2021

最新文章

• Optimizing Prediction Dynamics With Saturated Inputs for Robust Model Predictive Control AI翻译
  作者：Nguyen, Hoai-Nam
  摘要：A model predictive control algorithm based on offline optimization of prediction dynamics enables an efficient online computation. However, the price for this efficiency is a reduction in the degree of optimality. This article presents a new method for overcoming this weakness, yielding a significant improvement in the degree of optimality, and achieving this with no increase in an online computational load. Two numerical examples with comparison to earlier solutions from the literature illust...
• Exponential Stabilization of a Star-Shaped Thermoelastic Network System Based on the Extended State Observer With Time-Varying Gains AI翻译
  作者：Wang, Lei; Gao, Zhiqiang; Zhou, Xuesong; Han, Zhongjie
  作者单位：Tianjin University of Technology; University System of Ohio; Cleveland State University; Tianjin University of Technology; Tianjin University
  摘要：The boundary stabilization problem of a star-shaped type II thermoelastic system is considered, where there is a nonuniform bounded disturbance at the control end. A time-varying extended state observer is proposed to estimate and cancel the disturbance, thereby largely removing the uncertainties and simplifying the feedback control law design. The exponential stability is shown for the extended state observer, so are the well-posedness properties of the closed-loop system, all based on the li...
• Systematic Design of Robust Event-Triggered State and Output Feedback Controllers for Uncertain Nonholonomic Systems AI翻译
  作者：Zhang, Pengpeng; Liu, Tengfei; Jiang, Zhong-Ping
  作者单位：Northeastern University - China; New York University
  摘要：This article studies the event-triggered control problem for nonholonomic systems in the chained form with disturbances and drift uncertain nonlinearities. Both the cases of state-feedback and output-feedback are investigated. To address the effects of nonholonomic constraints in event-triggered control, a new systematic design integrating a state-scaling technique and set-valued maps are proposed. A crucial strategy is to transform the event-triggered control system into an interconnection of...
• FaSTrack:A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking AI翻译
  作者：Chen, Mo; Herbert, Sylvia L.; Hu, Haimin; Pu, Ye; Fisac, Jaime Fernandez; Bansal, Somil; Han, SooJean; Tomlin, Claire J.
  作者单位：Simon Fraser University; University of California System; University of California San Diego; Princeton University; University of Melbourne; University of California System; University of California Berkeley; California Institute of Technology
  摘要：Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algorithms typically sacrifice robustness for computation speed. Alternatively, provably safe trajectory planning tends to be too computationally intensive for real-time replanning. We propose FaSTrack, Fast and Safe Tracking, a framework that achieves both real-time replanning and guaranteed safety. In this framework, real-time computation is achieved by allowing any t...
• Partial Phase Cohesiveness in Networks of Networks of Kuramoto Oscillators AI翻译
  作者：Qin, Yuzhen; Kawano, Yu; Portoles, Oscar; Cao, Ming
  作者单位：University of California System; University of California Riverside; Hiroshima University; University of Groningen; University of Groningen
  摘要：Partial, instead of complete, synchronization has been widely observed in various networks, including, in particular, brain networks. Motivated by data from human brain functional networks, in this article, we analytically show that partial synchronization can be induced by strong regional connections in coupled subnetworks of Kuramoto oscillators. To quantify the required strength of regional connections, we first obtain a critical value for the algebraic connectivity of the corresponding sub...
• Closed-Loop Deadlock-Free Supervision for GMECs in Time Petri Net Systems AI翻译
  作者：Li, Liang; Basile, Francesco; Li, Zhiwu
  作者单位：Wuhan University of Science & Technology; University of Salerno; Xidian University; Macau University of Science & Technology
  摘要：This article investigates the enforcement of generalized mutual exclusion constraints (GMECs) and deadlock-freeness on a time Petri net (TPN) system with uncontrollable transitions, motivated by the fact that the existing methods enforcing GMECs may degrade the performance of a closed-loop system and lead to deadlock states. A supervisor enforcing a set of GMECs and deadlock-freeness on an underlying untimed Petri net system is assumed to be available. By exploiting timing information and math...
• Angle-Based Analysis Approach for Distributed Constrained Optimization AI翻译
  作者：Lin, Peng; Xu, Jiahao; Ren, Wei; Yang, Chunhua; Gui, Weihua
  作者单位：Central South University; University of California System; University of California Riverside
  摘要：In this article, a distributed constrained optimization problem is studied with nonconvex input constraints, nonuniform convex state constraints, and nonuniform step sizes for single-integrator multiagent systems. Due to the existence of nonconvex input constraints, the edge weights between agents are equivalently multiplied with different time-varying scaling factors, and thus, the real interaction relationship cannot be kept balanced, even if the original communication graphs are kept balanc...
• On the Observability and Observer Design on the Special Orthogonal Group Based on Partial Inertial Sensing AI翻译
  作者：Pittiglio, Giovanni; Calo, Simone; Valdastri, Pietro
  作者单位：University of Leeds
  摘要：The aim of this article is to discuss the observability properties and observer design for the attitude of a rigid body, under conditions of partial inertial sensing. In particular, we introduce an observability analysis tool for the attitude dynamics when only accelerometer and gyroscope measurements are available, as in several robotics applications. In various scenarios, in fact, the measurement of the magnetic field via a magnetometer is unreliable, due to magnetic interferences. Herein, w...
• Intermittent Feedback Control With Maximum Average Off-Time AI翻译
  作者：Sawant, Vishal; Chakraborty, Debraj; Pal, Debasattam
  作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Bombay
  摘要：An intermittent feedback-based control policy is proposed for rejecting bounded disturbance signals in a continuous, linear time-invariant (LTI) system with distinct and rational eigenvalues. The proposed policy maximizes the average feedback-off time while retaining the state trajectory inside a prespecified safe region. To achieve this, the feedback link is alternatively turned on and off. During feedback-on intervals, the state trajectory is steered to the origin in min-max time and then fe...
• Distributed Resource Allocation Over Dynamic Networks With Uncertainty AI翻译
  作者：Doan, Thinh T.; Beck, Carolyn L.
  作者单位：Virginia Polytechnic Institute & State University; University of Illinois System; University of Illinois Urbana-Champaign
  摘要：Motivated by broad applications in various fields of engineering, we study a network resource allocation problem where the goal is to optimally allocate a fixed quantity of the resources over a network of nodes. We consider large scale networks with complex interconnection structures, thus any solution must be implemented in parallel and based only on local data resulting in a need for distributed algorithms. In this article, we study a distributed Lagrangian method for such problems. By utili...