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作者：Wang, Peng-Biao; Ren, Xue-Mei; Zheng, Dong-Dong
作者单位：Beijing Institute of Technology
摘要：This article investigates the event-triggered model predictive control (ETMPC) problem for nonlinear systems with the bounded disturbance. First, a novel adaptive event-triggered mechanism without Zeno behaviors, in which the triggering threshold can constantly be adjusted with the change of the system state, is proposed for computational load reduction. Then, an adaptive prediction horizon update strategy is proposed to further reduce the computational complexity of the optimization problem a...
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作者：Nejati, Ameneh; Lavaei, Abolfazl; Jagtap, Pushpak; Soudjani, Sadegh; Zamani, Majid
作者单位：Technical University of Munich; University of Munich; Newcastle University - UK; Bosch; Indian Institute of Science (IISC) - Bangalore; University of Colorado System; University of Colorado Boulder
摘要：This article is concerned with a formal verification scheme for both discrete- and continuous-time deterministic systems with unknown mathematical models. The main target is to verify the safety of unknown systems based on the construction of barrier certificates via a set of data collected from trajectories of systems while providing an a-priori guaranteed confidence on the safety. In our proposed framework, we first cast the original safety problem as a robust convex program (RCP). Solving t...
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作者：Sassano, Mario; Mylvaganam, Thulasi; Astolfi, Alessandro
作者单位：University of Rome Tor Vergata; Imperial College London; Imperial College London
摘要：The infinite-horizon optimal control problem for nonlinear systems is studied. In the context of model-based, iterative learning strategies we propose an alternative definition and construction of the temporal difference error arising in policy iteration strategies. In such architectures, the error is computed via the evolution of the Hamiltonian function (or, possibly, of its integral) along the trajectories of the closed-loop system. Herein the temporal difference error is instead obtained v...
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作者：Doan, Thinh T.
作者单位：Virginia Polytechnic Institute & State University
摘要：Motivated by its broad applications in system identifications, stochastic control, and machine learning, we study the popular stochastic gradient descent (SGD) when the gradient samples of the underlying objective function are generated from Markov processes. This Markov sampling leads to the gradient samples being biased and not independent. The existing results for the convergence of SGD under Markov settings are often established under the assumption on the boundedness of either the iterate...
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作者：Qi, Jie; Mo, Shurong; Krstic, Miroslav
作者单位：Donghua University; University of California System; University of California San Diego
摘要：We develop an input delay-compensating design for stabilization of an Aw-Rascle-Zhang (ARZ) traffic model in congested regime, which is governed by a 2 x 2 first-order hyperbolic nonlinear partial differential equation (PDE). The traffic flow consists of both adaptive cruise control-equipped (ACC-equipped) and manually driven vehicles. The control input is the time gap of ACC-equipped and connected vehicles, which is subject to delays resulting from communication lag. For the linearized system...
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作者：Schiller, Julian D.; Mueller, Matthias A.
作者单位：Leibniz University Hannover
摘要：In this article, we propose a suboptimal moving horizon estimator for a general class of nonlinear systems. For the stability analysis, we transfer the feasibility-implies-stability/robustness paradigm from model predictive control to the context of moving horizon estimation in the following sense. Using a suitably defined, feasible candidate solution based on an auxiliary observer, robust stability of the proposed suboptimal estimator is inherited independently of the horizon length and even ...
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作者：Scholl, Tessina H.; Groell, Lutz
作者单位：Helmholtz Association; Karlsruhe Institute of Technology
摘要：This article provides a delay-dependent and a necessary and sufficient delay-independent stability criterion for linear autonomous continuous-time systems with a discrete delay. We take a simple perspective on the two-variable formulation of the characteristic equation, which leads to the following advantageous but not widespread delay-independent criterion: The sum of the coefficient matrix of the delay-free term and the elementwise unitarily rotated matrix of the delay term must remain Hurwi...
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作者：Wu, Chu; Fang, Hao; Zeng, Xianlin; Yang, Qingkai; Wei, Yue; Chen, Jie
作者单位：Beijing Institute of Technology; Peng Cheng Laboratory; Tongji University
摘要：In this article, we investigate a continuous-time distributed optimization problem with time-varying cost functions and affine formation constraints, which are described by the stress matrices rather than the standard Laplacians. The objective is to minimize the sum of local time-varying cost functions, each of which is known by only one individual agent. The optimal solution is a time-varying affine transformation of a nominal configuration rather than some constants. To tackle the difficulty...
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作者：Jin, Xu; Dai, Shi-Lu; Liang, Jianjun
作者单位：University of Kentucky; South China University of Technology
摘要：A team of multiple tractor-trailer mobile robots has many applications in areas including agriculture, logistics, transportation, etc. In this article, we propose a novel adaptive constrained formation-tracking control algorithm for the trailers in a tractor-trailer mobile robot team to track a desired formation, while satisfying multiple precision, safety, and feasibility constraint requirements during the operation. Both universal barrier function approaches and a novel state transformation ...
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作者：Xu, Yong; Chen, Gang; Chen, Jie; Qiu, Li
作者单位：Guangdong University of Technology; University of California System; University of California Riverside; City University of Hong Kong; Hong Kong University of Science & Technology
摘要：This article studies Bode/Poisson type sensitivity and complementary sensitivity integral relations for linear, time-invariant feedback control systems. We call for attention to a seemingly unnoticed link between the well-known argument principle and Bode/Poisson integral relations. In this respect, a generalized version of the argument principle is developed, under which it is shown that various Bode/Poisson type integral relations can be unified, and new integral relations can be derived. Th...
