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作者：Wang, Huanqing; Xu, Ke; Zhang, Huaguang
作者单位：Bohai University; Beijing Jiaotong University; Northeastern University - China
摘要：In this article, the problem of adaptive backstepping finite-time tracking control is investigated for a class of strict-feedback nonlinear systems with unmodeled dynamics and dynamic disturbances. A modified finite-time dynamic signal is first introduced to dominate the dynamic disturbance. By using the adaptive control, backstepping technique, and finite-time stability theory, an adaptive finite-time tracking controller is developed. Under the proposed control scheme, the finite-time trackin...
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作者：Wu, Haiwen; Jayawardhana, Bayu; de Marina, Hector Garcia; Xu, Dabo
作者单位：University of Groningen; Chinese University of Hong Kong; University of Granada; South China University of Technology
摘要：This article addresses the problem of achieving and maintaining the 2-D/3-D formation shape of networked manipulator end effectors. We first present a distributed formation controller for manipulators whose system parameters are perfectly known. The formation control objective is achieved by assigning virtual springs between end effectors and by adding damping terms at joints, which provides a clear physical interpretation of the proposed solution. Subsequently, we extend it to the case where ...
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作者：Mao, Wei; Hu, Junhao; Mao, Xuerong
作者单位：Jiangsu Second Normal University; South Central Minzu University; University of Strathclyde
摘要：For many stochastic hybrid systems in the real world, it is inappropriate to study if their solutions will converge to an equilibrium state (say, 0 by default) but more appropriate to discuss if the probability distributions of the solutions will converge to a stationary distribution. The former is known as the asymptotic stability of the equilibrium state while the latter the stability in distribution. This article aims to determine whether or not a stochastic state feedback control can make ...
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作者：Von Moll, Alexander; Pachter, Meir; Shishika, Daigo; Fuchs, Zachariah
作者单位：United States Department of Defense; United States Air Force; University System of Ohio; University of Cincinnati; United States Department of Defense; United States Air Force; Air Force Institute of Technology (AFIT); George Mason University; University System of Ohio; University of Cincinnati
摘要：In this article, the problem of guarding a circular target wherein the Defender(s) is constrained to move along its perimeter is posed and solved using a differential game theoretic approach. Both the one-Defender and two Defender scenarios are analyzed and solved. The mobile Attacker seeks to reach the perimeter of the circular target, whereas the Defender(s) seeks to align itself with the Attacker, thereby ending the game. In the former case, the Attacker-wins, and the Attacker and Defender ...
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作者：Gharbi, Meriem; Gharesifard, Bahman; Ebenbauer, Christian
作者单位：RWTH Aachen University; University of California System; University of California Los Angeles
摘要：In this article, we address the efficient implementation of moving horizon state estimation of constrained discrete-time linear systems. We propose a novel iteration scheme that employs a proximity-based formulation of the underlying optimization algorithm and reduces computational effort by performing only a limited number of optimization iterations each time a new measurement is received. We outline conditions under which global exponential stability of the underlying estimation errors is en...
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作者：van Goor, Pieter; Hamel, Tarek; Mahony, Robert
作者单位：Australian National University; Centre National de la Recherche Scientifique (CNRS); Universite Cote d'Azur
摘要：The kinematics of many systems encountered in robotics, mechatronics, and avionics are naturally posed on homogeneous spaces; i.e., their state lies in a smooth manifold equipped with a transitive Lie group symmetry. This article proposes a novel filter, the equivariant filter (EqF), by posing the observer state on the symmetry group, linearizing global error dynamics derived from the equivariance of the system, and applying EKF design principles. We show that equivariance of the system output...
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作者：Jedra, Yassir; Proutiere, Alexandre
作者单位：Royal Institute of Technology
摘要：We investigate the linear system identification problem in the so-called fixed budget and fixed confidence settings. In the fixed budget setting, the learner aims at estimating the state transition matrix A from a random system trajectory of fixed length, whereas in the fixed confidence setting, the learner also controls the length of the observed trajectory - she can stop when she believes that enough information has been gathered. For both settings, we analyze the sample complexity in the pr...
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作者：Hou, Baoyu
作者单位：Qingdao University
摘要：on temporally switching networks, this article studies the qualitative and quantitative influences of time parameters on network controllability. In particular, this article presents a necessary and sufficient condition under which the network controllability must take into account time parameters. For the time parameters that never participate in determining network controllability, a more concise expression of controllability criterion is derived. From the perspective of input matrix formula...
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作者：Meng, Deyuan
作者单位：Beihang University; Beihang University
摘要：The control approaches generally resort to the tools from the mathematics, but whether and how the mathematics can benefit from the control approaches is unclear. This article aims to bring the control design idea into the mathematics by providing an observer-based iterative method that focuses on solving linear algebraic equations (LAEs). An inherent relationship is revealed between the problem-solving of LAEs and the design of observer-based control systems, with which the iterative method f...
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作者：Yan, Jiaqi; Yang, Xu; Mo, Yilin; You, Keyou
作者单位：Tsinghua University
摘要：This article studies the distributed state estimation in sensor network, where m sensors are deployed to infer the n-dimensional state of a linear time-invariant Gaussian system. By a lossless decomposition of the optimal steady-state Kalman filter, we show that the problem of distributed estimation can be reformulated as that of the synchronization of homogeneous linear systems. Based on such decomposition, a distributed estimator is proposed, where each sensor node runs a local filter using ...
