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作者：Kadam, Sudin; Phogat, Karmvir Singh; Banavar, Ravi N.; Chatterjee, Debasish
作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Bombay
摘要：In this article, we present the discrete-time isoholonomic problem of the planar Purcell's swimmer and solve it using the discrete-time Pontryagin's maximum principle. The three-link Purcell's swimmer is a locomotion system moving in a low Reynolds number environment. The kinematics of the system evolves on a principal fiber bundle. A structure-preserving discrete-time kinematic model of the system is obtained in terms of the local form of a discrete connection. An adapted version of the discr...
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作者：van der Schaft, Arjan; Jeltsema, Dimitri
作者单位：University of Groningen
摘要：The Second Law of thermodynamics implies that no thermodynamic system with a single heat source at constant temperature can convert heat into mechanical work in a recurrent manner. First, we note that this is equivalent to cyclo-passivity at the mechanical port of the thermodynamic system, while the temperature at the thermal port of the system is kept constant. This leads to the question, which general systems with two power ports have similar behavior: when is a system cyclo-passive at one o...
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作者：Berkane, Soulaimane; Bisoffi, Andrea; Dimarogonas, Dimos, V
作者单位：University of Quebec; University Quebec Outaouais; University of Groningen; University of Groningen; Royal Institute of Technology
摘要：In this article, we present a hybrid feedback approach to solve the navigation problem in the n-dimensional space containing an arbitrary number of ellipsoidal obstacles. The proposed algorithm guarantees both global asymptotic stabilization to a target position and avoidance of the obstacles. The controller, exploiting hysteresis regions, employs a Zeno-free switching between two modes of control: stabilization and avoidance. Simulation results illustrate the performance of the proposed appro...
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作者：Camisa, Andrea; Notarnicola, Ivano; Notarstefano, Giuseppe
作者单位：University of Bologna
摘要：This article deals with a distributed Mixed-Integer Linear Programming (MILP) setup arising in several control applications. Agents of a network aim to minimize the sum of local linear cost functions subject to both individual constraints and a linear coupling constraint involving all the decision variables. A key, challenging feature of the considered setup is that some components of the decision variables must assume integer values. The addressed MILPs are NP-hard, nonconvex, and large-scale...
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作者：Kitsos, Constantinos; Besancon, Gildas; Prieur, Christophe
作者单位：Centre National de la Recherche Scientifique (CNRS); Universite de Toulouse; Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS)
摘要：This article addresses the problem of high-gain observer design for a class of quasi-linear hyperbolic systems (with one characteristic velocity), possibly including nonlocal terms, making them systems of partial integro-differential equations. The design relies on distributed measurement of a part of the state vector. The observer is presented and discussed and the exponential stability in the C-1 spatial norm of the origin for the error system is fully established via Lyapunov-based analysis...
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作者：Wu, Jenq-Lang
作者单位：National Taiwan Ocean University
摘要：This article considers the design of optimal static output feedback controllers with priori structural constraints for linear systems. The structural constraints impose individual elements of the feedback matrix to satisfy certain equality or inequality constraints. The barrier method is used to address an auxiliary minimization problem to attain an approximate solution to the original nonconvex constrained optimization problem. The Lagrange multiplier method is applied to derive necessary con...
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作者：Krupa, Pablo; Limon, Daniel; Alamo, Teodoro
作者单位：University of Sevilla
摘要：This article presents a novel model predictive control (MPC) formulation for set-point tracking. Stabilizing predictive controllers based on terminal ingredients may exhibit stability and feasibility issues in the event of a reference change for small to moderate prediction horizons. In the MPC for tracking formulation, these issues are solved by the addition of an artificial equilibrium point as a new decision variable, providing a significantly enlarged domain of attraction and guaranteeing ...
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作者：Lin, Hong; Li, Yuman; Lam, James; Wu, Zheng-Guang
作者单位：Shenzhen Polytechnic University; University of Hong Kong; Zhejiang University; Chengdu University
摘要：For a multiple-channel system with sensor measurement losses, if the loss of sensor measurements can be observed by the estimator, the system is called a system with observable measurement losses; otherwise, it is called a system with unobservable measurement losses (a UML system). We first obtain the optimal linear estimator (OLE) for multiple-channel UML systems and then establish a necessary and sufficient condition for the stability and convergence of the OLE. We give a tight bound of the ...
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作者：Liu, Jun
作者单位：University of Waterloo
摘要：We prove a robust converse barrier function theorem via the converse Lyapunov theory. While the use of a Lyapunov function as a barrier function is straightforward, the existence of a converse Lyapunov function as a barrier function for a given safety set is not. We establish this link by a robustness argument. We show that the closure of the forward reachable set of a robustly safe set must be robustly asymptotically stable under mild technical assumptions. As a result, all robustly safe dyna...
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作者：van Waarde, Henk J.; Camlibel, M. Kanat; Mesbahi, Mehran
作者单位：University of Groningen; University of Groningen; University of Washington; University of Washington Seattle
摘要：In this article, we propose a new method to obtain feedback controllers of an unknown dynamical system directly from noisy input/state data. The key ingredient of our design is a new matrix S-lemma that will be proven in this article. We provide both strict and nonstrict versions of this S-lemma, which are of interest in their own right. Thereafter, we will apply these results to data-driven control. In particular, we will derive nonconservative design methods for quadratic stabilization, H-2 ...
