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作者：Fotiadis, Filippos; Vamvoudakis, Kyriakos G.; Jiang, Zhong-Ping
作者单位：University System of Georgia; Georgia Institute of Technology; New York University; New York University Tandon School of Engineering
摘要：In this article, we consider the problem of optimally augmenting an actuator redundant system with additional actuators, so that the energy required to meet a given control objective is minimized. We study this actuator selection problem in two distinct cases; first, in the case where the control objective of the system is not known a priori, and second, in the case where the control objective is a linear state-feedback control law. In the latter scenario, knowledge of the system's state and i...
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作者：Hosseinzadeh, Mehdi; Sinopoli, Bruno; Kolmanovsky, Ilya; Baruah, Sanjoy
作者单位：Washington State University; Washington University (WUSTL); University of Michigan System; University of Michigan; Washington University (WUSTL)
摘要：Model predictive control (MPC) is a popular control approach to ensure constraint satisfaction, while minimizing a cost function. Although MPC usually leads to very good results in terms of performance, its computational overhead is typically nonnegligible, and its implementation for systems where the computing capacity is limited may be impossible. To address this issue, this technical note proposes a robust-to-early termination MPC. That is, the proposed scheme runs until available time for ...
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作者：Lu, Kaihong; Wang, Hongxia; Zhang, Huanshui; Wang, Long
作者单位：Shandong University of Science & Technology; Peking University
摘要：In this article, the problem of distributed optimization with nonconvex objective functions is studied by employing a network of agents. Each agent only has access to a noisy estimate on the gradient of its own objective function, and can only communicate with its immediate neighbors via a time-varying directed graph. To handle this problem, a distributed stochastic gradient descent algorithm is adopted. Existing works on distributed algorithms involving stochastic gradients only provide conve...
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作者：Maghenem, Mohamed; Karaki, Diana
作者单位：Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS)
摘要：A dynamical system is strongly robustly safe provided that it remains safe in the presence of a continuous and positive perturbation, named robustness margin, added to both the argument and the image of the right-hand side (the dynamics). Therefore, in comparison with existing robust-safety notions, where the continuous and positive perturbation is added only to the image of the right-hand side, the proposed notion is shown to be relatively stronger in the context of set-valued right-hand side...
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作者：Rosinger, Christian A.; Scherer, Carsten W.
作者单位：University of Stuttgart
摘要：This work presents a framework to synthesize structured gain-scheduled controllers for structured plants whose dynamics change according to time-varying scheduling parameters. Both the system and the controller are assumed to admit descriptions in terms of a linear time-invariant system in feedback with the so-called scheduling blocks, which collect all the scheduling parameters into a static system. We show that such linear fractional representations permit to exploit a so-called lifting tech...
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作者：Suttner, Raik; Krstic, Miroslav
作者单位：University of Wurzburg; University of California System; University of California San Diego
摘要：In this article, we investigate the problem of source seeking with a unicycle in the presence of local extrema. Our study is motivated by the fact that most of the existing source-seeking methods follow the gradient direction of the signal function and thus only lead to local convergence into a neighborhood of the nearest local extremum. So far, only a few studies present ideas on how to overcome local extrema in order to reach a global extremum. None of them apply to second-order (force- and ...
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作者：Gao, Xiaomeng; Li, Yajing; Fan, Hongtao
作者单位：Northwest A&F University - China
摘要：In this article, the stability in distribution by delay feedback control for a class of hybrid stochastic differential delay equations with highly nonlinear drift and diffusion coefficients is investigated for the first time. Special emphasis should be placed on our success in revealing that the stability of highly nonlinear hybrid stochastic delay systems in distribution can be achieved through more general highly nonlinear delay feedback control (than linear delay feedback control). In order...
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作者：Huang, Yi; Meng, Ziyang; Sun, Jian; Ren, Wei
作者单位：Beijing Institute of Technology; Tsinghua University; University of California System; University of California Riverside
摘要：This article develops a unified distributed method for solving two classes of constrained networked optimization problems, i.e., optimal consensus problem and resource allocation problem with nonidentical set constraints. We first transform these two constrained networked optimization problems into a unified saddle-point problem framework with set constraints. Subsequently, two projection-based primal-dual algorithms via optimistic gradient descent ascent method and extra-gradient method are d...
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作者：Akametalu, Anayo K.; Ghosh, Shromona; Fisac, Jaime F.; Rubies-Royo, Vicenc; Tomlin, Claire J.
作者单位：University of California System; University of California Berkeley
摘要：We propose a novel formulation for approximating reachable sets through a minimum discounted reward optimal control problem. The formulation yields a continuous solution that can be obtained by solving a Hamilton-Jacobi equation. Furthermore, the numerical approximation to this solution is the unique fixed-point to a contraction mapping. This allows for more efficient solution methods that are not applicable under traditional formulations for solving reachable sets. Lastly, this formulation pr...
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作者：Cao, Kun; Xie, Lihua
作者单位：Nanyang Technological University
摘要：This article proposes a new unified inverse reinforcement learning framework based on trust-region methods and a recently proposed Pontryagin differential programming method in Jin et al.'s work (2020), which aims to learn the parameters in both the system model and the cost function for three types of problems, namely, N-player nonzero-sum multistage games, two-player zero-sum multistage games, and one-player optimal control, from demonstrated trajectories. Different from the existing framewo...
