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作者：Ghaderyan, Diyako; Aybat, Necdet Serhat; Aguiar, A. Pedro; Pereira, Fernando Lobo
作者单位：Universidade do Porto; Universidade do Porto; Pennsylvania Commonwealth System of Higher Education (PCSHE); Pennsylvania State University; Pennsylvania State University - University Park
摘要：In this article, we introduce a fast row-stochastic decentralized algorithm, referred to as FRSD, to solve consensus optimization problems over directed communication graphs. The proposed algorithm only utilizes row-stochastic weights, leading to certain practical advantages in broadcast communication settings over those requiring column-stochastic weights. Under the assumption that each node-specific function is smooth and strongly convex, we show that the FRSD iterate sequence converges with...
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作者：Li, Jie; Li, Shengbo Eben; Duan, Jingliang; Lyu, Yao; Zou, Wenjun; Guan, Yang; Yin, Yuming
作者单位：Tsinghua University; University of Science & Technology Beijing
摘要：Though policy evaluation error profoundly affects the direction of policy optimization and the convergence property, it is usually ignored in policy iteration methods. This work incorporates the practical inexact policy evaluation into a simultaneous policy update paradigm to reach the Nash equilibrium of the nonlinear zero-sum games. In the proposed algorithm, the restriction of precise policy evaluation is removed by bounded evaluation error characterized by Hamiltonian without sacrificing c...
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作者：Lu, Biao; Fang, Yongchun
作者单位：Nankai University
摘要：Efficient control of underactuated systems has always been a great challenge, since one has to stabilize both actuated and unactuated states with fewer control inputs. During the past decades, great efforts have been devoted to improving the transient performance and robustness of the system, which are very crucial in plenty of application scenarios. To motivate corresponding research, an online trajectory planning method is proposed for a class of underactuated mechanical systems in this arti...
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作者：Zhu, Shiyong; Cao, Jinde; Lin, Lin; Lam, James; Azuma, Shun-ichi
作者单位：City University of Hong Kong; Southeast University - China; Southeast University - China; Purple Mountain Laboratories; Yonsei University; University of Hong Kong; Kyoto University
摘要：This article studies structural controllers and distributed pinning controllers for the global stabilization of Boolean networks (BNs) by integrating the information on their network structures. The main contribution is that several computationally efficient procedures are presented to reduce the number of controlled nodes and to determine a minimal set of controlled nodes without using the brute-force searches. The primary objective is to identify a minimal set of nodes that need to be contro...
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作者：Arteaga, Marco A.
作者单位：Universidad Nacional Autonoma de Mexico
摘要：Adaptive control is one of the most employed techniques to achieve trajectory tracking of robot manipulators. Although it is desirable to obtain exact parameter estimation, most adaptive schemes need the persistency of excitation (PE) condition on the regressor to be satisfied. In the recent years, the so-called dynamic regressor extension and mixing (DREM) procedure was developed to provide an alternative in the design of adaptive laws with conditions different from PE. When met, the improvem...
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作者：Gargiani, Matilde; Martinelli, Andrea; Martinez, Max Ruts; Lygeros, John
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; Swiss Federal Institutes of Technology Domain; ETH Zurich
摘要：The Bellman operator constitutes the foundation of dynamic programming (DP). An alternative is presented by the Gauss-Seidel operator, whose evaluation, differently from that of the Bellman operator where the states are all processed at once, updates one state at a time while incorporating into the computation the interim results. The provably better convergence rate of DP methods based on the Gauss-Seidel operator comes at the price of an inherent sequentiality, which prevents the exploitatio...
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作者：Corless, Martin J.; Coduti, Leonardo
作者单位：Purdue University System; Purdue University
摘要：In this article, we consider a network of agents running a linear or nonlinear consensus algorithm with the following goal: in addition to requiring that the outputs of all agents converge to the same value, we also require that a specified linear function of the agent states remains constant during the evolution of the consensus algorithm. To achieve this goal requires the construction of a matrix of weighting parameters with specific properties. In this article, we present a noniterative cen...
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作者：Ferrante, Augusto; Hakimi-Moghaddam, Mojtaba
作者单位：University of Padua; Quchan University of Technology
摘要：In this article, we consider linear systems having real rational transfer matrices that may be improper. We investigate the properties of strictly positive real and weakly strictly positive real systems and their connections. Our first contribution is to establish a necessary and sufficient condition for a rational and possibly improper transfer matrix to be strictly positive real. Besides stability, this condition only involves the properties of the transfer matrix in the imaginary axis and a...
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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：Hossain, Md. Sumon; Trenn, Stephan
作者单位：University of Groningen
摘要：We propose a novel model-reduction approach for switched linear systems with a known switching signal. The class of considered systems encompasses switched systems with mode-dependent state dimension as well as impulsive systems. Our method is based on a suitable definition of (time-varying) reachability and observability Gramians, and we show that these Gramians satisfy precise interpretations in terms of input and output energy. Based on balancing the midpoint Gramians, we propose a piecewis...
