-
作者：Usevitch, James; Panagou, Dimitra
作者单位：University of Michigan System; University of Michigan
摘要：Control barrier functions (CBFs) have recently become a powerful method for rendering desired safe sets forward invariant in single-agent and multiagent systems. In the multiagent case, prior literature has considered scenarios where all agents cooperate to ensure that the corresponding set remains invariant. However, these works do not consider scenarios where a subset of the agents are behaving adversarially with the intent to violate safety bounds. In addition, prior results on multiagent C...
-
作者：Lin, Wei; Sun, Jiwei
作者单位：University System of Ohio; Case Western Reserve University
摘要：Using the semiglobal control idea from the recent work (Wang and Lin, 2022), we present a different semiglobal method without invoking the dynamic extension technique to prove that in the single-input-single-output (SISO) case, certain nonaffine systems with input delay are semiglobally asymptotically stabilizable (SGAS) via n-dimensional memoryless output feedback. A dynamic output compensator is constructed and composed of an n-dimensional nonlinear observer and an observer-based controller,...
-
作者：Huang, Elizabeth Y.; Paccagnan, Dario; Mei, Wenjun; Bullo, Francesco
作者单位：University of California System; University of California Santa Barbara; Imperial College London; Peking University
摘要：Tackling complex team problems requires understanding each team member's skills in order to devise a task assignment maximizing the team performance. This article proposes a novel quantitative model describing the decentralized process by which individuals in a team learn who has what abilities, while concurrently assigning tasks to each of the team members. In the model, the appraisal network represents team members' evaluations of one another, and each team member chooses their own workload....
-
作者：Bizyaeva, Anastasia; Franci, Alessio; Leonard, Naomi Ehrich
作者单位：Princeton University; Universidad Nacional Autonoma de Mexico
摘要：We propose a continuous-time multioption nonlinear generalization of classical linear weighted-average opinion dynamics. Nonlinearity is introduced by saturating opinion exchanges, and this is enough to enable a significantly greater range of opinion-forming behaviors with our model as compared to existing linear and nonlinear models. For a group of agents that communicate opinions over a network, these behaviors include multistable agreement and disagreement, tunable sensitivity to input, rob...
-
作者：Cai, Jianping; Wen, Changyun; Xing, Lantao; Yan, Qiuzhen
作者单位：Zhejiang University of Water Resources and Electric Power; Nanyang Technological University; Shandong University
摘要：In this article, a decentralized adaptive control scheme is proposed based on backstepping techniques for a class of uncertain interconnected systems with unknown modeling errors and interactions. Unlike existing results, the functions bounding modeling errors and interactions are not required to meet the triangular condition. Namely, such functions are allowed to depend on all the states of the interconnected system. It is shown that the proposed adaptive control scheme can ensure all signals...
-
作者：Jin, Xu; Dai, Shi-Lu; Liang, Jianjun
作者单位：University of Kentucky; South China University of Technology
摘要：A team of multiple tractor-trailer mobile robots has many applications in areas including agriculture, logistics, transportation, etc. In this article, we propose a novel adaptive constrained formation-tracking control algorithm for the trailers in a tractor-trailer mobile robot team to track a desired formation, while satisfying multiple precision, safety, and feasibility constraint requirements during the operation. Both universal barrier function approaches and a novel state transformation ...
-
作者：Xu, Yong; Chen, Gang; Chen, Jie; Qiu, Li
作者单位：Guangdong University of Technology; University of California System; University of California Riverside; City University of Hong Kong; Hong Kong University of Science & Technology
摘要：This article studies Bode/Poisson type sensitivity and complementary sensitivity integral relations for linear, time-invariant feedback control systems. We call for attention to a seemingly unnoticed link between the well-known argument principle and Bode/Poisson integral relations. In this respect, a generalized version of the argument principle is developed, under which it is shown that various Bode/Poisson type integral relations can be unified, and new integral relations can be derived. Th...
-
作者：Kawan, Christoph; Mironchenko, Andrii; Zamani, Majid
作者单位：University of Munich; University of Passau; University of Colorado System; University of Colorado Boulder
摘要：In this article, we show that an infinite network of input-to-state stable (ISS) subsystems, admitting ISS Lyapunov functions, itself admits an ISS Lyapunov function, provided that the couplings between the subsystems are sufficiently weak. The strength of the couplings is described in terms of the properties of an infinite-dimensional nonlinear positive operator, built from the interconnection gains. If this operator induces a uniformly globally asymptotically stable (UGAS) system, a Lyapunov...
-
作者：Li, Wuquan; Krstic, Miroslav
作者单位：Ludong University; University of California System; University of California San Diego
摘要：We present prescribed-time output-feedback-stabilizing designs for stochastic nonlinear strict-feedback systems. We first propose a new nonscaling output-feedback control scheme to solve the prescribed-time mean-square stabilization problem for stochastic nonlinear systems without sensor uncertainty. In this case, compared with the existing results on stochastic nonlinear prescribed-time stabilization, an appealing feature in our design is that the order of the scaling function in the controll...
-
作者：Wu, Shuang
作者单位：China University of Petroleum
摘要：This article studies a linear quadratic non-zero sum stochastic differential game with overlapping information, where the state dynamics are described by a backward stochastic differential equation and the information obtained by two players has a common part but no inclusion relation. The open-loop Nash equilibrium strategy is given by some conditional mean-field stochastic differential equations. In addition, coupled Riccati equations are introduced to express the state feedback form of the ...
