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作者：Schimperna, Irene; Magni, Lalo
作者单位：University of Pavia
摘要：This article develops a control scheme, based on the use of long short-term memory neural network models and nonlinear model predictive control, which guarantees recursive feasibility with slow time variant set-points and disturbances, input and output constraints and unmeasurable state. Moreover, if the set-point and the disturbance are asymptotically constant, offset-free tracking is guaranteed. Offset-free tracking is obtained by augmenting the model with a disturbance, to be estimated toge...
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作者：Zhao, Wenyu; Tie, Lin
作者单位：Beihang University
摘要：It is well known that Lie algebra methods are the leading methods for studying controllability of continuous-time nonlinear systems including bilinear systems, where the controllability problems are usually transformed into the transitivity problems of the corresponding Lie algebras. Unfortunately, it is in general a difficult task to check transitivity of Lie algebras, especially in the high-dimensional cases. In this article, we propose a new notion, named near-transitivity. We focus on unco...
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作者：Zhang, Kai; Zhou, Bin; Duan, Guang-Ren
作者单位：Harbin Institute of Technology
摘要：This article considers the global leader-following event-triggered consensus problem for the input-constrained double-integrator multiagent systems. By utilizing a Lyapunov-like function consisting of a positive semidefinite term and an integral term, a novel bounded static linear event-triggered protocol is proposed to ensure that the global leader-following consensus problem is solved in a fully distributed manner for all undirected communication graphs. In order to avoid continuously monito...
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作者：Hayat, Amaury; Hu, Yating; Shang, Peipei
作者单位：Institut Polytechnique de Paris; Ecole des Ponts ParisTech; Tongji University
摘要：The input-to-state stability of the nonhorizontal cascade channels with different arbitrary cross section, slope, and friction modeled by Saint-Venant equations is addressed in this article. The control input and measured output are both on the collocated boundary. The proportional-integral (PI) control is proposed to study both the exponential stability and the output regulation of closed-loop systems with the aid of the Lyapunov approach. An explicit quadratic Lyapunov function as a weighted...
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作者：Sakata, Naoki; Fujimoto, Kenji; Maruta, Ichiro
作者单位：Kyoto University
摘要：In this work, we propose a new passivity-based sliding mode control (PBSMC) method for mechanical port-Hamiltonian systems. PBSMC is unification of sliding mode control and passivity-based control. It achieves sliding mode control and Lyapunov stability simultaneously by employing an energy-based Lyapunov function. The proposed method gives a family of stabilizing controllers that smoothly interpolates passivity-based control and sliding mode control with design parameters. The freedom is usef...
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作者：Zhang, Jin-Xi; Ding, Jinliang; Chai, Tianyou
作者单位：Northeastern University - China
摘要：This article is concerned with the trajectory tracking control problem for the wheeled mobile robots (WMRs) subject to actuator faults. The challenge lies in the partial loss of effectiveness of the actuated wheels which results in the loss of strong controllability of the WMR, rendering the classical fault-tolerant control methods infeasible. To overcome this obstacle, a novel mixed-gain adaption technique is put forward and is skillfully combined with the robust prescribed performance contro...
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作者：Hua, Changchun; Tian, Wei; Li, Qidong
作者单位：Yanshan University; Hebei University of Science & Technology
摘要：This article investigates event-based fixed-time control problem for a class of uncertain high-order nonlinear systems. Different from existing event-triggered results, which can only achieve bounded or finite-time stability, this article studies on fixed-time stability, and unknown control coefficients are allowed in the system. To compensate uncertainties, an adaptive controller is designed with a switching parameter by utilizing adding a power integrator method. A logic switching rule is co...
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作者：Tabuada, Paulo; Gharesifard, Bahman
作者单位：University of California System; University of California Los Angeles
摘要：This brief note corrects the statements of Theorem 5.1 and Corollary 5.2 in (Tabuada and Gharesifard, 2023). The main consequence of these corrections is that the width of residual neural networks that suffices for universal approximation changes from n+1 to 2n+1. This is consistent with recent observations made in (Hwang, 2023) regarding the use of neural networks to approximate functions by diffeomorphisms.
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作者：Deutscher, Joachim; Gehring, Nicole; Jung, Nick
作者单位：Ulm University; Johannes Kepler University Linz
摘要：This article considers the backstepping state feedback and observer design for hyperbolic and parabolic PDEs, which are bidirectionally interconnected in a general coupling structure. Both PDE subsystems consist of coupled scalar PDEs with the heterodirectional hyperbolic PDE subsystem subject to actuation and sensing. By making use of a multistep approach to construct the transformation into a stable target system, it is shown that a backstepping state feedback and observer design only requir...
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作者：Wang, San; Wu, Zheng-Guang
作者单位：Zhejiang University
摘要：This article focuses on settling the energy-to-peak filtering problem for Markov jump systems subject to multiple constraints. The transition probabilities (TPs) are assumed to be nonhomogeneous. Incessantly changed TPs are governed by upper-level transition probabilities (UTPs) belonging to a homogeneous Markov chain. First, a novel dual hidden Markov model is constructed to characterize the mismatched phenomena when asynchronizations occur to the system mode and the TP mode. Second, followin...
