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作者：Li, Jia-Wang
作者单位：Ningbo University
摘要：This article investigates the control problems of tracking and stabilization simultaneously for nonholonomic mobile robots subjected to input constraints and parameter uncertainties. A saturated time-varying controller is developed by applying a novel error state modification with bounded auxiliary variables. To improve the estimation performance of unknown kinematic and dynamic parameters, two projection-type adaptation laws are presented, while radial basis function approximations are used t...
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作者：Ye, Maojiao; Yin, Jizhao; Yin, Le
作者单位：Nanjing University of Science & Technology; Southwest University - China
摘要：The design of distributed Nash equilibrium-seeking strategies for games in which the involved players are of second-order integrator-type dynamics is investigated in this article. Noticing that velocity signals are usually noisy or not available for feedback control in practical engineering systems, this article supposes that the velocity signals are not accessible for the players. To deal with the absence of velocity measurements, two estimators are designed. The first estimator is establishe...
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作者：Schuermann, Bastian; Klischat, Moritz; Kochdumper, Niklas; Althoff, Matthias
作者单位：Technical University of Munich
摘要：Ensuring safety is crucial for the successful deployment of autonomous systems, such as self-driving vehicles, unmanned aerial vehicles, and robots acting close to humans. While there exist many controllers that optimize certain criteria, such as energy consumption, comfort, or low wear, they are usually not able to guarantee safety at all times for constrained nonlinear systems affected by disturbances. Many controllers providing safety guarantees, however, have no optimal performance. The id...
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作者：Shang, Jun; Yu, Hao; Chen, Tongwen
作者单位：University of Alberta
摘要：With the wide application of cyber-physical systems, stealthy attacks on remote state estimation have attracted increasing research attention. Recently, various stealthy innovation-based linear attack models were proposed, in which the relaxed stealthiness constraint was based on the Kullback-Leibler divergence. This article studies existing innovation-based linear attack strategies with relaxed stealthiness and concludes that all of them provided merely suboptimal solutions. The main reason i...
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作者：Oral, Hasan Giray; Mallada, Enrique; Gayme, Dennice
作者单位：Johns Hopkins University; Johns Hopkins University
摘要：This article provides a quantitative and qualitative evaluation of the role of interconnection directionality in a general class of quadratic performance metrics for double-integrator networks. We first develop an analysis framework that can be used to evaluate the quadratic performance metrics of networks defined over a general class of directed graphs. A comparison between systems whose directed graph Laplacians are normal and their undirected counterparts unveils an interplay between the in...
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作者：Wu, Yuhu; Le, Shuting; Zhang, Kuize; Sun, Xi-Ming
作者单位：Dalian University of Technology; Dalian University of Technology; Technical University of Berlin
摘要：A new transformation that converts a Bayesian game to a so-called ex-ante agent game (a normal-form game) is proposed. Differently from the existing transformation proposed by R. Selten that changes a Bayesian game to an interim agent game (also a pure normal-form game), we prove that the new transformation preserves potentiality. In addition, there is a nonpotential Bayesian game whose ex-ante agent game is potential. We also prove that there is one-to-one correspondence between pure Bayesian...
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作者：Lorenzetti, Joseph; McClellan, Andrew; Farhat, Charbel; Pavone, Marco
作者单位：Stanford University
摘要：Model predictive controllers use dynamics models to solve constrained optimal control problems. However, computational requirements for real-time control have limited their use to systems with low-dimensional models. Nevertheless, high-dimensional models arise in many settings, for example, discretization methods for generating finite-dimensional approximations to partial differential equations can result in models with thousands to millions of dimensions. In such cases, reduced-order models (...
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作者：Rong, Lina
作者单位：Nanjing University of Posts & Telecommunications
摘要：In this article, the H(infinity)optimization approach is used to study the consensusability margin optimization problems for distributed second-order sampled-data multiagent systems with communication uncertainties. The considered uncertainties are frequency-dependent and bounded in H(infinity )norms. Specifically, for both the state-based protocols with relative damping and absolute damping, this article attempts to answer two questions: 1) how to characterize the control parameters for achie...
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作者：Cheng, Yi; Wu, Yuhu; Guo, Bao-Zhu
作者单位：Bohai University; Dalian University of Technology; Dalian University of Technology; North China Electric Power University; Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS
摘要：This article deals with, in the framework of absolute stability, boundary stabilization for a nonlinear axially moving beam under boundary velocity feedback controls. The nonlinear boundary control that satisfies a slope-sector condition covering many types of nonlinear control schemes is a negative feedback of the transverse velocity at the right eyelet of the moving beam. Under the nonlinear control scheme, the well-posedness of the nonlinear partial differential equation, which depends cont...
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作者：Chen, Fei; Jin, Jin; Xiang, Linying; Ren, Wei
作者单位：Northeastern University - China; Northeastern University - China; University of California System; University of California Riverside
摘要：This article aims at developing a scaling-function approach for distributed optimization of unbalanced multiagent networks under convex constraints. The distinguishing feature of the algorithm is that it does not employ agents' out-degree information, nor does it require the estimation of the left eigenvector, corresponding to the zero eigenvalue, of the Laplacian matrix. Existing approaches for unbalanced networks either demand the knowledge on agents' out-degrees, which is impractical in app...
