3期

最新文章

• Adaptive Autonomous Synchronization of a Class of Heterogeneous Multiagent Systems AI翻译
  作者：Chen, Zhiyong; Yan, Yamin
  作者单位：University of Newcastle; Nanyang Technological University
  摘要：Autonomous synchronization presents a novel paradigm that circumvents the need for prior knowledge of target agent dynamics in the conventional synchronization of heterogeneous multiagent systems (MASs). It employs a dynamics update law and a state synchronizing control law, collectively termed a two-level controller, to facilitate synchronization in heterogeneous MASs autonomously. Nevertheless, the existing theory is constrained by the requirement of network topology information for calculat...
• Safe and Quasi-Optimal Autonomous Navigation in Environments With Convex Obstacles AI翻译
  作者：Cheniouni, Ishak; Berkane, Soulaimane; Tayebi, Abdelhamid
  作者单位：Lakehead University; University of Quebec; University Quebec Outaouais
  摘要：In this article, we propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds. The main idea consists in avoiding each obstacle via the shortest path on the cone's surface enclosing the obstacle and heading straight toward the target when the vehicle has a clear line of sight to the target location. In particular, almost global asymptotic stability of the target location is achieved in 2-D environments u...
• Adaptive Coordination of Networked Lagrangian Systems With Nonsmooth Actuator Nonlinearities AI翻译
  作者：Li, Xiaolei; Wen, Changyun; Wang, Jiange; Zhou, Jing
  作者单位：Yanshan University; Nanyang Technological University; University of Agder
  摘要：In this article, we present a solution to the adaptive coordination control problem for networked Lagrange systems with unknown nonsmooth actuator nonlinearities, which can represent actuator failure/attack, deadzone, backlash, friction, and hysteresis in a unified framework. An auxiliary system is firstly designed for each subsystem over a directed network, in which the final synchronized value can be regulated by given specified initial values. Then, an adaptive controller is proposed for ne...
• The Stochastic Stability Analysis for Outlier Robustness of Kalman-Type Filtering Framework Based on Correntropy-Induced Cost AI翻译
  作者：Tao, Yangtianze; Kang, Jiayi; Yau, Stephen Shing-Toung
  作者单位：Tsinghua University
  摘要：This note introduces the modified extended Kalman filter (MEKF), reformulating the EKF update step within a nonlinear regression framework. We propose a novel outlier-robust scheme, MCIC-MEKF, utilizing the minimum correntropy-induced cost (MCIC) criterion. We provide a theoretical analysis of its outlier robustness through stochastic stability, proving exponentially bounded mean square posterior estimation error under natural conditions. In addition, we present a technical approximation for t...
• Robust Distributed Nash Equilibrium Seeking Subject to Communication Constraints AI翻译
  作者：Liu, Lupeng; Lu, Maobin; Wang, Shimin; Deng, Fang; Chen, Jie
  作者单位：Beijing Institute of Technology; Massachusetts Institute of Technology (MIT); Beijing Institute of Technology; Tongji University
  摘要：In this article, we address the robust distributed Nash equilibrium seeking problem of N-player games under switching networks and communication delays. The salient feature of this work is that the switching communication networks can be uniformly strongly connected, and the communication delays are allowed to be arbitrarily unknown, time-varying and bounded. To solve the problem, we construct a distributed estimator for each player to estimate all players' strategies through unreliable commun...
• Scalable Input-to-State Stability of Nonlinear Interconnected Systems AI翻译
  作者：Silva, Guilherme Froes; Donaire, Alejandro; Middleton, Richard; Mcfadyen, Aaron; Ford, Jason
  作者单位：Queensland University of Technology (QUT); University of Newcastle
  摘要：This article investigates the scalable input-to-state stability (sISS) property of networks of interconnected systems using the local Lyapunov functions of the individual systems or agents that compose the network. Ensuring sISS of the network prevents the amplification of disturbances through the network, provides uniform transient performance with respect to the number of interconnected systems, and enables network scalability. Our first contribution is to provide sufficient conditions for s...
• Estimation of Persistently Exciting Subspaces for Robust Parameter Adaptation AI翻译
  作者：Uzeda, Erick Mejia; Broucke, Mireille E.
  作者单位：University of Toronto
  摘要：Recently we proposed the $\mu$-modification for robust parameter adaptation, premised on the observation that only the parameter dynamics along the subspace with no persistent excitation must be rendered robust. Robustness thereby reduces to a problem of subspace estimation. This article proposes a new subspace estimator that recovers the non-persistently exciting (non-PE) subspace for a large class of regressors. This is achieved through a characterization of PE subspaces and the use of princ...
• The Least Information Set Needed by Privacy Attackers AI翻译
  作者：Xie, Antai; Wang, Xiaofan; Yang, Wen; Cao, Ming; Ren, Xiaoqiang
  作者单位：Shanghai University; East China University of Science & Technology; University of Groningen; Shanghai University
  摘要：This article studies privacy-preserving problems focusing on the information that is available to the attacker. For a class of general linear average consensus algorithms, we identify the least information set required by an attacker to infer the initial value of the target node. We then propose a novel algorithm that protects the initial value effectively if the attacker fails to have this least information. Furthermore, we show that the initial value of nodes may be disclosed even if the att...
• Revisiting Model Reference Adaptive Control: Linear-Like Closed-Loop Behavior AI翻译
  作者：Shahab, Mohamad T.; Miller, Daniel E.
  作者单位：King Abdullah University of Science & Technology; University of Waterloo
  摘要：In this article, we examine the model reference adaptive control problem when the commonly used projection algorithm is utilized, subject to several common assumptions on the set of admissible parameters, in particular a compactness constraint as well as knowledge of the sign of the high-frequency gain. It is proven in the literature that for this setup, the closed-loop system is bounded-input bounded-state; since the closed-loop system is not linear time-invariant, this does not imply a bound...
• Robustly Learning Regions of Attraction From Fixed Data AI翻译
  作者：Tacchi, Matteo; Lian, Yingzhao; Jones, Colin N.
  作者单位：Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS); Huawei Technologies; Swiss Federal Institutes of Technology Domain; Ecole Polytechnique Federale de Lausanne
  摘要：While stability analysis is a mainstay for control science, especially computing regions of attraction of equilibrium points, until recently most stability analysis tools always required explicit knowledge of the model or a high-fidelity simulator representing the system at hand. In this work, a new data-driven Lyapunov analysis framework is proposed. Without using the model or its simulator, the proposed approach can learn a piecewise affine Lyapunov function with a finite and fixed offline d...