8期

最新文章

• Bounded Estimation Over Finite-State Channels: Relating Topological Entropy and Zero-Error Capacity AI翻译
  作者：Saberi, Amir; Farokhi, Farhad; Nair, Girish N.
  作者单位：University of Melbourne
  摘要：We investigate state estimation of linear systems over channels having a finite state not known by the transmitter or receiver. We show that similar to memoryless channels, zero-error capacity is the right figure of merit for achieving bounded estimation errors. We then consider finite-state, worst-case versions of the common erasure, and additive noise channels models, in which the noise is governed by a finite-state machine without any statistical structure. Upper and lower bounds on their z...
• Statistical Similarity Measure-Based Adaptive Outlier-Robust State Estimator With Applications AI翻译
  作者：Bai, Mingming; Huang, Yulong; Zhang, Yonggang; Chambers, Jonathon
  作者单位：Harbin Engineering University; University of Leicester
  摘要：This article presents an adaptive outlier-robust state estimator (AORSE) under the statistical similarity measures (SSMs) framework. Two SSMs are first proposed to evaluate the similarities between a pair of positive definite random matrices and between a pair of weighted random vectors, respectively. The AORSE is developed by maximizing a hybrid SSMs based cost function, wherein the posterior density function of the hidden state is assumed as a Gaussian distribution with the posterior covaria...
• Asynchronous Output Feedback Control of Hidden Semi-Markov Jump Systems With Random Mode-Dependent Delays AI翻译
  作者：Tian, Yongxiao; Yan, Huaicheng; Zhang, Hao; Cheng, Jun; Shen, Hao
  作者单位：East China University of Science & Technology; Chengdu University; Tongji University; Guangxi Normal University; Anhui University of Technology
  摘要：This article is concerned with the problem of output feedback control for a class of continuous-time hidden semi-Markov jump systems with time delays. Due to the limitations of the actual environment, system modes are usually undetectable, which are called hidden modes. The controller modes are described as observable modes. Emission probabilities are used to establish the relationship between abovementioned two concepts. The jump parameters are governed by the hidden semi-Markov process, whic...
• Linear Convergence of First- and Zeroth-Order Primal-Dual Algorithms for Distributed Nonconvex Optimization AI翻译
  作者：Yi, Xinlei; Zhang, Shengjun; Yang, Tao; Chai, Tianyou; Johansson, Karl H.
  作者单位：Royal Institute of Technology; University of North Texas System; University of North Texas Denton; Northeastern University - China
  摘要：This article considers the distributed nonconvex optimization problem of minimizing a global cost function formed by a sum of local cost functions by using local information exchange. We first consider a distributed first-order primal-dual algorithm. We show that it converges sublinearly to a stationary point if each local cost function is smooth and linearly to a global optimum under an additional condition that the global cost function satisfies the Polyak-Lojasiewicz condition. This conditi...
• Stability Analysis of Gradient-Based Distributed Formation Control With Heterogeneous Sensing Mechanism: The Three Robot Case AI翻译
  作者：Chan, Nelson P. K.; Jayawardhana, Bayu; de Marina, Hector Garcia
  作者单位：Delft University of Technology; University of Groningen; University of Granada
  摘要：This article focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses a heterogeneous sensing mechanism. For the setups consisting of three robots, we show that the use of heterogeneous gradient-based control laws can give rise to undesired invariant sets where a distorted formation shape is possibly moving at a constant velocity. We guarantee local asymptotic stability for the correct and desired formation shape. For the setup with one distance and...
• Transporting Robotic Swarms Via Mean-Field Feedback Control AI翻译
  作者：Zheng, Tongjia; Han, Qing; Lin, Hai
  作者单位：University of Notre Dame; University of Notre Dame
  摘要：With the rapid development of Artificial Intelligence (AI) and robotics, deploying a large swarm of networked robots has foreseeable applications in the near future. Existing research in swarm robotics has mainly followed a bottom-up philosophy with predefined local coordination and control rules. However, it is arduous to verify the global requirements and analyze their performance. This motivates us to pursue a top-down approach, and develop a provable control strategy for transporting a rob...
• A Note on Order and Index Reduction for Descriptor Systems AI翻译
  作者：Corless, Martin J.; Shorten, Robert N.
  作者单位：Purdue University System; Purdue University; Imperial College London; University College Dublin
  摘要：We present order reduction results for linear time invariant descriptor systems. Results are given for both forced and unforced systems as well methods for constructing the reduced order systems. Our results establish a precise connection between classical and new results on this topic, and lead to an elementary construction of quasi-Weierstrass forms for a descriptor system. Examples are given to illustrate the usefulness of our results.
• Resilient Control Under Quantization and Denial-of-Service: Codesigning a Deadbeat Controller and Transmission Protocol AI翻译
  作者：Liu, Wenjie; Sun, Jian; Wang, Gang; Bullo, Francesco; Chen, Jie
  作者单位：Beijing Institute of Technology; Beijing Institute of Technology; University of California System; University of California Santa Barbara; University of California System; University of California Santa Barbara; Tongji University
  摘要：This article is concerned with the problem of stabilizing continuous-time linear time-invariant (LTI) systems subject to quantization and denial-of-service (DoS) attacks. In this context, two DoS-induced challenges emerge in the design of resilient encoding schemes, namely, the coupling between encoding strategies of different signals, and the synchronization between the encoder and decoder. These challenges are addressed by a novel proposed structure based on a deadbeat controller as well as ...
• Distributed Gradient Flow: Nonsmoothness, Nonconvexity, and Saddle Point Evasion AI翻译
  作者：Swenson, Brian; Murray, Ryan; Poor, H. Vincent; Kar, Soummya
  作者单位：Pennsylvania Commonwealth System of Higher Education (PCSHE); Pennsylvania State University; Pennsylvania State University - University Park; North Carolina State University; Princeton University; Carnegie Mellon University
  摘要：The article considers distributed gradient flow (DGF) for multiagent nonconvex optimization. DGF is a continuous-time approximation of distributed gradient descent that is often easier to study than its discrete-time counterpart. The article has two main contributions. First, the article considers optimization of nonsmooth, nonconvex objective functions. It is shown that DGF converges to critical points in this setting. The article then considers the problem of avoiding saddle points. It is sh...
• On the Analysis of Inexact Augmented Lagrangian Schemes for Misspecified Conic Convex Programs AI翻译
  作者：Aybat, Necdet Serhat; Ahmadi, Hesam; Shanbhag, Uday V.
  作者单位：Pennsylvania Commonwealth System of Higher Education (PCSHE); Pennsylvania State University; Pennsylvania State University - University Park
  摘要：In this article, we consider the misspecified optimization problem of minimizing a convex function f(x; theta*) in x over a conic constraint set represented by h(x; theta*) is an element of K, where theta* is an unknown (or misspecified) vector of parameters, K is a closed convex cone, and h is affine in x. Suppose that theta* is unavailable but may be learnt by a separate process that generates a sequence of estimators theta(k), each of which is an increasingly accurate approximation of theta...