10期

最新文章

• Relative Q-Learning for Average-Reward Markov Decision Processes With Continuous States AI翻译
  作者：Yang, Xiangyu; Hu, Jiaqiao; Hu, Jian-Qiang
  作者单位：Shandong University; State University of New York (SUNY) System; Stony Brook University; Fudan University
  摘要：Markov decision processes (MDPs) are widely used for modeling sequential decision-making problems under uncertainty. We propose an online algorithm for solving a class of average-reward MDPs with continuous state spaces in a model-free setting. The algorithm combines the classical relative Q-learning with an asynchronous averaging procedure, which permits the Q-value estimate at a state-action pair to be updated based on observations at other neighboring pairs sampled in subsequent iterations....
• Prescribed Performance Tracking for Uncertain MIMO Pure-Feedback Systems With Unknown and Partially Nonconstant Control Directions AI翻译
  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-...
• Robust Coordination of Linear Threshold Dynamics on Directed Weighted Networks AI翻译
  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 ...
• Lyapunov Characterization of Input-to-State Stability for a Class of Impulsive Systems AI翻译
  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.
• Minimal Constraint Violation Probability in Model Predictive Control for Linear Systems AI翻译
  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...
• Stable Inversion of Piecewise Affine Systems With Application to Feedforward and Iterative Learning Control AI翻译
  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...
• Fault Accommodation of Multiple Faults for a Class of Nonlinear Uncertain Systems: A Dynamic Fault Isolation Information Framework AI翻译
  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...
• Distributed Optimal Consensus Control of Constrained Multiagent Systems: A Nonseparable Optimization Perspective AI翻译
  作者：Bai, Nan; Wang, Qishao; Duan, Zhisheng; Chen, Guanrong
  作者单位：Peking University; Beihang University; City University of Hong Kong
  摘要：The optimal consensus control problem of constrained multiagent systems is studied in this article. Considering the transient performance, the final consensus state and constraints simultaneously, the problem is formulated as a constrained nonseparable optimization problem accounting for the control inputs and the final consensus state. A distributes hybrid gradient projection alternating direction method of multipliers is designed to separate the coupled problem to independent subproblems sol...
• On Robust Quantized Sampled-Data Tracking Control of Nonlinear Systems AI翻译
  作者：Di Ferdinando, M.; Di Gennaro, S.; Bianchi, D.; Pepe, P.
  作者单位：University of L'Aquila; University of L'Aquila
  摘要：In this article, the robust quantized sampled-data tracking control problem of nonlinear systems affected by actuation disturbances and observation errors is studied. In particular, results concerning the robustification and the quantized sampled-data implementation of tracking controllers are provided for nonlinear systems in control-affine form. Inspired by the well-known notion of steepest descent feedbacks, the novel notion of steepest tracking feedback (STF) is introduced and the input-to...
• Stability of Asynchronous Networked Linear Control Systems With Direct-Feedthrough Terms and Scheduling Protocols AI翻译
  作者：Guo, Ziyi; Yu, Hao; Chen, Tongwen
  作者单位：University of Alberta; Beijing Institute of Technology
  摘要：In this article, we analyze the stability of a linear control system where the plant and controller, both containing direct-feedthrough terms, communicate asynchronously over a network using scheduling protocols. The overall system is modeled as a hybrid dynamical system and sufficient conditions for its closed-loop stability are derived using a new Lyapunov function. Additionally, we define a stability property that is associated with the feedthrough terms and the adopted scheduling protocols...