6期

最新文章

• Receding Horizon Control With Online Barrier Function Design Under Signal Temporal Logic Specifications AI翻译
  作者：Charitidou, Maria; Dimarogonas, Dimos V.
  作者单位：Royal Institute of Technology
  摘要：Signal temporal logic (STL) has been found to be an expressive language for describing complex, time-constrained tasks in several robotic applications. Existing methods encode such specifications by either using integer constraints or by employing set invariance techniques. While in the first case this results in a mixed integer linear program (MILP), control problems, in the latter case, designer-specific choices may induce conservatism in the robot's performance and the satisfaction of the t...
• Approximate Optimal Trajectory Tracking With Sparse Bellman Error Extrapolation AI翻译
  作者：Greene, Max L. L.; Deptula, Patryk; Nivison, Scott; Dixon, Warren E. E.
  作者单位：The Charles Stark Draper Laboratory, Inc.; Johns Hopkins University; State University System of Florida; University of Florida
  摘要：This article provides an approximate online adaptive solution to the infinite-horizon optimal tracking problem for control-affine continuous-time nonlinear systems with uncertain drift dynamics. A model-based approximate dynamic programming (ADP) approach, which is facilitated using a concurrent learning-based system identifier, approximates the optimal value function. To reduce the computational complexity of model-based ADP, the state space is segmented into user-defined segments (i.e., regi...
• Inference in Opinion Dynamics Under Social Pressure AI翻译
  作者：Jadbabaie, Ali; Makur, Anuran; Mossel, Elchanan; Salhab, Rabih
  作者单位：Massachusetts Institute of Technology (MIT); Purdue University System; Purdue University; Massachusetts Institute of Technology (MIT); Amazon.com
  摘要：We introduce a new opinion dynamics model where a group of agents holds two kinds of opinions: inherent and declared. Each agent's inherent opinion is fixed and unobservable by the other agents. At each time step, agents broadcast their declared opinions on a social network, which are governed by the agents' inherent opinions and social pressure. In particular, we assume that agents may declare opinions that are not aligned with their inherent opinions to conform with their neighbors. This rai...
• Ellipsotopes: Uniting Ellipsoids and Zonotopes for Reachability Analysis and Fault Detection AI翻译
  作者：Kousik, Shreyas; Dai, Adam; Gao, Grace Xingxin
  作者单位：Stanford University; Stanford University
  摘要：Ellipsoids are a common representation for reachability analysis, because they can be transformed efficiently under affine maps, and they allow conservative approximation of Minkowski sums, which let one incorporate uncertainty and linearization error in a dynamical system by expanding the size of the reachable set. Zonotopes, a type of symmetric, convex polytope, are similarly frequently used, because they allow efficient numerical implementations of affine maps and exact Minkowski sums. Both...
• Global Stabilizability Theorems on Discrete-Time Nonlinear Uncertain Systems AI翻译
  作者：Liu, Zhaobo; Li, Chanying
  作者单位：Shenzhen University; Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS
  摘要：This article focuses on the stabilizability problem for a basic class of discrete-time nonlinear systems with multiple unknown parameters. We claim that such a system is stabilizable if its nonlinear growth rate is dominated by a polynomial rule. This rule cannot be relaxed in general since it becomes a necessary and sufficient condition when the system has a polynomial form (Li and Lam, 2013). We further prove that the concerned stabilizable system is possible to grow exponentially fast. Mean...
• Identification of Diffusively Coupled Linear Networks Through Structured Polynomial Models AI翻译
  作者：Kivits, E. M. M.; van den Hof, Paul M. J.
  作者单位：Eindhoven University of Technology
  摘要：Physical dynamic networks most commonly consist of interconnections of physical components that can be described by diffusive couplings. These diffusive couplings imply that the cause-effect relationships in the interconnections are symmetric, and therefore, physical dynamic networks can be represented by undirected graphs. This article shows how prediction error identification methods developed for linear time-invariant systems in polynomial form can be configured to consistently identify the...
• Anytime Proximity Moving Horizon Estimation: Stability and Regret AI翻译
  作者：Gharbi, Meriem; Gharesifard, Bahman; Ebenbauer, Christian
  作者单位：RWTH Aachen University; University of California System; University of California Los Angeles
  摘要：In this article, we address the efficient implementation of moving horizon state estimation of constrained discrete-time linear systems. We propose a novel iteration scheme that employs a proximity-based formulation of the underlying optimization algorithm and reduces computational effort by performing only a limited number of optimization iterations each time a new measurement is received. We outline conditions under which global exponential stability of the underlying estimation errors is en...
• Equivariant Filter (EqF) AI翻译
  作者：van Goor, Pieter; Hamel, Tarek; Mahony, Robert
  作者单位：Australian National University; Centre National de la Recherche Scientifique (CNRS); Universite Cote d'Azur
  摘要：The kinematics of many systems encountered in robotics, mechatronics, and avionics are naturally posed on homogeneous spaces; i.e., their state lies in a smooth manifold equipped with a transitive Lie group symmetry. This article proposes a novel filter, the equivariant filter (EqF), by posing the observer state on the symmetry group, linearizing global error dynamics derived from the equivariance of the system, and applying EKF design principles. We show that equivariance of the system output...
• Classical Control System Analysis Over Lossy Networks: An Easy-to-Use Nyquist Plot Approach AI翻译
  作者：Ferreira, Luis H. C.; Guaracy, Fernando H. D.
  作者单位：Universidade Federal de Itajuba
  摘要：This article presents an approach based on the Nyquist plot to analyze the mean-square stability of a networked control system in which data transmission is subject to the occur-rence of packet losses. This result is obtained by translating well-known linear matrix inequality (LMI) conditions for mean-square stability to conditions that take the form of upper bounds on the H8 norms of the sensitivity and complementary sensitivity trans-fer matrices. Although the results obtained provide only s...
• An Online Kullback-Leibler Divergence-Based Stealthy Attack Against Cyber-Physical Systems AI翻译
  作者：Zhang, Qirui; Liu, Kun; Teixeira, Andre M. H.; Li, Yuzhe; Chai, Senchun; Xia, Yuanqing
  作者单位：Beijing Institute of Technology; Uppsala University; Northeastern University - China
  摘要：This article investigates the design of online stealthy attacks with the aim of moving the system's state to the desired target. Different from the design of offline attacks, which is only based on the system's model, to design the online attack, the attacker also estimates the system's state with the intercepted data at each instant and computes the optimal attack accordingly. To ensure stealthiness, the Kullback-Leibler divergence between the innovations with and without attacks at each inst...