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作者：Shahriari-Mehr, Firooz; Panahi, Ashkan
作者单位：Chalmers University of Technology; University of Gothenburg
摘要：We consider a generic decentralized constrained optimization problem over static, directed communication networks, where each agent has exclusive access to only one convex, differentiable, local objective term and one convex constraint set. For this setup, we propose a novel decentralized algorithm, called double averaging and gradient projection (DAGP). We achieve global optimality through a novel distributed tracking technique we call distributed null projection. Further, we show that DAGP c...
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作者：Sweatland, Hannah M.; Isaly, Axton; Griffis, Emily J.; Dixon, Warren E.
作者单位：State University System of Florida; University of Florida; National Academies of Sciences, Engineering & Medicine; State University System of Florida; University of Florida
摘要：Though historically regarded as unrelated concepts, passivity-based control (PBC) and control barrier functions (CBFs) are methods used to establish the safety of control systems. In this article, an optimization-based PBC technique is developed which can be combined with CBF-based methods to find a set of controllers that each render a nonlinear control system energetically passive while also adhering to state constraints necessary for safety. Borrowing concepts from literature developed for ...
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作者：Wang, Pengfei; Fridman, Emilia
作者单位：Tel Aviv University
摘要：This article addresses the sampled-data boundary stabilization of 2-D semilinear parabolic stochastic partial differential equation (PDEs) with globally Lipschitz nonlinearities. We consider Dirichlet actuation and design a finite-dimensional state-feedback controller with the shape functions in the form of eigenfunctions corresponding to the first N comparatively unstable eigenvalues. We extend the trigonometric change of variables to the 2-D case and further improve it, leading to a dynamic ...
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作者：Funk, Christopher; Noack, Benjamin
作者单位：Otto von Guericke University
摘要：This work introduces a flexible and versatile method for the data-efficient yet conservative transmission of covariance matrices, where a matrix element is only transmitted if a triggering condition is satisfied for the element. Here, triggering conditions can be parameterized on a per-element basis, applied simultaneously to yield combined triggering conditions or applied only to certain subsets of elements. This allows, e.g., to specify transmission accuracies for individual elements or to c...
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作者：Hilborne, Peter; Lanzon, Alexander; Khong, Sei Zhen
作者单位：University of Manchester; National Sun Yat Sen University
摘要：In this article, we develop the concept of input-restricted stability, which determines whether a feedback interconnection remains stable only for inputs in a given subset of all possible inputs in a specified signal space. Graph separation concepts and continuity are employed to derive an input-restricted feedback stability theorem, which guarantees input-restricted stability of a feedback interconnection if both systems in the interconnection fulfil some given criteria related to their input...
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作者：Stratoglou, Efstratios; Simoes, Alexandre Anahory; Bloch, Anthony; Colombo, Leonardo J.
作者单位：Madrid Open University, UDIMA; Universidad Politecnica de Madrid; IE University; University of Michigan System; University of Michigan; Consejo Superior de Investigaciones Cientificas (CSIC); Universidad Politecnica de Madrid; CSIC-UPM - Centro de Automatica y Robotica
摘要：Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic systems are mechanical systems with nonintegrable constraints on the velocities. In this work, we introduce the notion of virtual nonlinear nonholonomic constraints in a geometric framework which is a controlled invariant submanifold and we show the existence and uniqueness of a control law preserving this submanifold.
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作者：Xia, Zicong; Liu, Yang; Kou, Kit Ian; Lu, Jianquan; Gui, Weihua
作者单位：Zhejiang Normal University; Southeast University - China; Zhejiang Normal University; Zhejiang Normal University; University of Macau; Central South University
摘要：In this article, a paradigm of momentum-based systems is introduced for nonconvex optimization. Based on the paradigm, a momentum-based system and a momentum-based multiagent system are developed for nonconvex constrained optimization and distributed nonconvex optimization, respectively, and the convergence and convergence rate to a local optimal solution are proven. In addition, a hybrid swarm intelligence algorithm is established, which consists of multiple momentum-based systems for scatter...
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作者：Zhu, Yancheng; Andersson, Sean B.
作者单位：Boston University; Boston University
摘要：In this article, we consider the problem of finding an optimal trajectory of a single agent tasked with harvesting data from multiple mobile sensor nodes in a wireless sensor network. We describe data transmission using a free-space broadcast communication model and formulate an optimal control problem to extract the data from all the nodes in minimal time. In a 1-D mission space, we demonstrate that the optimal motion strategy can be expressed in parametric form. Within this strategy, the age...
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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 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 ...
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作者：Reniers, Michel; Cai, Kai
作者单位：Eindhoven University of Technology; Osaka Metropolitan University
摘要：In the Ramadge-Wonham supervisory control theory, the only interaction mechanism between supervisor and plant is that the supervisor may enable/disable events from the plant and the plant makes a final decision about which of the enabled events is actually taking place. In this article, the interaction between supervisor and plant is enriched by allowing the supervisor to force specific events (called forcible events) that are allowed to preempt uncontrollable events. A notion of forcible cont...
