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作者：Subotic, Irina; Gross, Dominic; Colombino, Marcello; Doerfler, Florian
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; University of Wisconsin System; University of Wisconsin Madison
摘要：In this article, we present a Lyapunov framework for establishing stability with respect to a compact set for a nested interconnection of nonlinear dynamical systems ordered from slow to fast according to their convergence rates, where each of the dynamics is influenced only by the slower dynamics and the successive fastest one. The proposed approach explicitly considers more than two time scales, it does not require modeling multiple time scales via scalar time constants, and provides analyti...
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作者：Tedone, Fabio; Palladino, Michele
作者单位：Gran Sasso Science Institute (GSSI)
摘要：This article proposes a new framework for modeling control systems, in which a dynamic friction occurs. The model consists of a controlled differential inclusion with a discontinuous right-hand side, which still preserves existence and uniqueness of the solution for each given input function u(t). Under general hypotheses, we are able to derive the Hamilton-Jacobi-Bellman equation for the related free-time-optimal control problem and to characterize the value function as the unique locally Lip...
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作者：Holicki, Tobias; Scherer, Carsten W.
作者单位：University of Stuttgart
摘要：We provide a convex solution to the robust gain-scheduled estimation problem based on integral quadratic constraints with dynamic D-scalings for both the uncertain and the scheduled component. This closes an important gap since, so far, merely static scalings could be used for the scheduled component in estimation problems. To this end, we provide novel synthesis criteria in terms of linear matrix inequalities for the design of nominal gain-scheduled estimators that allow for a direct combinat...
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作者：Silm, Haik; Ushirobira, Rosane; Efimov, Denis; Fridman, Emilia; Richard, Jean-Pierre; Michiels, Wim
作者单位：KU Leuven; Inria; Universite de Lille; Centre National de la Recherche Scientifique (CNRS); ITMO University; Tel Aviv University
摘要：The distributed estimation problem is solved for continuous-time observer nodes that obtain real-time measurements but communicate with their neighbors over a communication network. To this end, the digital communication between the observer nodes is modeled by the time-delay approach where variable sampling intervals, transmission delays, and packet dropouts are taken into account. An LMI for the design of the observer gains is derived using Halanay's inequality, the feasibility of which guar...
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作者：Sarrafan, Neda; Zarei, Jafar
作者单位：Shiraz University of Technology; University of Windsor
摘要：This article is concerned with the leader-follower consensus tracking problem for multiagent systems with nonholonomic high-order chained-form dynamics subject to external disturbances. A novel distributed and bounded observer is first developed for each follower to estimate the leader information in a finite time. Then, a bounded fast terminal sliding-mode control protocol is constructed for each follower to track the estimated leader's states leading to the fast convergence performance as we...
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作者：Xie, Siyu; Zhang, Yaqi; Guo, Lei
作者单位：Wayne State University; Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS
摘要：In this article, we consider a least-squares (LS)-based distributed algorithm build on a sensor network to estimate an unknown parameter vector of a dynamical system, where each sensor in the network has partial information only but is allowed to communicate with its neighbors. Our main task is to generalize the well-known theoretical results on the traditional LS to the current distributed case by establishing both the upper bound of the accumulated regrets of the adaptive predictor and the c...
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作者：Mitra, Aritra; Richards, John A.; Sundaram, Shreyas
作者单位：Purdue University System; Purdue University; United States Department of Energy (DOE); Sandia National Laboratories
摘要：We study a setting where a group of agents, each receiving partially informative private signals, seek to collaboratively learn the true underlying state of the world (from a finite set of hypotheses), which generates their joint observation profiles. To solve this problem, we propose a distributed learning rule that differs fundamentally from existing approaches, in that it does not employ any form of belief-averaging. Instead, agents update their beliefs based on a min-rule. Under standard a...
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作者：Wang, Shimin; Meng, Xiangyu
作者单位：University of Alberta; Louisiana State University System; Louisiana State University
摘要：In this article, the problem of simultaneous leader-following consensus and parameter estimation is studied for a class of multiagent systems subject to an uncertain leader system. The leader system is described by a sum of sinusoids with unknown amplitudes, frequencies, and phases. A fully distributed adaptive observer is established for each agent to estimate the unknown frequencies of the leader without using any global information. It is shown that if the signal of the leader is sufficient...
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作者：Katewa, Vaibhav; Pasqualetti, Fabio
作者单位：University of California System; University of California Riverside; Indian Institute of Science (IISC) - Bangalore; Indian Institute of Science (IISC) - Bangalore
摘要：The minimum-gain eigenvalue assignment/pole placement problem (MGEAP) is a classical problem in linear time-invariant systems with static state feedback. In this article, we study the MGEAP when the state feedback has arbitrary sparsity constraints. We formulate the sparse MGEAP problem as an equality-constrained optimization problem and present an analytical characterization of its locally optimal solution in terms of eigenvector matrices of the closed-loop system. This result is used to prov...
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作者：Li, Sen; Shetty, Akhil; Poolla, Kameshwar; Varaiya, Pravin
作者单位：Hong Kong University of Science & Technology; University of California System; University of California Berkeley
摘要：In this article, we study the problem of procuring diverse resources in a forward market to cover a set E of uncertain demand signals e. We consider two scenarios: 1) e is revealed all at once by an oracle and 2) e reveals itself causally. Each scenario induces an optimal procurement cost. The ratio between these two costs is defined as the price of causality. It captures the additional cost of not knowing the future values of the uncertain demand signal. We consider two application contexts: ...
