everywhere and differentiable almost everywhere. These properties facilitate the use of gradient-based optimization and learning-based control techniques, offering greater efficiency compared to traditional gradient-free methods...
-
作者：Wang, Zifan; Liu, Changxin; Parisini, Thomas; Zavlanos, Michael M.; Johansson, Karl H.
作者单位：Royal Institute of Technology; East China University of Science and Technology; Imperial College London; Aalborg University; University of Trieste; Duke University
摘要：In this article, we deal with stochastic optimization problems where the data distributions change in response to the decision variables. Traditionally, the study of optimization problems with decision-dependent distributions has assumed either the absence of constraints or fixed constraints. This work considers a more general setting where the constraints can also dynamically adjust in response to changes in the decision variables. Specifically, we consider linear constraints and analyze the ...
-
作者：Moalemi, Sepehr; Forbes, James Richard
作者单位：McGill University
摘要：This article considers gain-scheduling of quadratic supply rate (QSR)-dissipative subsystems using scheduling matrices. The corresponding QSR-dissipative properties of the overall matrix-gain-scheduled system, which depends on the QSR properties of the subsystems scheduled, are explicitly derived. The use of scheduling matrices is a generalization of the scalar scheduling signals used in the literature, and allows for greater design freedom when scheduling systems, such as in the case of gain-...
-
作者：Carnevale, Guido; Bastianello, Nicola; Notarstefano, Giuseppe; Carli, Ruggero
作者单位：University of Bologna; Royal Institute of Technology; University of Padua
摘要：In this article, we propose a novel distributed algorithm for consensus optimization over networks and a robust extension tailored to deal with asynchronous agents and packet losses. Indeed, to robustly achieve dynamic consensus on the solution estimates and the global descent direction, we embed in our algorithms a distributed implementation of the alternating direction method of multipliers. Such a mechanism is suitably interlaced with a local proportional action steering each agent estimate...
-
作者：Costantini, Marina; Liakopoulos, Nikolaos; Mertikopoulos, Panayotis; Spyropoulos, Thrasyvoulos
作者单位：IMT - Institut Mines-Telecom; EURECOM; Centre National de la Recherche Scientifique (CNRS); Communaute Universite Grenoble Alpes; Universite Grenoble Alpes (UGA); Inria; Institut National Polytechnique de Grenoble; Technical University of Crete
摘要：In decentralized optimization over networks, synchronizing the updates of all nodes incurs significant communication overhead. Therefore, much of the recent literature has focused on designing asynchronous algorithms where nodes can activate anytime and contact a single neighbor to complete an iteration. However, most works assume that the neighbor selection is done randomly based on a fixed probability distribution, a choice that ignores the optimization landscape at the activation time. Inst...
-
作者：Karapetyan, Aren; Balta, Efe C.; Iannelli, Andrea; Lygeros, John
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; University of Stuttgart
摘要：Suboptimal methods in optimal control arise due to a limited computational budget, unknown system dynamics, or a short prediction window among other reasons. In this work, we study the transient closed-loop performance of such methods by providing finite-time suboptimality gap guarantees. We consider the control of discrete-time, nonlinear time-varying dynamical systems and establish sufficient conditions for such guarantees. These allow the control design to distribute a limited computational...
-
作者：Zhong, Tianyi; Angeli, David
作者单位：Imperial College London; University of Florence
摘要：This article considers a general setup for the constrained convex optimization problem over jointly fully connected time-varying networks. We propose a novel cutting plane-based method that embeds a proximity-based consensus scheme for solving this (potentially nonsmooth) optimization problem. The consensus mechanism allows agents to select the same sample point and therefore reconstruct the centralized cut individually. Under convexity, we prove that agents' sample points converge to the opti...
