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作者：Krishnamurthy, Vikram; Yin, George
作者单位：Cornell University; University of Connecticut
摘要：This article develops a novel passive stochastic gradient algorithm. In passive stochastic approximation, the stochastic gradient algorithm does not have control over the location where noisy gradients of the cost function are evaluated. Classical passive stochastic gradient algorithms use a kernel that approximates a Dirac delta to weigh the gradients based on how far they are evaluated from the desired point. In this article, we construct a multikernel passive stochastic gradient algorithm. ...
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作者：Wang, Miaomiao; Berkane, Soulaimane; Tayebi, Abdelhamid
作者单位：Western University (University of Western Ontario); University of Quebec; University Quebec Outaouais; Lakehead University
摘要：This article deals with the simultaneous estimation of the attitude, position, and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on SO(3) x R-15 relying on body-frame acceleration, angular velocity, and (stereo or monocular) bearing measurements of some landmarks that are constant and known in the inertial frame. Unlike the existing local Kalman-type observers, our proposed nonlinear observer guarantees almost global asymptotic stability and loca...
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作者：Zhang, Huaguang; Xi, Ruipeng; Wang, Yingchun; Sun, Shaoxin; Sun, Jiayue
作者单位：Northeastern University - China; Northeastern University - China; Chongqing University
摘要：Comparing with traditional stochastic differential equations involving white noise, random differential equations (RDEs) with colored noise are claimed to have more practical meaning. This article considers the event-triggered adaptive tracking control for RDE systems with coexisting parametric uncertainties and severe nonlinearities. Combining a tracking error-based dynamic gain with a relative threshold event triggered control mechanism, the tracking control problem for the random systems is...
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作者：Ovalle, Luis; Rios, Hector; Llama, Miguel; Fridman, Leonid
作者单位：Universidad Nacional Autonoma de Mexico; Consejo Nacional de Ciencia y Tecnologia (CONACyT)
摘要：This article presents a robust output-feedback control scheme for the stabilization of a class of nonlinear underactuated mechanical systems in the presence of coupled disturbances. The scheme is based on the so-called coupled sliding-mode control, i.e., no transformation into the normal form is required. The proposed output approach is composed of a super-twisting controller and a high-order sliding-mode observer that robustly stabilize the origin of the system asymptotically. All of the resu...
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作者：Paccagnan, Dario; Marden, Jason R.
作者单位：Imperial College London; University of California System; University of California Santa Barbara; University of California System; University of California Santa Barbara
摘要：A fundamental component of the game-theoretic approach to distributed control is the design of local utility functions. Relative to resource allocation problems that are additive over the resources, Part I showed how to design local utilities so as to maximize the associated performance guarantees (Paccagnan, et al., 2020), which we measure by the price of anarchy. The purpose of this article is to specialize these results to the case of submodular, covering, and supermodular problems. In all ...
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作者：Rosolia, Ugo; Zhang, Xiaojing; Borrelli, Francesco
作者单位：University of California System; University of California Berkeley; California Institute of Technology
摘要：In this article, a robust learning model-predictive controller (LMPC) for uncertain systems performing iterative tasks is presented. At each iteration of the control task, the closed-loop state, input, and cost are stored and used in the controller design. This article first illustrates how to construct robust control invariant sets and safe control policies exploiting historical data. Then, we propose an iterative LMPC design procedure, where data generated by a robust controller at iteration...
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作者：Gomez, Marco A.; Jungers, Raphael M.; Michiels, Wim
作者单位：Universidad de Guanajuato; Universite Catholique Louvain; KU Leuven
摘要：The H-2 norm of an exponentially stable system described by delay differential algebraic equations (DDAEs) might be infinite due to the existence of hidden feedthrough terms and, as shown in this article, it might become infinite as a result of infinitesimal changes to the delay parameters. We introduce the notion of strong H-2 norm of semi-explicit DDAEs, a robustified measure that considers delay perturbations, and we analyze its properties. We derive necessary and sufficient finiteness crit...
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作者：Redaud, Jeanne; Auriol, Jean; Niculescu, Silviu-Iulian
作者单位：Universite Paris Saclay; Centre National de la Recherche Scientifique (CNRS)
摘要：For most networked systems found in the literature, the actuated boundary is usually located at one end. In this article, we first consider the stabilization of a chain of two interconnected subsystems, actuated at the in-between boundary. Each subsystem corresponds to coupled hyperbolic partial differential equations. Such in-domain actuation leads to higher complexity, and represents a significant difference with existing results. Then, starting from a classical controllability condition, we...
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作者：Vanspranghe, Nicolas; Ferrante, Francesco; Prieur, Christophe
作者单位：University of Perugia; Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS)
摘要：This article deals with a one-dimensional (1-D) wave equation with a nonlinear dynamic boundary condition and a Neumann-type boundary control acting on the other extremity. We consider a class of nonlinear stabilizing feedbacks that only depend on the velocity at the controlled extremity. The uncontrolled boundary is subject to a nonlinear first-order term, which may represent nonlinear boundary antidamping. Initial data are taken in the optimal energy space associated with the problem. Expone...
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作者：Zhou, Tong
作者单位：Tsinghua University
摘要：Requirements on subsystems have been made clear in this article for a linear time invariant networked dynamic system (NDS), under which subsystem interconnections can be estimated from external output measurements. In this NDS, subsystems may have distinctive dynamics, and subsystem interconnections are arbitrary. It is assumed that system matrices of each subsystem depend on its (pseudo) first principle parameters (FPP) through a linear fractional transformation. It has been proven that if in...
