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作者：Martinelli, Agostino
摘要：This article provides an extension of the observability rank condition to time-varying nonlinear systems. Previous conditions to check the state observability only hold for nonlinear systems that do not explicitly depend on time, or, for time-varying systems, they only account for the linear case. In this article, a general analytic condition is provided. The new condition reduces to the well-known observability rank condition in the two simpler cases of time-varying linear systems and time-in...
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作者：Bouvier, Jean-Baptiste; Ornik, Melkior
作者单位：University of Illinois System; University of Illinois Urbana-Champaign
摘要：Critical systems must be designed resilient to malfunctions and especially to a loss of control authority over actuators. This malfunction considers actuators producing uncontrolled and possibly undesirable outputs. We investigate the design of resilient linear systems capable of reaching their target even after such a malfunction. In contrast with the settings considered by robust control and fault-tolerant control, we consider undesirable but observable inputs of the same magnitude as contro...
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作者：Berberich, Julian; Koehler, Johannes; Mueller, Matthias 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 article, we develop a tracking model predictive control (MPC) scheme for nonlinear systems using the linearized dynamics at the current state as a prediction model. Under reasonable assumptions on the linearized dynamics, we prove that the proposed MPC scheme exponentially stabilizes the optimal reachable equilibrium w.r.t. a desired target setpoint. Our theoretical results rely on the fact that, close to the steady-state manifold, the prediction error of the linearization is small, an...
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作者：Berberich, Julian; Koehler, Johannes; Mueller, Matthias 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 article, we present a novel data-driven model predictive control (MPC) approach to control unknown nonlinear systems using only measured input-output data with closed-loop stability guarantees. Our scheme relies on the data-driven system parameterization provided by the fundamental lemma of Willems et al. We use new input-output measurements online to update the data, exploiting local linear approximations of the underlying system. We prove that our MPC scheme, which only requires solv...
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作者：Mo, Yanfang; Chen, Wei; Khong, Sei Zhen; Qiu, Li
作者单位：City University of Hong Kong; Peking University; Peking University; Hong Kong University of Science & Technology
摘要：Indivisible resource allocation motivates us to study the matrix completion concerning the class of (0,1)-matrices with prescribed row/column sums and preassigned zeros. We illustrate and generalize the (0,1)-matrix completion in the following two scenarios: a demand-response application involving nonnegative integer matrices with different bounds across rows and an edge caching matching problem allowing row and column sums to vary within separately designated bounds. The applications require ...
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作者：Pasandi, Venus; Sadeghian, Hamid; Keshmiri, Mehdi; Pucci, Daniele
作者单位：Istituto Italiano di Tecnologia - IIT; Isfahan University of Technology; Technical University of Munich
摘要：Cyclic motions are fundamental patterns in robotic applications, including industrial manipulation and robot locomotion. This article proposes an approach for the online modulation of cyclic motions in robotic applications. For this purpose, we present an integrated programmable central pattern generator (CPG) for the online generation of the reference joint trajectory of a robotic system out of a library of desired periodic motions. The reference trajectory is then followed by the lower level...
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作者：Qais, Imrul; Pal, Debasattam
作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Bombay
摘要：In this article, we deal with the continuous-time singular linear quadratic regulator (LQR) problems, which give rise to nonautonomous Hamiltonian systems. This case arises when the system's transfer function matrix is not left-invertible. A special case of this problem can be solved using the constrained generalized continuous algebraic Riccati equation (CGCARE), when a certain condition on the input-cardinality of the Hamiltonian is satisfied. However, this condition is only a special case a...
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作者：Jahandari, Sina; Materassi, Donatello
作者单位：University of Minnesota System; University of Minnesota Twin Cities
摘要：This article presents a systematic algorithm to select a set of auxiliary measurements in order to consistently identify certain transfer functions in a dynamic network from observational data. The selection of the auxiliary measurements is obtained by minimizing an appropriate cost function. It is assumed that the topology of the network is known, the forcing inputs are not measured, and the observations have positive additive costs. It is shown that sufficient and necessary conditions for co...
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作者：Lu, Maobin
作者单位：Beijing Institute of Technology; Beijing Institute of Technology
摘要：The discrete distributed observer is developed recently to solve the cooperative output regulation problem. The validation of the existing discrete distributed observer depends on the establishment of the communication network. In some practical applications, only the sensor network can be established among all agents. To handle such cases, we propose a sensory feedback-based discrete distributed observer, which depends on the relative output of neighboring agents. In contrast to existing resu...
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作者：Wang, Weixin; Gamagedara, Kanishke; Lee, Taeyoung
作者单位：George Washington University
摘要：The attitude of a rigid body evolves on the three-dimensional (3-D) special orthogonal group, and it is often estimated by measuring reference directions, such as gravity or magnetic field, using onboard sensors. As a single direction measurement provides a 2-D constraint, it has been widely accepted that at least two nonparallel reference directions should be measured, or the reference direction should change over time, to determine the attitude completely. This article uncovers an intriguing...
