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作者：Romero, Jose Guadalupe; Nuno, Emmanuel; Restrepo, Esteban; Sarras, Ioannis
作者单位：Hong Kong Polytechnic University; Universidad de Guadalajara; Centre National de la Recherche Scientifique (CNRS); Inria; Universite de Rennes; Universite Paris Saclay; National Office for Aerospace Studies & Research (ONERA)
摘要：In this article, we propose a solution to the full-consensus-based formation problem for torque-controlled nonholonomic mobile robots under time-varying communication delays and without velocity measurements. Under the assumptions of static and undirected communication topologies, and smooth and bounded delays, we propose a distributed smooth, time-varying control law which achieves the goal of acquiring a global formation pattern in a common consensus point for both position and orientation. ...
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作者：Cui, Xiangyu; Gao, Jianjun; Kong, Lingjie; Shi, Yun
作者单位：Shanghai University of Finance & Economics; Shanghai University of Finance & Economics; Shanghai University of Finance & Economics; Shanghai University of Finance & Economics; East China Normal University
摘要：This study addresses limited attention allocation in a stochastic linear quadratic system with multiplicative noise. Our approach enables strategic resource allocation to enhance noise estimation and improve control decisions. We provide an analytical optimal control and propose a numerical method for optimal attention allocation.
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作者：Griffioen, Paul; Krogh, Bruce H.; Sinopoli, Bruno
作者单位：University of California System; University of California Berkeley; Carnegie Mellon University; Washington University (WUSTL)
摘要：This article provides a tool for analyzing mechanisms that aim to achieve resilience against stealthy, or undetectable, attacks on cyber-physical systems. We consider attackers who are able to corrupt all of the inputs and outputs of the system. To counter such attackers, a response scheme must be implemented that keeps the attacker from corrupting the inputs and outputs of the system for certain periods of time. To aid in the design of such a response scheme, our tool provides sufficient leng...
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作者：Kim, Jin Won; Mehta, Prashant G.
作者单位：University of Potsdam; University of Illinois System; University of Illinois Urbana-Champaign
摘要：This article is concerned with the problem of nonlinear (stochastic) filter stability for a hidden Markov model (HMM) with white noise observations. A contribution is the variance decay property, which is used to conclude filter stability. For this purpose, a new notion of the Poincar & eacute; inequality (PI) is introduced for the nonlinear filter. PI is related to both the ergodicity of the Markov process and the observability of the HMM. The proofs are based upon a recently discovered minim...
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作者：Wang, Shimin; Guay, Martin; Braatz, Richard D.
作者单位：Massachusetts Institute of Technology (MIT); Queens University - Canada
摘要：This study proposes a design technique that solves a robust output regulation problem for a class of nonlinear systems subject to unknown control direction. Nussbaum function techniques are commonly used tools to investigate output regulation problems for various systems subject to unknown control direction. They often lead to large overshoots when the initial estimates of the control direction are wrong. In this study, an extremum-seeking control approach is proposed to overcome the need for ...
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作者：Xu, Jiapeng; Chen, Xiang; Tan, Ying; Gu, Guoxiang
作者单位：University of Windsor; University of Melbourne; Louisiana State University System; Louisiana State University
摘要：This work addresses a class of robust mean-field games for large-population multiagent systems, where each agent has access only to partial observations and is subject to an unknown bounded disturbance input. Unlike the existing literature in which formulated robust mean-field games are minimax problems, this work formulates a nonworst-case game problem and proposes a complementary control strategy with a decoupled design of mean-field tracking and robustness. A neat state-space realization fo...
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作者：Dhullipalla, Mani H.; Yu, Hao; Chen, Tongwen
作者单位：University of Alberta; Beijing Institute of Technology
摘要：Networked systems, in practice, suffer from several network-induced imperfections. In this article, we consider the problem of distributed control of nonlinear multiagent systems (MASs) where the information broadcasts over a network are susceptible to one such imperfection, namely, transmission delays. The design methodology employed is such that the sampling instants (at which agents broadcast information) could be both aperiodic and asynchronous in nature. The broadcasts, upon arrival, are ...
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作者：Sawant, Mayur; Polushin, Ilia; Tayebi, Abdelhamid
作者单位：Western University (University of Western Ontario); Western University (University of Western Ontario); Lakehead University
摘要：We develop an autonomous navigation algorithm for a robot operating in 2-D environments containing obstacles, with arbitrary nonconvex shapes, which can be in close proximity with each other, as long as there exists at least one safe path connecting the initial and the target location. An instrumental transformation that modifies (virtually) the nonconvex obstacles, in a nonconservative manner, is introduced to facilitate the design of the obstacle-avoidance strategy. The proposed navigation a...
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作者：Zhang, Zhao; He, Xiao; Zhou, Donghua
作者单位：Peking University; Tsinghua University; Shandong University of Science & Technology
摘要：This article investigates the active fault diagnosis problem for linear parameter-varying systems with bounded disturbances. Constrained zonotopes (CZs) are utilized to model the range of the system disturbances, in which case, the system state and output can also be described by CZs. Different models are employed to describe different fault modes. The basic idea of the proposed method is to design proper auxiliary input and inject it into the system to ensure that the system's output is only ...
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作者：Kucera, Vladimir
作者单位：Czech Technical University Prague
摘要：The algebra of integral matrices is applied to solve the following problem of control theory: the modification of a specified list of zeros of a linear system with more inputs than outputs using nonregular state feedback while ensuring stability or, equivalently, the modification of a specified list of zeros of a stable system while maintaining stability. The zeros in question are unstable invariant zeros and the zero at infinity. These zeros are the Smith invariant of the transfer matrix of t...
