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作者：Chen, Liangming; Sun, Zhiyong
作者单位：Nanyang Technological University; Eindhoven University of Technology
摘要：The global stabilization of planar angle rigid formations is acknowledged to be a challenging problem in the existing literature even when relative position measurements are available among neighboring agents. Inspired by an angle-induced linear constraint imposed on each triangle, this article first proposes formation control laws to achieve almost global stabilization of triangularly angle rigid formations using local relative position measurements. Compared with some other globally stable f...
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作者：Guo, Zongyi; Oliveira, Tiago Roux; Guo, Jianguo; Wang, Zheng
作者单位：Northwestern Polytechnical University; Universidade do Estado do Rio de Janeiro; Northwestern Polytechnical University
摘要：This article presents a performance-guaranteed ad- aptive asymptotic tracking control scheme for a class of nonlinear systems with unknown sign-switching control direction. By introducing the periodic sliding mode technique and equivalent control- based adaptive mechanism, the proposed control approach ensures that the sliding mode surface is reached in finite time, and thus, the asymptotic stability is achieved rather than only signals boundedness. Simultaneously, the tracking performance is ...
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作者：Peng, Shanshan; Zhang, Jinxing; Zhu, Jiandong; Lu, Jianquan; Li, Xiaodi
作者单位：Southeast University - China; Shandong Normal University; Nanjing Normal University
摘要：For a high-dimensional Kuramoto model with identical oscillators under a general digraph that has a directed spanning tree, although the exponential synchronization has been proved under some initial state constraints, exponential synchronization rates have not been described exactly until now. In this article, the supremum of exponential synchronization rates is precisely determined as the smallest real part of the nonzero Laplacian eigenvalues of the digraph. Our obtained result extends the ...
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作者：Yaghmaie, Farnaz Adib; Gustafsson, Fredrik; Ljung, Lennart
作者单位：Linkoping University
摘要：In this article, we consider linear quadratic (LQ) control problem with process and measurement noises. We analyze the LQ problem in terms of the average cost and the structure of the value function. We assume that the dynamics of the linear system is unknown and only noisy measurements of the state variable are available. Using noisy measurements of the state variable, we propose two model-free iterative algorithms to solve the LQ problem. The proposed algorithms are variants of policy iterat...
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作者：Feng, Wenhui; Zhao, Shixin
作者单位：Shijiazhuang Tiedao University
摘要：In this article, we study the tracking control problem for nonlinear nonparametric systems, and additive random observation noise is also taken into account. The dynamical function is allowed to be time varying and possess an arbitrary growth rate at control input. The control algorithm is designed on the basis of the stochastic approximation algorithm with expanding truncations, and it is found that there is a tradeoff between the growth rate of the dynamical function at control input and tha...
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作者：Liu, Qinyuan; Wang, Zidong; Dong, Hongli; Jiang, Changjun
作者单位：Tongji University; Tongji University; Brunel University; Northeast Petroleum University; Northeast Petroleum University
摘要：In this article, we investigate the state estimation problem for a class of networked systems with energy harvesting technologies, where the sensor is capable of replenishing energy from the environment. The underlying system is subject to both additive and multiplicative stochastic noises, and the measurement is transmitted to the remote estimator only when the current energy storage is larger than the transmission energy consumption. A binary encoding scheme is utilized in the communication ...
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作者：Arcari, Elena; Iannelli, Andrea; Carron, Andrea; Zeilinger, Melanie N.
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; University of Stuttgart
摘要：In this article, we present a stochastic model predictive control approach for discrete-time LTI systems subject to bounded parameteric uncertainty and potentially unbounded stochastic additive noise. The proposed scheme makes use of homothetic tubes along the prediction horizon for a robust treatment of parameteric uncertainty. Stochastic noise is handled by tightening constraints using the concept of probabilistic reachable sets (PRS), which are typically constructed offline by exploiting no...
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作者：Miller, Jared; Sznaier, Mario
作者单位：Northeastern University
摘要：This work proposes an algorithm to bind the minimum distance between points on trajectories of a dynamical system and points on an unsafe set. Prior work on certifying safety of trajectories includes barrier and density methods, which do not provide a margin of proximity to the unsafe set in terms of distance. The distance estimation problem is relaxed to a Monge-Kantorovich-type optimal transport problem based on existing occupation-measure methods of peak estimation. Specialized programs may...
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作者：Yi, Jing-Wen; Chai, Li; Zhang, Jingxin
作者单位：Wuhan University of Science & Technology; Zhejiang University; Swinburne University of Technology
摘要：Previous research works have shown that adding local memory can accelerate the consensus. It is natural to question what is the fastest rate achievable by the M-tap memory acceleration, and what are the corresponding control parameters. This article introduces a set of effective and previously unused techniques to analyze the convergence rate of accelerated consensus with M-tap memory of local nodes and to design the control protocols. These effective techniques, including the Kharitonov stabi...
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作者：Gleizer, Gabriel de Albuquerque; Mazo, Manuel, Jr.
作者单位：Delft University of Technology
摘要：Event-triggered control (ETC) is claimed to provide significant reductions in sampling frequency when compared to periodic sampling, but little is formally known about its generated traffic. This work shows that ETC can exhibit very complex, even chaotic traffic, especially when the triggering condition is aggressive in reducing communications. First, by looking at the map dictating the evolution of states sampled, we characterize limit traffic patterns by observing invariant lines and planes ...
