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作者：Kao, Yonggui; Han, Yueqiao; Zhu, Yanzheng; Shu, Zhan
作者单位：Harbin Institute of Technology; Ocean University of China; Shandong University of Science & Technology; University of Alberta
摘要：In this article, the sliding-mode control (SMC) strategy is outlined for discrete-time singular Markovian jump systems with time-varying delays and time-varying transition probabilities (TPs). To simplify the complexities arising from the time-varying TPs in the Markov chain, the TPs in this study are reasonably considered to be finite piecewise-homogeneous. The variations of TPs are stochastic and governed by a higher level transition probability (HTP) matrix. It is acceptable for both the TP...
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作者：Jimenez-Pastor, Antonio; Toller, Daniele; Tribastone, Mirco; Tschaikowski, Max; Vandin, Andrea
作者单位：Aalborg University; IMT School for Advanced Studies Lucca; Technical University of Denmark
摘要：Positive systems naturally arise in situations where the model tracks physical quantities. Although the linear case is well understood, analysis and controller design for nonlinear positive systems remain challenging. Model reduction methods can help tame this problem. Here, we propose a notion of model reduction for a class of positive bilinear systems with (bounded) matrix and exogenous controls. Our reduction, called proper positive lumping, aggregates the original system such that states o...
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作者：Wang, Zheming; Berger, Guillaume O.; Jungers, Raphael M.
作者单位：Zhejiang University of Technology; Universite Catholique Louvain
摘要：We tackle uniform state feedback control of switched linear systems under arbitrary switching using scenario optimization. We propose a data-driven control framework, in which scenario programs are formulated to compute stabilizing state feedback control relying on a finite set of observations of trajectories with quadratic and sum of squares (SOS) Lyapunov functions. We do not require the exact dynamical model or the switching signal, and as a consequence, we aim at solving uniform stabilizat...
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作者：Aforozi, Thomais A.; Rovithakis, George A.
作者单位：Aristotle University of Thessaloniki
摘要：In this article we consider designing tracking controllers for MIMO, pure-feedback systems, having unknown and partially nonconstant control directions. The proposed control scheme is static, continuous, and requires no hard calculations, analytic or numerical, to produce the control signal. Significant attribute is the enforcement of prescribed performance bounds in terms of steady-state accuracy and convergence rate. No prior knowledge regarding system nonlinearities is required and no high-...
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作者：Arditti, Laura; Como, Giacomo; Fagnani, Fabio; Vanelli, Martina
作者单位：Polytechnic University of Turin; Lund University
摘要：We study dynamics in a network of interacting agents updating their binary states according to a time-varying threshold rule. Specifically, agents revise their state asynchronously by comparing the weighted average of the current states of their neighbors in the interaction network with possibly heterogeneous time-varying threshold values. Such thresholds are determined by an exogenous signal representing an external influence field, modeling the different agents' biases toward one state with ...
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作者：Bachmann, Patrick; Ahmed, Saeed; Bajcinca, Naim
作者单位：University of Wurzburg; University of Groningen; University of Groningen
摘要：We prove that the existence of an input-to-state stability (ISS)-Lyapunov function is a necessary and sufficient condition for the input-to-state stability of a class of impulsive systems over Banach spaces. A key feature of our work is that it employs time-varying ISS-Lyapunov functions as opposed to candidate ISS-Lyapunov functions, which also makes it possible to conclude ISS of impulsive systems with unstable continuous and discrete dynamics.
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作者：Fink, Michael; Bruedigam, Tim; Wollherr, Dirk; Leibold, Marion
作者单位：Technical University of Munich
摘要：Handling uncertainty in model predictive control (MPC) comes with various challenges, especially when considering state constraints under uncertainty. Most methods focus on either the conservative approach of robustly accounting for uncertainty or allowing a small probability of constraint violation. In this work, we propose a linear MPC approach that minimizes the probability that linear state constraints are violated in the presence of additive uncertainty. This is achieved by first determin...
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作者：Spiegel, Isaac A.; Strijbosch, Nard; de Rozario, Robin; Oomen, Tom; Barton, Kira
作者单位：University of Michigan System; University of Michigan; Eindhoven University of Technology; Delft University of Technology; University of Michigan System; University of Michigan
摘要：Model inversion is a fundamental technique in feedforward control. Unstable inverse models present a challenge in that useful feedforward control trajectories cannot be generated by directly propagating them. Stable inversion is a process for generating useful trajectories from unstable inverses by handling their stable and unstable modes separately. Piecewise affine (PWA) systems are a popular framework for modeling complicated dynamics. The primary contributions of this article are closed-fo...
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作者：Zhao, Dong; Shi, Yang; Li, Yueyang; Liu, Shuai
作者单位：Beihang University; University of Victoria; University of Jinan; Shandong University
摘要：A new fault accommodation scheme is proposed for a class of nonlinear uncertain systems against multiple process faults. Different from the traditional fault detection information triggered static fault accommodation scheme for dealing with single batch of fault, a targeted and dynamic fault accommodation scheme is proposed based on the availability and quality of the fault information extracted by fault detection and isolation modules. A nominal controller is designed to maintain the essentia...
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作者：Chen, Yuda; Guo, Meng; Li, Zhongkui
作者单位：Peking University
摘要：Online collision-free trajectory generation within a shared workspace is fundamental for most multirobot applications. However, many widely-used methods based on model predictive control (MPC) lack theoretical guarantees on the feasibility of underlying optimization. Furthermore, when applied in a distributed manner without a central coordinator, deadlocks often occur where several robots block each other indefinitely. Whereas heuristic methods such as introducing random perturbations exist, n...
