2024

最新文章

• Distributed Interval Observer and Distributed Unknown Input Observer Designs AI翻译
  作者：Zhu, Fanglai; Li, Mingwei
  作者单位：Tongji University
  摘要：Recently, distributed observer designs have been investigated intensively, but the distributed unknown input observer (DUIO) which can offer the asymptotic convergent estimations of both the states and the unknown inputs (UIs) has not been developed yet. In this article, we come up with a novel DUIO design method through a distributed interval observer (DIO) for a system with UI, and each sensor with measurement noise. First, by introducing an auxiliary output, the local system is transformed ...
• Interval Observation and Control for Continuous-Time Persidskii Systems AI翻译
  作者：Efimov, Denis; Polyakov, Andrey; Ping, Xubin
  作者单位：Inria; Universite de Lille; Centre National de la Recherche Scientifique (CNRS); Xidian University
  摘要：The problems of interval estimation and stabilization are studied for a class of generalized Persidskii systems. For this class of models with nonlinearities satisfying the incremental passivity property, the nonnegativity conditions are proposed and a nonlinear interval observer is synthesized. A nonlinear feedback is designed that uses the interval estimates. The conditions of stability of estimation and regulation errors are formulated using linear matrix inequalities. The efficiency of the...
• Stability Analysis of a Discrete-Time Limit Cycle Model Predictive Controller AI翻译
  作者：Cateriano Yanez, Carlos; Pangalos, Georg; Lichtenberg, Gerwald; Sanchis Saez, Javier
  作者单位：Hochschule Angewandte Wissenschaft Hamburg; Universitat Politecnica de Valencia; Hochschule Angewandte Wissenschaft Hamburg; University of Valencia
  摘要：Recently, a novel discrete-time nonlinear limit cycle model predictive controller for harmonic compensation has been proposed. Its compensating action is achieved by using the dynamics of a supercritical Neimark-Sacker bifurcation normal form at the core of its cost function. This work aims to extend this approach's applicability by analyzing its stability. This is accomplished by identifying the normal form's region of attraction and final set, which enables the use of LaSalle's invariance pr...
• On Robust Stability of Uncertain Control Systems With Time Delay: An Approach Based on the Overlap of Value Sets AI翻译
  作者：Ghorbani, Majid; Tepljakov, Aleksei; Petlenkov, Eduard
  作者单位：Tallinn University of Technology
  摘要：This study provides some methods to analyze robust stabilizability of uncertain plants with an uncertain time delay using arbitrary linear controllers. In this work, an uncertain plant with an uncertain time delay means that the numerator and denominator coefficients and the time delay term of the transfer function of the plant have interval uncertainties. Towards solving the abovementioned problem, first, robust stability is investigated for the closed-loop system in terms of a general class ...
• Probabilistic Contraction Analysis of Iterated Random Operators AI翻译
  作者：Gupta, Abhishek; Jain, Rahul; Glynn, Peter
  作者单位：University System of Ohio; Ohio State University; University of Southern California; University of Southern California; Stanford University; Stanford University
  摘要：In many branches of engineering, Banach contraction mapping theorem is employed to establish the convergence of certain deterministic algorithms. Randomized versions of these algorithms have been developed that have proved useful in data-driven problems. In a class of randomized algorithms, in each iteration, the contraction map is approximated with an operator that uses independent and identically distributed samples of certain random variables. This leads to iterated random operators acting ...
• Undirected Weighted Network Topologies With Best Possible Pinning Controllability AI翻译
  作者：Jafarizadeh, Saber
  摘要：Controllability of complex networks through pinning control toward a desired trajectory is crucial for ensuring synchronization stability. Concerned with the local stability of the network's synchronization, here, the controllability problem is addressed different from the literature by incorporating weighted Laplacian and nonuniform feedback gain. This approach has led to a spectral radius minimization problem, where using its semidefinite programming (SDP) formulation leads to a unique optim...
• Model Predictive Control for Quadcopters With Almost Global Trajectory Tracking Guarantees AI翻译
  作者：Andrien, A. R. P.; Lefeber, E.; Antunes, D. J.; Heemels, W. P. M. H.
  作者单位：Eindhoven University of Technology
  摘要：This article provides a new method for trajectory tracking for quadcopters following a cascaded control approach with formal closed-loop tracking guarantees. An outer-loop model predictive controller generates twice differentiable acceleration references, which provide attitude, angular velocity, and acceleration references for a nonlinear inner-loop controller. The model predictive controller allows for tracking of references while explicitly considering that the thrust of the quadcopter is u...
• LMI-Based Robust Multivariable Super-Twisting Algorithm Design AI翻译
  作者：Geromel, Jose C.; Nunes, Eduardo Vieira Leao; Hsu, Liu
  作者单位：Universidade Estadual de Campinas
  摘要：The aim of this article is to provide a new linear matrix inequality (LMI)-based robust multivariable super-twisting algorithm design able to deal with convex bounded model uncertainties in the input matrix and exogenous disturbances with norm-bounded time derivative. The final state feedback gain is calculated from a convex programming problem, expressed by LMIs with respect to all involved variables, that optimizes a guaranteed (worst case) performance index associated to the closed-loop sys...
• Safety-Critical Control With Control Barrier Function Based on Disturbance Observer AI翻译
  作者：Sun, Jiankun; Yang, Jun; Zeng, Zhigang
  作者单位：Huazhong University of Science & Technology; Loughborough University
  摘要：In this article, we investigate the continuous and sampled-data safety-critical control problems with control barrier functions in the presence of time-varying disturbances. To this end, a nonlinear disturbance observer is first designed to estimate the disturbance, and the continuous safe control design of the nominal systems is formulated as a quadratic program. We then design a continuous composite controller by integrating the disturbance compensation term and the state feedback term compu...
• Robust Event-Triggered Distributed Optimal Coordination of Heterogeneous Systems Over Directed Networks AI翻译
  作者：Xian, Chengxin; Zhao, Yu; Wen, Guanghui; Chen, Guanrong
  作者单位：Northwestern Polytechnical University; Southeast University - China; City University of Hong Kong
  摘要：In this article, the robust distributed optimal coordination (DOC) problem over unbalanced directed communication networks is investigated for heterogeneous multiagent systems subjected to external disturbances. First, by introducing an external disturbance observer, a balanced compensation variable and using the output regulation technique, a new robust continuous-time DOC algorithm is developed, ensuring that the sum of the local convex objective functions is optimal and the behaviors of all...