2023

最新文章

• Model Predictive Control for Linear Systems Under Relaxed Constraints AI翻译
  作者：Rakovic, Sasa V. V.; Zhang, Sixing; Sun, Haidi; Xia, Yuanqing
  作者单位：Beijing Institute of Technology
  摘要：This article considers model predictive control (MPC) for linear systems under relaxed constraints. The main novelty of our proposal is the introduction, and an adequate use, of the terminal dynamics of the slack variable associated with relaxed constraints. The proposed MPC under relaxed constraints retains computational efficiency of the traditional MPC, while it guarantees positive invariance and exponential stability over an enlarged domain of attraction. The design method is also illustra...
• Robust Consensus of High-Order Systems Under Output Constraints: Application to Rendezvous of Underactuated UAVs AI翻译
  作者：Restrepo, Esteban; Loria, Antonio; Sarras, Ioannis; Marzat, Julien
  作者单位：National Office for Aerospace Studies & Research (ONERA); Universite Paris Saclay; Centre National de la Recherche Scientifique (CNRS); Universite Paris Saclay; Royal Institute of Technology; National Office for Aerospace Studies & Research (ONERA); Universite Paris Saclay
  摘要：We solve output- and state-consensus problems for multiagent high-order systems in feedback form. We consider systems interconnected over arbitrary (connected) undirected-topology networks as well as directed spanning-trees and directed cycles. We assume that the systems may be subject to multiple restrictions in the form of output or state constraints, such as limited-range measurements and physical limitations. In addition, we suppose that the systems may be subject to external disturbances....
• Model Predictive Control for Linear Uncertain Systems Using Integral Quadratic Constraints AI翻译
  作者：Schwenkel, Lukas; Koehler, Johannes; Mueller, Matthias A. A.; Allgoewer, Frank
  作者单位：University of Stuttgart; Swiss Federal Institutes of Technology Domain; ETH Zurich; Leibniz University Hannover
  摘要：In this work, we propose a tube-based model predictive control (MPC) scheme for state- and input-constrained linear systems subject to dynamic uncertainties characterized by dynamic integral quadratic constraints (IQCs). In particular, we extend the framework of $\rho$-hard IQCs for exponential stability analysis to external inputs. This result yields that the error between the true uncertain system and the nominal prediction model is bounded by an exponentially stable scalar system. In the pr...
• Diffusing-Horizon Model Predictive Control AI翻译
  作者：Shin, Sungho; Zavala, Victor M. M.
  作者单位：University of Wisconsin System; University of Wisconsin Madison
  摘要：We analyze a time-coarsening strategy for model predictive control (MPC) that we call diffusing-horizon MPC. This strategy seeks to overcome the computational challenges associated with optimal control problems that span multiple timescales. The coarsening approach uses a time discretization grid that becomes exponentially more sparse as one moves forward in time. This design is motivated by a recently established property of optimal control problems that is known as exponential decay of sensi...
• Maximum Likelihood Estimation in Data-Driven Modeling and Control AI翻译
  作者：Yin, Mingzhou; Iannelli, Andrea; Smith, Roy S. S.
  作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich
  摘要：Recently, various algorithms for data-driven simulation and control have been proposed based on the Willems' fundamental lemma. However, when collected data are noisy, these methods lead to ill-conditioned data-driven model structures. In this article, we present a maximum likelihood framework to obtain an optimal data-driven model, the signal matrix model, in the presence of output noise. Data compression and noise-level estimation schemes are also proposed to apply the algorithm efficiently ...
• Event-Triggered Cost-Guaranteed Control for Linear Repetitive Processes Under Probabilistic Constraints AI翻译
  作者：Zhu, Kaiqun; Wang, Zidong; Chen, Yun; Wei, Guoliang
  作者单位：University of Shanghai for Science & Technology; Brunel University; Hangzhou Dianzi University; University of Shanghai for Science & Technology
  摘要：In this article, the event-triggered cost-guaranteed control problem is investigated for a class of shift-varying linear repetitive processes (LRPs) with multiplicative noises under probabilistic constraints. First, in order to relieve the communication burden and improve the communication efficiency, the event-triggered mechanism is exploited for the shift-varying LRPs over the communication network of limited bandwidth. By constructing a novel event generator function, the order of the event...
• Safe Consensus Tracking With Guaranteed Full State and Input Constraints: A Control Barrier Function-Based Approach AI翻译
  作者：Fu, Junjie; Wen, Guanghui; Yu, Xinghuo
  作者单位：Southeast University - China; Royal Melbourne Institute of Technology (RMIT)
  摘要：In this article, we consider the safe consensus tracking problem for uncertain second-order nonlinear multiagent systems subject to position, velocity, and input constraints. The agents are required to cooperatively track a desired leader's trajectory while always satisfying their local state and input constraints. Therefore, conflicting objectives may exist for an agent when the desired trajectory violates its local constraints. We propose to solve this problem using a control barrier functio...
• H∞ Control of Constrained Markov Jump Systems With Intermittent Mode Information Loss AI翻译
  作者：Shen, Ying; Wu, Zheng-Guang; Shi, Peng; Chen, Bo
  作者单位：Zhejiang University of Technology; Zhejiang University; Zhejiang Normal University; University of Adelaide
  摘要：This article investigates H-infinity control for continuous time Markov jump systems subject to joint input-state constraint and intermittent mode information loss. The considered constraint, which is defined as a quadratic function of the system state and control input, is very general since it covers the input constraint, state constraint, or other constraints for physical quantities of interest. The mode information loss is described by a Bernoulli stochastic process. As a result, the syste...
• Semiglobal Robust Consensus of Discrete-Time MASs Subject to Input Saturation and Additive Perturbations AI翻译
  作者：Su, Housheng; Yang, Yucheng; Gao, Zhiwei
  作者单位：Huazhong University of Science & Technology; Northumbria University
  摘要：The robust consensus problem of general linear discrete-time multiagent systems (MASs) suffering both heterogeneous additive stable perturbations and input saturation is discussed in this article via dynamic output feedback combining with the low-gain feedback technique. By using the modified algebraic Riccati equation and unified H-infinity controller design method, an effective output feedback control protocol without controller exchange is constructed for MASs with a directed communication ...
• Distributed Anti-Eavesdropping Fusion Estimation Under Energy Constraints AI翻译
  作者：Xu, Daxing; Chen, Bo; Zhang, Yuchen; Yu, Li
  作者单位：Zhejiang University of Technology; Quzhou University
  摘要：In this article, we study the distributed fusion estimation problem with energy-constrained sensors in the presence of eavesdroppers, where smart sensors send their local estimates to a remote fusion center. To enhance privacy level, a novel encryption strategy is proposed by establishing an optimization problem, where the optimization objective is constructed by maximizing a combination of the fusion terminal estimation error covariance and the cost of encryption process in finite time domain...