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作者：Vu, Hieu Minh; Trinh, Minh Hoang; Tran, Quoc Van; Ahn, Hyo-Sung
作者单位：Hanoi University of Science & Technology (HUST); Hanoi University of Science & Technology (HUST); Gwangju Institute of Science & Technology (GIST)
摘要：This article studies the distance-based formation tracking problem of a group of agents with a leader-follower topology. It is assumed that the desired formation is minimally infinitesimally rigid and the agents in the formation are classified as leaders and followers. The leaders are moving in the space and their positions determine a time-varying target formation, which may differ from the desired formation by a translation and a rotation. The followers, which can sense the local displacemen...
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作者：Zhang, Lan; Lu, Maobin; Deng, Fang; Chen, Jie
作者单位：Beijing Institute of Technology; Beijing Institute of Technology; Beijing Institute of Technology; Tongji University
摘要：In this article, we address the distributed state estimation problem for both continuous-time linear time-invariant (LTI) systems and discrete-time LTI systems under switching networks. The observed system is jointly observable, i.e., each agent can only access a part of the measurement output of the observed system and cannot recover the full state by itself. The full state estimation has to be achieved by network communication of neighboring agents. In contrast to existing works, the salient...
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作者：Liu, Wenjie; Wang, Gang; Sun, Jian; Bullo, Francesco; Chen, Jie
作者单位：Beijing Institute of Technology; University of California System; University of California Santa Barbara; University of California System; University of California Santa Barbara; Tongji University
摘要：This article addresses the joint state estimation and control problems for unknown linear time-invariant systems subject to both process and measurement noise. The aim is to redesign the linear quadratic Gaussian (LQG) controller-based solely on data. The LQG controller comprises a linear quadratic regulator (LQR) and a steady-state Kalman observer; while the data-based LQR design problem has been previously studied, constructing the Kalman gain and the LQG controller from noisy data presents ...
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作者：Liu, Zhaocong; Huang, Jie
作者单位：Chinese University of Hong Kong
摘要：In this article, we first construct a control law to solve the distributed Nash equilibrium (NE) seeking problem for games with multiple players whose actions are governed by a class of uncertain Euler-Lagrange (EL) systems. Then, we further consider the same problem with the EL systems subject to trigonometric polynomial disturbances with arbitrarily unknown amplitudes, initial phases, and frequencies. We integrate the internal model principle and the adaptive control technique to deal with s...
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作者：Bozkurt, Alper Kamil; Wang, Yu; Zavlanos, Michael M.; Pajic, Miroslav
作者单位：Duke University; State University System of Florida; University of Florida
摘要：Synthesis from linear temporal logic (LTL) specifications provides assured controllers for systems operating in stochastic and potentially adversarial environments. Automatic synthesis tools, however, require a model of the environment to construct controllers. In this work, we introduce a model-free reinforcement learning (RL) approach to derive controllers from given LTL specifications even when the environment is completely unknown. We model the problem as a stochastic game (SG) between the...
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作者：Chen, Jin; Jayawardhana, Bayu; de Marina, Hector Garcia
作者单位：University of Groningen; University of Granada; University of Granada
摘要：Unlike the case with identical neighboring agents whose actions are mirrored, the problem of distributed formation control design with heterogeneous sensing is not straightforward. In this article, we consider the problem of distributed formation control where each agent can only control distances or bearings with its neighbors. We first develop a rigidity theory with heterogeneous sensing to ensure that the desired shape is well-posed. Second, we propose an iterative method that allows us to ...
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作者：Lai, Brian; Bernstein, Dennis S.
作者单位：University of Michigan System; University of Michigan
摘要：This work presents generalized forgetting recursive least squares (GF-RLS), a generalization of RLS that encompasses many extensions of RLS as special cases. First, sufficient conditions are presented for the 1) Lyapunov stability, 2) uniform Lyapunov stability, 3) global asymptotic stability, and 4) global uniform exponential stability of parameter estimation error in GF-RLS when estimating fixed parameters without noise. Second, robustness guarantees are derived for the estimation of time-va...
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作者：Li, Changxi; Li, Aming; Wu, Yuhu; Wang, Long
作者单位：Peking University; Shandong University; Dalian University of Technology
摘要：Logical dynamic games (LDGs) are a class of dynamic games that incorporate logical dynamics to describe the evolution of external states. Such games can be found in a wide range of natural and engineered systems, such as the Boolean network of lactose operon in Escherichia coli. However, little attention has been paid to LDGs in the control community. This article aims at developing a framework for the analysis and synthesis of LDGs under finite-horizon criteria. First, a general mathematical ...
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作者：Yang, Xuetao; Zhu, Quanxin; Wang, Hua
作者单位：Nanjing University of Posts & Telecommunications; Hunan Normal University; Hunan Normal University; Xiangtan University
摘要：In this article, a novel event-triggered switching control is introduced to investigate the mean-square exponential stabilization for a class of stochastic systems. Different from the traditional event-triggered controls in deterministic/stochastic control systems, the proposed control strategy includes a primary control and a secondary control, which allows for the switching between two different controls. Moreover, a novel static/dynamic event-triggering mechanism based on event detection, c...
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作者：Lauer, Fabien
作者单位：Centre National de la Recherche Scientifique (CNRS); Universite de Lorraine
摘要：This article deals with the scenario approach to robust optimization. This relies on a random sampling of the possibly infinite number of constraints induced by uncertainties in the parameters of an optimization problem. Solving the resulting random program yields a solution for which the quality is measured in terms of the probability of violating the constraints for a random value of the uncertainties, typically unseen before. Another central issue is the determination of the sample complexi...
