2022

最新文章

• Reactive and Risk-Aware Control for Signal Temporal Logic AI翻译
  作者：Lindemann, Lars; Pappas, George J.; Dimarogonas, Dimos, V
  作者单位：University of Pennsylvania; Royal Institute of Technology
  摘要：The deployment of autonomous systems in uncertain and dynamic environments has raised fundamental questions. Addressing these is pivotal to build fully autonomous systems and requires a systematic integration of planning and control. We first propose reactive risk signal interval temporal logic (ReRiSITL) as an extension of signal temporal logic (STL) to formulate complex spatiotemporal specifications. Unlike STL, ReRiSITL allows to consider uncontrollable propositions that may model humans as...
• Event-Triggered Tracking Control of Networked Multiagent Systems AI翻译
  作者：Ren, Wei; Dimarogonas, Dimos, V
  作者单位：Universite Catholique Louvain; Royal Institute of Technology
  摘要：This article studies the tracking control problem of networked multiagent systems under both multiple networks and event-triggered mechanisms. Multiple networks are to connect multiple agents and reference systems with decentralized controllers to guarantee their information transmission, whereas the event-triggered mechanisms are to reduce the information transmission via the networks. In this article, each agent has a network to communicate with its controller and reference system, and all n...
• A Direct Parameter-Error Codesign Approach of Discrete-Time Saturated LPV Systems AI翻译
  作者：de Souza, Carla; Leite, Valter J. S.; Tarbouriech, Sophie; Castelan, Eugenio B.; Silva, Luis F. P.
  作者单位：Universidade Federal de Santa Catarina (UFSC); Universite de Toulouse; Centre National de la Recherche Scientifique (CNRS)
  摘要：Considering a discrete-time linear parameter-varying systems with input constraints, this article deals with the codesign of a parameter-dependent state-feedback controller and a new parameter-dependent event-triggering mechanism. Two independent event-triggering policies are introduced at the sensor node to economize the limited network resources. They indicate whether the current state or the current scheduling parameters should be transmitted to the controller or not. In this sense, the con...
• An Adaptive Control Framework for Underactuated Switched Euler-Lagrange Systems AI翻译
  作者：Roy, Spandan; Baldi, Simone; Ioannou, Petros A.
  作者单位：International Institute of Information Technology Hyderabad; Delft University of Technology; Southeast University - China; University of Southern California
  摘要：The control of underactuated Euler-Lagrange systems with uncertain and switched parameters is an important problem whose solution has many applications. The problem is challenging as standard adaptive control techniques do not extend to this class of systems due to structural constraints that lead to parameterization difficulties. This note proposes an adaptive switched control framework that handles the uncertainty and switched dynamics without imposing structural constraints. A case study in...
• Mean-Field Game for Collective Decision-Making in Honeybees via Switched Systems AI翻译
  作者：Stella, Leonardo; Bauso, Dario; Colaneri, Patrizio
  作者单位：University of Derby; University of Groningen; University of Palermo; Polytechnic University of Milan; Consiglio Nazionale delle Ricerche (CNR); Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni (IEIIT-CNR)
  摘要：In this article, we study the optimal control problem arising from the mean-field game formulation of the collective decision-making in honeybee swarms. A population of homogeneous players (the honeybees) has to reach consensus on one of two options. We consider three states: the first two represent the available options (or strategies), and the third one represents the uncommitted state. We formulate the continuous-time discrete-state mean-field game model. The contributions of this article a...
• Distributionally Robust Chance Constrained Data-Enabled Predictive Control AI翻译
  作者：Coulson, Jeremy; Lygeros, John; Dorfler, Florian
  作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich
  摘要：In this article we study the problem of finite-time constrained optimal control of unknown stochastic linear time-invariant (LTI) systems, which is the key ingredient of a predictive control algorithm-albeit typically having access to a model. We propose a novel distributionally robust data-enabled predictive control (DeePC) algorithm which uses noise-corrupted input/output data to predict future trajectories and compute optimal control inputs while satisfying output chance constraints. The al...
• Learning Koopman Eigenfunctions and Invariant Subspaces From Data: Symmetric Subspace Decomposition AI翻译
  作者：Haseli, Masih; Cortes, Jorge
  作者单位：University of California System; University of California San Diego
  摘要：This article develops data-driven methods to identify eigenfunctions of the Koopman operator associated with a dynamical system and subspaces that are invariant under the operator. We build on Extended Dynamic Mode Decomposition (EDMD), a data-driven method that finds a finite-dimensional approximation of the Koopman operator on the span of a predefined dictionary of functions. We propose a necessary and sufficient condition to identify Koopman eigenfunctions based on the application of EDMD f...
• Fault-Tolerant Consensus Control for Multiagent Systems: An Encryption-Decryption Scheme AI翻译
  作者：Gao, Chen; Wang, Zidong; He, Xiao; Dong, Hongli
  作者单位：Tsinghua University; Brunel University; Northeast Petroleum University; Northeast Petroleum University
  摘要：In this article, the fault-tolerant consensus control problem is investigated for multiagent systems with sensor faults. A first-order difference equation is utilized to describe the sensor fault, and an observer is designed to estimate the state and the fault simultaneously. For security enhancement and/or congestion mitigation purposes, the estimated state is first encrypted into a series of finite-level codewords by an encryption algorithm and, then, transmitted to other agents through a di...
• Stability and Stabilization of Aperiodic Sampled-Data Systems Subject to Control Input Saturation: A Set Invariant Approach AI翻译
  作者：Huff, Daniel Denardi; Fiacchini, Mirko; da Silva, Joao Manoel Gomes
  作者单位：Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS); Universidade Federal do Rio Grande do Sul; Universidade Federal do Rio Grande do Sul
  摘要：This article proposes a new method to deal with the stability analysis and stabilization of aperiodic sampled-data control systems subject to input saturation. An impulsive system representation is employed, with a linear flow and a nonlinear jump dynamics, such that the evolution of the system at the sampling instants can be modeled by a difference inclusion defined by two set-valued maps. We show that to ensure the asymptotic stability it is sufficient to verify that a Lyapunov function decr...
• Robust Adaptive Control Allocation for a Class of Cascade ODE-String Systems With Actuator Failures AI翻译
  作者：Xing, Xueyan; Liu, Jinkun
  作者单位：Beihang University
  摘要：A robust adaptive control allocation algorithm with actuator failure compensation is presented in this article for a class of cascade ODE-string systems depicted by ordinary differential equations (ODEs) and partial differential equations. The proposed control scheme including actuator fault compensation and allocation algorithm uniformly stabilizes the cascade ODE-string system in the presence of actuator faults, parameter uncertainties and environmental perturbations, and effectively reduces...