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作者：Huang, Xiucai; Song, Yongduan
作者单位：Chongqing University
摘要：In this article, we investigate the distributed output tracking problem for networked uncertain nonlinear multi-inputs-multi-outputs (MIMO) strict-feedback systems with intermittent actuator faults under a directed protocol. By embedding some user-designed performance functions into a backstepping-like design procedure, a distributed robust control scheme is developed that exhibits several salient features: 1) relaxing the system controllability conditions by inserting some differentiable comp...
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作者：Li, Pengfei; Kang, Yu; Wang, Tao; Zhao, Yun-Bo
作者单位：Chinese Academy of Sciences; University of Science & Technology of China, CAS
摘要：A disturbance prediction-based adaptive event-triggered model predictive control scheme is proposed for nonlinear systems in the presence of slowly varying disturbance. The optimal control problem in the model predictive control scheme is formulated by taking advantage of a proposed central path-based disturbance prediction approach, and the event-triggered mechanism is designed to be adaptive to the triggering interval. As a result, the proposed scheme improves the state prediction precision ...
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作者：Liu, Changxin; Shi, Yang; Li, Huiping; Du, Wenli
作者单位：East China University of Science & Technology; University of Victoria; Northwestern Polytechnical University
摘要：In this article, we study decentralized convex constrained optimization problems in networks. We focus on the dual averaging-based algorithmic framework that is well-documented to be superior in handling constraints and complex communication environments simultaneously. Two new decentralized dual averaging (DDA) algorithms are proposed. In the first one, a second-order dynamic average consensus protocol is tailored for DDA-type algorithms, which equips each agent with a provably more accurate ...
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作者：Ng, Yonhon; 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; Institut Universitaire de France
摘要：This article develops an equivariant symmetry for second-order kinematic systems on matrix Lie groups and uses this symmetry for observer design. The state of a second-order kinematic system on a matrix Lie group is naturally posed on the tangent bundle of the group with the inputs lying in the tangent of the tangent bundle known as the double-tangent bundle. We provide a simple parameterization of both the tangent bundle state-space and the input space (the fiber space of the double-tangent b...
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作者：Soloperto, Raffaele; Koehler, Johannes; Allgoewer, Frank
作者单位：University of Stuttgart
摘要：In this article, we propose a novel nonlinear model predictive control (MPC) scheme without terminal ingredients for output tracking. The control objective is to steer the output of the controlled system toward some desired set, or toward the best reachable set, in the case of unreachable targets. The considered MPC formulation combines a stabilizing MPC scheme without terminal ingredients with an output tracking formulation using an artificial steady state. In addition, we propose an offset c...
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作者：Li, Guangqi; Wang, Long
作者单位：Xidian University; Peking University
摘要：Distributed dynamic compensators play a key role in the output consensus problem of heterogeneous nonlinear multiagent systems. The existing distributed dynamic compensators require the compensators' information to be exchanged through communication networks and to satisfy additional stability conditions in the controller design. This article proposes a distributed dynamic compensator to address the adaptive output consensus problem of heterogeneous nonlinear multiagent systems with unknown pa...
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作者：Mellone, Alberto; Scarciotti, Giordano
作者单位：Imperial College London
摘要：In this article, we address the path-wise control of systems described by a set of nonlinear stochastic differential equations. For this class of systems, we introduce a notion of stochastic relative degree and a change of coordinates, which transforms the dynamics to a stochastic normal form. The normal form is instrumental for the design of a state-feedback control, which linearizes and makes the dynamics deterministic. We observe that this control is idealistic, i.e., it is not practically ...
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作者：Pang, Bo; Jiang, Zhong-Ping
作者单位：New York University; New York University Tandon School of Engineering
摘要：This article studies the adaptive optimal stationary control of continuous-time linear stochastic systems with both additive and multiplicative noises, using reinforcement learning techniques. Based on policy iteration, a novel off-policy reinforcement learning algorithm, named optimistic least-squares-based policy iteration, is proposed, which is able to find iteratively near-optimal policies of the adaptive optimal stationary control problem directly from input/state data without explicitly ...
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作者：Zhang, Pengpeng; Liu, Tengfei; Jiang, Zhong-Ping
作者单位：Northeastern University - China; Tongji University; New York University
摘要：This article studies the tracking control problem for unicycle mobile robots with event-triggered and self-triggered feedback. Based on a modified dynamic feedback linearization technique and a refined stability analysis, we first propose a new class of saturated sampled-data controllers for unicycle mobile robots of which the state is subject to sampling (measurement) errors. It is guaranteed that the generated control inputs are restricted to within desired ranges, and the unicycle trajector...
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作者：Su, Housheng; Miao, Suoxia
作者单位：Huazhong University of Science & Technology; East China Jiaotong University; Jiangxi University of Water Resources & Electric Power
摘要：Due to the interdependence of multidimensional states between agents in many practical scenarios, it is more accurate to model multiagent systems by matrix coupling networks. However, existing related results rely on undirected networks. In this article, we discuss the consensus problems for matrix-weighted continuous-time, discrete-time multiagent systems over fixed directed network topologies, and switched multiagent systems switching between continuous-time dynamics and discrete-time dynami...
