3期

最新文章

• Aperiodic Event-Triggered Controls for Stochastic Functional Differential Systems With Sampled-Data Delayed Output AI翻译
  作者：Yang, Xuetao; Zhao, Taizhong; Zhu, Quanxin
  作者单位：Nanjing University of Posts & Telecommunications; Hunan Normal University; Hunan Normal University
  摘要：In this article, we discuss the stabilization problem for stochastic functional differential systems (SFDSs) with sampled-data delayed output. Different from the traditional stochastic systems with continuous or periodic output signals, the system output measurements under consideration are only available at sampling times and they are aperiodic. To deal with this problem, we propose a compensator for the unmeasurable system states and a novel aperiodic event-triggered control (AETC) based on ...
• PEBO-SLAM: Observer Design for Visual Inertial SLAM With Convergence Guarantees AI翻译
  作者：Yi, Bowen; Jin, Chi; Wang, Lei; Shi, Guodong; Ila, Viorela; Manchester, Ian R.
  作者单位：Universite de Montreal; Polytechnique Montreal; Universite de Montreal; Zhejiang University; University of Sydney
  摘要：In this article, we introduce a new parameterization for the problem of visual inertial simultaneous localization and mapping (VI-SLAM), i.e., for a robot only equipped with a single monocular camera and an inertial measurement unit. In this problem, the system state evolves on the nonlinear manifold SE(3)xR(3n), on which we design dynamic extensions such that the deterministic VI-SLAM problem can be reformulated-without any approximation-into online constant parameter identification, expresse...
• Approximation by Simple Poles-Part II: System Level Synthesis Beyond Finite Impulse Response AI翻译
  作者：Fisher, Michael W.; Hug, Gabriela; Dorfler, Florian
  作者单位：University of Waterloo; Swiss Federal Institutes of Technology Domain; ETH Zurich
  摘要：In Part I, a novel Galerkin-type method for finite dimensional approximations of transfer functions in Hardy space was developed based on approximation by simple poles. In Part II, this approximation is applied to system level synthesis, a recent approach based on a clever reparameterization, to develop a new technique for optimal control design. To solve system level synthesis problems, prior work relies on finite impulse response approximations that lead to deadbeat control, and that can exp...
• Nonconvex Optimization Problems for Maximum Hands-Off Control AI翻译
  作者：Ikeda, Takuya
  作者单位：University of Kitakyushu
  摘要：Maximum hands-off control is the optimal solution to the L(0 )optimal control problem. While convex approximation is typically used to relax this problem, it does not necessarily result in maximum hands-off control. Therefore, this study introduces a nonconvex approximation method and a class of nonconvex optimal control problems that are always equivalent to the maximum hands-off control problem. A computation method based on difference of convex functions optimization is then derived and num...
• Expectation-Maximization-Based Remote State Estimation Under State-Dependent Packet Dropouts: From Maximum A Posteriori Perspective AI翻译
  作者：Nie, Yao; Wang, Zidong; Liu, Qinyuan
  作者单位：Tongji University; Tongji University; Tongji University; Brunel University
  摘要：This article is concerned with the problem of remote state estimation for linear discrete-time systems with packet dropouts. The packet dropouts are state dependent, which occur only when the real-time target state enters specific observation-denied regions. At the remote estimator, the batch and iterative expectation-maximization (EM) algorithms are proposed for computing the optimal estimation in the maximum a posteriori (MAP) sense. It is shown that the iterative estimator exhibits a struct...
• Convergence and Sample Complexity of Policy Gradient Methods for Stabilizing Linear Systems AI翻译
  作者：Zhao, Feiran; Fu, Xingyun; You, Keyou
  作者单位：Tsinghua University; Tsinghua University
  摘要：System stabilization via policy gradient (PG) methods has drawn increasing attention in both control and machine learning communities. In this article, we study their convergence and sample complexity for stabilizing linear time-invariant systems in terms of the number of system rollouts. Our analysis is built upon a discounted linear quadratic regulator (LQR) method which alternatively updates the policy and the discount factor of the LQR problem. First, we propose an explicit rule to adaptiv...
• Strong Lyapunov Functions for Linear Time-Varying Systems Under Persistency of Excitation AI翻译
  作者：Verrelli, Cristiano Maria; Tomei, Patrizio
  作者单位：University of Rome Tor Vergata
  摘要：Linear time-varying differential equations that arise in the study of model reference adaptive identification problems are studied in both the continuous-time and the discrete-time frameworks. The original contribution of the article is to present two new strong Lyapunov functions (e.g., Lyapunov functions with negative definite derivative), assessing global uniform asymptotic stability properties under the classical persistency of excitation condition. The first Lyapunov function, in the cont...
• Fixed-Time Spacecraft Attitude Control With Unwinding-Free Performance AI翻译
  作者：Guan, Tao; Li, Bin; Song, Yongduan; Duan, Guang-Ren
  作者单位：Sichuan University; Chongqing University; Harbin Institute of Technology
  摘要：This note studies the problem of rapid attitude control with high accuracy for rigid spacecraft undergoing unwinding-free performance. By designing a novel nonsingular sliding function, fixed-time convergence and unwinding-free performance are rigorously established on the sliding surface. In addition, by introducing a novel potential function to design the controller, unwinding-free performance is also ensured outside of the sliding surface. Furthermore, the chattering problem is tackled by p...
• Automatic Verification of Bounded Synchronization for Heterogeneous Polynomial Networked Systems AI翻译
  作者：Zhang, Shuyuan; Wang, Lei; Xue, Bai; Wang, Qing-Guo
  作者单位：Universite Catholique Louvain; Beihang University; Chinese Academy of Sciences; Institute of Software, CAS; Chinese Academy of Sciences; Institute of Software, CAS; Beijing Normal University; Beijing Normal-Hong Kong Baptist University
  摘要：This article explores the automatic verification of bounded synchronization for heterogeneous polynomial networked systems (HPNSs) with polynomial coupling function. In our method, the generalized blended dynamics is presented to analyze the heterogeneity of systems. By utilizing polynomial Lyapunov functions, the synchronization criterion for HPNSs under directed topology is presented, along with a bounded set where the synchronization errors of HPNSs reside when the time progresses towards i...
• Log-Barrier Search for Structural Linear Quadratic Regulators AI翻译
  作者：Yang, Nachuan; Tang, Jiawei; Li, Yuzhe; Shi, Guodong; Shi, Ling
  作者单位：Hong Kong University of Science & Technology; Northeastern University - China; University of Sydney
  摘要：This article studies the design of linear quadratic regulators (LQR) subject to structural constraints, which remains an NP-hard open problem. Both state-feedback and static output-feedback cases are investigated. Instead of using case-by-case relaxation techniques, we propose a tractable first-order method to solve this structural optimal control problem. More specifically, we equivalently reformulate it as a constrained optimization and characterize its first-order optimality condition via K...