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作者：Artola, Marc; Wynn, Andrew; Palacios, Rafael
作者单位：Imperial College London
摘要：In this article a novel nonlinear model predictive control (NMPC) scheme is derived, which is tailored to the underlying structure of the intrinsic description of geometrically exact nonlinear beams (in which velocities and strains are primary variables). This is an important class of partial differential equation (PDE) models whose behavior is fundamental to the performance of flexible structural systems (e.g., wind turbines, high-altitude long-endurance aircraft). Furthermore, this class con...
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作者：Ding, Chao; Wei, Ruixuan
作者单位：Air Force Engineering University; Air Force Engineering University
摘要：This article proposes a low-complexity control design for a class of nonlinear systems in p-normal form whose control directions are completely unknown. The novel contributions, as opposed to the state-of-the-art, of this study lie in the following twofold: to relax the conditional inequality regarding the derivative of Lyapunov function, a novel Nussbaum function with changing frequency is constructed, based on which an improved Nussbaum gain technical lemma is first designed such that closed...
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作者：Medvedev, Alexander V.; Bro, Viktor; Ushirobira, Rosane
作者单位：Uppsala University; Centre National de la Recherche Scientifique (CNRS); CNRS - Institute for Information Sciences & Technologies (INS2I); Universite de Lille; Centrale Lille; Inria
摘要：This article provides the formulas connecting the Laguerre spectrum of the output signal of a linear discrete-time time-invariant delay system to the Laguerre spectrum of its input signal. The Laguerre-domain system representation is meaningful when the input signal is square summable, and the system is stable. A certain type of polynomials arising in the evaluation of the output spectrum due to the presence of time delay is defined, and key properties of these are investigated. The polynomial...
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作者：Pillonetto, Gianluigi; Scampicchio, Anna
作者单位：University of Padua; Swiss Federal Institutes of Technology Domain; ETH Zurich
摘要：Recent studies have shown how regularization may play an important role in linear system identification. An effective approach consists of searching for the impulse response in a high-dimensional space, e.g., a reproducing kernel Hilbert space (RKHS). Complexity is then controlled using a regularizer, e.g., the RKHS norm, able to encode smoothness and stability information. Examples are RKHSs induced by the so-called stable spline or tuned-correlated kernels, which contain a parameter that reg...
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作者：Rastgoftar, Hossein; Atkins, Ella M.; Kolmanovsky, Ilya
作者单位：University of Arizona; University of Michigan System; University of Michigan
摘要：The continuum deformation leader-follower cooperative control strategy models vehicles in a multiagent system as particles of a deformable body. A desired continuum deformation is defined based on leaders' trajectories and acquired by followers in real time through local communication. The existing continuum deformation theory requires followers to be placed inside the convex simplex defined by leaders. This constraint is relaxed in this article. We prove that, under suitable assumptions. any ...
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作者：Wang, Weixin; Lee, Taeyoung
作者单位：George Washington University
摘要：In this article, a new probability distribution, referred to as the matrix Fisher-Gaussian distribution, is proposed on the product manifold of three-dimensional special orthogonal group and Euclidean space. It is constructed by conditioning a multivariate Gaussian distribution from the ambient Euclidean space into the manifold, while imposing a certain geometric constraint on the correlation term to avoid over parameterization. The unique feature is that it may represent large uncertainties i...
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作者：Cong, Yirui; Wang, Xiangke; Zhou, Xiangyun
作者单位：National University of Defense Technology - China; Australian National University
摘要：Set-membership filter (SMF) has been extensively studied for state estimation in the presence of bounded noises with unknown statistics. Since it was first introduced in the 1960s, the studies on SMF have used the set-based description as its mathematical framework. One important issue that has been overlooked is the optimality of SMF. In this article, we put forward a new mathematical framework for SMF using concepts of uncertain variables. We first establish two basic properties of uncertain...
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作者：Liu, Zhaocong; Yin, Xiang; Shu, Shaolong; Lin, Feng; Li, Shaoyuan
作者单位：Shanghai Jiao Tong University; Tongji University; Wayne State University
摘要：We investigate state estimation and safe controller synthesis for networked discrete-event systems (DESs), where supervisors send control decisions to plants via communication channels subject to communication delays. Previous works on state estimation of networked DES are based on the open-loop system without utilizing the knowledge of the control policy. In this article, we propose a new approach for online estimation and control of networked DES with control delays. We first propose a new s...
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作者：Sasahara, Hampei; Ishizaki, Takayuki; Imura, Jun-ichi
作者单位：Royal Institute of Technology; Institute of Science Tokyo; Tokyo Institute of Technology
摘要：This article investigates a parameterization of all output-rectifying retrofit controllers for distributed design of a structured controller. It has been discovered that all retrofit controllers can be characterized as a constrained Youla parameterization, which is difficult to solve analytically. For synthesis, a tractable and insightful class of retrofit controllers, referred to as output-rectifying retrofit controllers, has been introduced. An unconstrained parameterization of all output-re...
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作者：Al-Abri, Said; Zhang, Fumin
作者单位：University System of Georgia; Georgia Institute of Technology
摘要：Algorithms for multiagent systems to locate a source or to follow a desired level curve of spatially distributed scalar fields generally require sharing field measurements among the agents for gradient estimation. Yet, in this article, we propose a distributed active perception strategy that enables swarms of various sizes and graph structures to perform source seeking and level curve tracking without the need to explicitly estimate the field gradient or explicitly share measurements. The prop...
