3期

最新文章

• New Approach to Feedback Stabilization of Linear Discrete Time-Varying Stochastic Systems AI翻译
  作者：Zhang, Tianliang; Xu, Shengyuan; Zhang, Weihai
  作者单位：Qingdao University of Technology; Nanjing University of Science & Technology; Nanjing University of Science & Technology; Shandong University of Science & Technology
  摘要：This article investigates uniform finite-time stabilization, mean square uniform stabilization, and mean square uniform asymptotic/exponential stabilization of linear discrete time-varying stochastic (LDTVS) systems. A new state transition matrix (STM) method is first used to study the feedback stabilization problem of LDTVS systems. Based on the STM method, necessary and sufficient conditions for the above concerned feedback stabilization issues are, respectively, presented in terms of STMs a...
• Safety Control of Uncertain MIMO Systems Using Dynamic Output Feedback Barrier Pairs AI翻译
  作者：He, Binghan; Tanaka, Takashi
  作者单位：University of Texas System; University of Texas Austin; University of California System; University of California Berkeley; University of Texas System; University of Texas Austin
  摘要：Safety control of dynamical systems using barrier functions relies on knowing the full state information. This article introduces a novel approach for safety control in uncertain multiple-input-muiltiple-output (MIMO) systems with partial state information. The proposed method combines the synthesis of a vector norm barrier function and a dynamic output feedback safety controller to ensure robust safety enforcement. The safety controller guarantees the invariance of the barrier function under ...
• Second Moment Polytopic Systems: Generalization of Uncertain Stochastic Linear Dynamics AI翻译
  作者：Ito, Yuji; Fujimoto, Kenji
  作者单位：Toyota Central R&D Labs Inc; Kyoto University
  摘要：This article presents a new paradigm to stabilize uncertain stochastic linear systems. Herein, second moment polytopic (SMP) systems are proposed that generalize systems with both uncertainty and randomness. The SMP systems are characterized by second moments of the stochastic system matrices and the uncertain parameters. Further, a fundamental theory for guaranteeing stability of the SMP systems is established. It is challenging to analyze the SMP systems owing to both the uncertainty and ran...
• Bayesian Formal Synthesis of Unknown Systems via Robust Simulation Relations AI翻译
  作者：Schoen, Oliver; van Huijgevoort, Birgit; Haesaert, Sofie; Soudjani, Sadegh
  作者单位：Newcastle University - UK; Max Planck Society
  摘要：This article addresses the problem of data-driven computation of controllers that are correct by design for safety-critical systems and can provably satisfy (complex) functional requirements. With a focus on continuous-space stochastic systems with parametric uncertainty, we propose a two-stage approach that decomposes the problem into a learning stage and a robust formal controller synthesis stage. The first stage utilizes available Bayesian regression results to compute robust credible sets ...
• Optimal Linear Filtering for Discrete-Time Systems With Infinite-Dimensional Measurements AI翻译
  作者：Varley, Maxwell M.; Molloy, Timothy L.; Nair, Girish N.
  作者单位：University of Melbourne; Australian National University
  摘要：Systems equipped with modern sensing modalities such as vision and Lidar gain access to increasingly high-dimensional measurements with which to enact estimation and control schemes. In this article, we examine the continuum limit of high-dimensional measurements and analyze state estimation in linear time-invariant systems with infinite-dimensional measurements but finite-dimensional states, both corrupted by additive noise. We propose a linear filter and derive the corresponding optimal gain...
• Collision-Free Source Seeking Control Methods for Unicycle Robots AI翻译
  作者：Li, Tinghua; Jayawardhana, Bayu
  作者单位：University of Groningen
  摘要：In this work, we propose a collision-free source-seeking control framework for a unicycle robot traversing an unknown cluttered environment. In this framework, obstacle avoidance is guided by the control barrier functions (CBF) embedded in quadratic programming, and the source-seeking control relies solely on the use of onboard sensors that measure the signal strength of the source. To tackle the mixed relative degree and avoid the undesired position offset for the nonholonomic unicycle model,...
• Tracking Controllability for the Heat Equation AI翻译
  作者：Barcena-Petisco, Jon Asier; Zuazua, Enrique
  作者单位：University of Basque Country; University of Erlangen Nuremberg; University of Deusto; Autonomous University of Madrid
  摘要：In this article, we study the tracking or sidewise controllability of the heat equation. More precisely, we seek controls that, acting on part of the boundary of the domain where the heat process evolves, aim to assure that the normal trace or flux on the complementary set tracks a given trajectory. The dual equivalent observability problem is identified. It consists of estimating the boundary sources, localized on a given subset of the boundary, out of boundary measurements on the complementa...
• Parameterization of All Differential-Algebraic Moment Matching Interpolants AI翻译
  作者：Simard, Joel D.; Moreschini, Alessio; Astolfi, Alessandro
  作者单位：Imperial College London; University of Rome Tor Vergata
  摘要：In this article, we extend the notion of time-domain moment to a class of general systems of nonlinear differential-algebraic equations. In addition, a new family of systems achieving moment matching is constructed. Provided that mild conditions hold, and for any given dimension at least as large as that of the signal generator, it is proven that this family of systems parameterizes all systems achieving moment matching. Four illustrative examples are provided. In the first and second example,...
• Tube MPC With Time-Varying Cross-Sections AI翻译
  作者：Wang, Kai; Zhang, Sixing; Gros, Sebastien; Rakovic, Sasa V.
  作者单位：Norwegian University of Science & Technology (NTNU); Beijing Information Science & Technology University; Beijing Institute of Technology
  摘要：In this article, we consider tube model predictive control of discrete-time linear systems subject to additive bounded disturbances and mixed state and control constraints. An improved tube model predictive controller, leveraging the advantages and mitigating the disadvantages of three pivotal existing methods, is proposed. Its computational aspects and theoretical properties are thoroughly discussed and compared with its predecessors. Two numerical examples are provided to illustrate the bene...
• Stochastic Important-Data-Based Attack Power Allocation Against Remote State Estimation in Sensor Networks AI翻译
  作者：Tian, Engang; Fan, Mengge; Ma, Lifeng; Yue, Dong
  作者单位：University of Shanghai for Science & Technology; Nanjing University of Science & Technology; Nanjing University of Posts & Telecommunications
  摘要：In this article, a novel important-data-based (IDB) attack strategy and stochastic IDB attack power allocation scheme are proposed, from the attacker's perspective, to degrade the remote state estimation in sensor networks. The main feature of the proposed IDB attack is that, by intercepting the measurement output, the adversary can identify the important packets transmitting among sensing nodes, and by injecting more power to increase the attack success probability (ASP) of these packets, the...