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作者：Gomez, Marco A.; Ramirez, Adrian
作者单位：Universidad de Guanajuato; Consejo Nacional de Ciencia y Tecnologia (CONACyT); Instituto Potosino Investigacion Cientifica y Tecnologica
摘要：This note presents a scalable approach for consensus stability analysis of a general class of large-scale multiagent system (MAS) with single delay considering directed and undirected graphs. It is shown that, under certain conditions satisfied by several protocols reported in the literature, consensus in MAS can be ensured by studying a set comprising a small number of quasipolynomials of reduced complexity. Specifically, if the graph is undirected, it suffices to guarantee the stability of o...
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作者：Mehdifar, Farhad; Bechlioulis, Charalampos P.; Hendrickx, Julien M.; Dimarogonas, Dimos V.
作者单位：Royal Institute of Technology; University of Patras; Universite Catholique Louvain
摘要：This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed performance control is employed to devise a decentralized control law that avoids singularities and introduces robustness against external disturbances while ensuring predefined transient and steady-state performance for the closed-loop system. Furthermore,...
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作者：Tong, Yin; Ma, Ziyue
作者单位：Southwest Jiaotong University; Xidian University
摘要：this article, we study the verification of critical observability in discrete-event systems in which a plant and its observer are connected via an unreliable communication channel. We consider a communication protocol in which each packet sent from the plant consists of an event and the sequence number of the packet. We define two novel notions of critical observability called first, the k-step critical observability that requires that the critical states can be distinguished from noncritical ...
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作者：Li, Wuquan; Krstic, Miroslav
作者单位：Ludong University; University of California System; University of California San Diego
摘要：We present new state feedback control designs for lower/upper triangular nonlinear systems with multiplicative stochastic sensor uncertainty. For lower triangular nonlinear systems with small sensor noise, we develop a novel control design where the control gains are suitably constructed to simultaneously dominate the nonlinear functions and sensor noise of sufficiently small multiplicative gain. For upper triangular nonlinear systems, we propose a new low-gain domination design, the advantage...
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作者：Zhang, Ziyou; Zhao, Qianchuan; Dai, Fa-An
作者单位：Tsinghua University
摘要：In this article, we present a warm-start point algorithm in interior point methods for shrinking horizon model predictive control with a variable discretization step. In the algorithm, a convex combination of components of the earlier optimal solution is used to construct an interpolation point, and we use the convex combination of the modified interpolation point and the cold-start point to obtain a warm-start point. We prove that the worst-case iteration complexity of our strategy is better ...
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作者：Khosravi, Mohammad
作者单位：Delft University of Technology
摘要：In this work, we consider the problem of learning the Koopman operator for discrete-time autonomous systems. The learning problem is formulated as a generic constrained regularized empirical loss minimization in the infinite-dimensional space of linear operators. We show that a representer theorem holds for the introduced learning problem under certain but general conditions, which allows convex reformulation of the problem in a specific finite-dimensional space without any approximation and l...
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作者：Kim, Seong-hun; Lee, Hanna; Cho, Namhoon; Kim, Youdan
作者单位：Seoul National University (SNU); Cranfield University
摘要：We propose an active weighting algorithm for composite adaptive control to reduce the state and estimate errors while maintaining the estimation quality. Unlike previous studies that construct the composite term by simply stacking, removing, and pausing observed data, the proposed method efficiently utilizes the data by providing a theoretical set of weights for observations that can actively manipulate the composite term to have desired characteristics. As an example, a convex optimization fo...
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作者：Macoveiciuc, Elisei; Reissig, Gunther
作者单位：Bundeswehr University Munich
摘要：We present novel on-the-fly abstraction-based controller synthesis algorithms for two fundamental specifications-invariance and optimal reachability. In contrast to existing methods, the algorithms we propose do not require precomputation or storage of any large abstraction parts. This translates to orders of magnitude of reduction in memory consumption compared to standard methods. Moreover, our algorithms fully apply to general nonlinear systems and provide controllers that do not posses any...
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作者：Neuenhofen, Martin P.; Kerrigan, Eric C.
作者单位：Imperial College London; Imperial College London
摘要：We present a numerical method for the minimization of constrained optimization problems where the objective is augmented with large quadratic penalties of inconsistent equality constraints. Such objectives arise from quadratic integral penalty methods for the direct transcription of optimal control problems. The augmented Lagrangian method (ALM) has a number of advantages over the quadratic penalty method (QPM). However, if the equality constraints are inconsistent, then ALM might not converge...
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作者：Gupta, Piyush; Bopardikar, Shaunak D.; Srivastava, Vaibhav
作者单位：Michigan State University
摘要：We consider a team of heterogeneous agents, which is collectively responsible for servicing, and subsequently reviewing a stream of homogeneous tasks. Each agent has an associated mean service time and a mean review time for servicing and reviewing the tasks, respectively. Agents receive a reward based on their service and review admission rates. The team objective is to collaboratively maximize the number of serviced and reviewed tasks. We formulate a common-pool resource game, and design uti...
