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作者：Nowicki, Marcin; Respondek, Witold
作者单位：Poznan University of Technology; Lodz University of Technology
摘要：We present a new type of feedback linearization that is tailored for mechanical control systems. We call it mechanical feedback linearization. Its basic feature is the preservation of the mechanical structure of the system. For mechanical systems with a scalar control, we formulate necessary and sufficient conditions that are verifiable using differentiations and algebraic operations only. We illustrate our results with several examples.
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作者：Saeki, Masami
作者单位：Hiroshima University
摘要：We study the model matching problem of determining a feedforward controller for a multi-input-multi-output (MIMO) linear time-invariant plant and a reference model. In this article, we propose a model matching method for the outer of the plant square transfer function, in which the singular values of the frequency response of the control system are sufficiently close to those of the reference model. The model matching method is provided for both continuous-time and discrete-time plants. The di...
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作者：Soloperto, Raffaele; Mesbah, Ali; Allgower, Frank
作者单位：University of Stuttgart; Swiss Federal Institutes of Technology Domain; ETH Zurich; University of California System; University of California Berkeley
摘要：In this article, we propose a novel model predictive control (MPC) framework for output tracking that deals with partially unknown constraints. The MPC scheme optimizes over a learning and a backup trajectory. The learning trajectory aims to explore unknown and potentially unsafe areas, if and only if this might lead to a potential performance improvement. On the contrary, the backup trajectory lies in the known space, and is intended to ensure safety and convergence. The cost function for the...
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作者：Wang, Bo; Tian, Yu-Ping; Han, Zhimin
作者单位：Hangzhou Dianzi University
摘要：The quadratic Lyapunov function-based method for consensus analysis of discrete-time single-integrator multiagent systems (MASs) in general time-varying directed networks is not well developed, whereas for continuous-time cases remains blank. This note develops this method for both discrete-time and continuous-time MASs with a constant-gain protocol when the network is uniformly strongly connected. By proving the convergence to zero of quadratic Lyapunov functions, we first establish the expon...
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作者：Zhang, Tianliang; Zhang, Weihai
作者单位：Qingdao University of Technology; Nanjing University of Science & Technology; Shandong University of Science & Technology
摘要：This note gives necessary and sufficient conditions for two quadratic equalities to hold based on Moore-Penrose pseudoinverse. The obtained results generalize the well-known identity x(T )Ax + x(T)b + b(T)x =(x + A(-1)b)(T )A(x + A(-1)b) - b(T)A(-1)b to the case of the nonexistence of A-1 . As applications, the previous results on indefinite stochastic linear quadratic optimal control can be easily retrieved, and some consequences on stochastic H-infinity control and nonlinear optimal control ...
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作者：Dorfler, Florian; Tesi, Pietro; De Persis, Claudio
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; University of Florence; University of Groningen
摘要：The linear quadratic regulator (LQR) problem is a cornerstone of automatic control, and it has been widely studied in the data-driven setting. The various data-driven approaches can be classified as indirect (i.e., based on an identified model) versus direct or as robust (i.e., taking uncertainty into account) versus certainty-equivalence. Here, we show how to bridge these different formulations and propose a novel, direct, and regularized formulation. We start from indirect certainty-equivale...
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作者：Li, Ningbo; Borja, Pablo; Scherpen, Jacquelien M. A.; van der Schaft, Arjan; Mahony, Robert
作者单位：University of Groningen; University of Plymouth; Australian National University
摘要：This note proposes a passivity-based control method for trajectory tracking and formation control of nonholonomic wheeled robots without velocity measurements. Coordinate transformations are used to incorporate the nonholonomic constraints, which are then avoided by controlling the front end of the robot rather than the center of the wheel axle into the differential equations. Starting from the passivity-based coordination design, the control goals are achieved via an internal controller for v...
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作者：Ristic, Marko; Noack, Benjamin; Hanebeck, Uwe D.
作者单位：Otto von Guericke University; Helmholtz Association; Karlsruhe Institute of Technology
摘要：Distributed state estimation and localization methods have become increasingly popular with the rise of ubiquitous computing, and have led naturally to an increased concern regarding data and estimation privacy. Traditional distributed sensor navigation methods typically involve the leakage of sensor or navigator information by communicating measurements or estimates and thus do not preserve participants' privacy. The existing approaches that do provide such guarantees fail to address sensor a...
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作者：Sabau, Serban; Sperila, Andrei; Oara, Cristian; Jadbabaie, Ali
作者单位：Stevens Institute of Technology; National University of Science & Technology POLITEHNICA Bucharest; Massachusetts Institute of Technology (MIT)
摘要：In this article, we discuss a distributed control architecture, aimed at networks with linear and time-invariant dynamics, which is amenable to convex formulations for controller design. The proposed approach is well suited for large-scale systems, since the resulting feedback schemes completely avoid the exchange of internal states, i.e., plant or controller states, among subcontrollers. In addition, we provide state-space formulas for these subcontrollers, able to be implemented in a distrib...
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作者：Tho, Ho Duc; Miyoshi, Takanori
作者单位：Nagaoka University of Technology
摘要：This article puts forward a stabilizing communication law to enable direct environmental contact force feedback for the wave transformation-based teleoperation architecture, potentially improving the human operator's experience of telepresence. The stability of the established stabilizing communication law and the closed-loop teleoperation system will be discussed. The simulation results are presented to highlight the advantage of the proposed communication law over the lossless passive one.
