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作者：Liu, Vincent; Manzie, Chris; Dower, Peter
作者单位：University of Melbourne
摘要：Reachable sets for a dynamical system describe collections of system states that can be reached in finite time, subject to system dynamics. They can be used to guarantee goal satisfaction in controller design or to verify that unsafe regions will be avoided. However, conventional grid-based methods for computing these sets suffer from the curse of dimensionality, which typically prohibits their use for systems with more than a small number of states, even if they are linear. In this article, w...
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作者：Zheng, Kaikai; Shi, Dawei; Shi, Yang
作者单位：Beijing Institute of Technology; University of Victoria
摘要：Safety and data efficiency are important concerns in data-driven control, especially for nonlinear systems with unknown dynamics and subject to disturbances. In this work, we consider a class of control-affine nonlinear systems with partially unknown dynamics and aim to introduce an event-triggered learning-based control approach with guaranteed safety and improved data utilization efficiency. Specifically, a randomized learning approach is employed to evaluate the safety of state trajectories...
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作者：Jaramillo, Jesse; Yucelen, Tansel
作者单位：State University System of Florida; University of South Florida; State University System of Florida; University of South Florida
摘要：Output regulation theory is an effective method for achieving accurate time-varying command following and can utilize adaptive internal models to follow arbitrary reference signals generated by an exosystem. However, implementing these models can still lead to complexities, particularly regarding increased controller order and the dimensionality of gain matrices. This article contributes a gradient descent-based adaptive control method for uncertain dynamical systems. This method offers an alt...
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作者：Xie, Kedi; Guay, Martin; Lu, Maobin; Wang, Shimin; Deng, Fang
作者单位：Beijing Institute of Technology; Beijing Institute of Technology; Queens University - Canada
摘要：The classical linear quadratic regulation (LQR) problem of linear systems by state feedback has been widely addressed. However, the LQR problem by dynamic output feedback with optimal transient performance remains open. The main reason is that the observer error inevitably leads to suboptimal transient performance of the closed-loop system. In this article, we propose an optimal dynamic output feedback learning control approach to solve the LQR problem of linear continuous-time systems with un...
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作者：Kanakis, George S.; Rovithakis, George A.
作者单位：Aristotle University of Thessaloniki
摘要：In this article we consider the motion planning problem in an n-dimensional Euclidean space, n >= 2, containing finitely many obstacles with boundaries possessing a smooth structure. Obstacle boundaries are assumed to be compact and connected embedded submanifolds of the ambient Euclidean space of codimension 1. The proposed solution guarantees both global asymptotic stability of a target configuration and avoidance of the obstacles. The controller is based on a switching scheme between two mo...
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作者：Lin, Lin; Lam, James; Shi, Peng; Ng, Michael K.; Lam, Hak-Keung
作者单位：University of Hong Kong; University of Adelaide; Obuda University; Hong Kong Baptist University; University of London; King's College London
摘要：This article studies controllability and observability problems for a class of mixed-valued probabilistic logical control networks (PLCNs). First, PLCN is transformed into the algebraic state-space representation (ASSR)-form by resorting to the semitensor product method. Then, the formulas are presented to calculate the lower and upper bounds of the transition probability matrix, which further derive the controllability and observability criteria. Furthermore, the ASSR-form of a PLCN can be re...
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作者：Mao, Bing; Wu, Xiaoqun; Fan, Ziye; Lu, Jinhu; Chen, Guanrong
作者单位：Shenzhen University; Wuhan University; Beihang University; City University of Hong Kong
摘要：The problem of achieving performance-guaranteed finite-time exact tracking for uncertain strict-feedback nonlinear systems with unknown control directions is addressed. A novel logic switching mechanism with monitoring functions is designed to deal with unknown control directions. This approach is different from existing methods, such as the Nussbaum gain technique and smooth orientation functions, which are inapplicable to finite-time exact tracking. The main challenge lies in designing monit...
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作者：Mallick, Samuel; Dabiri, Azita; De Schutter, Bart
作者单位：Delft University of Technology
摘要：In this article, we present a novel approach for distributed model predictive control (MPC) for piecewise affine (PWA) systems. Existing approaches rely on solving mixed-integer optimization problems, requiring significant computation power or time. We propose a distributed MPC scheme that requires solving only convex optimization problems. The key contribution is a novel method, based on the alternating direction method of multipliers, for solving the nonconvex optimal control problem that ar...
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作者：Zhao, Shengchao; Song, Siyuan; Liu, Yongchao
作者单位：China University of Mining & Technology; The Chinese University of Hong Kong, Shenzhen; Dalian University of Technology
摘要：This article studies the distributed optimization problem over directed networks with noisy information-sharing. To resolve the imperfect communication issue over directed networks, a series of noise-robust variants of Push-Pull/AB method have been developed. These methods improve the robustness of Push-Pull method against the information-sharing noise through adding small factors on weight matrices and replacing the global gradient tracking with the cumulative gradient tracking. Based on the ...
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作者：Chang, Hyeong Soo
作者单位：Sogang University
摘要：An important question about finite constrained Markov decision process (CMDP) problem is if there exists a condition under which a uniformly optimal and uniformly feasible policy exists in the set of deterministic, history-independent, and stationary policies that achieves the optimal value at all initial states and if the CMDP problem with the condition can be solved by dynamic programming (DP). This is because the crux of the unconstrained MDP theory developed by Bellman lies in the answer t...
