7期

最新文章

• An L-BFGS-B Approach for Linear and Nonlinear System Identification Under £1 and Group-Lasso Regularization AI翻译
  作者：Bemporad, Alberto
  作者单位：IMT School for Advanced Studies Lucca
  摘要：In this article, we propose a very efficient numerical method based on the Limited-memory Broyden-Fletcher-Goldfarb-Shanno with Box constraints (L-BFGS-B) algorithm for identifying linear and nonlinear discrete-time state-space models, possibly under L-1 and group-Lasso regularization for reducing model complexity. For the identification of linear models, we show that, compared to classical methods, the approach often provides better results, is much more general in terms of the loss and regul...
• A Coupling Approach to Analyzing Games With Dynamic Environments AI翻译
  作者：Collins, Brandon C.; Xu, Shouhuai; Brown, Philip N.
  作者单位：University of Colorado System; University of Colorado at Colorado Springs
  摘要：The theory of learning in games has extensively studied situations where agents respond dynamically to each other in a static environment by optimizing a fixed utility function. However, real-world environments evolve as a result of past agent choices. Unfortunately, the analysis techniques that enabled a rich characterization of the emergent behavior of games played in static environments fail to cope with games played in dynamic environments. To address this problem, we develop a general fra...
• Robust Control Barrier Functions Using Uncertainty Estimation With Application to Mobile Robots AI翻译
  作者：Das, Ersin; Burdick, Joel W.
  作者单位：California Institute of Technology
  摘要：This article proposes a safety-critical control design approach for nonlinear control affine systems in the presence of matched and unmatched uncertainties. Our constructive framework couples control barrier function (CBF) theory with a new uncertainty estimator to ensure robust safety. We use the estimated uncertainty, along with a derived upper bound on the estimation error, for synthesizing CBFs and safety-critical controllers via a quadratic program-based feedback control law that rigorous...
• Quantifying the Value of Preview Information for Safety Control AI翻译
  作者：Liu, Zexiang; Ozay, Necmiye
  作者单位：University of Michigan System; University of Michigan
  摘要：Safety-critical systems, such as autonomous vehicles, often incorporate perception modules that can anticipate upcoming disturbances to system dynamics, expecting that such preview information can improve the performance and safety of the system in complex and uncertain environments. However, there is a lack of formal analysis of the impact of preview information on safety. In this work, we introduce a notion of safety regret, a properly defined difference between the maximal invariant set of ...
• Homotopic Gaussian Mixture Filtering for Applied Bayesian Inference AI翻译
  作者：Craft, Kyle J.; DeMars, Kyle J.
  作者单位：Texas A&M University System; Texas A&M University College Station
  摘要：Bayes' rule, although a powerful framework for performing state estimation, is often intractable for real-world, nonlinear dynamic systems. As a result, estimation algorithms typically rely on a simplifying assumption, such as the linearity of the measurement model or Gaussianity of the likelihood function. For nonlinear, non-Gaussian systems, these approximations can introduce statistical inconsistencies into the underlying estimator. To mitigate approximation errors, a homotopic scheme is pr...
• Dynamic Event-Triggering Mechanism and Its Application to Dynamic Average Tracking AI翻译
  作者：Xu, Tao; Yi, Xiaojian; Duan, Zhisheng; Chen, Guanrong; Wen, Guanghui
  作者单位：Beijing Institute of Technology; Nanyang Technological University; Beijing Institute of Technology; Peking University; City University of Hong Kong; Southeast University - China
  摘要：As reported in the studies of dynamic average tracking, many existing solutions are not robust to initialization, in the sense that their design and implementation require specific and stringent initial conditions. All agents need to be reinitialized if the original initial conditions are violated due to network disruptions. This article aims to overcome this common issue existing in the control problem of distributed event-driven dynamic average tracking for networked multiple linear systems ...
• Finite-time Bipartite Synchronization of Homogeneous and Heterogeneous Multiple Agents with Input Saturation: A TVRE-Based Gain Approach AI翻译
  作者：Zhou, Yuan; Liu, Yongfang; Zhao, Yu; Li, Zhongkui
  作者单位：Hong Kong Polytechnic University; Northwestern Polytechnical University; Peking University
  摘要：Pursuing faster convergence rates and smaller input magnitudes seem to be two conflicting goals in studying multiagent systems. To give a tradeoff between the two, this article focuses on the bipartite synchronization problems over signed topologies and aims to achieve finite-time control for general linear agents subject to input saturation constraints. First, this article considers homogeneous agents and presents a class of bipartite synchronization protocols with saturation constraint, whic...
• Exponential Regulation of Uncertain Nonlinear Triangular Impulsive Systems: A Logic-Based Switching Gain Approach AI翻译
  作者：Fan, Debao; Zhang, Xianfu; Wen, Changyun
  作者单位：Shandong University; Nanyang Technological University
  摘要：This article addresses the exponential regulation problem for uncertain nonlinear impulsive systems with generalized triangular structures. Different from the existing works, the nonlinear growth rates under consideration are allowed to contain unknown constants and state-input-dependent functions, and the impulse effects are allowed to have unknown sizes. This problem has remained unsolved because it exceeds the coverage of common assumptions in impulsive systems. To this end, we propose a no...
• Saturated RISE Controllers With Exponential Stability Guarantees: A Projected Dynamical Systems Approach AI翻译
  作者：Patil, Omkar Sudhir; Kamalapurkar, Rushikesh; Dixon, Warren E.
  作者单位：State University System of Florida; University of Florida
  摘要：The robust integral of the sign of the error (RISE) control approach results in a powerful continuous controller that yields exponential tracking error convergence despite the presence of time-varying and state-dependent disturbances. However, designing the RISE controller to yield exponential tracking error convergence in the presence of actuator saturation has been an open problem. Although there are existing results that provide a saturation scheme for RISE controllers, these results only g...
• Remote State Estimation for Complex Networks Under Probabilistic Bit Flips: A Transmission Power Allocation Scheme AI翻译
  作者：Song, Jiahao; Wang, Zidong; Liu, Qinyuan; He, Xiao
  作者单位：Tsinghua University; Brunel University; Tongji University; Tongji University
  摘要：In this article, the problem of remote state estimation is investigated for a class of complex networks with noisy wireless communication channels. The employment of the binary encoding scheme allows for the description of the influence of channel noises as probabilistic bit flips, where the probability of these bit flips is influenced by several factors with the signal-to-noise ratio (SNR) being a crucial one. In engineering practice, the method of adjusting the transmission power for each no...