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作者：Fedele, Giuseppe; D'Alfonso, Luigi; Bono, Antonio
作者单位：University of Calabria
摘要：This article proposes a decentralized controller for a swarm of agents that generates hypotrochoidal and epitrochoidal curves in a 3-D space. The dynamics of the agents is modeled as a double integrator where the control input, i.e., the acceleration profile, contains two terms that account for the interactions between the agents in terms of position and velocity, respectively. The term related to the interaction between velocities is weighted by a skew-symmetric matrix responsible for couplin...
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作者：Song, Jun; Zhou, Sai; Niu, Yugang; Cao, Zhiru; He, Shuping
作者单位：Anhui University; Anhui University; East China University of Science & Technology; Shanghai University; Anhui University; Anhui University
摘要：This article investigates the antidisturbance control issue for a class of Markovian jump systems with matched/mismatched disturbances by using disturbance observer approach. A key feature here is that the external disturbance is considered to be generated by a Markovian jump exogenous dynamics, in which the disturbance mode may not be synchronized with the system mode. Meanwhile, it is supposed that both system and disturbance modes can just be estimated via a hidden Markov mode detector. To ...
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作者：Taghavian, Hamed; Johansson, Mikael
作者单位：Royal Institute of Technology; Royal Institute of Technology
摘要：This article develops an optimization-based synthesis procedure for fixed-order output-feedback controllers, ensuring a stable closed-loop system with a monotonic step response and rejection of persistent disturbances. This result is based on a unified set of external positivity conditions for discrete-time linear systems. The conditions are derived using an alternative technique for the inverse Z-transform of rational transfer functions based on Bell polynomials and a convenient recurrence re...
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作者：Devonport, Alex; Yang, Forest; El Ghaoui, Laurent; Arcak, Murat
作者单位：University of California System; University of California Berkeley; VinUniversity
摘要：In this article, we present algorithms for estimating the forward reachable set of a dynamical system using only a finite collection of independent and identically distributed samples. The produced estimate is the sublevel set of a function called an empirical inverse Christoffel function: empirical inverse Christoffel functions are known to provide good approximations to the support of probability distributions. In addition to reachability analysis, the same approach can be applied to general...
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作者：Wu, Jenq-Lang
作者单位：National Taiwan Ocean University
摘要：This note considers the design of static output feedback mixed H-2/H-infinity controllers for linear control systems with certain equality and inequality constraints imposed directly on the feedback matrix. Based on the barrier method, we solve an auxiliary minimization problem to obtain an approximate solution to the original nonconvex-constrained optimization problem. The necessary conditions for the optimal solution of the auxiliary minimization problem are derived using the Lagrange multip...
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作者：Liu, Xiaofan; Xie, Yongfang; Li, Fanbiao; Gui, Weihua
作者单位：Central South University; Xidian University
摘要：The admissible consensus tracking control of singular multiagent systems under nonlinear actuator attacks is investigated in this article. A novel distributed adaptive protocol is designed, which can approximate the actuator attack by adaptive updating the weight matrix of neural network. An integral sliding surface is constructed based on the singularity of agents, and the sliding-mode dynamics can reach the sliding-mode surface in finite time under the proposed protocols. Sufficient conditio...
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作者：Huang, Yi; Fang, Wentuo; Chen, Zhiyong; Li, Yonggang; Yang, Chunhua
作者单位：Central South University; Inspur; University of Newcastle
摘要：This article investigates the nonuniform and nonconvex input-constrained flocking control problem of continuous-time multiagent systems. A distributed flocking control algorithm is proposed for each agent using the local information from its neighbor agents subject to nonuniform and nonconvex control constraints. Based on a constraint scaling factor and a specific coordinate transformation, a Lyapunov function is constructed to address the nonlinearities caused by input constraints. It is prov...
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作者：Rosolia, Ugo; Chen, Yuxiao; Daftry, Shreyansh; Ono, Masahiro; Yue, Yisong; Ames, Aaron D.
作者单位：California Institute of Technology; California Institute of Technology; National Aeronautics & Space Administration (NASA); NASA Jet Propulsion Laboratory (JPL)
摘要：This article studies the problem of steering a linear system subject to state and input constraints toward a goal location that may be inferred only through noisy partial observations. We assume mixed-observable settings, where the system's state is fully observable and the environment's state defining the goal location is only partially observed. In these settings, the planning problem is an infinite-dimensional optimization problem where the objective is to minimize the expected cost. We sho...
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作者：Kim, Jeongho; Yang, Insoon
作者单位：Seoul National University (SNU); Korea Institute for Advanced Study (KIAS); Seoul National University (SNU); Seoul National University (SNU)
摘要：Maximum entropy reinforcement learning methods have been successfully applied to a range of challenging sequential decision-making and control tasks. However, most of the existing techniques are designed for discrete-time systems although there has been a growing interest to handle physical processes evolving in continuous time. As a first step toward their extension to continuous-time systems, this article aims to study the theory of maximum entropy optimal control in continuous time. Applyin...
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作者：Ran, Ning; Li, Tingting; He, Zhou; Seatzu, Carla
作者单位：Hebei University; Shaanxi University of Science & Technology; University of Cagliari
摘要：This article aims to enforce codiagnosability in labeled Petri nets, which are monitored by a series of sites. A labeled Petri net is codiagnosable with respect to a certain fault, if the occurrence of such a fault could be detected by at least one of the sites. We assume that codiagnosability is imposed to a noncodiagnosable system by appropriately positioning additional sensors. In particular, the goal is that of minimizing the cost of the new sensors. The enumeration of the whole state spac...
