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最新文章

• Sequential Learning and Control: Targeted Exploration for Robust Performance AI翻译
  作者：Venkatasubramanian, Janani; Koehler, Johannes; Berberich, Julian; Allgoewer, Frank
  作者单位：University of Stuttgart; Swiss Federal Institutes of Technology Domain; ETH Zurich
  摘要：In this article, we present a novel dual control strategy for uncertain linear systems based on targeted harmonic exploration and gain-scheduling with performance and excitation guarantees. In the proposed sequential approach, robust control is implemented after exploration with the main feature that the exploration is optimized with respect to the robust control performance. Specifically, we leverage recent results on finite excitation using spectral lines to determine a high-probability lowe...
• Optimal Control of Logically Constrained Partially Observable and Multiagent Markov Decision Processes AI翻译
  作者：Kalagarla, Krishna C.; Kartik, Dhruva; Shen, Dongming; Jain, Rahul; Nayyar, Ashutosh; Nuzzo, Pierluigi
  作者单位：University of Southern California; University of New Mexico; Amazon.com; Massachusetts Institute of Technology (MIT)
  摘要：Autonomous systems often have logical constraints arising, for example, from safety, operational, or regulatory requirements. Such constraints can be expressed using temporal logic specifications. The system state is often partially observable. Moreover, it could encompass a team of multiple agents with a common objective but disparate information structures and constraints. In this article, we first introduce an optimal control theory for partially observable Markov decision processes with fi...
• Learning-Based Sparse Sensing With Performance Guarantees AI翻译
  作者：Vafaee, Reza; Siami, Milad
  作者单位：Northeastern University
  摘要：In this study, we address the challenge of sensor scheduling in discrete-time linear dynamical networks. We propose a novel learning-based rounding method aimed at converting a provided weighted sensor schedule into a sparse, unweighted schedule while preserving a comparable level of observability performance to the original weighted schedule. We introduce the notion of L-systemic performance measures, which enjoy characteristics such as homogeneity, monotonicity, convexity, and Lipschitz cont...
• Time-Consistency in the Mean-Variance Problem: A New Perspective AI翻译
  作者：Bauerle, Nicole; Jaskiewicz, Anna
  作者单位：Helmholtz Association; Karlsruhe Institute of Technology; Wroclaw University of Science & Technology
  摘要：We investigate discrete-time mean-variance portfolio selection problems viewed as a Markov decision process. We transform the problems into a new model with a deterministic transition function for which the optimality equation holds. In this way, we can solve the problem recursively and obtain a time-consistent solution, which is an optimal solution that meets the Bellman optimality principle. We apply our technique for solving explicitly a more general framework.
• Robust Sliding Mode Boundary Stabilization for Uncertain Delay Reaction-Diffusion Systems AI翻译
  作者：Zhou, Wei-Jie; Wu, Kai-Ning; Niu, Yu-Gang
  作者单位：Harbin Institute of Technology; East China University of Science & Technology
  摘要：The robust exponential stabilization is addressed for uncertain delay reaction-diffusion systems via sliding mode boundary control (SMBC). First, a novel integral sliding mode surface (SMS) is proposed, on which system states slide to the equilibrium with an exponential convergence rate. Furthermore, the sliding mode boundary controller (SMBCr) is designed to steer system states to the SMS in finite time. A criterion is established for robust exponential stability by utilizing the Lyapunov-Kra...
• Input-Output Stochastic Stability for Markov Jump Linear Systems AI翻译
  作者：Costa, Eduardo F.
  作者单位：Universidade de Sao Paulo
  摘要：Among several stability notions for dynamical systems, input-output stability is significant in applications where one is interested in the input-output relation rather than in the internal dynamics. This article addresses a notion of input-output stability for Markov jump linear systems and presents a testable, necessary and sufficient condition. Examples show that this stability notion is weaker than stochastic stability (a usual notion of stability for the considered class of systems), and ...
• Robust Model Predictive Control for Asynchronously Switched Linear Systems With Intermittent Controller Failures AI翻译
  作者：Tan, Tianyu; Zhuang, Songlin; Shi, Yang
  作者单位：University of Victoria; Yongjiang Laboratory
  摘要：Switched systems, as an exceptional modeling tool, may face threats to unexpected variations from the environment (e.g., external disturbances) or unreliable networks (e.g., desired controllers lagged to enabled subsystems or even controller disconnection). This article aims to study the robust model predictive control problem for a class of disturbed asynchronously switched systems with occasional controller disconnection. To mitigate the adverse effect of additive disturbances, a tube-based ...
• Newton Nonholonomic Source Seeking for Distance-Dependent Maps AI翻译
  作者：Todorovski, Velimir; Krstic, Miroslav
  作者单位：Technical University of Munich; University of California System; University of California San Diego
  摘要：The topics of source seeking and Newton-based extremum seeking have flourished, independently, but never combined. We present the first Newton-based source seeking algorithm for a unicycle vehicle model. The algorithm employs forward velocity tuning, as in the very first source seeker for the unicycle, and incorporates an additional Riccati filter for inverting the Hessian and feeding it into the demodulation signal. Using second-order Lie bracket averaging, we prove convergence to the source ...
• Event-Triggered State Interval Estimation and Fault-Tolerant Control for Multiagent Systems Under Deception Attacks AI翻译
  作者：Zhou, Meng; Li, Haicheng; Xue, Tonglai; Wang, Jing; Rassi, Tarek
  作者单位：North China University of Technology; heSam Universite; Conservatoire National Arts & Metiers (CNAM)
  摘要：This article investigates the problem of interval state and attack signal estimation and fault tolerant consistent control in multiagent systems under the influence of deception attacks. First, the deception attack signal is transformed into an auxiliary state vector to generate a state-augmented multiagent system, which makes the estimation problem tractable with a state observer. In addition, an event-triggered mechanism is designed for the observer to reduce unnecessary network communicatio...
• Robust Performance Analysis of Cooperative Control Dynamics via Integral Quadratic Constraints AI翻译
  作者：Datar, Adwait; Hespe, Christian; Werner, Herbert
  作者单位：Hamburg University of Technology
  摘要：In this article, we study cooperative control dynamics with gradient-based forcing terms. As a specific example, we focus on source-seeking dynamics with vehicles embedded in an unknown scalar field with a subset of agents having gradient information. We consider time-invariant and uncertain interaction potentials common in formation control and flocking. We leverage the framework of alpha -integral quadratic constraints (IQCs) to obtain convergence rate estimates whenever exponential stabilit...