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作者：Zhao, Kai; Song, Yongduan; Chen, C. L. Philip; Chen, Long
作者单位：Chongqing University; University of Macau
摘要：This article presents a global adaptive asymptotic tracking control method, capable of guaranteeing prescribed transient behavior for uncertain strict-feedback nonlinear systems with arbitrary relative degree and unknown control directions. Unlike most existing funnel controls that are built upon time-varying feedback gains, the proposed method is derived from a tracking error-dependent normalized function and a barrier function, together with a time-varying scaling transformation, leading to ...
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作者：Benner, Peter; Goyal, Pawan; Duff, Igor Pontes
作者单位：Max Planck Society; Otto von Guericke University
摘要：In this article, we investigate a balancing-based model order reduction method for dynamical systems with a linear dynamical equation and a quadratic output function. With this aim, we propose a new algebraic observability Gramian for the system based on the Hilbert space adjoint theory. We then show that the proposed Gramian satisfies a particular type of generalized Lyapunov equation and we investigate its connection to energy functionals. It allows one to find states that are hard to contro...
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作者：Shahab, Mohamad T.; Miller, Daniel E.
作者单位：University of Waterloo; King Abdullah University of Science & Technology
摘要：In this article, we consider the problem of tracking for a discrete-time plant with unknown plant parameters; we assume knowledge of an upper bound on the plant order, and for each admissible order we assume knowledge of a compact set in which the plant parameters lie. We carry out parameter estimation of an associated auxiliary model; indeed, for each admissible dimension, we cover the set of admissible parameters by a finite number of compact and convex sets and use an original-projection-al...
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作者：An, Liwei; Yang, Guang-Hong
作者单位：Northeastern University - China; Northeastern University - China
摘要：This article studies the problem of distributed optimal coordination (DOC) for heterogeneous linear multiagent systems. Compared with the existing results where the structure constraints on local gradients or system matrices are required, the considered DOC framework is sufficiently general in the sense that no extra assumption is required except for the convexity/differentiability of local objective functions and the controllability/observability of linear systems. A necessary and sufficient ...
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作者：Chapman, Margaret P.; Bonalli, Riccardo; Smith, Kevin M.; Yang, Insoon; Pavone, Marco; Tomlin, Claire J.
作者单位：University of Toronto; Centre National de la Recherche Scientifique (CNRS); Universite Paris Saclay; Tufts University; Seoul National University (SNU); Stanford University; University of California System; University of California Berkeley
摘要：This article develops a safetyanalysis method for stochastic systems that is sensitive to the possibility and severity of rare harmful outcomes. We define risk-sensitive safe sets as sublevel sets of the solution to a nonstandard optimal control problem, where a random maximum cost is assessed via Conditional Value-at-Risk (CVaR). The objective function represents the maximum extent of constraint violation of the state trajectory, averaged over a given percentage of worst cases. This problem i...
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作者：Liu, Wenhui; Ma, Qian; Xu, Shengyuan; Zhang, Zhengqiang
作者单位：Nanjing Normal University; Nanjing University of Science & Technology; Qufu Normal University
摘要：The current article proposes a novel output feedback event-triggered control scheme for nonlinear systems considering state quantization. First, we construct a state observer to track the unavailable system states. Second, a dynamic event-triggered and quantized mechanism is constructed to handle the state sampling and quantization. By designing the event-triggered mechanism to sample the system state, and using the quantizer to filtrate the sampled signals, the wasted resources in the data ch...
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作者：Gershon, Eli; Shaked, Uri
作者单位：Tel Aviv University
摘要：In this article, a descriptor method is introduced for designing static output-feedback controllers for linear, continuous-time, retarded, stochastic systems that achieves a prescribed H-infinity performance. A design solution is obtained for the uncertain case, where the parameters of the system matrices reside in a given polytope. The latter solution enables the derivation of the required constant output gain by solving a set of linear matrix inequalities that correspond to the vertices of t...
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作者：Liu, Zhongchang; Wong, Wing Shing
作者单位：Dalian Maritime University; Chinese University of Hong Kong
摘要：Group consensus implies reaching multiple groups where agents belonging to the same cluster reach state consensus. This article focuses on linear multiagent systems under nonnegative directed graphs. A new necessary and sufficient condition for ensuring group consensus is derived, which requires the spanning forest of the underlying directed graph and that of its quotient graph induced with respect to a clustering partition to contain equal minimum number of directed trees. This condition is f...
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作者：Savas, Yagiz; Gupta, Vijay; Topcu, Ufuk
作者单位：University of Texas System; University of Texas Austin; University of Notre Dame
摘要：In many scenarios, a principal dynamically interacts with an agent and offers a sequence of incentives to align the agent's behavior with a desired objective. This article focuses on the problem of synthesizing an incentive sequence that, once offered, induces the desired agent behavior even when the agent's intrinsic motivation is unknown to the principal. We model the agent's behavior as a Markov decision process, express its intrinsic motivation as a reward function, which belongs to a fini...
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作者：Wang, Yifan; Zhao, Qianchuan; Wang, Xuetao
作者单位：Tsinghua University; Tsinghua University
摘要：This article considers the distributed resource allocation problem over a network of n agents with individual optimization functions and coupled resource constraints. The optimization variables are bounded for each agent. We propose an asynchronous distributed gradient descent based method, which is able to tackle time-varying communication networks and communication problems. The main ideas are twofold. First, the degree of freedom of the network is reduced to deal with the global constraint....
