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作者：Huang, Lingying; Wu, Junfeng; Mo, Yilin; Shi, Ling
作者单位：The Chinese University of Hong Kong, Shenzhen; Zhejiang University; Tsinghua University
摘要：We consider the problem of sensor and actuator (SaA) placement to minimize an infinite-horizon linear quadratic Gaussian (LQG) cost for a discrete-time Gauss-Markov system. Due to financial, topology, and bandwidth limitations, only a subset of SaAs can be selected for placement. Different from existing literature, which successively iterates partial selection to reach a suboptimal solution, this article focuses on a joint placement and encounters fundamental difficulty in the sense that joint...
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作者：Menini, Laura; Possieri, Corrado; Tornambe, Antonio
作者单位：University of Rome Tor Vergata; Consiglio Nazionale delle Ricerche (CNR); Istituto di Analisi dei Sistemi ed Informatica Antonio Ruberti (IASI-CNR)
摘要：The goal of this article is to show that the observation scheme recently proposed for linear systems by Menini et al. in 2019, achieving good performance in the presence of a high-frequency measurement disturbance, can be adapted to be used for nonlinear autonomous systems. The design is based on the use of the time-integrals of the measured output and requires the availability of a state observer able to provide a rough estimate of the state; the proposed scheme can be then understood as an o...
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作者：Wabersich, Kim J.; Hewing, Lukas; Carron, Andrea; Zeilinger, Melanie N.
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich
摘要：Reinforcement learning (RL) methods have demonstrated their efficiency in simulation. However, many of the applications for which RL offers great potential, such as autonomous driving, are also safety critical and require a certified closed-loop behavior in order to meet the safety specifications in the presence of physical constraints. This article introduces a concept called probabilistic model predictive safety certification (PMPSC), which can be combined with any RL algorithm and provides ...
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作者：Agarwal, Etika; Sivaranjani, S.; Song, Yang; Gupta, Vijay; Antsaklis, Panos
作者单位：Purdue University System; Purdue University; Shanghai University; Purdue University System; Purdue University; University of Notre Dame
摘要：In the article entitled Distributed synthesis of local controllers for networked systems with arbitrary interconnection topologies published in the IEEE Transactions on Automatic Control, vol. 66, pp. 683-698, 2021, there were some missing terms in Lemma 1 and the definition of the messenger matrices. Here, we include these terms and suitably modify the corresponding proofs. Note that all the main claims of the original article, including distributed analysis, distributed synthesis, and compo...
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作者：Beckers, Thomas; Hirche, Sandra
作者单位：University of Pennsylvania; Technical University of Munich
摘要：The modeling and simulation of dynamical systems is a necessary step for many control approaches. Using classical, parameter-based techniques for modeling of modern systems, e.g., soft robotics or human-robot interaction, are often challenging or even infeasible due to the complexity of the system dynamics. In contrast, data-driven approaches need only a minimum of prior knowledge and scale with the complexity of the system. In particular, Gaussian process dynamical models (GPDMs) provide very...
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作者：Woodford, Nathaniel T.; Harris, Matthew W.
作者单位：Utah System of Higher Education; Utah State University
摘要：This article considers minimum time optimal control problems with linear dynamics subject to state equality constraints and control inequality constraints. In the absence of state constraints, there are well-known sufficient conditions to guarantee that optimal controls are at the boundary or extreme points of the control set. With strong observability as the key tool, analogous conditions are derived for problems subject to both extrinsic and intrinsic state constraints. Understanding these g...
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作者：Kawano, Yu
作者单位：Hiroshima University
摘要：In this article, we aim at developing computationally tractable methods for nonlinear model/controller reduction. Recently, model reduction by generalized differential (GD) balancing has been proposed for nonlinear systems with constant input-vector fields and linear output functions. First, we study incremental properties in the GD balancing framework. Next, based on these analyses, we provide GD linear quadratic Gaussian (LQG) balancing and GD H-infinity-balancing as controller reduction met...
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作者：Vargas, Alessandro N.; Agulhari, Cristiano M.; Oliveira, Ricardo C. L. F.; Preciado, Victor M.
作者单位：Universidade Tecnologica Federal do Parana; Universidade Estadual de Campinas; University of Pennsylvania
摘要：This article presents conditions to assure the mean-square stability of linear parameter-varying systems with Markov jumps. The model dynamics are driven not only by a Markov chain but also by time-varying parameters that take values in a polytopic set. No assumption is imposed on how the parameters vary within the polytopic set, i.e., the variation rate can be arbitrarily fast. The proposed conditions stem from a homogeneous polynomial Lyapunov function in the state space, adapted to account ...
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作者：Biswal, Shiba; Elamvazhuthi, Karthik; Berman, Spring
作者单位：University of California System; University of California Los Angeles; Arizona State University; Arizona State University-Tempe
摘要：In this article, we stabilize a discrete-time Markov process evolving on a compact subset of Rd to an arbitrary target distribution that has an L-infinity(.) density and does not necessarily have a connected support on the state space. We address this problem by stabilizing the corresponding Kolmogorov forward equation, the mean-field model of the system, using a density-dependent transition Kernel as the control parameter. Our main application of interest is controlling the distribution of a ...
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作者：Blin, Ncolas; Riedinger, Pierre; Daafouz, Jamal; Grimaud, Louis; Feyel, Philippe
作者单位：Universite de Lorraine; Safran S.A.; Safran S.A.
摘要：In this article, we revisit the concepts and tools of harmonic analysis and control and provide a rigorous mathematical answer to the following question: When does an harmonic control have a representative in the time domain? By representative we mean a control in the time domain that leads by sliding Fourier decomposition to exactly the same harmonic control. Harmonic controls that do not have such representatives lead to erroneous results in practice. The main results of this article are: A ...
