2023

最新文章

• Fixed-Time Stable Proximal Dynamical System for Solving MVIPs AI翻译
  作者：Garg, Kunal; Baranwal, Mayank; Gupta, Rohit; Benosman, Mouhacine
  作者单位：University of Michigan System; University of Michigan; Tata Sons; Tata Consultancy Services Limited (TCS); University of Michigan System; University of Michigan
  摘要：In this article, a novel modified proximal dynamical system is proposed to compute the solution of a mixed variational inequality problem (MVIP) within a fixed time, where the time of convergence is finite and is uniformly bounded for all initial conditions. Under the assumptions of strong monotonicity and Lipschitz continuity, it is shown that a solution of the modified proximal dynamical system exists, is uniquely determined, and converges to the unique solution of the associated MVIP within...
• Data-Driven Resilient Predictive Control Under Denial-of-Service AI翻译
  作者：Liu, Wenjie; Sun, Jian; Wang, Gang; Bullo, Francesco; Chen, Jie
  作者单位：Beijing Institute of Technology; Beijing Institute of Technology; Beijing Institute of Technology; University of California System; University of California Santa Barbara; University of California System; University of California Santa Barbara; Tongji University
  摘要：The study of resilient control of linear time-invariant (LTI) systems against denial-of-service (DoS) attacks is gaining popularity in emerging cyber-physical applications. In previous works, explicit system models are required to design a predictor-based resilient controller. These models can be either given a priori or obtained through a prior system identification step. Recent research efforts have focused on data-driven control based on precollected input-output trajectories (i.e., without...
• Stabilizability of Linear Dynamical Systems Using Sparse Control Inputs AI翻译
  作者：Sriram, Chandrasekhar; Joseph, Geethu; Murthy, Chandra R. R.
  作者单位：Indian Institute of Science (IISC) - Bangalore; Delft University of Technology
  摘要：The stabilizability of a linear dynamical system (LDS) refers to the existence of control inputs that drive the system state to zero. In this article, we analyze both the theoretical and algorithmic aspects of the stabilizability of an LDS using sparse control inputs with potentially time-varying supports. We show that an LDS is stabilizable using sparse control inputs if and only if it is stabilizable (using unconstrained inputs). For a stabilizable LDS, we present an algorithm to determine t...
• Inner Approximating Robust Reach-Avoid Sets for Discrete-Time Polynomial Dynamical Systems AI翻译
  作者：Zhao, Changyuan; Zhang, Shuyuan; Wang, Lei; Xue, Bai
  作者单位：Chinese Academy of Sciences; Institute of Software, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS; Beihang University
  摘要：Reach-avoid analysis, which involves the computation of reach-avoid sets, is an established tool that provides hard guarantees of safety (via avoiding unsafe states) and target reachability (via reaching target sets) and, therefore, is widely used in safe-critical systems design, such as air traffic management systems and biomedical systems. This article investigates the problem of inner approximating robust reach-avoid sets for discrete-time polynomial dynamical systems subject to disturbance...
• Fully Distributed Event-Triggered Cooperative Output Regulation of Multiagent Systems Under Jointly Connected Digraphs AI翻译
  作者：Hao, Yahui; Zhang, Jin; Liu, Lu
  作者单位：City University of Hong Kong
  摘要：This article addresses the cooperative output regulation problem of heterogeneous linear multiagent systems with jointly connected digraphs under the assumption that the exosystem matrix is only known by the neighbors of the exosystem. First, a novel event-based adaptive distributed observer with time-dependent power functions as the event-triggering threshold is proposed to estimate the exosystem matrix and the exogenous signal simultaneously. A new analytical method based on the weighted mea...
• Improving the Feasibility of Moment-Based Safety Analysis for Stochastic Dynamics AI翻译
  作者：Du, Peter; Driggs-Campbell, Katherine; Dong, Roy
  作者单位：University of Illinois System; University of Illinois Urbana-Champaign
  摘要：Given a dynamical system modeled via stochastic differential equations (SDEs), we evaluate the safety of the system through its exit-time moments. Using appropriate semidefinite positive matrix constraints, an SDP moment-based approach can be used to compute moments of the exit time. However, the approach is impeded when analyzing higher dimensional physical systems as the dynamics are limited to polynomials. Computational scalability is also poor as the dimensionality of the state grows, larg...
• Nonlinear PID-Type Control of Flexible Joint Robots by Using Motor Position Measurements Is Globally Asymptotically Stable AI翻译
  作者：Moyron, Jeronimo; Moreno-Valenzuela, Javier; Sandoval, Jesus
  摘要：An important subject that arises in the position control of robot manipulators is the local or global asymptotic stability of the closed-loop system equilibrium point, especially when an integral action is added to the control loop. For rigid joint robot manipulators, global nonlinear proportional-integral-derivative (PID) controllers have been introduced few years ago. However, for the case of flexible joint robot manipulators, the design and analysis of such nonlinear PID laws is much more c...
• Adaptive Event-Triggered Control for Nonlinear Systems With Asymmetric State Constraints: A Prescribed-Time Approach AI翻译
  作者：Wang, Ziwei; Lam, Hak-Keung; Guo, Yao; Xiao, Bo; Li, Yanan; Su, Xiaojie; Yeatman, Eric M.; Burdet, Etienne
  作者单位：Imperial College London; University of London; King's College London; Shanghai Jiao Tong University; University of Sussex; Chongqing University
  摘要：Finite/fixed-time control yields a promising tool to optimize a system's settling time, but lacks the ability to separately define the settling time and the convergence domain (known as practically prescribed-time stability, PPTS). We provide a sufficient condition for PPTS based on a new piecewise exponential function, which decouples the settling time and convergence domain into separately user-defined parameters. We propose an adaptive event-triggered prescribed-time control scheme for nonl...
• Decentralized Circular Formation Control of Nonholonomic Mobile Robots Under a Directed Sensor Graph AI翻译
  作者：Yu, Xiao; Su, Rong
  作者单位：Xiamen University; Nanyang Technological University
  摘要：This article investigates the circular formation control problem of multiple unicycle-type mobile robots under a directed sensor graph. The topology of the sensor graph among all robots is described by a directed graph containing a spanning tree, and the node denoting the center is only required to be globally reachable in the sensor graph. A dynamic control law is developed such that the multi-robot systems with speed constraint are able to globally converge to a circular formation prescribed...
• Efficient Learning of a Linear Dynamical System With Stability Guarantees AI翻译
  作者：Jongeneel, Wouter; Sutter, Tobias; Kuhn, Daniel
  作者单位：Swiss Federal Institutes of Technology Domain; Ecole Polytechnique Federale de Lausanne; University of Konstanz
  摘要：We propose a principled method for projecting an arbitrary square matrix to the nonconvex set of asymptotically stable matrices. Leveraging ideas from large deviations theory, we show that this projection is optimal in an information-theoretic sense and that it simply amounts to shifting the initial matrix by an optimal linear quadratic feedback gain, which can be computed exactly and highly efficiently by solving a standard linear quadratic regulator problem. The proposed approach allows us t...