-
作者：Ye, Jikai; Jayaraman, Amitesh S.; Chirikjian, Gregory S.
作者单位：National University of Singapore; Stanford University; University of Delaware
摘要：In this article, we propose a general method for uncertainty propagation on unimodular matrix Lie groups that have a surjective exponential map when the initial probability density function is concentrated. We derive the exact formula for the propagation of mean and covariance expressed in the form of expectation in a continuous-time setting from the governing Fokker-Planck equation. Two approximate propagation methods are discussed based on the exact formula. One uses numerical quadrature and...
-
作者：Gao, Kaihua; Zhou, Yuanqiang; Gao, Furong; Lu, Jingyi
作者单位：Hong Kong University of Science & Technology; Tongji University; Hong Kong University of Science & Technology; Hong Kong University of Science & Technology; East China University of Science & Technology
摘要：Iterative learning control (ILC) is a widely used method for controlling repetitive processes. However, its superior learning capability from cycle to cycle is mostly predicated on the assumption that the initial state for all cycles is identical and at the desired point. In engineering practice, this assumption can be overly strict. A more common scenario involves the initial state varying randomly from cycle to cycle. In this article, we propose an optimally selected cycle-based ILC scheme t...
-
作者：Shahvali, Milad; Polycarpou, Marios M.
作者单位：University of Cyprus; University of Cyprus
摘要：This note proposes a novel output-feedback event-triggered control method for nonlinear uncertain strict-feedback systems. It incorporates dual asynchronous triggering mechanisms for both the system's output and control input, utilizing a specifically designed adaptive filtering method. The first mechanism aims to reduce the burden on sensor to controller communication, while the second determines when the controller needs to be updated. Particularly, an adaptive neural state observer, reliant...
-
作者：Gao, Kaihua; Zhou, Yuanqiang; Gao, Furong; Lu, Jingyi
作者单位：Hong Kong University of Science & Technology; Tongji University; Hong Kong University of Science & Technology; Hong Kong University of Science & Technology; East China University of Science and Technology
摘要：Iterative learning control (ILC) is a widely used method for controlling repetitive processes. However, its superior learning capability from cycle to cycle is mostly predicated on the assumption that the initial state for all cycles is identical and at the desired point. In engineering practice, this assumption can be overly strict. A more common scenario involves the initial state varying randomly from cycle to cycle. In this article, we propose an optimally selected cycle-based ILC scheme t...
-
作者：Shahvali, Milad; Polycarpou, Marios M.
作者单位：University of Cyprus; University of Cyprus
摘要：This note proposes a novel output-feedback event-triggered control method for nonlinear uncertain strict-feedback systems. It incorporates dual asynchronous triggering mechanisms for both the system's output and control input, utilizing a specifically designed adaptive filtering method. The first mechanism aims to reduce the burden on sensor to controller communication, while the second determines when the controller needs to be updated. Particularly, an adaptive neural state observer, reliant...
-
作者：Gao, Kaihua; Zhou, Yuanqiang; Gao, Furong; Lu, Jingyi
作者单位：Hong Kong University of Science & Technology; Tongji University; Hong Kong University of Science & Technology; Hong Kong University of Science & Technology; East China University of Science and Technology
摘要：Iterative learning control (ILC) is a widely used method for controlling repetitive processes. However, its superior learning capability from cycle to cycle is mostly predicated on the assumption that the initial state for all cycles is identical and at the desired point. In engineering practice, this assumption can be overly strict. A more common scenario involves the initial state varying randomly from cycle to cycle. In this article, we propose an optimally selected cycle-based ILC scheme t...
-
作者：Shahvali, Milad; Polycarpou, Marios M.
作者单位：University of Cyprus; University of Cyprus
摘要：This note proposes a novel output-feedback event-triggered control method for nonlinear uncertain strict-feedback systems. It incorporates dual asynchronous triggering mechanisms for both the system's output and control input, utilizing a specifically designed adaptive filtering method. The first mechanism aims to reduce the burden on sensor to controller communication, while the second determines when the controller needs to be updated. Particularly, an adaptive neural state observer, reliant...
-
作者：Bahreinian, Mahroo; Kermanshah, Mehdi; Tron, Roberto
作者单位：Boston University; Boston University; Boston University
摘要：We consider the problem of designing output feedback controllers that use measurements from a set of landmarks to navigate through a cell-decomposable environment using duality, control Lyapunov function and control barrier function, and linear programming. We propose two objectives for navigating in an environment, one to traverse the environment by making loops and one by converging to a stabilization point while smoothing the transition between consecutive cells. We test our algorithms in a...
-
作者：Su, Yanxu; Wang, Qingling; Sun, Changyin
作者单位：Anhui University; Southeast University - China
摘要：This article concentrates on distributed optimization over networks with communication delays. Each subsystem in the network performs its local updates by using the information received from its neighbors, be it possibly outdated. The communication delays with respect to different neighbors are assumed to be arbitrary but bounded. The objective function consists of a twice differentiable coupling term and an aggregated private term. The private function of each subsystem is the sum of two poss...
-
作者：Liu, Tao; Huang, Jie
作者单位：Southern University of Science & Technology; Chinese University of Hong Kong
摘要：This article proposes an output-based adaptive distributed observer for a class of discrete-time uncertain linear leader systems. The leader system is neutrally stable with unknown parameters in its system matrix. Such a leader system can produce discrete-time multitone sinusoidal signals with arbitrary magnitudes, arbitrary phases, and unknown frequencies. The adaptive distributed observer for the uncertain leader system is obtained via a two-step design. In the first step, both the state and...
