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作者：Abel, Imoleayo; Steeves, Drew; Krstic, Miroslav; Jankovic, Mrdjan
作者单位：University of California System; University of California San Diego; Ford Motor Company
摘要：Safety in dynamical systems is commonly pursued using control barrier functions (CBFs) which enforce safety-constraints over the entire duration of a system's evolution. We propose a prescribed-time safety (PTSf) design which enforces safety only for a finite time of interest to the user. While traditional CBF designs would keep the system away from the safe set longer than necessary, our PTSf design lets the system reach the boundary of the safe set by the prescribed time and obey the operato...
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作者：Chen, Liangming; Lin, Zhiyun; Xie, Lihua
作者单位：Southern University of Science & Technology; Nanyang Technological University
摘要：To determine the positions of free nodes in a wireless sensor network, angle-based localization approaches have been recently proposed. However, the existing angle-only localizability conditions are for the whole network, for which the existence of only one unlocalizable node implies that the whole network is unlocalizable. To efficiently obtain specific information on the free nodes' localizability, this article proposes to check each node's localizability in a distributed manner. First, we p...
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作者：Pan, Yongping; Guo, Kai; Bobtsov, Alexey; Yang, Chenguang; Yu, Haoyong
作者单位：Sun Yat Sen University; Shandong University; ITMO University; South China University of Technology; National University of Singapore
摘要：A feedback-error learning (FEL) framework, which is characterized by internal dynamics modeling and hybrid feedback-feedforward (HFF) control, provides a computational model for motor learning control in the cerebellum. For FEL-based adaptive robot control, closed-loop stability and parameter convergence involve in stringent conditions, such as high-gain feedback and persistent excitation. This article proposes a composite error learning framework for adaptive robot control under discontinuous...
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作者：Xue, Bai; Zhan, Naijun; Fraenzle, Martin
作者单位：Chinese Academy of Sciences; Institute of Software, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS; Carl von Ossietzky Universitat Oldenburg
摘要：In this article, we propose a novel semidefinite programming approach that solves reach-avoid problems over open (i.e., not bounded a priori) time horizons for dynamical systems modeled by polynomial stochastic differential equations. The reach-avoid problem in this article is a probabilistic guarantee: we approximate from the inner a p-reach-avoid set, i.e., the set of initial states guaranteeing with probability larger than p that the system eventually enters a given target set while remaini...
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作者：Yao, Deyin; Li, Hongyi; Shi, Yang
作者单位：Guangdong University of Technology; Guangdong University of Technology; University of Victoria
摘要：Under undirected graph, we design the fully distributed static and dynamic event-triggered sliding mode controllers concerning the average consensus issues for single- and double-integrator multiagent systems (MASs) with perturbations. To guarantee the consensus convergence of disturbed first- and second-order MASs, two distributed sliding manifolds with respect to an odd function are first devised in this article. Second, two types of event-triggered mechanisms, i.e., a static event-triggerin...
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作者：Kang, Wei; Sun, Kai; Xu, Liang
作者单位：United States Department of Defense; United States Navy; Naval Postgraduate School; University of California System; University of California Santa Cruz; University of Tennessee System; University of Tennessee Knoxville; United States Department of Defense; United States Navy; United States Naval Research Laboratory
摘要：This article deals with a special type of Lyapunov functions, namely the solution of Zubov's equation.Such a function can be used to characterize the exact boundary of the domain of attraction for systems of ordinary differential equations. In Theorem 2, we derive and prove an integral form solution to Zubov's equation. For numerical computation, we develop two data-driven methods. One is based on the integration of an augmented system of differential equations; and the other one is based on d...
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作者：Seeber, Richard; Koch, Stefan; Horn, Martin
作者单位：Graz University of Technology
摘要：A nonlinear multivariable control scheme for linear time-invariant plants is presented that is capable of rejecting unmatched disturbances that are sufficiently often differentiable. It is based on the Youla parameterization in state space. Robust exact sliding-mode differentiators are employed for the realization of improper Youla parameters. Implementation complexity is optimized by minimizing the total number of required differentiator states. The resulting closed loop is shown to be input-...
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作者：Wang, Mengxi; Liu, Tengfei; Jiang, Zhong-Ping
作者单位：Northeastern University - China; New York University
摘要：This article studies the saturated stabilization problem of a chain of perturbed integrators subject to measurement errors. Inspired by the technique of nested saturation loops, a key strategy is to employ saturated set-valued maps and a generalized coordinate transformation to overcome the difficulty caused by the measurement errors. It is shown that, with the refined controller design, the closed-loop system is transformed into an interconnection of subsystems, each of which can be rendered ...
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作者：Meng, Xiangzheng; Mei, Jie; Miao, Zibo; Wu, Aiguo; Ma, Guangfu
作者单位：Harbin Institute of Technology; Harbin Institute of Technology
摘要：In this note, the distributed leaderless consensus problem of multiple Euler-Lagrange systems under switching directed graphs using only position measurements is investigated. We adopt a model reference adaptive consensus strategy to assign each agent a reference to track, which transforms the consensus problem into a trajectory tracking problem. Due to the absence of velocity information, a velocity filter and a third-order linear reference model are designed for each agent. The proposed cons...
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作者：Obara, Mitsuaki; Sato, Kazuhiro; Sakamoto, Hiroki; Okuno, Takayuki; Takeda, Akiko
作者单位：University of Tokyo; Seikei University; RIKEN
摘要：We consider an identification method for a linear continuous time-invariant autonomous system from noisy state observations. In particular, we focus on the identification to satisfy the asymptotic stability of the system with some prior knowledge. To this end, we propose to model this identification problem as a Riemannian nonlinear optimization (RNLO) problem, where the stability is ensured through a certain Riemannian manifold and the prior knowledge is expressed as nonlinear constraints def...
