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作者：Di Ferdinando, Mario; Pepe, Pierdomenico; Borri, Alessandro
作者单位：University of L'Aquila; Consiglio Nazionale delle Ricerche (CNR); Istituto di Analisi dei Sistemi ed Informatica Antonio Ruberti (IASI-CNR)
摘要：In this article, we deal with the problem of stabilizing a nonlinear system with state-delays by means of quantized sampled-data state feedback control laws. Quantization in the state measurements and in the input signal are simultaneously considered. Fully nonlinear (i.e., possibly nonaffine in the control) time-delay systems are studied. Sufficient conditions are provided such that suitably fast sampling and accurate quantization of the state feedback at hand yield semiglobal practical stabi...
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作者：Lhachemi, Hugo; Prieur, Christophe
作者单位：University College Dublin; Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS)
摘要：This article studies the boundary feedback stabilization of a class of diagonal infinite-dimensional boundary control systems. In the studied setting, the boundary control input is subject to a constant delay while the open-loop system might exhibit a finite number of unstable modes. The proposed control design strategy consists of two main steps. First, a finite-dimensional subsystem is obtained by truncation of the original infinite-dimensional system (IDS) via modal decomposition. It includ...
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作者：Pu, Shi; Shi, Wei; Xu, Jinming; Nedic, Angelia
作者单位：Shenzhen Research Institute of Big Data; The Chinese University of Hong Kong, Shenzhen; Princeton University; Zhejiang University; Arizona State University; Arizona State University-Tempe
摘要：In this article, we focus on solving a distributed convex optimization problem in a network, where each agent has its own convex cost function and the goal is to minimize the sum of the agents' cost functions while obeying the network connectivity structure. In order to minimize the sum of the cost functions, we consider new distributed gradient-based methods where each node maintains two estimates, namely an estimate of the optimal decision variable and an estimate of the gradient for the ave...
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作者：Sarkka, Simo; Garcia-Fernandez, Angel F.
作者单位：Aalto University; University of Liverpool
摘要：This article presents algorithms for temporal parallelization of Bayesian smoothers. We define the elements and the operators to pose these problems as the solutions to all-prefix-sums operations for which efficient parallel scan-algorithms are available. We present the temporal parallelization of the general Bayesian filtering and smoothing equations, and specialize them to linear/Gaussian models. The advantage of the proposed algorithms is that they reduce the linear complexity of standard s...
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作者：Lhachemi, Hugo; Prieur, Christophe; Shorten, Robert
作者单位：Universite Paris Saclay; Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS); Imperial College London; University College Dublin
摘要：This article is concerned with the in-domain stabilization of a class of block diagonal infinite-dimensional systems in the presence of an uncertain and time-varying delay in the distributed control input. Two actuation schemes are considered. The first one assumes a control input that is fully distributed over the domain. The second one assumes that the control input is finite-dimensional, acting over the domain via a bounded operator. In both cases, the control design strategy consists in a ...
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作者：Zhao, Wanbing; Liu, Hao; Lewis, Frank L.
作者单位：Beihang University; Beihang University; University of Texas System; University of Texas Arlington
摘要：In this article, the data-driven fault-tolerant synchronization control problem is investigated for unknown cooperative quadrotors subject to nonlinearities and multiple actuator faults in the quadrotor dynamics. A distributed observer is provided to estimate the state of the virtual leader. Based on the reinforcement learning theory, the optimal control policy is learned for each quadrotor without any knowledge of the quadrotor dynamic information. Then, the learned control policy is used to ...
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作者：Boutselis, George, I; Theodorou, Evangelos
作者单位：University System of Georgia; Georgia Institute of Technology; General Electric
摘要：We develop a discrete-time optimal control framework for systems evolving on Lie groups. Our article generalizes the original differential dynamic programming method, by employing a coordinate-free, Lie-theoretic approach for its derivation. A key element lies, specifically, in the use of quadratic expansion schemes for cost functions and dynamics defined on Lie groups. The obtained algorithm iteratively optimizes local approximations of the control problem, until reaching a (sub)optimal solut...
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作者：Lee, Chang-Shen; Michelusi, Nicolo; Scutari, Gesualdo
作者单位：Purdue University System; Purdue University; Arizona State University; Arizona State University-Tempe; Purdue University System; Purdue University
摘要：This article proposes the first distributed algorithm that solves the weight-balancing problem using only finite rate and simplex communications among nodes, compliant with the directed nature of the graph edges. It is proved that the algorithm converges to a weight-balanced solution at sublinear rate. The analysis builds upon a new metric inspired by positional system representations, which characterizes the dynamics of information exchange over the network, and on a novel step-size rule. Bui...
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作者：Liu, Xinghua; Mo, Yilin; Garone, Emanuele
作者单位：Xi'an University of Technology; Tsinghua University; Tsinghua University; Universite Libre de Bruxelles
摘要：This article is concerned with the secure state estimation problem of a linear discrete-time Gaussian system in the presence of sparse integrity attacks. m sensors are deployed to monitor the state and p of them can potentially be compromised by an adversary, whose data can be arbitrarily manipulated by the attacker. We show that the optimal Kalman estimate can be decomposed as a weighted sum of local state estimates. Based on these local estimates, we propose a convex optimization based appro...
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作者：Ma, Aoyun; Liu, Kun; Zhang, Qirui; Liu, Tao; Xia, Yuanqing
作者单位：Beijing Institute of Technology; Beijing Wuzi University
摘要：This article presents an event-triggered distributed model predictive control with variable prediction horizon strategy for spatially interconnected systems with input and state constraints. Each subsystem compares the error between actual state and optimal state with a triggering level, and cooperates with other subsystems to determine the triggering time and the corresponding prediction horizon. A shrinking constraint related to the bounds of errors between the predicted states and the optim...
