2021

最新文章

• Indefinite Linear Quadratic Mean Field Social Control Problems With Multiplicative Noise AI翻译
  作者：Wang, Bing-Chang; Zhang, Huanshui
  作者单位：Shandong University; Shandong University of Science & Technology
  摘要：This article studies uniform stabilization and social optimality for linear quadratic (LQ) mean field control problems with multiplicative noise, where agents are coupled via dynamics and individual costs. The state and control weights in cost functionals are not limited to be positive semidefinite. This leads to an indefinite LQ mean field control problem, which may still be well-posed due to deep nature of multiplicative noise. We first obtain a set of forward-backward stochastic differentia...
• Convergence and Accuracy Analysis for a Distributed Static State Estimator Based on Gaussian Belief Propagation AI翻译
  作者：Marelli, Damian; Sui, Tianju; Fu, Minyue; Sun, Ximing
  作者单位：Guangdong University of Technology; Dalian University of Technology; University of Newcastle
  摘要：This article focuses on the distributed static estimation problem. A belief propagation (BP) based estimation algorithm is studied for its convergence and accuracy. More precisely, we give conditions under which the BP-based distributed estimator is guaranteed to converge and we give concrete characterizations for its accuracy. Our results reveal new insights and properties of this distributed algorithm, leading to better theoretical understanding of static distributed state estimation and new...
• Aerial Slung-Load Position Tracking Under Unknown Wind Forces AI翻译
  作者：Pereira, Pedro; Cortes, Jorge; Dimarogonas, Dimos, V
  作者单位：Royal Institute of Technology; University of California System; University of California San Diego
  摘要：We propose a dynamic controller for position tracking of a point-mass load attached to an omnidirectional aerial vehicle by means of a cable. Both the load and the aerial vehicle are subject to unknown wind forces. We model the dynamics of the slung-load system and put it into canonical form, i.e., a form which is independent of the system's physical parameters. Following a backstepping strategy, we design a dynamic control law for the canonical system that contains four estimators, since each...
• Integral Sliding Mode Convex Optimization in Uncertain Lagrangian Systems Driven by PMDC Motors: Averaged Subgradient Approach AI翻译
  作者：Poznyak, Alexander S.; Nazin, Alexander, V; Alazki, Hussain
  作者单位：CINVESTAV - Centro de Investigacion y de Estudios Avanzados del Instituto Politecnico Nacional; Instituto Politecnico Nacional - Mexico; V.A. Trapeznikov Institute of Control Sciences, Russian Academy of Sciences; Russian Academy of Sciences
  摘要：An uncertain Lagrangian dynamic controlled plant with permanent magnet dc-actuator, governed by a system of ordinary differential equations, is treated. The state variables (generalized coordinates and their velocities) are assumed to be measurable. The controller design is based on sliding mode concept, aimed to minimize a given convex (not obligatory strongly convex) function of the current state. The subgradient of this cost function is supposed to be measurable online. An optimization type...
• Approximate Nonlinear Regulation via Identification-Based Adaptive Internal Models AI翻译
  作者：Bin, Michelangelo; Bernard, Pauline; Marconi, Lorenzo
  作者单位：Imperial College London; Universite PSL; MINES ParisTech; University of Bologna
  摘要：This article concerns the problem of adaptive output regulation for multivariable nonlinear systems in normal form. We present a regulator employing an adaptive internal model of the exogenous signals based on the theory of nonlinear Luenberger observers. Adaptation is performed by means of discrete-time system identification schemes, in which every algorithm fulfilling some optimality and stability conditions can be used. Practical and approximate regulation results are given relating the pre...
• Formal Synthesis of Stochastic Systems via Control Barrier Certificates AI翻译
  作者：Jagtap, Pushpak; Soudjani, Sadegh; Zamani, Majid
  作者单位：Technical University of Munich; Newcastle University - UK; University of Colorado System; University of Colorado Boulder; University of Munich
  摘要：This article focuses on synthesizing control policies for discrete-time stochastic control systems together with a lower bound on the probability that the systems satisfy the complex temporal properties. The desired properties of the system are expressed as linear temporal logic specifications over finite traces. In particular, our approach decomposes the given specification into simpler reachability tasks based on its automata representation. We, then, propose the use of so-called control bar...
• Resource-Aware Exact Decentralized Optimization Using Event-Triggered Broadcasting AI翻译
  作者：Liu, Changxin; Li, Huiping; Shi, Yang
  作者单位：University of Victoria; Northwestern Polytechnical University
  摘要：This article addresses the decentralized optimization problem where a group of agents with coupled private objective functions work together to exactly optimize the summation of local interests. Upon modeling the decentralized problem as an equality-constrained centralized one, we leverage the linearized augmented Lagrangian method to design an event-triggered decentralized algorithm that only requires light local computation at generic time instants and peer-to-peer communication at sporadic ...
• An Optimal Transport Formulation of the Ensemble Kalman Filter AI翻译
  作者：Taghvaei, Amirhossein; Mehta, Prashant G.
  作者单位：University of Illinois System; University of Illinois Urbana-Champaign; University of California System; University of California Irvine; University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign
  摘要：Controlled interacting particle systems such as the ensemble Kalman filter (EnKF) and the feedback particle filter (FPF) are numerical algorithms to approximate the solution of the nonlinear filtering problem in continuous time. The distinguishing feature of these algorithms is that the Bayesian update step is implemented using a feedback control law. It has been noted in the literature that the control law is not unique. This is the main problem addressed in this article. To obtain a unique c...
• Event-Triggered Control of Nonlinear Systems With Time-Varying State Delays AI翻译
  作者：Borri, Alessandro; Pepe, Pierdomenico
  作者单位：Consiglio Nazionale delle Ricerche (CNR); University of L'Aquila
  摘要：Nonlinear systems with time delays have been object of intense investigation in the last decades for their ability of capturing the behavior of many natural and engineering systems, including ecological, biomedical, industrial, robotic, and networked systems. In this article, a method for the event-triggered stabilization in the sample-and-hold sense of nonlinear time-delay systems with time-varying state delays is presented. The approach exploits control Lyapunov-Razumikhin functions and a sp...
• Convergence of Stochastic Nonlinear Systems and Implications for Stochastic Model-Predictive Control AI翻译
  作者：Munoz-Carpintero, Diego; Cannon, Mark
  作者单位：Universidad de O'Higgins; University of Oxford
  摘要：The stability of stochastic model-predictive control (MPC) subject to additive disturbances is often demonstrated in the literature by constructing Lyapunov-like inequalities that ensure closed-loop performance bounds and boundedness of the state, but tight ultimate bounds for the state and nonconservative performance bounds are typically not determined. In this article, we use an input-to-state stability property to find conditions that imply convergence with probability 1 of a disturbed nonl...