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最新文章

• Robust Consensus of High-Order Systems Under Output Constraints: Application to Rendezvous of Underactuated UAVs AI翻译
  作者：Restrepo, Esteban; Loria, Antonio; Sarras, Ioannis; Marzat, Julien
  作者单位：National Office for Aerospace Studies & Research (ONERA); Universite Paris Saclay; Centre National de la Recherche Scientifique (CNRS); Universite Paris Saclay; Royal Institute of Technology; National Office for Aerospace Studies & Research (ONERA); Universite Paris Saclay
  摘要：We solve output- and state-consensus problems for multiagent high-order systems in feedback form. We consider systems interconnected over arbitrary (connected) undirected-topology networks as well as directed spanning-trees and directed cycles. We assume that the systems may be subject to multiple restrictions in the form of output or state constraints, such as limited-range measurements and physical limitations. In addition, we suppose that the systems may be subject to external disturbances....
• Model Predictive Control for Linear Uncertain Systems Using Integral Quadratic Constraints AI翻译
  作者：Schwenkel, Lukas; Koehler, Johannes; Mueller, Matthias A. A.; Allgoewer, Frank
  作者单位：University of Stuttgart; Swiss Federal Institutes of Technology Domain; ETH Zurich; Leibniz University Hannover
  摘要：In this work, we propose a tube-based model predictive control (MPC) scheme for state- and input-constrained linear systems subject to dynamic uncertainties characterized by dynamic integral quadratic constraints (IQCs). In particular, we extend the framework of $\rho$-hard IQCs for exponential stability analysis to external inputs. This result yields that the error between the true uncertain system and the nominal prediction model is bounded by an exponentially stable scalar system. In the pr...
• Diffusing-Horizon Model Predictive Control AI翻译
  作者：Shin, Sungho; Zavala, Victor M. M.
  作者单位：University of Wisconsin System; University of Wisconsin Madison
  摘要：We analyze a time-coarsening strategy for model predictive control (MPC) that we call diffusing-horizon MPC. This strategy seeks to overcome the computational challenges associated with optimal control problems that span multiple timescales. The coarsening approach uses a time discretization grid that becomes exponentially more sparse as one moves forward in time. This design is motivated by a recently established property of optimal control problems that is known as exponential decay of sensi...
• Maximum Likelihood Estimation in Data-Driven Modeling and Control AI翻译
  作者：Yin, Mingzhou; Iannelli, Andrea; Smith, Roy S. S.
  作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich
  摘要：Recently, various algorithms for data-driven simulation and control have been proposed based on the Willems' fundamental lemma. However, when collected data are noisy, these methods lead to ill-conditioned data-driven model structures. In this article, we present a maximum likelihood framework to obtain an optimal data-driven model, the signal matrix model, in the presence of output noise. Data compression and noise-level estimation schemes are also proposed to apply the algorithm efficiently ...
• Event-Triggered Cost-Guaranteed Control for Linear Repetitive Processes Under Probabilistic Constraints AI翻译
  作者：Zhu, Kaiqun; Wang, Zidong; Chen, Yun; Wei, Guoliang
  作者单位：University of Shanghai for Science & Technology; Brunel University; Hangzhou Dianzi University; University of Shanghai for Science & Technology
  摘要：In this article, the event-triggered cost-guaranteed control problem is investigated for a class of shift-varying linear repetitive processes (LRPs) with multiplicative noises under probabilistic constraints. First, in order to relieve the communication burden and improve the communication efficiency, the event-triggered mechanism is exploited for the shift-varying LRPs over the communication network of limited bandwidth. By constructing a novel event generator function, the order of the event...
• Sampled-Data Extremum Seeking With Constant Delay: A Time-Delay Approach AI翻译
  作者：Zhu, Yang; Fridman, Emilia; Oliveira, Tiago Roux
  作者单位：Zhejiang University; Tel Aviv University; Universidade do Estado do Rio de Janeiro
  摘要：This article proposes a constructive method for sampled-data extremum seeking (ES) with square wave dithers and constant delays, by using two time-delay approaches: one to averaging and the other to sampled-data control. We consider gradient-based ES for static maps which are of quadratic forms. By transforming the ES system to the time-delay system, we have developed a stability analysis via a Lyapunov-Krasovskii method. We derive the practical stability conditions in terms of linear matrix i...
• On the Sensitivity of Linear Resource Sharing Problems to the Arrival of New Agents AI翻译
  作者：Falsone, Alessandro; Margellos, Kostas; Zizzo, Jacopo; Prandini, Maria; Garatti, Simone
  作者单位：Polytechnic University of Milan; University of Oxford
  摘要：We consider a multi-agent optimal resource sharing problem that is represented by a linear program. The amount of resource to be shared is fixed, and agents belong to a population that is characterized probabilistically so as to allow heterogeneity among the agents. In this article, we provide a characterization of the probability that the arrival of a new agent affects the resource share of other agents, which means that accommodating the new agent request at the detriment of the other agents...
• Discernibility of Topological Variations for Networked LTI Systems AI翻译
  作者：Hao, Yuqing; Wang, Qingyun; Duan, Zhisheng; Chen, Guanrong
  作者单位：Beihang University; Beihang University; Peking University; City University of Hong Kong
  摘要：In this article, the discernibility of topological variations for networked linear time-invariant (LTI) systems is investigated, where the network topology is general, and the nodes have identical higher dimensional dynamics. A necessary and sufficient condition on the discernibility is derived, revealing how the topological variations, node-system dynamics, and inner interactions altogether affect the discernibility of the network. Compared with the existing conditions in (Patil et al., 2019)...
• A Trisection Algorithm for Estimating Distance Measures for Strong Observability and Strong Detectability AI翻译
  作者：Falkensteiner, Roland; Seeber, Richard; Horn, Martin
  作者单位：Graz University of Technology; Graz University of Technology
  摘要：For reliably analyzing the properties of strong observability and strong detectability of a system, continuous distance measures can be used. When calculating these measures, it is necessary to find the global minimum of a nonconvex target function. The main contribution of this article is an optimization algorithm that guarantees to find this global minimum in a fast and efficient way by exploiting the special structure of the optimization problem. Using this optimization algorithm, the dista...
• Watermarking-Based Protection Strategy Against Stealthy Integrity Attack on Distributed State Estimation AI翻译
  作者：Zhou, Jiayu; Yang, Wen; Ding, Wenjie; Zheng, Wei Xing; Xu, Yong
  作者单位：East China University of Science & Technology; Western Sydney University; Guangdong University of Technology
  摘要：This article studies the security of distributed state estimation under data integrity attacks. Each sensor is equipped with a Kullback-Leibler (K-L) divergence detector to diagnose the authenticity of the received data. A necessary and sufficient condition for the insecurity of the distributed estimator is derived, in which the stealthy attack can evade the detector and degrade the estimation performance. Furthermore, an algorithm is proposed to generate stealthy attack sequences. To overcome...