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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...
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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...
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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...
