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作者：Ovalle, Luis; Rios, Hector; Llama, Miguel; Fridman, Leonid
作者单位：Universidad Nacional Autonoma de Mexico; Consejo Nacional de Ciencia y Tecnologia (CONACyT)
摘要：This article presents a robust output-feedback control scheme for the stabilization of a class of nonlinear underactuated mechanical systems in the presence of coupled disturbances. The scheme is based on the so-called coupled sliding-mode control, i.e., no transformation into the normal form is required. The proposed output approach is composed of a super-twisting controller and a high-order sliding-mode observer that robustly stabilize the origin of the system asymptotically. All of the resu...
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作者：Paccagnan, Dario; Marden, Jason R.
作者单位：Imperial College London; University of California System; University of California Santa Barbara; University of California System; University of California Santa Barbara
摘要：A fundamental component of the game-theoretic approach to distributed control is the design of local utility functions. Relative to resource allocation problems that are additive over the resources, Part I showed how to design local utilities so as to maximize the associated performance guarantees (Paccagnan, et al., 2020), which we measure by the price of anarchy. The purpose of this article is to specialize these results to the case of submodular, covering, and supermodular problems. In all ...
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作者：Rosolia, Ugo; Zhang, Xiaojing; Borrelli, Francesco
作者单位：University of California System; University of California Berkeley; California Institute of Technology
摘要：In this article, a robust learning model-predictive controller (LMPC) for uncertain systems performing iterative tasks is presented. At each iteration of the control task, the closed-loop state, input, and cost are stored and used in the controller design. This article first illustrates how to construct robust control invariant sets and safe control policies exploiting historical data. Then, we propose an iterative LMPC design procedure, where data generated by a robust controller at iteration...
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作者：Fabiani, Filippo; Tajeddini, Mohammad Amin; Kebriaei, Hamed; Grammatico, Sergio
作者单位：University of Oxford; University of Tehran; Delft University of Technology
摘要：We propose a two-layer, semidecentralized algorithm to compute a local solution to the Stackelberg equilibrium problem in aggregative games with coupling constraints. Specifically, we focus on a single-leader, multiple-follower problem, and after equivalently recasting the Stackelberg game as a mathematical program with complementarity constraints (MPCC), we iteratively convexify a regularized version of the MPCC as the inner problem, whose solution generates a sequence of feasible descent dir...
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作者：Sharf, Miel; Koch, Anne; Zelazo, Daniel; Allgoewer, Frank
作者单位：Royal Institute of Technology; University of Stuttgart; Technion Israel Institute of Technology
摘要：In this article, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an F-neighborhood of the desired formation. The controller is composed of a fixed controller with an adjustable gain on each edge. Via passivity theory and network optimization, we not only prove that there exists a gain attaining the desired formation control goal, but we present a data-based method to find an upper bound on this gain. Furthermore, by allowing fo...
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作者：Sung, Yu-Chen; Patil, Sagar, V; Safonov, Michael G.
作者单位：University of Southern California
摘要：For a multiple-input-multiple-output (MIMO) nonlinear feedback system, the robustness against uncertain time-variation (slow or infrequently large) in the feedback loop is investigated in an input-output framework. A couple of sufficient conditions in terms of bounds on average rates of time-variation for the system to be stable are derived. The conditions provide a useful tool for designing adaptive controllers for systems against uncertain large time-variation.
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作者：Yu, Zhan; Ho, Daniel W. C.; Yuan, Deming
作者单位：City University of Hong Kong; Nanjing University of Science & Technology
摘要：This article is concerned with the multiagent optimization problem. A distributed randomized gradient-free mirror descent (DRGFMD) method is developed by introducing a randomized gradient-free oracle in the mirror descent scheme where the non-Euclidean Bregman divergence is used. The classical gradient descent method is generalized without using subgradient information of objective functions. The proposed algorithms are the first distributed non-Euclidean zeroth-order methods, which achieve an...
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作者：Zhang, Kexue; Gharesifard, Bahman; Braverman, Elena
作者单位：University of Calgary; Queens University - Canada
摘要：This article studies the event-triggered control problem of general nonlinear systems with time delay. A novel event-triggering scheme is presented with two tunable design parameters, based on a Lyapunov functional result for the input-to-state stability of time-delay systems. The proposed event-triggered control algorithm guarantees the resulting closed-loop systems to be globally asymptotically stable, uniformly bounded, and/or globally attractive for different choices of these parameters. S...
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作者：Li, Jun; Lefebvre, Dimitri; Hadjicostis, Christoforos N.; Li, Zhiwu
作者单位：Xidian University; Universite Le Havre Normandie; University of Cyprus; Macau University of Science & Technology
摘要：This article develops a novel design principle for the observer of timed discrete event systems behaving under specific time semantics. Observers devoted to discrete event systems usually ignore the timing aspects of underlying systems but this can have implications to many applications, in particular, for refinement of estimation and inference tasks. The techniques of this article use the time stamps of observations to refine the state estimation process for a class of labeled and timed autom...
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作者：Aghajan, Adel; Touri, Behrouz
作者单位：University of California System; University of California San Diego
摘要：In this article, we consider time-varying distributed averaging dynamics. Motivated by a necessary condition on the ergodicity, we provide a sufficient condition for the ergodicity of such dynamics. We show that if groups of agents are connected using a directed acyclic graph containing a spanning directed rooted tree and the averaging dynamics restricted to each group is P*, then the dynamics over the whole network is ergodic. In particular, this provides a general condition for convergence o...
