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作者：Arnstrom, Daniel; Bemporad, Alberto; Axehill, Daniel
作者单位：Linkoping University; IMT School for Advanced Studies Lucca
摘要：In this technical article, we present a dual active-set solver for quadratic programming that has properties suitable for use in embedded model predictive control applications. In particular, the solver is efficient, can easily be warm started, and is simple to code. Moreover, the exact worst-case computational complexity of the solver can be determined offline and, by using outer proximal-point iterations, ill-conditioned problems can be handled in a robust manner.
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作者：Cruz-Ancona, Christopher D.; Estrada, Manuel A.; Fridman, Leonid
作者单位：Universidad Nacional Autonoma de Mexico
摘要：The problem of an adaptive Lyapunov redesign is revisited for a class of systems without a priori knowledge of the function majoring nonlinear uncertainties and disturbances. An adaptive barrier function-based gain for unit control is proposed, ensuring an arbitrary a priori predefined uniform ultimate bound for solutions despite the presence of uncertainties and disturbances. The usage of positive semi-definite barrier function generates a continuous control signal adjusting the chattering, w...
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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...
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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...
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作者：Sjoberg, Alexander Meyer; Egeland, Olav
作者单位：Norwegian University of Science & Technology (NTNU)
摘要：An unscented Kalman filter (UKF) for matrix Lie groups is proposed where the time propagation of the state is formulated on the Lie algebra. This is done with the kinematic differential equation of the logarithm, where the inverse of the right Jacobian is used. The sigma points can then be expressed as logarithms in vector form, and time propagation of the sigma points and the computation of the mean and the covariance can be done on the Lie algebra. The resulting formulation is to a large ext...
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作者：Zhu, Shiyong; Lu, Jianquan; Zhong, Jie; Liu, Yang; Cao, Jinde
作者单位：Zhejiang Normal University; Southeast University - China; Southeast University - China; Purple Mountain Laboratories; Yonsei University
摘要：In this article, a set of sensors is constructed via the pinning observability approach with the help of observability criteria given in [1] and [2], in order to make the given Boolean network (BN) be observable. Given the assumption that system states can be accessible, an efficient pinning control scheme is developed to generate an observable BN by adjusting the network structure rather than just to check system observability. Accordingly, the sensors are constructed, of which the form is co...
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作者：Li, Huaqing; Wu, Xiangzhao; Wang, Zheng; Huang, Tingwen
作者单位：Southwest University - China; University of New South Wales Sydney; Qatar Foundation (QF); Texas A&M University Qatar
摘要：This article considers the distributed structured optimization problem of collaboratively minimizing the global objective function composed of the sum of local cost functions. Each local objective function involves a Lipschitz-differentiable convex function, a nonsmooth convex function, and a linear composite nonsmooth convex function. For such problems, we derive the synchronous distributed primal-dual splitting (S-DPDS) algorithm with uncoordinated stepsizes. Meanwhile, we develop the asynch...
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作者：Qin, Jiahu; Ma, Qichao; Yi, Peng; Wang, Long
作者单位：Chinese Academy of Sciences; University of Science & Technology of China, CAS; Tongji University; Tongji University; Peking University
摘要：In this article, we investigate the interval consensus for a network of agents with flocking dynamics, i.e., second-order multiagent systems, where each agent imposes an interval constraint on its preferred consensus values, with the aim of driving the agent into a favorable interval. Specifically, we work on two different frameworks of interval constraints, viz., the first one that the node states are constrained in their own constraint intervals and the second one that the node states are co...
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作者：Shi, Mingming
作者单位：Universite Catholique Louvain
摘要：This article focuses on the distributed estimation of time-varying bias signals in relative state measurements of sensors, where each sensor measures the relative state of neighboring sensors and the measurements contain a time-varying bias signal that is generated from a linear exo-systems. Assume that sensors can communicate with others, we propose several distributed bias estimators, by which each sensor can reconstruct its own bias signal and the exo-system's state using local information.
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作者：He, Xin; Hu, Rong; Fang, Ya-Ping
作者单位：Sichuan University; Chengdu University of Information Technology
摘要：Second-order dynamical systems are important tools for solving optimization problems, and most of the existing works in this field have focused on unconstrained optimization problems. In this article, we propose an inertial primal-dual dynamical system with constant viscous damping and time scaling for the linear equality constrained convex optimization problem, which consists of a second-order ordinary differential equation (ODE) for the primal variable and a first-order ODE for the dual vari...
