-
作者：Gambuzza, Lucia Valentina; Frasca, Mattia
作者单位：University of Catania
摘要：We consider the problem of steering a multiagent system to multiconsensus, namely a regime where groups of agents agree on a given value, which may be different from group to group. We first address the problem by using distributed proportional controllers that implement additional links in the network modeling the communication protocol among agents and introduce a procedure for the optimal selection of them. Both the cases of single integrators and of second-order dynamics are taken into acc...
-
作者：Su, Lili; Vaidya, Nitin H.
作者单位：Massachusetts Institute of Technology (MIT); Georgetown University
摘要：We consider the problem of multiagent optimization wherein an unknown subset of agents suffer Byzantine faults and thus behave adversarially. We assume that each agent i has a local cost function f(i), and the overarching goal of the good agents is to collaboratively minimize a global objective that properly aggregates these local cost functions. To the best of our knowledge, we are among the first to study Byzantine-resilient optimization where no central coordinating agent exists, and we are...
-
作者：Candido, Renato Markele Ferreira; Hardouin, Laurent; Lhommeau, Mehdi; Mendes, Rafael Santos
作者单位：Universidade Estadual de Campinas; Universite d'Angers
摘要：Max-plus linear (MPL) systems are often described by a transition function, which models the state evolution of the system, and a measurement function, which binds the measures with the system states. Methods for computing the inverse image of a point w.r.t. the measurement function are particularly interesting in applications where it is desirable to obtain information about the system states based on the output observations. The inverse image of a set w.r.t. a nondeterministic MPL system, ca...
-
作者：Dong, Wenhui; Luo, Xue; Yau, Stephen S-T
作者单位：Tsinghua University; Shaanxi Normal University; Beihang University
摘要：It is well known that the nonlinear filtering (NLF) problem has important applications in both military and civil industries. The central question is to solve the posterior conditional density function of the states, which satisfies the Kushner or the Duncan-Mortensen-Zakai (DMZ) equation after suitable change of probability measure. In this article, we shall follow the so-called Yau-Yau's algorithm to split the solution of the DMZ equation into on- and off-line part, where the off-line part i...
-
作者：Zhang, Kangkang; Jiang, Bin; Yan, Xinggang; Mao, Zehui; Polycarpou, Marios M.
作者单位：Nanjing University of Aeronautics & Astronautics; University of Cyprus; University of Kent
摘要：A fault-tolerant control (FTC) scheme for a class of nonlinear systems with unmatched actuator redundancy and unmatched disturbances is proposed in this article. A methodology to construct unified smooth sliding mode control laws and update laws are proposed such that the equivalent injections of the first-order time derivatives of the unmatched actuator faults and unmatched disturbances can appear in the unmatched channels. The unmatched actuator faults and unmatched disturbances are complete...
-
作者：Kolarijani, Mohamad Amin Sharifi; Proskurnikov, Anton, V; Esfahani, Peyman Mohajerin
作者单位：Delft University of Technology; Polytechnic University of Turin
摘要：In this article, we study the nonlinear Fokker-Planck (FP) equation that arises as a mean-field (macroscopic) approximation of bounded confidence opinion dynamics, where opinions are influenced by environmental noises and opinions of radicals (stubborn individuals). The distribution of radical opinions serves as an infinite-dimensional exogenous input to the FP equation, visibly influencing the steady opinion profile. We establish mathematical properties of the FP equation. In particular, we, ...
-
作者：Zhou, Xinyang; Farivar, Masoud; Liu, Zhiyuan; Chen, Lijun; Low, Steven H.
作者单位：United States Department of Energy (DOE); National Renewable Energy Laboratory - USA; University of Colorado System; University of Colorado Boulder; California Institute of Technology; Alphabet Inc.; Google Incorporated
摘要：The increasing penetration of renewable and distributed energy resources in distribution networks calls for real-time and distributed voltage control. In this article, we investigate local Volt/VAR control with a general class of control functions, and show that the power system dynamics with nonincremental local voltage control can be seen as a distributed algorithm for solving a well-defined optimization problem (reverse engineering). The reverse engineering further reveals a fundamental lim...
-
作者：Glotfelter, Paul; Cortes, Jorge; Egerstedt, Magnus
作者单位：University System of Georgia; Georgia Institute of Technology; University of California System; University of California San Diego
摘要：Robotic systems have been proposed as a solution to a wide array of problems, from autonomous warehousing to precision agriculture. Yet these systems typically require satisfaction of multiple constraints, such as collision avoidance and connectivity maintenance, while completing their primary objectives. Many such problems may be decomposed into stability and invariance criteria (e.g., monitor crop patches while avoiding collisions), and this article utilizes Lyapunov and barrier functions to...
-
作者：He, Changran; Huang, Jie
作者单位：Chinese University of Hong Kong
摘要：In this article, we study the leader-following consensus problem for multiple Euler-Lagrange (EL) systems with natural damping over static and connected communication networks by a distributed position feedback control law. By combining the adaptive distributed observer for a leader system and the dynamic compensator technique for dealing with a single EL system by position feedback control, we synthesize a distributed position feedback control law and show that this control law solves the lea...
-
作者：Ramaswamy, Karthik Raghavan; Van den Hof, Paul M. J.
作者单位：Eindhoven University of Technology
摘要：The identification of local modules in dynamic networks with known topology has recently been addressed by formulating conditions for arriving at consistent estimates of the module dynamics, under the assumption of having disturbances that are uncorrelated over the different nodes. The conditions typically reflect the selection of a set of node signals that are taken as predictor inputs in an multiple-input-single-output (MISO) identification setup. In this paper an extension is made to arrive...
