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作者：Zhang, Zhirong; Wen, Changyun; Xing, Lantao; Song, Yongduan
作者单位：Chongqing University; Nanyang Technological University; Shandong University
摘要：Due to the difficulty in handling the issue of nondifferentiable virtual control signals, there is still no available result considering output triggering and sensor faults simultaneously for nonlinear systems subject to mismatched parameteric uncertainties via backstepping design, even though the underlying problem is practically important and frequently encountered. In this article, to deal with this challenging problem, several crucial design ideas are proposed in developing the control sch...
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作者：Haksar, Ravi N.; Schwager, Mac
作者单位：Stanford University; Stanford University
摘要：We consider controlling a graph-based Markov decision process (GMDP) with a control capacity constraint given only uncertain measurements of the underlying state. We also consider two special structural properties of GMDPs, called anonymous influence and symmetry. Large-scale spatial processes such as forest wildfires, disease epidemics, opinion dynamics, and robot swarms are well-modeled by GMDPs with these properties. We adopt a certainty-equivalence approach and derive efficient and scalabl...
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作者：Pang, Yipeng; Hu, Guoqiang
作者单位：Nanyang Technological University
摘要：This work considers an online distributed optimization problem, with a group of agents whose local objective functions vary with time. Moreover, the value of the objective function is revealed to the corresponding agent after the decision is executed per time-step. Thus, each agent can only update the decision variable based on the revealed value and information collected from the neighbors, without the knowledge on the explicit expression of the objective function. To solve this problem, an o...
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作者：Mao, Zehui; Yan, Xing-Gang; Jiang, Bin; Spurgeon, Sarah K.
作者单位：Nanjing University of Aeronautics & Astronautics; Nanjing University of Aeronautics & Astronautics; University of Kent; University of London; University College London
摘要：In this article, a sliding mode control design method is developed for a class of fully nonlinear systems in generalized regular form, where both input distribution uncertainty and system uncertainties are considered. Based on the generalized regular form, a novel nonlinear sliding surface is designed and uniform ultimate stability of the corresponding sliding mode dynamics is analyzed. Then, under the assumption that the uncertainties are bounded by known nonlinear functions of the system sta...
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作者：Zhang, Tianliang; Deng, Feiqi; Shi, Peng
作者单位：Nanjing University of Science & Technology; South China University of Technology; University of Adelaide; Victoria University
摘要：In this article, the problem of nonfragile finite-time stabilization for linear discrete mean-field stochastic systems is studied. The uncertain characteristics in control parameters are assumed to be random satisfying the Bernoulli distribution. A new approach called the state-transition matrix method is introduced and some necessary and sufficient conditions are derived to solve the underlying stabilization problem. The Lyapunov theorem based on the state-transition matrix also makes a contr...
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作者：Ran, Maopeng; Feng, Shuai; Li, Juncheng; Xie, Lihua
作者单位：Beihang University; Zhongguancun Laboratory; Nanjing University of Science & Technology; Nanyang Technological University
摘要：This article is concerned with the quantized consensus problem for uncertain nonlinear multiagent systems under data-rate constraints and denial-of-service (DoS) attacks. The agents are modeled in strict-feedback form with unknown nonlinear dynamics and external disturbance. Extended state observers (ESOs) are leveraged to estimate agents' total uncertainties along with their states. To mitigate the effects of DoS attacks, a novel dynamic quantization with zooming-in and holding capabilities i...
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作者：Afshari, Mohammad; Mahajan, Aditya
作者单位：McGill University
摘要：A decentralized linear quadratic system with a major agent and a collection of minor agents is considered. The major agent affects the minor agents, but not vice versa. The state of the major agent is observed by all agents. In addition, the minor agents have a noisy observation of their local state. The noise process is not assumed to be Gaussian. The structures of the optimal strategy and the best linear strategy are characterized. It is shown that the major agent's optimal control action is...
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作者：Bonalli, Riccardo; Lew, Thomas; Pavone, Marco
作者单位：Centre National de la Recherche Scientifique (CNRS); Universite Paris Saclay; Stanford University
摘要：Sequential convex programming (SCP) has recently gained significant popularity as an effective method for solving optimal control problems and has been successfully applied in several different domains. However, the theoretical analysis of SCP has received comparatively limited attention, and it is often restricted to discrete-time formulations. In this article, we present a unifying theoretical analysis of a fairly general class of SCP procedures for continuous-time optimal control problems. ...
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作者：Li, Sijing; Wang, Zhongjian; Yau, Stephen S. -T.; Zhang, Zhiwen
作者单位：University of Hong Kong; University of Chicago; Tsinghua University
摘要：In this article, we propose an efficient numerical method to solve nonlinear filtering (NLF) problems. Specifically, we use the tensor train decomposition method to solve the forward Kolmogorov equation (FKE) arising from the NLF problem. Our method consists of offline and online stages. In the offline stage, we use the finite difference method to discretize the partial differential operators involved in the FKE and extract low-dimensional structures in the solution tensor using the tensor tra...
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作者：Liu, Xinhui; Cheng, Meiqi; Shi, Dawei; Shi, Ling
作者单位：Beijing Institute of Technology; Hong Kong University of Science & Technology
摘要：In this article, a dynamic information extraction problem for neuromorphic event cameras is investigated from a state estimation perspective. The ego-motion pose estimation task of an event camera is formulated as a state estimation problem for a finite-state hidden Markov model subject to a special event-triggering mechanism. We model the threshold mismatch and the bandwidth limit of the event-camera output generalization process as a stochastic event-triggering condition equipped with a stat...
