5期

最新文章

• Optimal Estimation in Spatially Distributed Systems: How Far to Share Measurements From? AI翻译
  作者：Arbelaiz, Juncal; Bamieh, Bassam; Hosoi, Anette E.; Jadbabaie, Ali
  作者单位：Massachusetts Institute of Technology (MIT); Princeton University; University of California System; University of California Santa Barbara; Massachusetts Institute of Technology (MIT); Massachusetts Institute of Technology (MIT); Massachusetts Institute of Technology (MIT)
  摘要：In this article, we consider the centralized optimal estimation problem in spatially distributed systems. We use the setting of spatially invariant systems as an idealization for which concrete and detailed results are given. Such estimators are known to have a degree of spatial localization in the sense that the estimator gains decay in space, with the spatial decay rates serving as a proxy for how far measurements need to be shared in an optimal distributed estimator. In particular, we exami...
• Distributed Task Allocation With Minimum Makespan for Heterogeneous Multiplayer Pursuit-Evasion Games AI翻译
  作者：Li, Shuai; Wang, Chen; Sun, Jinan; Zhang, Shikun; Xie, Guangming
  作者单位：Peking University; Peking University; Peking University
  摘要：In the domain of multiplayer pursuit-evasion games, it is crucial to address the practical aspects of the players' heterogeneity, the distributed control manner, and the pursuers' goal of minimum makespan. However, the three topics have received limited attention in existing literature, both separately and in combination. In this article, we address the multiplayer pursuit-evasion game integrating these key topics, where the pursuers with simple motions strive to capture as many evaders, chara...
• Scalable Computation of H∞ Energy Functions for Polynomial Control-Affine Systems AI翻译
  作者：Corbin, Nicholas A.; Kramer, Boris
  作者单位：University of California System; University of California San Diego
  摘要：We present a scalable approach to computing nonlinear balancing energy functions for control-affine systems with polynomial nonlinearities. Al'brekht's power-series method is used to solve the Hamilton-Jacobi-Bellman equations for polynomial approximations to the energy functions. The contribution of this article lies in the numerical implementation of the method based on the Kronecker product, enabling scalability to over 1000 state dimensions. The tensor structure and symmetries arising from...
• Linear Convergent Distributed Nash Equilibrium Seeking With Compression AI翻译
  作者：Chen, Xiaomeng; Wu, Yuchi; Yi, Xinlei; Huang, Minyi; Shi, Ling
  作者单位：Hong Kong University of Science & Technology; Shanghai University; Tongji University; Massachusetts Institute of Technology (MIT); Carleton University
  摘要：Information compression techniques are majorly employed to reduce communication cost over peer-to-peer links. In this article, we investigate distributed Nash equilibrium (NE) seeking problems in a class of noncooperative games over directed graphs with information compression. To improve communication efficiency, a compressed distributed NE seeking (C-DNES) algorithm is proposed to obtain an NE for games, where the differences between decision vectors and their estimates are compressed. The p...
• Hybrid Multi-Observer for Improving Estimation Performance AI翻译
  作者：Petri, Elena; Postoyan, Romain; Astolfi, Daniele; Nesic, Dragan; Andrieu, Vincent
  作者单位：Eindhoven University of Technology; Centre National de la Recherche Scientifique (CNRS); Universite de Lorraine; Universite Claude Bernard Lyon 1; Centre National de la Recherche Scientifique (CNRS); University of Melbourne
  摘要：Various methods are nowadays available to design observers for broad classes of systems, where the primary focus is on establishing the convergence of the estimated states. Nevertheless, the question of the tuning of the observer to achieve satisfactory estimation performance remains largely open. In this context, we present a general design framework for the online tuning of the observer gains. Our starting point is a robust nominal observer designed for a general nonlinear system, for which ...
• Closed-Loop Interpolation by Moment Matching for Linear and Nonlinear Systems AI翻译
  作者：Moreschini, Alessio; Astolfi, Alessandro
  作者单位：Imperial College London; University of Rome Tor Vergata
  摘要：The relaxation of strong stability conditions on the system to be interpolated is one of the open problems in interconnection-based interpolation by moment matching. To address this issue, we revisit the interconnection-based notion of moment by introducing an output-based signal generator, called generalized signal generator. This generator, which models the desired interpolation points, is designed to drive the state of the system to the invariant manifold defining the moments. This characte...
• Dynamic Resilient Consensus of Second-Order Multiagent Networks With a Time-Varying Malicious Agent Set AI翻译
  作者：Liu, Ze-Qiang; Liu, Zhi-Wei; He, Ding-Xin; Ye, Lintao; Chi, Ming
  作者单位：Huazhong University of Science & Technology; Huazhong University of Science & Technology
  摘要：We address the problem of resilient consensus in second-order multiagent networks (MANs) with a time-varying set of malicious agents. Existing research typically assumes a static set of malicious agents. However, in real-world scenarios, network attacks and recoveries may lead to dynamic changes in the roles of agents. To overcome this challenge, a novel adaptive weighted subsequence reduction (AWSR) is proposed for resilient consensus in MANs with a dynamic malicious agent set. Based on the A...
• Approximation-Free Control for Unknown Systems With Performance and Input Constraints AI翻译
  作者：Mishra, Pankaj K.; Jagtap, Pushpak
  作者单位：National Institute of Technology (NIT System); National Institute of Technology Hamirpur; Indian Institute of Science (IISC) - Bangalore
  摘要：This article addresses the problem of tracking control for an unknown nonlinear system with time-varying bounded disturbance subjected to prescribed performance and input constraints (PIC). Since the simultaneous prescription of PIC involves a tradeoff, we propose an analytical feasibility condition to prescribe a feasible PIC, which also results in a feasible initial state set as a corollary. In addition, we propose an approximation-free controller to ensure the tracking performance meets the...
• Adaptive Event-Triggered Distributed Observer Under Communication Link Faults AI翻译
  作者：Su, Housheng; Zhu, Haoxuan; Zeng, Zhigang
  作者单位：Huazhong University of Science & Technology
  摘要：This article addresses the problem of event-based fully distributed state estimation for an unperturbed linear time-invariant system in the presence of communication link faults. In a networked system, each agent is capable of constructing its local observer adaptively and transmitting its estimation to neighbors through discrete communication, thereby achieving accurate estimation of the system state while saving communication resources effectively. Specifically, first, the target system stat...
• Optimal Adaptive Parameter Estimation With Online Varying Learning Gain AI翻译
  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...