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作者：Zhang, Jin; Fridman, Emilia
作者单位：Shanghai University; Tel Aviv University
摘要：The article studies robust stabilization of the second and third-order (with relative degree 3) linear uncertain systems by a fast-varying square wave dither with high frequency 1/epsilon and high gain, where epsilon > 0 is small. In contrast to the existing methods for control by fast oscillations that are all qualitative, we present constructive quantitative results for finding an upper bound on epsilon that ensures the exponential stability. Our method consists of two steps: 1) we construct...
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作者：Tomei, Patrizio; Marino, Riccardo
作者单位：University of Rome Tor Vergata
摘要：The design of exponentially convergent adaptive observers is addressed for linear observable systems which are perturbed by linearly parameterized nonlinearities depending on measured signals (inputs and outputs). When there is a lack of persistency of excitation a new robust adaptive observer is presented, which performs an additional feedback depending on the kernel of the Gramian of the regressor vector, which is computed online, and generates state variables estimates whose estimation erro...
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作者：Wang, Shimin; Zhang, Hongwei; Chen, Zhiyong
作者单位：Queens University - Canada; Harbin Institute of Technology; University of Newcastle
摘要：This article studies the cooperative tracking problem of heterogeneous Euler-Lagrange systems with an uncertain leader. Different from most existing works, system dynamic knowledge of the leader node is unaccessible to any follower node in our article. Distributed adaptive observers are designed for all follower nodes to simultaneously estimate the state and parameters of the leader node. The observer design does not rely on the frequency knowledge of the leader node, and the estimation errors...
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作者：Possieri, Corrado
作者单位：University of Rome Tor Vergata; Consiglio Nazionale delle Ricerche (CNR); Istituto di Analisi dei Sistemi ed Informatica Antonio Ruberti (IASI-CNR)
摘要：This article provides a comprehensive characterization of the quadratic optimal tracking problem for hybrid systems with linear dynamics undergoing periodic time-driven jumps. Solutions to such a problem are proposed for both the finite horizon and the periodic cases. Furthermore, it is shown that if the reference signals are not known in advance, then the best control strategy to deal with the worst case reference signals is to simply minimize the (scaled) outputs. Finally, the derived optima...
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作者：Du, Bin; Qian, Kun; Claudel, Christian; Sun, Dengfeng
作者单位：Nanjing University of Aeronautics & Astronautics; University of Texas System; University of Texas Austin; Purdue University System; Purdue University
摘要：This article presents a learning-based algorithm for solving the online source-seeking problem with a multiagent system under an unknown dynamical environment. Our algorithm, building on a notion termed as dummy confidence upper bound (D-UCB), integrates both estimation of the unknown environment and task planning for the multiple agents simultaneously, and as a result, enables the multiple agents to track the extremum spots of the dynamical environment in an online manner. Unlike the standard...
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作者：Reed, Emily A. A.; Ramos, Guilherme; Bogdan, Paul; Pequito, Sergio
作者单位：University of Southern California; Universidade de Lisboa; Universidade de Lisboa; Uppsala University
摘要：Finding strongly connected components (SCCs) and the diameter of a directed network play a key role in a variety of machine learning and control theory problems. In this article, we provide for the first time a scalable distributed solution for these two problems by leveraging dynamical consensus-like protocols to find the SCCs. The proposed solution has a time complexity of O(NDd(max) (in-degree)), where N is the number of vertices in the network, D is the (finite) diameter of the network, an...
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作者：Orlov, Yury; Kairuz, Ramon I. Verdes
摘要：Novel output feedback stabilization is developed for a chain of integrators to impose on the closed-loop system an a priori given settling-time bound regardless of the initial state. The intended design is deduced from fixed-time stabilization using a proportional time-space scaling. The resulting nonsmooth feedback relies on time-independent gains thereby admitting its straightforward implementation as opposed to the original design (Song et al., 2017) with time-varying gains, escaping to inf...
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作者：Shafa, Taha; Ornik, Melkior
作者单位：University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign
摘要：Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This article is motivated by a scenario where a system suffers an adverse event mid-operation, resulting in a substantial change to the system's dynamics, rendering them largely unknown. Our objective is to conservatively approximate the system's reachable set solely from its local dynamics at a ...
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作者：Zhang, Qinghua; Delyon, Bernard
作者单位：Universite Gustave-Eiffel; Inria; Universite de Rennes; Centre National de la Recherche Scientifique (CNRS); CNRS - National Institute for Mathematical Sciences (INSMI); Universite de Rennes
摘要：The Kitanidis filter is a natural extension of the Kalman filter to systems subject to arbitrary unknown inputs or disturbances. Though the optimality of the Kitanidis filter was founded for general time varying systems more than 30 years ago, its boundedness and stability analysis is still limited to time-invariant systems, up to the authors' knowledge. In the framework of general time varying systems, this article establishes upper and lower bounds of the error covariance of the Kitanidis fi...
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作者：Na, Sen; Anitescu, Mihai
作者单位：University of Chicago; United States Department of Energy (DOE); Argonne National Laboratory
摘要：We develop a one-Newton-step-per-horizon, online, lag-L, model predictive control (MPC) algorithm for solving discrete-time, equality-constrained, nonlinear dynamic programs. Based on recent sensitivity analysis results for the target problems class, we prove that the approach exhibits a behavior that we call superconvergence; that is, the tracking error with respect to the full-horizon solution is not only stable for successive horizon shifts, but also decreases with increasing shift order to...
