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作者：Chen, Siyu; Na, Jing; Huang, Yingbo; Xing, Yashan; Zhao, Jing; Wong, Pak Kin
作者单位：Kunming University of Science & Technology; University of Macau
摘要：It has been well known that the learning gain plays a crucial role in the adaptive parameter estimation (APE) for guaranteeing fast convergence and robustness. However, the tuning of learning gains in the existing methods is generally empirical and time-consuming. To address this issue, this article presents a novel APE approach to explore the optimality principle in the design of adaptive laws to obtain an online updated optimal learning gain, which is derived to minimize a cost function of e...
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作者：Ji, Zhengping; Zhang, Xiao; Cheng, Daizhan
作者单位：Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS; Hong Kong Polytechnic University; Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS
摘要：We propose a method that combines aggregation and bisimulation to approximate large finite-valued networks by smaller models. With the algebraic state-space representation of a quotient system under observational equivalence, the aggregated bisimulation is performed by partitioning a network into blocks and replacing the dynamics of each block by that of its quotient system. If the aggregation is not a bisimulation, these quotient systems can be further replaced by probabilistic networks based...
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作者：Mlinaric, Petar; Beattie, Christopher A.; Drmac, Zlatko; Gugercin, Serkan
作者单位：Virginia Polytechnic Institute & State University; University of Zagreb; Virginia Polytechnic Institute & State University; Virginia Polytechnic Institute & State University
摘要：The iterative rational Krylov algorithm (IRKA) is a commonly used fixed point iteration developed to minimize the H-2 model order reduction error. In this work, the IRKA is recast as a Riemannian gradient descent method with a fixed step size over the manifold of rational functions having fixed degree. This interpretation motivates the development of a Riemannian gradient descent method utilizing as a natural extension variable step size and line search. Comparisons made between the IRKA and t...
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作者：Tang, Jennifer; Adler, Aviv; Ajorlou, Amir; Jadbabaie, Ali
作者单位：Massachusetts Institute of Technology (MIT); Massachusetts Institute of Technology (MIT); Analog Devices, Inc.
摘要：Social networks often exert social pressure, causing individuals to adapt their expressed opinions to conform to their peers. An agent in such systems can be modeled as having an (true and unchanging) inherent belief while broadcasting a declared opinion at each time step based on his/her inherent belief and the past declared opinions of his/her neighbors. An important question in this setting is parameter estimation: how to disentangle the effects of social pressure to estimate inherent belie...
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作者：Wu, Jinxian; Dai, Li; Xia, Yuanqing
作者单位：Beijing Institute of Technology
摘要：This article proposes an iterative distributed model predictive control (DMPC) algorithm for multiple dynamically decoupling linear systems subject to both local state and input constraints, as well as coupling constraints that may be nonconvex (e.g., collision avoidance constraints). This issue has not been extensively explored, particularly in the context of allowing flexible termination of inner optimization problem calculations in accordance with the sample time. In this article, we presen...
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作者：Banza, Arnold Tshimanga; Mareels, Iven
作者单位：University of Melbourne; Federation University Australia; University of Melbourne
摘要：A new nonlinear integral sliding mode control (ISMC) algorithm for singularly perturbed multiple-inputs and multiple-outputs (MIMO) systems subject to matched and unmatched uncertainties is proposed. The circumstance of fast sensor dynamics in series with the plant exemplifies the results. Using prior knowledge about the sensor dynamics, the ISMC structure and its parameters can be tuned to ensure that the closed loop converges to a suitably small neighborhood of the desired equilibrium. It is...
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作者：Clark, Andrew
作者单位：Washington University (WUSTL)
摘要：Safety is a critical property for control systems in medicine, transportation, manufacturing, and other applications, and can be defined as ensuring positive invariance of a predefined safe set. This article investigates the problems of verifying positive invariance of a semialgebraic set as well as synthesizing sets that can be made positive invariant through control barrier function (CBF)-based control. The key to our approach consists of mapping conditions for positive invariance to sum-of-...
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作者：Zheng, Man; Ohta, Yoshito
作者单位：Anhui University; Kyoto University
摘要：The order of an aggregated Markov model (AMM) is an index of complexity and is closely related to the reachable subspace of a model. The AMM is called reachable-space reducible when the reachable subspace is not the whole space. Previous results demonstrate that there exists a reduced-order quasi-realization, which may not satisfy the nonnegative constraints, equivalent to a given reachable-space reducible AMM. This article focuses on the structured AMM where the transition and observation mat...
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作者：Zheng, Tongjia; Han, Qing; Lin, Hai
作者单位：University of Notre Dame; University of Notre Dame
摘要：State estimation of robotic systems is essential to implementing feedback controllers, which usually provide better robustness to modeling uncertainties than open-loop controllers. However, state estimation of soft robots is very challenging because soft robots have theoretically infinite degrees of freedom while existing sensors only provide a limited number of discrete measurements. This work focuses on soft robotic manipulators, also known as continuum robots. We design an observer algorith...
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作者：Liang, Yong; Wang, Bing-Chang; Zhang, Huanshui
作者单位：Shandong University; Shandong Normal University; Shandong University of Science & Technology
摘要：The linear-quadratic mean field social control problem is studied in a large-population system with heterogeneous agents following the direct approach. A graph is introduced to represent the network topology of the large-population system, where nodes represent subpopulations called clusters and edges represent communication relationship. Agents in each cluster are homogeneous and coupled with each other through the global cluster mean field term, which is the stack of average state of agents ...
