4期

最新文章

• Data-Driven Actuator Allocation for Actuator Redundant Systems AI翻译
  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...
• Robust-to-Early Termination Model Predictive Control AI翻译
  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 ...
• Convergence in High Probability of Distributed Stochastic Gradient Descent Algorithms AI翻译
  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...
• On a Strong Robust-Safety Notion for Differential Inclusions AI翻译
  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...
• Gain-Scheduling Controller Synthesis for Nested Systems With Full Block Scalings AI翻译
  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...
• Nonlocal Nonholonomic Source Seeking Despite Local Extrema AI翻译
  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 ...
• Distributed Optimal Control With Recovered Robustness for Uncertain Network Systems: A Complementary Design Approach AI翻译
  作者：Li, Zhongkui; Jiao, Junjie; Chen, Xiang
  作者单位：Peking University; Technical University of Munich; University of Windsor
  摘要：This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H-2 and H-infinity performance requirements. A novel two-step complementary design approach is proposed. In the first step, a distributed control law is designed for the nominal multi-agent system to achieve consensus with a prescribed H-2 performance. In the second step, an extra control input, depending on some carefully chosen residual signals indicating the modeling mis...
• Optimal Fault Detection for Stochastic Linear Time-Varying Systems by χ2 Test AI翻译
  作者：Niu, Yichun; Sheng, Li; Gao, Ming; Zhou, Donghua
  作者单位：China University of Petroleum; Shandong University of Science & Technology
  摘要：This article is concerned with the problem of fault detection (FD) for stochastic linear time-varying systems. The unified framework of the residual generator is constructed by using all currently available inputs and outputs, which can describe the existing observer-based methods and the parity space method. Then, the chi(2) test is introduced to evaluate the multivariate residual. In this article, the fault detector is said to be optimal if the missed detection rate (MDR) is minimal under a ...
• Strong Structural Controllability and Observability of Individual Nodes: A Graph-Theoretical Approach AI翻译
  作者：Park, Nam-Jin; Kim, Yeong-Ung; Ahn, Hyo-Sung; Moore, Kevin L.
  作者单位：Gwangju Institute of Science & Technology (GIST); Colorado School of Mines
  摘要：In this article, we first establish definitions of structural controllability and strong structural observability for a single state node, based on the conditions of strong structural controllability and observability outlined in existing works. Second, we provide a necessary and sufficient condition for strongly structurally controllable (SSC) and strongly structurally observable (SSO) state nodes in acyclic graphs. Third, we provide the relationship between the conditions for SSC and SSO sta...
• Synthesizing Control Barrier Functions With Feasible Region Iteration for Safe Reinforcement Learning AI翻译
  作者：Yang, Yujie; Zhang, Yuhang; Zou, Wenjun; Chen, Jianyu; Yin, Yuming; Eben Li, Shengbo
  作者单位：Tsinghua University; Tsinghua University; Zhejiang University of Technology
  摘要：Safety is a critical concern when applying reinforcement learning to real-world control problems. A widely used method for ensuring safety is to learn a control barrier function with heuristic feasibility labels that come from expert demonstrations or constraint functions. However, their forward invariant sets fall short of the maximum feasible region because of inaccurate labels. This article proposes an algorithm called feasible region iteration (FRI) that learns the maximum feasible region ...