2023

最新文章

• Control Barriers in Bayesian Learning of System Dynamics AI翻译
  作者：Dhiman, Vikas; Khojasteh, Mohammad Javad; Franceschetti, Massimo; Atanasov, Nikolay
  作者单位：University of Maine System; University of Maine Orono; Massachusetts Institute of Technology (MIT); University of California System; University of California San Diego
  摘要：This article focuses on learning a model of system dynamics online, while satisfying safety constraints. Our objective is to avoid offline system identification or hand-specified models and allow a system to safely and autonomously estimate and adapt its own model during operation. Given streaming observations of the system state, we use Bayesian learning to obtain a distribution over the system dynamics. Specifically, we propose a new matrix variate Gaussian process (MVGP) regression approach...
• Computing Robust Forward Invariant Sets of Multidimensional Nonlinear Systems via Geometric Deformation of Polytopes AI翻译
  作者：Ameen, Taha; Mukhopadhyay, Shayok; Qaddoumi, Nasser
  作者单位：University of Illinois System; University of Illinois Urbana-Champaign; University New Haven; American University of Sharjah
  摘要：This article develops an algorithm to compute the sequences of polytopic robust forward invariant sets (RFIS) that vary in size for a nonlinear dynamical system. This is done through a novel approach that geometrically deforms a polytope into an invariant set using a sequence of homeomorphisms, based on an invariance condition that only needs to be satisfied at a finite set of test points. A fast computational test is also developed to check if a given polytopic set is an RFIS. Our approach is...
• Output Feedback MPC for Nonlinear System in Large Operation Range AI翻译
  作者：Hu, Jianchen; Ding, Baocang
  作者单位：Xi'an Jiaotong University; Chongqing University of Posts & Telecommunications
  摘要：This article studies the output feedback model predictive control (MPC) being suitable to a large operation range of the constrained system represented by a nonlinear model with a bounded disturbance. The model is further parameterized as a multiple linear parameter varying (LPV) state-space equation, each LPV representation being valid around an exclusive equilibrium. Offline, for each equilibrium, a set of local control laws (in the dynamic output feedback), each having its region of attract...
• Conditions and Synthesis of Adaptive Prescribed-Time Controllers AI翻译
  作者：Liu, Caiyun; Liu, Yungang
  作者单位：Shandong University
  摘要：This article addresses conditions and synthesis of adaptive prescribed-time controllers. The sufficient condition says that a system can achieve prescribed-time stabilization if its certain variant can be made globally bounded (on infinite-time interval). From the condition, one can know far more varieties of (uncertain nonlinear) systems can achieve prescribed-time control, rather than just special varieties in the related literature. The necessary condition states that a system can achieve p...
• Novel Criteria for Exponential Stability of Neutral Functional Differential Equations AI翻译
  作者：Ngoc, Pham Huu Anh
  作者单位：Vietnam National University Ho Chi Minh City (VNUHCM) System
  摘要：We address the challenging problem of the exponential stability of general neutral functional differential equations. By a novel approach, we present some new explicit criteria for the exponential stability of neutral functional differential equations. Some remarks and illustrative examples are given.
• Exploiting Term Sparsity in Moment-SOS Hierarchy for Dynamical Systems AI翻译
  作者：Wang, Jie; Schlosser, Corbinian; Korda, Milan; Magron, Victor
  作者单位：Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS; Centre National de la Recherche Scientifique (CNRS)
  摘要：In this article, we develop a dynamical system counterpart to the term sparsity sum-of-squares algorithm proposed for static polynomial optimization. This allows for computational savings and improved scalability while preserving convergence guarantees when sum-of-squares methods are applied to problems from dynamical systems, including the problems of approximating region of attraction, the maximum positively invariant set, and the global attractor. At its core, the method exploits the algebr...
• An Online Model-Following Projection Mechanism Using Reinforcement Learning AI翻译
  作者：Abouheaf, Mohammed I.; Hashim, Hashim A.; Mayyas, Mohammad A.; Vamvoudakis, Kyriakos G.
  作者单位：University System of Ohio; Bowling Green State University; Carleton University; University System of Georgia; Georgia Institute of Technology
  摘要：In this article, we propose a model-free adaptive learning solution for a model-following control problem. This approach employs policy iteration, to find an optimal adaptive control solution. It utilizes a moving finite-horizon of model-following error measurements. In addition, the control strategy is designed by using a projection mechanism that employs Lagrange dynamics. It allows for real-time tuning of derived actor-critic structures to find the optimal model-following strategy and susta...
• Local Topology Inference of Mobile Robotic Networks Under Formation Control AI翻译
  作者：Li, Yushan; He, Jianping; Cai, Lin; Guan, Xinping
  作者单位：Shanghai Jiao Tong University; University of Victoria
  摘要：The interaction topology is critical for efficient cooperation of mobile robotic networks (MRNs). We focus on the local topology inference problem of MRNs under formation control, where an inference robot with a limited observation range can maneuver among the formation robots. This problem faces new challenges brought by the highly coupled influence of unobservable formation robots, inaccessible formation inputs, and unknown interaction range. The novel idea here is to advocate a range-shrink...
• Distributed Algorithms for Boolean Equations Over Networks AI翻译
  作者：Qi, Hongsheng; Li, Bo; Jing, Rui-Juan; Wang, Lei; Proutiere, Alexandre; Shi, Guodong
  作者单位：Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS; Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS; Jiangsu University; Zhejiang University; Royal Institute of Technology
  摘要：In this article, we study systems of Boolean equations over a network, where each node in the network possesses only one Boolean equation from the system. The Boolean equation assigned at any particular node is a private equation known to this node only, and the aim of this article is to develop distributed algorithms that allow all the nodes to obtain solutions to the network Boolean equations without exchanging their local Boolean equations. First, we observe that the Boolean equations can b...
• Angle Rigidity for Multiagent Formations in 3-D AI翻译
  作者：Chen, Liangming; Cao, Ming
  作者单位：University of Groningen; Southern University of Science & Technology
  摘要：This article establishes the notion and properties of angle rigidity for 3-D multipoint frameworks with angle constraints, and then designs direction-only control laws to stabilize angle rigid formations of mobile agents in 3-D. Angles are defined using the interior angles of triangles within the given framework, which are independent of the choice of coordinate frames and can be conveniently measured using monocular cameras and direction-finding arrays. We show that 3-D angle rigidity is a lo...