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作者：Gzenda, Vaughn; Chhabra, Robin
作者单位：Carleton University; Toronto Metropolitan University
摘要：In this article, we study a slow-fast realization of nonholonomic Hamiltonian control systems mediated by strong friction forces which is viewed as a singular perturbation of the nonholonomic system. We propose a systematic decomposition of the perturbed dynamics into slow and fast directions using the kinetic energy metric and the geometry of friction forces. The (slow) invariant manifold is identified by a set of invariance conditions resulting in partial differential equations that generall...
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作者：Zhang, Ruichang; Liu, Zhixin; Chen, Ge; Mei, Wenjun
作者单位：Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS; Peking University
摘要：The Friedkin-Johnsen (FJ) model introduces prejudice into the opinion evolution and has been successfully validated in many practical scenarios; however, due to its weighted average mechanism, only one prejudiced agent can always guide all unprejudiced agents synchronizing to its prejudice under the connected influence network, which may not be in line with some social realities. To fundamentally address the limitation of the weighted average mechanism, a weighted-median opinion dynamics has b...
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作者：Miller, Jared; Tacchi, Matteo; Sznaier, Mario; Jasour, Ashkan
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; Swiss Federal Institutes of Technology Domain; Ecole Polytechnique Federale de Lausanne; Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS); Northeastern University; National Aeronautics & Space Administration (NASA); NASA Jet Propulsion Laboratory (JPL)
摘要：This article formulates algorithms to upper-bound the maximum value-at-risk (VaR) of a state function along trajectories of stochastic processes. The VaR is upper bounded by two methods: minimax tail-bounds (Cantelli/Vysochanskij-Petunin) and Expected Shortfall (ES)/Conditional VaR. Tail-bounds lead to an infinite-dimensional second order cone program (SOCP) in occupation measures, while the ES approach creates a linear program (LP) in occupation measures. Under compactness and regularity cond...
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作者：Schiessl, Jonas; Baumann, Michael H.; Faulwasser, Timm; Gruene, Lars
作者单位：University of Bayreuth; Dortmund University of Technology; Hamburg University of Technology
摘要：In this article, we introduce and study different dissipativity notions and different turnpike properties for discrete-time stochastic nonlinear optimal control problems. The proposed stochastic dissipativity notions extend the classic notion of Jan C. Willems to $\mathit {L<^>{r}}$ random variables and to probability measures. Our stochastic turnpike properties range from a formulation for random variables via turnpike phenomena in probability and in probability measures to the turnpike prope...
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作者：Sforni, Lorenzo; Carnevale, Guido; Notarstefano, Giuseppe
作者单位：University of Bologna
摘要：In this article, we propose a distributed, first-order, feedback-based approach to solve nonlinear optimal control problems with aggregative cost functions over networks of cooperative multiagent systems. Taking inspiration from a centralized, first-order optimal control framework, named GoPRONTO, we propose a distributed method exploiting a feedback scheme iteratively updated according to a distributed tracking mechanism. Due to the aggregative structure of the problem and the desired distrib...
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作者：Alyaseen, Mohammed; Atanasov, Nikolay; Cortes, Jorge
作者单位：University of California System; University of California San Diego; Kuwait University
摘要：The existence of a control barrier function (CBF) for a control-affine system provides a powerful design tool to ensure safety. Any controller that satisfies the CBF condition and ensures that the trajectories of the closed-loop system are well defined makes the zero superlevel set forward invariant. Such a controller is referred to as safe. This article studies the regularity properties of the minimum-norm safe controller as a stepping stone toward the design of general continuous safe feedba...
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作者：Su, Fangxu; Zhang, Weihai; Wu, Panyu; Lv, Xiaoning
作者单位：Shandong University of Science & Technology; Shandong University
摘要：This article focuses on the analysis for stability of semi-Markov jump stochastic systems in pth moment sense. First of all, the extended system method is constructed, which can transform the analysis of semi-Markov jump stochastic systems in pth moment sense into the analysis of the extended systems. With the help of the extended system method, the necessary and sufficient conditions for stability in the even-order moment sense are derived. Finally, several examples are given to illustrate th...
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作者：Li, Yushan; Wang, Zitong; He, Jianping; Chen, Cailian; Guan, Xinping
作者单位：Shanghai Jiao Tong University
摘要：Preserving the topology from being inferred by external adversaries has become a paramount security issue for network systems, and adding random noises to the nodal states provides a promising way. Nevertheless, recent works have revealed that the topology cannot be preserved under independent identically distributed (i.i.d.) noises in the asymptotic sense. How to effectively characterize the nonasymptotic preservation performance still remains an open issue. Inspired by the deviation quantifi...
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作者：Lin, Peng; Zeng, Chuyu; Zhang, Jinhui; Xia, Yuanqing
作者单位：Central South University; Beijing Institute of Technology
摘要：As is well known, it is challenging to address the convergence for distributed constrained optimization problem, in particular when nonconvex constraints, nonuniform step-sizes (nonuniform gradient gains), and switching graphs are involved. In this article, we study the distributed constrained optimization problem in the presence of five kinds of nonlinearities caused by nonconvex control input constraints, nonconvex interaction constraints, nonuniform step-sizes, nonuniform convex state const...
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作者：Cheng, Haoshu; Huang, Jie
作者单位：Nanyang Technological University; Chinese University of Hong Kong
摘要：The bearing-based formation control has been an active research topic over the past decade. However, the existing results mainly focus on single- or double-integrator systems and assume that all the leaders move with a constant velocity. In this article, we aim to establish a general framework to handle the bearing-based formation control. The framework offers three features. First, our problem is formulated for general heterogeneous multiagent linear systems, which include high-order integrat...
