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作者：Leeman, Antoine P.; Kohler, Johannes; Zanelli, Andrea; Bennani, Samir; Zeilinger, Melanie N.
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; European Space Agency
摘要：This article addresses the problem of finite horizon constrained robust optimal control for nonlinear systems subject to norm-bounded disturbances. To this end, the underlying uncertain nonlinear system is decomposed based on a first-order Taylor series expansion into a nominal system and an error (deviation) described as an uncertain linear time-varying system. This decomposition allows us to leverage system level synthesis to jointly optimize an affine error feedback, a nominal nonlinear tra...
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作者：Schmid, Niklas; Fochesato, Marta; Li, Sarah H. Q.; Sutter, Tobias; Lygeros, John
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; University of Konstanz
摘要：We consider the problem of optimally controlling stochastic, Markovian systems subject to joint chance constraints over a finite-time horizon. For such problems, standard dynamic programming is inapplicable due to the time correlation of the joint chance constraints, which calls for non-Markovian, and possibly stochastic, policies. Hence, despite the popularity of this problem, solution approaches capable of providing provably optimal and easy-to-compute policies are still missing. We fill thi...
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作者：Bozkurt, Berk; Mahajan, Aditya; Nayyar, Ashutosh; Ouyang, Yi
作者单位：McGill University; University of Southern California
摘要：In this article, we consider the problem of designing a control policy for an infinite-horizon discounted cost Markov decision process M when we only have access to an approximate model M<^>. How well does an optimal policy pi<^>(star) of the approximate model perform when used in the original model M? We answer this question by bounding a weighted norm of the difference between the value function of pi<^>(star) when used in M and the optimal value function of M. We then extend our results and...
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作者：Leeman, Antoine P.; Kohler, Johannes; Zanelli, Andrea; Bennani, Samir; Zeilinger, Melanie N.
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; European Space Agency
摘要：This article addresses the problem of finite horizon constrained robust optimal control for nonlinear systems subject to norm-bounded disturbances. To this end, the underlying uncertain nonlinear system is decomposed based on a first-order Taylor series expansion into a nominal system and an error (deviation) described as an uncertain linear time-varying system. This decomposition allows us to leverage system level synthesis to jointly optimize an affine error feedback, a nominal nonlinear tra...
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作者：Schmid, Niklas; Fochesato, Marta; Li, Sarah H. Q.; Sutter, Tobias; Lygeros, John
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; University of Konstanz
摘要：We consider the problem of optimally controlling stochastic, Markovian systems subject to joint chance constraints over a finite-time horizon. For such problems, standard dynamic programming is inapplicable due to the time correlation of the joint chance constraints, which calls for non-Markovian, and possibly stochastic, policies. Hence, despite the popularity of this problem, solution approaches capable of providing provably optimal and easy-to-compute policies are still missing. We fill thi...
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作者：Zhang, Jiancheng; Zhao, Xudong; Zheng, Gang; Zhu, Fanglai; Dinh, Thach Ngoc
作者单位：Guangxi Minzu University; Guangxi Minzu University; Dalian University of Technology; Universite de Lille; Tongji University
摘要：This article is concerned with the design of the distributed prescribed-time unknown input observer (DPTUIO) for a class of linear time-invariant systems, which we refer to as the target systems. Results on distributed unknown input observers in literature did not address the convergence time predefinition problem. To achieve fast estimation, this article uses weakly unobservable subspace decomposition and introduces a time-scale transformation technology to develop a novel DPTUIO. This design...
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作者：Gong, Kai; Zhang, Liwei
作者单位：Dalian University of Technology; Guangxi University; Northeastern University - China
摘要：This article focuses on a class of inclusion problems of maximal monotone operators over directed multiagent networks, where each agent is characterized by a splittable local operator. By integrating the ideas from correction, inexact proximal methods, and push-sum protocol, we proposed a distributed proximal-correction algorithm (referred to as DPCA-& varepsilon;(i)(k)) to solve this inclusion problem of operators, where -& varepsilon;(i)(k) is an agent predetermined accuracy for approximatel...
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作者：Velicheti, Raj Kiriti; Bastopcu, Melih; Basar, Tamer
作者单位：University of Illinois System; University of Illinois Urbana-Champaign; Ihsan Dogramaci Bilkent University
摘要：In the classical communication setting multiple senders having access to the same source of information and transmitting it over channel(s) to a receiver in general leads to a decrease in estimation error at the receiver as compared with the single sender case. However, if the objectives of the information providers are different from that of the estimator, this might result in interesting strategic interactions and outcomes. In this work, we consider a hierarchical signaling game between mult...
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作者：Chatterjee, Soham; Natarajan, Vivek
作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Bombay
摘要：We consider the problem of finding an input signal which transfers a linear boundary controlled 1-D parabolic partial differential equation with spatially varying coefficients from a given initial state to a desired final state. The initial and final states have certain smoothness and the transfer must occur over a given time interval. We address this motion planning problem by first discretizing the spatial derivatives in the parabolic equation using the finite-difference approximation to obt...
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作者：Cros, Colin; Amblard, Pierre-Olivier; Prieur, Christophe; Da Rocha, Jean-Francois
作者单位：Communaute d'universites et etablissements de Toulouse (Comue); Centre National de la Recherche Scientifique (CNRS); Communaute Universite Grenoble Alpes; Universite Grenoble Alpes (UGA); Institut National Polytechnique de Grenoble; Thales Group
摘要：Linear fusion is a cornerstone of estimation theory. Implementing optimal linear fusion requires knowledge of the covariance of the vector of errors associated with all the estimators. In distributed or cooperative systems, the cross-covariance terms cannot be computed, and to avoid underestimating the estimation error, conservative fusions must be performed. A conservative fusion provides a fused estimator with a covariance bound that is guaranteed to be larger than the true, but computationa...
