2024

最新文章

• Analysis of H∞ Performance for Multiagent Networks AI翻译
  作者：Wang, Jiamin; Liu, Jian; Zheng, Yuanshi; Xi, Jianxiang
  作者单位：Xidian University; Rocket Force University of Engineering
  摘要：In this article, we analyze the H(infinity )performance of the first-order continuous-time multiagent consensus network and that of the corresponding sampled-data network in the presence of external disturbances. First, we build the quantitative relation between the H-infinity performance and the eigenvalues of directed graph Laplacian for the continuous-time multiagent network. Second, we establish the analytic expression of H-infinity performance for the sampled-data multiagent network, whic...
• State Augmented Constrained Reinforcement Learning: Overcoming the Limitations of Learning With Rewards AI翻译
  作者：Calvo-Fullana, Miguel; Paternain, Santiago; Chamon, Luiz F. O.; Ribeiro, Alejandro
  作者单位：Pompeu Fabra University; Rensselaer Polytechnic Institute; University of Stuttgart; University of Pennsylvania
  摘要：A common formulation of constrained reinforcement learning involves multiple rewards that must individually accumulate to given thresholds. In this class of problems, we show a simple example in which the desired optimal policy cannot be induced by any weighted linear combination of rewards. Hence, there exist constrained reinforcement learning problems for which neither regularized nor classical primal-dual methods yield optimal policies. This work addresses this shortcoming by augmenting the...
• Distributional Reachability for Markov Decision Processes: Theory and Applications AI翻译
  作者：Gao, Yulong; Abate, Alessandro; Xie, Lihua; Johansson, Karl Henrik
  作者单位：Imperial College London; University of Oxford; Nanyang Technological University
  摘要：We study distributional reachability for finite Markov decision processes (MDPs) from a control theoretical perspective. Unlike standard probabilistic reachability notions, which are defined over MDP states or trajectories, in this article reachability is formulated over the space of probability distributions. We propose two set-valued maps for the forward and backward distributional reachability problems: the forward map collects all state distributions that can be reached from a set of initi...
• Performance-Barrier-Based Event-Triggered Control With Applications to Network Systems AI翻译
  作者：Ong, Pio; Cortes, Jorge
  作者单位：California Institute of Technology; University of California System; University of California San Diego
  摘要：This article proposes a novel framework for resource-aware control design termed performance-barrier-based triggering. Given a feedback policy, along with a Lyapunov function certificate that guarantees its correctness, we examine the problem of designing its digital implementation through event-triggered control while ensuring a prescribed performance on the certificate's convergence rate is met and triggers occur as sparingly as possible. Our methodology takes into account the performance re...
• Supervisory Control of Networked Discrete Event Systems to Achieve a Required Language AI翻译
  作者：Wang, Xiaojun; Hu, Hesuan; Lin, Feng
  作者单位：University of Shanghai for Science & Technology; Xidian University; Nanyang Technological University; Xi'an Jiaotong University; Wayne State University
  摘要：Because of the wide use of networks, supervisory control of networked discrete event systems becomes more and more important. Since the languages generated by a networked supervisor is nondeterministic due to communication delays and losses, large and small languages are defined. While the large language has been investigated in the literature, the small language has not. In this article, we investigate the small language, which is needed for a supervised system to perform some required tasks....
• On the Equivalence of Contraction and Koopman Approaches for Nonlinear Stability and Control AI翻译
  作者：Yi, Bowen; Manchester, Ian R.
  作者单位：University of Sydney; Universite de Montreal; Polytechnique Montreal; University of Sydney
  摘要：In this article, we prove new connections between two frameworks for analysis and control of nonlinear systems: the Koopman operator framework and contraction analysis. Each method, in different ways, provides exact and global analyses of nonlinear systems by way of linear systems theory. The main results of this article show equivalence between contraction and Koopman approaches for a wide class of stability analysis and control design problems. In particular, the stability or stablizability ...
• Robust Control for Hysteretic Microhand Actuator Using Robust Right Coprime Factorization AI翻译
  作者：Bu, Ni; Zhang, Yingying; Zhang, Yuyi; Morohoshi, Yuuki; Deng, Mingcong
  作者单位：Qingdao University of Science & Technology; Tokyo University of Agriculture & Technology
  摘要：In this article, the robust stability and tracking control of microhand system are researched, wherein the influence of hysteresis characteristics is eliminated, and the tracking accuracy is improved. First, the generalized hysteresis operator is combined with isomorphism to factorize the system, and then controllers are designed to stabilize the hysteretic microhand system. Next, a parallel compensation operator is discussed by combining the right coprime factorization, which eliminates the i...
• Bearing-Based Reliable Cooperative Localization for Multiagent Networks in the Presence of Malicious Measurements AI翻译
  作者：Shi, Chong-Xiao; Yang, Guang-Hong
  作者单位：Northeastern University - China; Northeastern University - China; King Abdulaziz University
  摘要：Due to the development of bearing-based sensors, the bearing-based localization becomes a typical technology for solving localization problems for multiagent networks. Most of the existing bearing-based network localization methods are developed under a secure environment. In contrast, this article studies a reliable bearing-based network localization problem in an adversarial environment, where some bearing measurements of the agents may be corrupted (which are called the malicious measuremen...
• A Framework for Distributed Estimation With Limited Information and Event-Based Communications AI翻译
  作者：Yan, Jiaqi; Mo, Yilin; Ishii, Hideaki
  作者单位：Institute of Science Tokyo; Tokyo Institute of Technology; Tsinghua University
  摘要：In this article, we consider the problem of distributed estimation in a sensor network, where multiple sensors are deployed to estimate the state of a linear time-invariant Gaussian system. By losslessly decomposing the Kalman filter, a framework of event-based distributed estimation is developed, where each sensor node runs a local filter using solely its own measurement, alongside with an event-based synchronization algorithm to fuse the neighboring information. One novelty of the proposed f...
• Robust State Synchronization for High-Order Relative Degree Two MIMO Uncertain Nonlinear Multiagent Systems AI翻译
  作者：Katsoukis, Ilias; Rovithakis, George A.
  作者单位：Aristotle University of Thessaloniki
  摘要：We consider the problem of synchronizing the state of high order and relative degree two, nonlinear multiagent systems, in a leader-following scenario, with the leader dynamics being totally unknown to its followers. The agent dynamics has a full-entry and state-dependent control input matrix. In addition, all nonlinearities involved have unknown analytical expressions and, moreover, are affected by external additive disturbances. The proposed robust control protocol is distributed and of low ...