-
作者：Erseghe, Tomaso
作者单位：University of Padua
摘要：Thanks to its versatility, its simplicity, and its fast convergence, alternating direction method of multipliers (ADMM) is among the most widely used approaches for solving a convex problem in distributed form. However, making it running efficiently is an art that requires a fine tuning of system parameters according to the specific application scenario, and which ultimately calls for a thorough understanding of the hidden mechanisms that control the convergence behavior. In this framework, we...
-
作者：Hou, Baoyu
作者单位：Qingdao University
摘要：This article studies the controllability degree via analyzing the condition number of Gramian matrix. Our aim is to explore how the network characteristics affect the controllability degree. Specifically, we prove that a large time parameter would worsen the controllability degree. The time parameter could be understood as the network coupling strength. For directed path networks, we derive how edge weights and time parameter jointly determine the best controllability degree. Furthermore, we p...
-
作者：Jiangand, Jingjing; Astolfi, Alessandro
作者单位：Loughborough University; Imperial College London; University of Rome Tor Vergata
摘要：The stabilization problem for a class of nonlinear systems is solved via a novel method inspired by back-stepping. The method, that we call underactuated back-stepping, is introduced by solving the stabilization problem for an inertia wheel pendulum and it is then developed for a class of underactuated mechanical systems. The properties of the resulting closed-loop systems are studied in detail and case studies are given to show the effectiveness of the proposed method.
-
作者：Possieri, Corrado; Incremona, Gian Paolo; Calafiore, Giuseppe C.; Ferrara, Antonella
作者单位：Consiglio Nazionale delle Ricerche (CNR); Polytechnic University of Milan; Polytechnic University of Turin; Consiglio Nazionale delle Ricerche (CNR); Istituto di Elettronica e di Ingegneria dell'Informazione e delle Telecomunicazioni (IEIIT-CNR); University of Pavia
摘要：The objective of this article is to introduce a novel data-driven iterative linear quadratic (LQ) control method for solving a class of nonlinear optimal tracking problems. Specifically, an algorithm is proposed to approximate the Q-factors arising from LQ stochastic optimal tracking problems. This algorithm is then coupled with iterative LQ-methods for determining local solutions to nonlinear optimal tracking problems in a purely data-driven setting. Simulation results highlight the potential...
-
作者：Xie, Xiaochen; Fan, Chenchen; Kwok, Ka-Wai; Lam, James
作者单位：University of Hong Kong; University of Hong Kong; The University of Hong Kong Shenzhen Institute of Research & Innovation
摘要：In this article, a Bernstein polynomial approach is first applied to the estimation of reachable set for a class of periodic piecewise polynomial systems, whose subsystems are time-varying and can be expanded to Bernstein polynomial forms. A lemma on the negativity/positivity for a class of Bernstein polynomial matrix functions is presented, which can provide a feasible set larger than that by the existing method. Based on the integration of the presented lemma and the theory of matrix polynom...
-
作者：Steentjes, Tom Robert Vince; Lazar, Mircea; Doban, Alina Ionela
作者单位：Eindhoven University of Technology; Eindhoven University of Technology; ASML Holding
摘要：In this article, two methods for constructing continuous and piecewise affine (CPA) feedback stabilizers for nonlinear systems are presented. First, a construction based on a piecewise affine interpolation of Sontag's universal formula is developed. Stability of the corresponding closed-loop system is verified a posteriori by means of a CPA control Lyapunov function and subsequently solving a feasibility problem. Second, we develop a procedure for computing CPA feedback stabilizers via linear ...
-
作者：Holding, Thomas; Lestas, Ioannis
作者单位：Imperial College London; University of Cambridge
摘要：We consider the problem of convergence to a saddle point of a concave-convex function via gradient dynamics. Since first introduced by Arrow, Hurwicz, and Uzawa, such dynamics have been extensively used in diverse areas; there are, however, features that render their analysis nontrivial. These include the lack of convergence guarantees when the concave-convex function considered does not satisfy additional strictness properties and also the nonsmoothness of subgradient dynamics. Our aim in thi...
-
作者：Jiang, Yuning; Oravec, Juraj; Houska, Boris; Kvasnica, Michal
作者单位：ShanghaiTech University; Slovak University of Technology Bratislava
摘要：This article is about a real-time model predictive control algorithm for large-scale, structured linear systems with polytopic control constraints. The proposed controller receives the current state measurement as an input, and computes a suboptimal control reaction by evaluating a finite number of piecewise affine functions that correspond to the explicit solution maps of small-scale parametric quadratic programming (QP) problems. We provide asymptotic stability guarantees, which can be verif...
-
作者：Bastianello, Nicola; Carli, Ruggero; Schenato, Luca; Todescato, Marco
作者单位：University of Padua
摘要：In this article, we focus on the problem of minimizing the sum of convex cost functions in a distributed fashion over a peer-to-peer network. In particular, we are interested in the case in which communications between nodes are prone to failures, and the agents are not synchronized among themselves. We address the problem proposing a modified version of the relaxed alternating direction method of multipliers, which corresponds to the Peaceman-Rachford splitting method applied to the dual. By ...
-
作者：Jetto, Leopoldo; Orsini, Valentina; Romagnoli, Raffaele
作者单位：Marche Polytechnic University; Carnegie Mellon University
摘要：The purpose of this article is to reduce some technical difficulties related to the complexity of stability and feasibility analysis of Model Predictive Control (MPC) as well as to reduce the complexity of the relative optimization procedure. The new approach is based on a two degrees of freedom control scheme where the output r(k) of a feedforward input estimator is used as input forcing the closed-loop system Sigma(f). This latter is given by the feedback connection of a Linear Time Invarian...
