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作者：Ren, Kewei; Iwasaki, Tetsuya
作者单位：University of California System; University of California Los Angeles
摘要：When designing feedback controllers to achieve periodic movements, a reference trajectory generator for oscillations is an important component. Using autonomous oscillators to this effect, rather than directly crafting periodic signals, may allow for systematic coordination in a distributed manner and storage of multiple motion patterns within the nonlinear dynamics, with potential extensions to adaptive mode switching through sensory feedback. This article proposes a method for designing a di...
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作者：Ballotta, Luca; Como, Giacomo; Shamma, Jeff S.; Schenato, Luca
作者单位：University of Padua; Polytechnic University of Turin; University of Illinois System; University of Illinois Urbana-Champaign
摘要：We investigate a novel approach to resilient distributed optimization with quadratic costs in a multiagent system prone to unexpected events that make some agents misbehave. In contrast to commonly adopted filtering strategies, we draw inspiration from phenomena modeled through the Friedkin-Johnsen dynamics and argue that adding competition to the mix can improve resilience in the presence of misbehaving agents. Our intuition is corroborated by analytical and numerical results showing that 1) ...
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作者：Battilotti, Stefano; Cacace, Filippo; d'Angelo, Massimiliano
作者单位：Sapienza University Rome; University Campus Bio-Medico - Rome Italy
摘要：In this article, we carry out a stability analysis of a distributed consensus algorithm in the presence of link failures. The algorithm combines a new broadcast version of a Push-Sum algorithm, specifically designed for handling link failures, with a new recursive consensus filter. The analysis is based on the properties of random Laplacian matrices and random subgraphs, and it may also be relevant for other distributed estimation problems. We characterize the convergence speed, the minimum nu...
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作者：Abel, Imoleayo; Steeves, Drew; Krstic, Miroslav; Jankovic, Mrdjan
作者单位：University of California System; University of California San Diego; Ford Motor Company
摘要：Safety in dynamical systems is commonly pursued using control barrier functions (CBFs) which enforce safety-constraints over the entire duration of a system's evolution. We propose a prescribed-time safety (PTSf) design which enforces safety only for a finite time of interest to the user. While traditional CBF designs would keep the system away from the safe set longer than necessary, our PTSf design lets the system reach the boundary of the safe set by the prescribed time and obey the operato...
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作者：Chen, Liangming; Lin, Zhiyun; Xie, Lihua
作者单位：Southern University of Science & Technology; Nanyang Technological University
摘要：To determine the positions of free nodes in a wireless sensor network, angle-based localization approaches have been recently proposed. However, the existing angle-only localizability conditions are for the whole network, for which the existence of only one unlocalizable node implies that the whole network is unlocalizable. To efficiently obtain specific information on the free nodes' localizability, this article proposes to check each node's localizability in a distributed manner. First, we p...
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作者：Pan, Yongping; Guo, Kai; Bobtsov, Alexey; Yang, Chenguang; Yu, Haoyong
作者单位：Sun Yat Sen University; Shandong University; ITMO University; South China University of Technology; National University of Singapore
摘要：A feedback-error learning (FEL) framework, which is characterized by internal dynamics modeling and hybrid feedback-feedforward (HFF) control, provides a computational model for motor learning control in the cerebellum. For FEL-based adaptive robot control, closed-loop stability and parameter convergence involve in stringent conditions, such as high-gain feedback and persistent excitation. This article proposes a composite error learning framework for adaptive robot control under discontinuous...
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作者：Xue, Bai; Zhan, Naijun; Fraenzle, Martin
作者单位：Chinese Academy of Sciences; Institute of Software, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS; Carl von Ossietzky Universitat Oldenburg
摘要：In this article, we propose a novel semidefinite programming approach that solves reach-avoid problems over open (i.e., not bounded a priori) time horizons for dynamical systems modeled by polynomial stochastic differential equations. The reach-avoid problem in this article is a probabilistic guarantee: we approximate from the inner a p-reach-avoid set, i.e., the set of initial states guaranteeing with probability larger than p that the system eventually enters a given target set while remaini...
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作者：Yao, Deyin; Li, Hongyi; Shi, Yang
作者单位：Guangdong University of Technology; Guangdong University of Technology; University of Victoria
摘要：Under undirected graph, we design the fully distributed static and dynamic event-triggered sliding mode controllers concerning the average consensus issues for single- and double-integrator multiagent systems (MASs) with perturbations. To guarantee the consensus convergence of disturbed first- and second-order MASs, two distributed sliding manifolds with respect to an odd function are first devised in this article. Second, two types of event-triggered mechanisms, i.e., a static event-triggerin...
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作者：Kim, Jin Won; Mehta, Prashant G.
作者单位：University of Illinois System; University of Illinois Urbana-Champaign; University of Potsdam; University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign
摘要：This article is concerned with the development and use of duality theory for a nonlinear filtering model with white noise observations. The main contribution of this article is to introduce a stochastic optimal control problem as a dual to the nonlinear filtering problem. The mathematical statement of the dual relationship between the two problems is given in the form of a duality principle. The constraint for the optimal control problem is the backward stochastic differential equation introdu...
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作者：Kordabad, Arash Bahari; Zanon, Mario; Gros, Sebastien
作者单位：Norwegian University of Science & Technology (NTNU); IMT School for Advanced Studies Lucca
摘要：This article shows that the optimal policy and value functions of a Markov decision process (MDP), either discounted or not, can be captured by a finite-horizon undiscounted optimal control problem (OCP), even if based on an inexact model. This can be achieved by selecting a proper stage cost and terminal cost for the OCP. A very useful particular case of OCP is a model predictive control (MPC) scheme where a deterministic (possibly nonlinear) model is used to reduce the computational complexi...
