-
作者：Isaly, Axton; Ghanbarpour, Masoumeh; Sanfelice, Ricardo G.; Dixon, Warren E.
作者单位：University of Colorado System; University of Colorado Boulder; University of California System; University of California Santa Cruz; State University System of Florida; University of Florida
摘要：Control barrier functions (CBFs) are a popular method for encoding safety specifications for dynamical systems. In this article, a notion of CBF is defined that permits vector-valued barrier functions and flow constraints involving both the state and the control input. CBFs induce constraints on the control input that, when satisfied, guarantee the forward invariance of a safe set of states. The constraints are enforced using a pointwise-optimal feedback controller. Sufficient conditions for t...
-
作者：Wang, Bohui; Su, Rong; Huang, Lingying; Lu, Yun; Zhao, Nanbin
作者单位：Xi'an Jiaotong University; Nanyang Technological University
摘要：In this article, we propose a dynamic platoon management and cooperative driving framework for a mixed traffic flow consisting of multiple connected automated vehicles (CAVs) and possible human-driven vehicles (HDVs) that can be regarded as the surrounding vehicles (SVs). Specifically, the proposed framework consists of three stages. At the first stage, the cruising information of all the SVs will be collected by the leader CAV through the cellular-vehicle-to-X (C-V2X) infrastructure, while an...
-
作者：Xu, Tianshu; Niu, Yugang; Cao, Zhiru
作者单位：East China University of Science & Technology; Shanghai University
摘要：This work focuses on the event-triggered sliding mode control problem for Markovian jump systems under the stochastic sampling that randomly switches between two sampling periods. A stochastic variable is introduced to characterize the delay between the present instant and the previous sampling instant, through which a switchinglike event-triggered strategy is proposed via the present sampled state and the previous transmitted state. Meanwhile, a mode-dependent sliding surface is constructed a...
-
作者：Jongeneel, Wouter; Schwan, Roland
作者单位：Swiss Federal Institutes of Technology Domain; Ecole Polytechnique Federale de Lausanne; Swiss Federal Institutes of Technology Domain; Ecole Polytechnique Federale de Lausanne
摘要：Suppose that the origin is globally asymptotically stable under a set of continuous vector fields on Euclidean space and suppose that all those vector fields come equipped with-possibly different-convex Lyapunov functions. We show that this implies there is a homotopy between any two of those vector fields, such that the origin remains globally asymptotically stable along the homotopy. Relaxing the assumption on the origin to any compact convex set or relaxing convexity to geodesic convexity d...
-
作者：Liu, Fengjiao; Tsiotras, Panagiotis
作者单位：University System of Georgia; Georgia Institute of Technology
摘要：In this article, we study the finite-horizon optimal covariance steering problem for a continuous-time linear stochastic system subject to both additive and multiplicative noise. The noise can be continuous or it may contain jumps. The additive noise does not depend on the state or the control, whereas the multiplicative noise has a magnitude proportional to the current state. The cost is assumed to be quadratic in both the state and the control. The optimal control for steering the covariance...
-
作者：Zou, Yao; Huang, Bomin; Sun, Yongbin; Li, Qing; Meng, Ziyang; He, Wei
作者单位：University of Science & Technology Beijing; University of Science & Technology Beijing; University of Science & Technology Beijing; Jimei University; Beihang University; Tsinghua University
摘要：This article studies the constrained optimization problem of integrator chain multiagent systems from the distributed perspective. Particularly, all the agents collaborate to find an optimal solution of a global objective function summed by multiple local ones, each of which is just convex and belongs to an individual agent. However, the potential optimal solutions are simultaneously subject to set constraints and two kinds of equality constraints, i.e., individual equality constraint and aggr...
-
作者：Zhong, Jie; Pan, Qinyao; Xu, Wenying; Chen, Bo
作者单位：Zhejiang Normal University; Southeast University - China; Zhejiang University of Technology
摘要：In this article, two pinning control (PC) schemes are proposed to achieve nonperiodical stable behaviors for asynchronous Boolean networks (BNs), from the aspects of state transition digraph (STG) and dependence digraph (DD). First, under the framework of algebraic state-space representation of asynchronous BNs, a nonuniform PC is proposed based on STG and feedback vertex set. The nonuniform pinning nodes (PNs) are determined under the transformation of certain columns of the state transition ...
-
作者：Burghi, Thiago B.; Sepulchre, Rodolphe
作者单位：University of Cambridge; KU Leuven
摘要：This article presents adaptive observers for online state and parameter estimation of a class of nonlinear systems motivated by biophysical models of neuronal circuits. We first present a linear-in-the-parameters design that solves a classical RLS problem. Then, building on this simple design, we present an augmented adaptive observer for models with a nonlinearly parameterized internal dynamics, the parameters of which we interpret as structured uncertainty. We present a convergence and robus...
-
作者：Ding, Yanling; Peng, Hui; Qi, Tian; Chen, Jie
作者单位：City University of Hong Kong; Guangdong University of Technology; South China University of Technology
摘要：This article concerns consensus problems of linear time-invariant systems with stochastic noises and deterministic disturbances. We consider first-order dynamic agents interconnected by a directed graph network subject to interagent time delay, and we seek to determine the error performance achievable by the consensus feedback protocol, whereas the performance quantifies the disruption of consensus by noises and disturbances. The H-2 and H-infinity norms of the multiagent system transfer funct...
-
作者：Li, Xiaodi; He, Xinyi; Yang, Dan; Moulay, Emmanuel; Hui, Qing
作者单位：Shandong Normal University; University of Nebraska System; University of Nebraska Lincoln; Universite de Poitiers
摘要：This article studies the local finite-time stability for a class of time-delay systems. Some Lyapunov-based sufficient conditions are proposed in the framework of finite time, where a potential connection between time delay and system parameters for local finite-time stability is established. An estimate of the upper bound of the settling time depending on the time delay is derived. Examples are given to illustrate the effectiveness of the proposed results. Especially, a finite-time stabilizin...
