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最新文章

• Distributed Personalized Gradient Tracking With Convex Parametric Models AI翻译
  作者：Notarnicola, Ivano; Simonetto, Andrea; Farina, Francesco; Notarstefano, Giuseppe
  作者单位：University of Bologna; Institut Polytechnique de Paris; Ecole Polytechnique; ENSTA Paris
  摘要：We present a distributed optimization algorithm for solving online personalized optimization problems over a network of computing and communicating nodes, each of which linked to a specific user. The local objective functions are assumed to have a composite structure and to consist of a known time-varying (engineering) part and an unknown (user-specific) part. Regarding the unknown part, it is assumed to have a known parametric (e.g., quadratic) structure a priori, whose parameters are to be l...
• A Polynomial Chaos Approach to Robust H8 Static Output-Feedback Control With Bounded Truncation Error AI翻译
  作者：Wan, Yiming; Shen, Dongying E. E.; Lucia, Sergio; Findeisen, Rolf; Braatz, Richard D. D.
  作者单位：Huazhong University of Science & Technology; Massachusetts Institute of Technology (MIT); Dortmund University of Technology; Technical University of Darmstadt
  摘要：article considers the H-infinity static output-feedback control for linear time-invariant uncertain systems with polynomial dependence on probabilistic time-invariant parametric uncertainties. By applying polynomial chaos theory, the control synthesis problem is solved using a high-dimensional expanded system, which characterizes stochastic state uncertainty propagation. A closed-loop polynomial chaos transformation is proposed to derive the closed-loop expanded system. The approach explicitly...
• Time-Variation in Online Nonconvex Optimization Enables Escaping From Spurious Local Minima AI翻译
  作者：Ding, Yuhao; Lavaei, Javad; Arcak, Murat
  作者单位：University of California System; University of California Berkeley; University of California System; University of California Berkeley
  摘要：A major limitation of online algorithms that track the optimizers of time-varying nonconvex optimization problems is that they focus on a specific local minimum trajectory, which may lead to poor spurious local solutions. In this article, we show that the natural temporal variation may help simple online tracking methods find and track time-varying global minima. To this end, we investigate the properties of a time-varying projected gradient flow system with inertia, which can be regarded as t...
• Rate of Loss Characterization That Resolves the Dilemma of the Wall Pursuit Game Solution AI翻译
  作者：Milutinovic, Dejan; Casbeer, David W. W.; Von Moll, Alexander; Pachter, Meir; Garcia, Eloy
  作者单位：University of California System; University of California Santa Cruz; United States Department of Defense; United States Air Force; US Air Force Research Laboratory; Air Force Institute of Technology (AFIT)
  摘要：The scope of this article is the well-known wall pursuit game, which has been used in the literature to illustrate the existence of a singular surface (dispersal line) and the associated game dilemma. We derive an analytical expression for the value function of the game, which is the viscosity solution of the Hamilton-Jacobi-Isaacs equation. Then, we introduce a hold time analysis and the rate of change for the loss of time to capture along the dispersal line, and show that the rate has a well...
• An Output Feedback Stabilizer for Uncertain MIMO Nonlinear Systems: Nonlinear Nominal Input Gain Function AI翻译
  作者：Ha, Wonseok; Back, Juhoon
  作者单位：Kwangwoon University
  摘要：This article presents a robust output feedback stabilizer for multi-input-multi-output nonlinear systems subject to external disturbances and system uncertainties. We assume that the system has a well-defined vector relative degree and the zero dynamics is input-to-state stable. Based on the assumption that there exists a state feedback controller that makes the origin of the nominal closed-loop system asymptotically stable, we present an output feedback stabilizer that recovers the stability ...
• Cooperative Output Feedback Tracking Control of Stochastic Linear Heterogeneous Multiagent Systems AI翻译
  作者：Li, Dianqiang; Li, Tao
  作者单位：East China Normal University; East China Normal University
  摘要：We study cooperative output feedback tracking control of stochastic linear heterogeneous leader- following multiagent systems. Each agent has a conti- nuous-time linear heterogeneous dynamics with incompletely measurable state, and there are additive and multiplicative noises along with information exchange among agents. We propose a set of admissible distributed observation strategies for estimating the leader's and the followers' states and a set of admissible cooperative output feedback con...
• A Nonlinear Observer-Based Approach to Robust Cooperative Tracking for Heterogeneous Spacecraft Attitude Control and Formation Applications AI翻译
  作者：Wang, Bohui; Chen, Weisheng; Zhang, Bin; Shi, Peng; Zhang, Huiyan
  作者单位：Xidian University; University of South Carolina System; University of South Carolina Columbia; University of Adelaide; Victoria University; Chongqing Technology & Business University
  摘要：This article proposes a nonlinear observer-based approach to address the robust cooperative tracking problem and application for heterogeneous spacecraft systems. By introducing appropriate assumptions, a weight average estimation is proposed to construct a class of distributed nonlinear observers for heterogeneous spacecraft systems with a target whose dynamics are available only to a few chasers. By synthesizing the observer dynamics among the neighbors, a novel cooperative tracking controll...
• Gradient-Based Differential Neural-Solution to Time-Dependent Nonlinear Optimization AI翻译
  作者：Jin, Long; Wei, Lin; Li, Shuai
  作者单位：Lanzhou University
  摘要：In this technical article, to seek the optimal solution to time-dependent nonlinear optimization subject to linear inequality and equality constraints (TDNO-IEC), the gradient-based differential neural-solution, termed as GDN model, is proposed and researched. Notably, TDNO-IEC is first converted into the nonhomogeneous linear equation with the dynamic parameter. Second, differential neural-solution with the aid of gradient is designed. The contrastive theoretical analyses among the GDN model,...
• Safe Coverage of Moving Domains for Vehicles With Second-Order Dynamics AI翻译
  作者：Chacon, Juan; Chen, Mo; Fetecau, Razvan C. C.
  作者单位：Simon Fraser University; Simon Fraser University
  摘要：Autonomous coverage of a specified area by robots operating in close proximity with each other has many potential applications such as real-time monitoring of rapidly changing environments, and search and rescue; however, coordination and safety are two fundamental challenges. For coordination, we propose a distributed controller for covering moving, compact domains which consists in a double integrator with bounded input forces. This control policy is based on artificial potentials and alignm...
• Distributed Nonrecursive Averaging Filters for Quantized Consensus: An Edge Sensitivity Design Approach AI翻译
  作者：Rong, Lina; Jiang, Guo-Ping; Xu, Shengyuan
  作者单位：Nanjing University of Posts & Telecommunications; Nanjing University of Science & Technology
  摘要：This article studies the distributed nonrecursive averaging filter design for the quantized consensus of discrete-time first-order multiagent systems over undirected and connected networks. The quantized consensus problem is cast into the robust consensus problem with sector bound uncertainties associated with the edges of communication graphs, and then an edge sensitivity design approach is utilized for the filter parameter design. Necessary and sufficient conditions for the filter parameter ...