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作者：Chen, Liangming; Cao, Ming
作者单位：University of Groningen; Southern University of Science & Technology
摘要：This article establishes the notion and properties of angle rigidity for 3-D multipoint frameworks with angle constraints, and then designs direction-only control laws to stabilize angle rigid formations of mobile agents in 3-D. Angles are defined using the interior angles of triangles within the given framework, which are independent of the choice of coordinate frames and can be conveniently measured using monocular cameras and direction-finding arrays. We show that 3-D angle rigidity is a lo...
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作者：Hayashi, Naoki
作者单位：University of Osaka
摘要：This article considers a distributed method for constrained convex optimization over open multiagent networks. In open multiagent systems, each agent freely joins or leaves the network at its timing. The active agents, which participate in the network, have time-varying local cost functions and attempt to find an optimal strategy that minimizes the cumulative local cost functions in a finite-time horizon. Each active agent updates its estimation by a distributed subgradient-based algorithm wit...
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作者：Li, Fengzhong; Liu, Yungang
作者单位：Shandong University
摘要：Nowadays, control-dependent stochastic noise is ruled out in adaptive control, whereas such noise can be encountered in financial, aerospace, and biomechanical models. The status is due to the presence of adaptive control in the diffusion term. The diffusion coefficient, heavily dependent on the adaptive signal (with unexpected size), undermines stochastic stability via its quadratic form which cannot be suppressed merely by the control itself in the drift term. This compels us to exploit the ...
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作者：Qian, Jiachen; Duan, Peihu; Duan, Zhisheng; Shi, Ling
作者单位：Peking University; Hong Kong University of Science & Technology
摘要：This article mainly focuses on distributed filtering for a discrete time-varying system observed by a sensor network, where each sensor can measure some partial state information of the system and communicate with its neighbors. A novel distributed event-triggered communication mechanism is designed to reduce the communication rate among the sensors and guarantee the performance of the filter. With a data scheduler, the sensor is able to decide whether to transmit data to its neighbors. By app...
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作者：Wang, Jian
作者单位：Bohai University
摘要：This article considers a control problem of discrete-time multiple-input multiple-output linear systems involving input quantization (for the output of the controller) and output quantization (for the output of the plant). Based on spherical polar coordinate quantizer, a quantization method with finite data rate is proposed for handling the nested quantization and achieving the convergence to the origin of the system with input and output quantization. Further, an optimalization problem is dev...
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作者：Zhang, Xueji; Hengster-Movric, Kristian
作者单位：Atlas Copco; Czech Technical University Prague
摘要：This note proposes a novel decentralized/decomposed design of distributed observers for general continuous-time linear time invariant systems. Each observer can only observe a portion of the system. By transforming the system to a real Jordan canonical form, an observability decomposition is performed based on Popov-Belevitch-Hautus test. Each observer reconstructs observable states from its local measurements. The unobservable states are reconstructed relying on a communication network, by vi...
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作者：Chaffey, Thomas; Forni, Fulvio; Sepulchre, Rodolphe
作者单位：University of Cambridge; KU Leuven
摘要：We use the recently introduced concept of a scaled relative graph (SRG) to develop a graphical analysis of input-output properties of feedback systems. The SRG of a nonlinear operator generalizes the Nyquist diagram of an LTI system. In the spirit of classical control theory, important robustness indicators of nonlinear feedback systems are measured as distances between SRGs.
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作者：Khong, Sei Zhen
摘要：This article derives necessary and sufficient conditions for robust stability of a feedback interconnection of linear time-invariant (LTI) systems that exhibit positive realness on finite nonzero frequencies (excluding pole locations) through a weighting function, i.e., a multiplier. This class of LTI systems importantly includes the well-studied negative imaginary systems without poles at the origin as a subset. Under the assumption that the instantaneous gain of the loop transfer function is...
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作者：Maass, Alejandro I.; Wang, Wei; Nesic, Dragan; Postoyan, Romain; Heemels, Maurice
作者单位：University of Melbourne; Centre National de la Recherche Scientifique (CNRS); Universite de Lorraine; Eindhoven University of Technology
摘要：A unifying design perspective is presented for emulation-based (dynamic) event-triggered state-feedback control of nonlinear systems. The main component of this new approach is to interpret event-triggered controlled systems as the interconnection of hybrid dynamical systems and to analyze the overall system using a hybrid small gain theorem. Based on this new perspective, we unify several event-triggered schemes that were previously proposed in the literature under one umbrella. Moreover, the...
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作者：Yamamoto, Kaoru; Yamamoto, Yutaka; Nagahara, Masaaki
作者单位：Kyushu University; Kyoto University; University of Kitakyushu
摘要：This article studies the problem of signal tracking and disturbance rejection for sampled-data control systems, where the pertinent signals can reside beyond the so-called Nyquist frequency. In light of the sampling theorem, it is generally understood that manipulating signals beyond the Nyquist frequency is either impossible or at least very difficult. On the other hand, such control objectives often arise in practice, and control of such signals is much desired. This article examines the bas...
