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作者：Wu, Xiao-Hui; Wang, Jun-Min
作者单位：Beijing Institute of Technology
摘要：In this article, we are concerned with an adaptive output tracking problem for 1-D antistable wave equations with unknown harmonic disturbance and reference signals which have both unknown frequencies and amplitudes. The output and disturbance are noncollocated to the control input. First, we construct an auxiliary system and internal model dynamic to restructure the measurable tracking error such that the error consists of these available states. Then, an adaptive method is used to estimate t...
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作者：Becker, Marvin; Kohler, Johannes; Haddadin, Sami; Mueller, Matthias A.
作者单位：Leibniz University Hannover; Swiss Federal Institutes of Technology Domain; ETH Zurich; Technical University of Munich; Technical University of Munich
摘要：Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpredictable environments of robotic systems. However, typically those approaches are only locally reactive without considering global path planning and no guarantees for simultaneous collision avoidance and goal convergence can be given. In this article, we study a recently developed circular field (CF)-based motion plan...
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作者：Deng, Ruiliang; Zhang, Weixian; Yan, Rui; Shi, Zongying; Zhong, Yisheng
作者单位：Tsinghua University; University of Oxford
摘要：This article considers a planar multiple-pursuer single-evader reach-avoid game played in a constant flow field. Such a game problem arises in practical applications, such as maritime escort, aircraft confrontation in airflow fields, and defense of moving targets. The dominance boundary, which serves as an analogy to the Apollonius circle and the Cartesian oval, is investigated. The existence of semipermeable surfaces in the game is shown. Under reasonable assumptions, there exists a semiperme...
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作者：Sanfelice, Ricardo G.; Praly, Laurent
作者单位：University of California System; University of California Santa Cruz; Universite PSL; MINES ParisTech
摘要：This article is the third and final component of a three-part effort on observers contracting a Riemannian distance between the state of the system and its estimate. In Part I, we showed that such a contraction property holds if the system dynamics and the Riemannian metric satisfy two key conditions: a differential detectability property and a geodesic monotonicity property. With the former condition being the focus of Part II, in this Part III, we study the latter condition in relationship t...
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作者：Li, Yiliang; Feng, Jun-E; Cheng, Daizhan; Jia, Yingzhe
作者单位：Shandong University; Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS; Hunan University
摘要：In this article, a uniform method is provided to investigate the observability decomposition of Boolean control networks (BCNs) under different definitions of observability. Since the observability of BCNs is defined via the distinguishability of states, an algorithm is devised to identify and sort distinguishable states. To find the possible control sequences, a truth matrix reflecting the relationship between state pairs and control inputs is constructed. Using the truth matrix, necessary an...
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作者：Zhao, Lingzhi; Dai, Haifeng; Yang, Chunyu; Lu, Jianquan; Sun, Yongzheng
作者单位：China University of Mining & Technology; Southeast University - China; China University of Mining & Technology; Southeast University - China
摘要：Time cost (TC) and energy cost (EC) are two fundamental indicators for evaluating the designed protocols for controlling networked systems. Yet the relationships of which as well as their dependence on the network topology are far from clear. In this note, we explore this problem with the stochastic synchronization of coupled neural networks. A novel controller is articulated, which switches between the linear feedback control and finite-time feedback control relying on the size of system erro...
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作者：Chen, Ziqin; Liang, Shu; Li, Li; Cheng, Shuming
作者单位：Tongji University
摘要：This note investigates a network optimization problem in which a group of agents cooperate to minimize a global function under the practical constraint of finite-bandwidth communication. We propose an adaptive encoding-decoding scheme to handle the quantization communication between agents. Based on this scheme, we develop a continuous-time quantized distributed primal-dual algorithm for the network optimization problem. Our algorithm achieves linear convergence to an exact optimal solution. F...
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作者：Krstic, Miroslav
作者单位：University of California System; University of California San Diego
摘要：Control barrier function quadratic programs (QP) safety filters are pointwise minimizers of the control effort at a given state, i.e., myopically optimal at each time. But are they optimal over the entire infinite time horizon? What does it mean for a controlled system to be optimally safe as opposed to, conventionally optimally stable? When disturbances, deterministic and stochastic, have unknown upper bounds, how should safety be defined to allow a graceful degradation under disturbances? Ca...
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作者：Lv, Maolong; Wang, Ning
作者单位：Air Force Engineering University
摘要：This work shows that low-complexity prescribed performance control (PPC) can be used to realize leader-following consensus for uncertain second-order multiagent systems (MASs) with the powers of positive odd numbers, i.e., agents whose dynamics are a chain of integrators with positive odd powers. Low-complexity PPC is a control methodology whose strongest feature is its adaptation-free structural simplicity: uncertainty can be handled without estimation of unknown parameters nor approximation ...
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作者：Wen, Liyan; Jiang, Bin; Chen, Mou; Ma, Yajie
摘要：In this article, adaptive control designs are systematically studied for uncertain noncanonical nonlinear systems with time-varying dynamics. As a key system characterization, the relative degrees are directly defined for noncanonical nonlinear time-varying systems, and at the same time, the necessary time-varying parameter conditions are specifically derived for different system dynamics. Then, robust adaptive feedback linearization-based control designs are studied for noncanonical nonlinear...
