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作者：Buerger, Johannes; Cannon, Mark
作者单位：BMW AG; University of Oxford
摘要：An efficient optimization method is proposed for linear-quadratic optimal control problems with state and control constraints. We describe an active set solver that uses Riccati recursions to solve a sequence of equality-constrained subproblems. The main contribution is a homotopy method based on relaxing inequality constraints. This overcomes known shortcomings of Riccati active set solvers relating to their initialization and their application to problems with time-varying model data. It can...
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作者：Mei, Wenjun; Hendrickx, Julien M.; Chen, Ge; Bullo, Francesco; Dorfler, Florian
作者单位：Peking University; Universite Catholique Louvain; Chinese Academy of Sciences; University of California System; University of California Santa Barbara
摘要：Mechanistic and tractable mathematical models play a key role in understanding how social influence shapes public opinions. Recently, a weighted-median mechanism has been proposed as a new microfoundation of opinion dynamics and validated via experimental data. Numerical studies indicate that this new mechanism recreates some nontrivial real-world features of opinion evolution. In this article, we conduct a thorough analysis of the weighted-median opinion dynamics. We fully characterize the eq...
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作者：Tang, Tianyu; Ding, Xueying; Lu, Jianquan; Liu, Yang
作者单位：Southeast University - China; Zhejiang Normal University; Zhejiang Normal University
摘要：This article studies the controllability of time-varying-delayed Markovian jump Boolean control networks (DMJBCNs). To begin with, a novel augmented approach is proposed to stack the DMJBCNs into expectation form, where the iterative complexity is markedly reduced from O(N tau+1) to O((tau + 1)N). Under this way, the necessary and sufficient criterion for the fixed-time trajectory controllability of DMJBCNs is derived. Then, constructing another augmented representation for DMJBCNs, the criter...
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作者：Qu, Zhihai; Li, Xiuxian; Li, Li; Hong, Yiguang
作者单位：Tongji University; Tongji University
摘要：This article studies distributed optimization problems whose goal is to minimize the sum of cost functions located among agents in a network, where communications are described by a connected and undirected graph. Two novel second-order methods with adapt-then-combine strategy are developed. For the algorithms, explicit convergence rates are established under strongly convex and the Lipschitz gradient assumptions. Finally, numerical examples demonstrate the efficiency of algorithms and are in ...
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作者：Lyu, Ziliang; Xu, Xiangru; Hong, Yiguang
作者单位：Tongji University; University of Wisconsin System; University of Wisconsin Madison
摘要：This article develops a small-gain technique for the safety analysis and verification of interconnected systems with high-relative-degree safety constraints. To this end, a high-relative-degree input-to-state safety (ISSf) approach is proposed to quantify the influence of external inputs on the subsystem safety. With a coordination transformation, the relationship between ISSf barrier functions (ISSf-BFs) and the existing high-relative-degree (or high-order) barrier functions is established to...
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作者：Dogan, Ilgin; Shen, Zuo-Jun Max; Aswani, Anil
作者单位：University of California System; University of California Berkeley; University of Hong Kong; University of Hong Kong
摘要：The exploration-exploitation tradeoff is an inherent challenge in data-driven adaptive control. Though this tradeoff has been studied for multiarmed bandits (MABs) and reinforcement learning for linear systems, it is less well studied for learning-based control of nonlinear systems. A significant theoretical challenge in the nonlinear setting is that there is no explicit characterization of an optimal controller for a given set of cost and system parameters. We propose the use of a finite-hori...
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作者：Jafarian, Matin; Mamduhi, Mohammad H.; Johansson, Karl H.
作者单位：Delft University of Technology; Swiss Federal Institutes of Technology Domain; ETH Zurich; Royal Institute of Technology
摘要：This article studies stochastic relative phase stability, i.e., stochastic phase-cohesiveness, of discrete-time phase-coupled oscillators. The stochastic phase-cohesiveness in two types of networks is studied. First, we consider oscillators coupled with $2\pi$-periodic odd functions over underlying undirected graphs subject to both multiplicative and additive stochastic uncertainties. We prove stochastic phase-cohesiveness of the network with respect to two specific, namely, in-phase and antip...
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作者：Sibai, Hussein; Mitra, Sayan
作者单位：Washington University (WUSTL); University of Illinois System; University of Illinois Urbana-Champaign
摘要：A symmetry of a dynamical system is a map that transforms any trajectory to another trajectory. Abstractions have been a key building block in the theory and practice of hybrid automata analysis. We introduce a novel abstraction for hybrid automata based on the symmetries of their modes. The abstraction procedure combines different modes of a concrete automaton A , whose trajectories are related by symmetries, into a single mode of the constructed abstract automaton B . The abstraction procedu...
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作者：Huang, Jie
作者单位：Chinese University of Hong Kong
摘要：In this article, we first study the leader-following output synchronization problem for a class of uncertain nonlinear multi-agent systems over jointly connected switching networks. Our approach integrates the output-based adaptive distributed observer, the conventional adaptive control technique, and the output regulation theory. Compared with the existing results, our control law only relies on the output of the leader instead of the state of the leader and allows the followers and the leade...
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作者：Li, Xianwei; Tang, Yang; Zou, Yuanyuan; Li, Shaoyuan; Zheng, Wei Xing
作者单位：Shanghai Jiao Tong University; East China University of Science & Technology; Western Sydney University
摘要：This note studies output-feedback consensus of linear multiagent systems (MASs) on directed graphs. In view of limited communication resources in MAS tasks, the aim of this note is to reduce interagent communication. A fully distributed dynamic output-feedback protocol is proposed, where an event-triggered strategy is designed to determine when to exchange protocol states while a time-triggered one is designed to determine when to sample relative outputs. Design conditions are first establishe...
