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作者：Qian, Hongjiang; Yin, George; Zhang, Qing
作者单位：University of Connecticut; University System of Georgia; University of Georgia
摘要：This article develops a new deep learning framework for general nonlinear filtering. Our main contribution is to present a computationally feasible procedure. The proposed algorithms have the capability of dealing with challenging (infinitely dimensional) filtering problems involving diffusions with randomly-varying switching. First, we convert it to a problem in a finite-dimensional setting by approximating the optimal weights of a neural network. Then, we construct a stochastic gradient-type...
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作者：Du, Peter; Driggs-Campbell, Katherine; Dong, Roy
作者单位：University of Illinois System; University of Illinois Urbana-Champaign
摘要：Given a dynamical system modeled via stochastic differential equations (SDEs), we evaluate the safety of the system through its exit-time moments. Using appropriate semidefinite positive matrix constraints, an SDP moment-based approach can be used to compute moments of the exit time. However, the approach is impeded when analyzing higher dimensional physical systems as the dynamics are limited to polynomials. Computational scalability is also poor as the dimensionality of the state grows, larg...
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作者：Moyron, Jeronimo; Moreno-Valenzuela, Javier; Sandoval, Jesus
摘要：An important subject that arises in the position control of robot manipulators is the local or global asymptotic stability of the closed-loop system equilibrium point, especially when an integral action is added to the control loop. For rigid joint robot manipulators, global nonlinear proportional-integral-derivative (PID) controllers have been introduced few years ago. However, for the case of flexible joint robot manipulators, the design and analysis of such nonlinear PID laws is much more c...
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作者：Wang, Ziwei; Lam, Hak-Keung; Guo, Yao; Xiao, Bo; Li, Yanan; Su, Xiaojie; Yeatman, Eric M.; Burdet, Etienne
作者单位：Imperial College London; University of London; King's College London; Shanghai Jiao Tong University; University of Sussex; Chongqing University
摘要：Finite/fixed-time control yields a promising tool to optimize a system's settling time, but lacks the ability to separately define the settling time and the convergence domain (known as practically prescribed-time stability, PPTS). We provide a sufficient condition for PPTS based on a new piecewise exponential function, which decouples the settling time and convergence domain into separately user-defined parameters. We propose an adaptive event-triggered prescribed-time control scheme for nonl...
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作者：Yu, Xiao; Su, Rong
作者单位：Xiamen University; Nanyang Technological University
摘要：This article investigates the circular formation control problem of multiple unicycle-type mobile robots under a directed sensor graph. The topology of the sensor graph among all robots is described by a directed graph containing a spanning tree, and the node denoting the center is only required to be globally reachable in the sensor graph. A dynamic control law is developed such that the multi-robot systems with speed constraint are able to globally converge to a circular formation prescribed...
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作者：Shen, Dong
作者单位：Renmin University of China
摘要：In this study, we consider the learning-tracking problem for stochastic systems through unreliable communication channels. The channels suffer from both multiplicative and additive randomness subject to unknown probability distributions. The statistics of this randomness, such as mean and covariance, are nonrepetitive in the iteration domain. This nonrepetitive randomness introduces nonstationary contamination and drifts to the actual signals, yielding essential challenges in signal processing...
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作者：Chen, Zhiyong
作者单位：University of Newcastle
摘要：Oscillation synchronization is a widely observed phenomenon in natural systems through frequency-modulated signals, especially in biological neural networks. Frequency modulation is also one of the most widely used technologies in engineering. However, due to technical difficulties, oscillations have always been simplified as unmodulated sinusoidal-like waves in studying the synchronization mechanism in the bulky literature. The application of mathematical principles, especially systems and co...
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作者：Chinchilla, Raphael; Hespanha, Joao P.
作者单位：University of California System; University of California Santa Barbara
摘要：In this article, we address the problem of minimizing an expected value with stochastic constraints, known in the literature as stochastic programming. Our approach is based on computing and optimizing bounds for the expected value that are obtained by solving a deterministic optimization problem that uses the probability density function (pdf) to penalize unlikely values for the random variables. The suboptimal solution obtained through this approach has performances guarantees with respect t...
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作者：Delimpaltadakis, Giannis; Mazo, Manuel
作者单位：Delft University of Technology
摘要：Scheduling communication traffic in networks of event-triggered control (ETC) systems is challenging, as their sampling times are unknown, hindering application of ETC in networks. In previous work, finite-state abstractions were created, capturing the sampling behavior of linear time-invariant (LTI) ETC systems with quadratic triggering functions. Offering an infinite-horizon look to ETC systems' sampling patterns, such abstractions can be used for scheduling of ETC traffic. Here, we signific...
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作者：Bekiaris-Liberis, Nikolaos
作者单位：Technical University of Crete
摘要：We illustrate the potential of partial differential equation (PDE)-based traffic flow control in cardiovascular flow analysis, monitoring, and control, presenting a PDE-based control-oriented formulation, for one-dimensional (1-D) blood flow dynamics in the presence of stenosis. This is achieved adopting an approach for modeling and analysis that relies on the potential correspondence of 1-D blood flow dynamics in the presence of stenosis, with 1-D traffic flow dynamics in the presence of bott...
