2023

最新文章

• Contraction-Based Stochastic Model Predictive Control for Nonlinear Systems With Input Delay Using Multidimensional Taylor Network AI翻译
  作者：Wang, Guo-Biao; Yan, Hong-Sen; Zheng, Xiao-Yi
  作者单位：Southeast University - China
  摘要：For nonlinear systems with stochastic uncertainties and input delay, the existing control approaches based on the robust mechanism are generally conservative in most practical scenarios. Within this context, a stochastic model predictive control (MPC) scheme based on uncertainty contraction is proposed here to reduce conservativeness and improve real-time performance. In terms of the Lyapunov-Razumikhin theorem, a robust variational controller (RVC) is deduced as the primary controller for the...
• Hierarchical Motion Planning Under Probabilistic Temporal Tasks and Safe-Return Constraints AI翻译
  作者：Guo, Meng; Liao, Tianjun; Wang, Junjie; Li, Zhongkui
  作者单位：Peking University; Peking University
  摘要：Safety is crucial for robotic missions within an uncertain environment. Common safety requirements such as collision avoidance are only state-dependent, which can be restrictive for complex missions. In this article, we address a more general formulation as safe-return constraints, which require the existence of a return policy to drive the system back to a set of safe states with high probability. The robot motion is modeled as a Markov decision process with probabilistic labels, which can be...
• The Binary Distributed Observer Approach to the Cooperative Output Regulation of Linear Multiagent Systems AI翻译
  作者：Liang, Dong; Tian, Engang
  作者单位：University of Shanghai for Science & Technology
  摘要：In this note, the cooperative output regulation problem of general heterogeneous linear multiagent systems with binary constraints is studied. To speed up the convergence rate, the binary distributed observer is proposed only utilizing sign of the relative state instead of using full relative information. Under some mild conditions, the binary distributed observer can estimate the state of the leader system exponentially in finite time sense. The leader system can generate various reference si...
• Multitask Synthesis of Hybrid Systems via Temporal Logic AI翻译
  作者：Yao, Yuhua; Sun, Jitao; Zhang, Yu
  作者单位：Tongji University; University of Johannesburg
  摘要：In this note, we propose a unified framework for the study of hybrid systems, where the tasks of the systems are encoded as signal temporal logic (STL) specifications. First, we establish the mathematical expression of a class of hybrid systems consisting of continuous and logical parts. Then, we introduce the concept of locally finite time interval dwell, which matches the conditions to satisfy such the STL specifications. After that, combining the semi-tensor product and Lyapunov-like method...
• Fault Detection Problems for Switching Linear Systems: A Structural Approach AI翻译
  作者：Conte, Giuseppe; Perdon, Anna Maria; Zattoni, Elena
  作者单位：Marche Polytechnic University; University of Bologna
  摘要：The fault detection and isolation problem is considered in the context of switching linear systems. The problem is tackled by searching for suitable residual signal generators, whose existence is completely characterized in structural terms. Both the situation in which the initial condition of the system subject to possible faults is known and that in which it is not known are considered. The results are compared with those found in the classical linear case for the same problem using a struct...
• A Time-Varying Observer-Based Approach to Equilibrium Estimation and Compensation for Synchronization of Heterogeneous Nonlinear Cyber-Physical Systems AI翻译
  作者：Wang, Bohui; Shen, Chao
  作者单位：Xi'an Jiaotong University
  摘要：This study focuses on the time-varying observer design for the synchronization of heterogeneous nonlinear cyber-physical systems, where each subsystem can be modeled by an agent, and the information flow among the subsystems can be regarded as the interactions among the agents. To achieve the synchronization behaviors, a novel estimation and compensation mechanism based on time-varying observers, for the first time, is proposed. The mechanism can reveal the influence of equilibrium points on t...
• Linear Matrix Inequality Design of Exponentially Stabilizing Observer-Based State Feedback Port-Hamiltonian Controllers AI翻译
  作者：Zucco, Jesus Pablo Toledo; Ramirez, Hector; Wu, Yongxin; Le Gorrec, Yann
  作者单位：National Office for Aerospace Studies & Research (ONERA); Universidad Tecnica Federico Santa Maria; Universite Marie et Louis Pasteur; Universite de Technologie de Belfort-Montbeliard (UTBM); Centre National de la Recherche Scientifique (CNRS)
  摘要：The design of an observer-based state feedback controller with guaranteed passivity properties for port-Hamiltonian systems (PHS) is addressed using linear matrix inequalities (LMIs). The observer gain is freely chosen and the LMIs conditions such that the state feedback is equivalent to control by interconnection with an input strictly passive and/or an output strictly passive and zero-state detectable port-Hamiltonian controller are established. It is shown that the proposed controller expon...
• Reconstructing the State of a Boolean Control Network via State Feedback AI翻译
  作者：Fornasini, Ettore; Valcher, Maria Elena
  作者单位：University of Padua
  摘要：The goal of this article is to investigate under what conditions a Boolean control network admits a state feedback control law that makes the resulting Boolean network reconstructible. Starting from an algebraic representation of the Boolean control network, we first propose a result that allows to significantly reduce the problem size, and hence to mitigate the curse of dimensionality that typically arises when dealing with logical systems of very large size. Subsequently, we provide a necess...
• Stationary Strong Stackelberg Equilibrium in Discounted Stochastic Games AI翻译
  作者：Lopez, Victor Bucarey; Vecchia, Eugenio Della; Jean-Marie, Alain; Ordonez, Fernando
  作者单位：Universidad de O'Higgins; National University of Rosario; Universite Cote d'Azur; Universidad de Chile
  摘要：In this work, we study Stackelberg equilibria for discounted stochastic games. We consider two solution concepts for these games: stationary strong Stackelberg equilibrium (SSSE) and fixed point equilibrium (FPE) solutions. The SSSE solution is obtained by explicitly solving the Stackelberg equilibrium conditions, whereas the FPE can be computed efficiently using value or policy iteration algorithms. However, previous work has overlooked the relationship between these two different solution co...
• A Small-Gain Theory for Abstract Systems on Topological Spaces AI翻译
  作者：Bin, Michelangelo; Parisini, Thomas
  作者单位：Imperial College London; University of Cyprus; University of Trieste
  摘要：We develop a small-gain theory for systems described by set-valued maps between topological spaces. We introduce an abstract notion of stability unifying the continuity properties underlying different existing concepts, such as Lyapunov stability of equilibria, sets, or motions, (incremental) input-output stability, asymptotic gain properties, and continuity with respect to fast-switching inputs. Then, we prove that a feedback interconnection enjoying a given abstract small-gain property is st...