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作者：Welikala, Shirantha; Cassandras, Christos G.
作者单位：Boston University; Boston University
摘要：In this article, we address the problem of multiple local optima arising due to nonconvex objective functions in cooperative multiagent optimization problems. To escape such local optima, we propose a systematic approach based on the concept of boosting functions. The underlying idea is to temporarily transform the gradient at a local optimum into a boosted gradient with a nonzero magnitude. We develop a distributed boosting scheme based on a gradient-based optimization algorithm using a novel...
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作者：Lee, Ti-Chung; Tan, Ying; Su, Youfeng; Mareels, Iven
作者单位：National Sun Yat Sen University; University of Melbourne; Fuzhou University; International Business Machines (IBM); IBM Australia; IBM Research - Australia
摘要：Using any nonnegative function with a nonpositive derivative along trajectories to define a virtual output, the classic LaSalle invariance principle can be extended to switched nonlinear time-varying (NLTV) systems, by considering the weak observability associated with this output. The concept of weak observability reflects the information of the limiting behavior of state trajectories hidden in the zero locus of the output. In the context of switched NLTV systems, weak observability can be ex...
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作者：Ohrem, Sveinung Johan; Holden, Christian
作者单位：Norwegian University of Science & Technology (NTNU)
摘要：This article presents an output feedback controller and observer design approach for linear time-invariant systems with unknown dynamics. The presented method uses an open-loop reference model to generate the desired trajectory and a closed-loop reference model as an observer. The controller only uses the observer states. Lyapunov-based stability proofs show that the error states converge asymptotically to zero and that all other signals are uniformly stable. Furthermore, bounds are proven on ...
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作者：Schmidt, Patrick; Osinenko, Pavel; Streif, Stefan
作者单位：Technische Universitat Chemnitz; Technische Universitat Chemnitz; Skolkovo Institute of Science & Technology
摘要：This article is concerned with practical stabilization of nonlinear systems by means of inf-convolution-based sample-and-hold control. It is a fairly general stabilization technique based on a generic nonsmooth control Lyapunov function (CLF) and robust to actuator uncertainty, measurement noise, etc. The stabilization technique itself involves computation of descent directions of the CLF. It turns out that nonexact realization of this computation leads not just to a quantitative, but also qua...
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作者：Wu, Yuanqing; Isidori, Alberto; Lu, Renquan
作者单位：Guangdong University of Technology; Sapienza University Rome
摘要：In this article, we address a problem of output regulation for a broad class of invertible multi-input-multi-output (MIMO) nonlinear systems. The system that we consider is assumed to possess a globally defined normal form, in which appropriate invertibility conditions are fulfilled, and to be strongly minimum phase. Asymptotic output regulation is achieved by means of a controller consisting of a preprocessing internal model and of a robust stabilizer. For the design of the latter, a recently...
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作者：Liu, Bin; Xu, Bo; Liu, Tao
作者单位：Hunan University of Technology; University of Hong Kong
摘要：This article studies the contraction issue for stochastic switched impulsive systems (SSISs). The notion of almost sure contraction is proposed for SSISs. By using the first variation, the almost sure contraction is equivalent to the almost sure exponential stability of the virtual dynamics of SSISs. By Ito's formula and martingale theory, criteria on almost sure contraction are established for SSISs. The contraction criteria are also derived by the Lyapunov-like function method. All the crite...
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作者：Cao, Xuanyu; Zhang, Junshan; Poor, H. Vincent
作者单位：University of Illinois System; University of Illinois Urbana-Champaign; Arizona State University; Arizona State University-Tempe; Princeton University
摘要：In this article, we study constrained online convex optimization (OCO) in the presence of feedback delays, where a decision maker chooses sequential actions without knowing the loss functions and constraint functions a priori. The loss/constraint functions vary with time and their feedback information is revealed to the decision maker with delays, which arise in many applications. We first consider the scenario of delayed function feedback, in which the complete information of the loss/constra...
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作者：Li, Nan; Kolmanovsky, Ilya; Girard, Anouck
作者单位：University of Michigan System; University of Michigan
摘要：We propose a safe approximation to joint chance-constrained programming, where the constraint functions are additively dependent on a normally-distributed random vector. The approximation is analytical, meaning that it requires neither numerical integrations nor sampling-based probability approximations. Under mild assumptions, the approximation is a standard nonlinear program. We compare this new safe approximation to another analytical safe approximation for joint chance-constrained programm...
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作者：Seow, Kiam Tian
作者单位：Korea Advanced Institute of Science & Technology (KAIST)
摘要：This paper studies the linear-time temporal logic (LTL) control of a class of fair discrete-event systems (DESs). It is motivated by the curious extent in which the use of LTL can be strengthened and differentiated in control theory development. Over a fair DES model, a marker-progressive supervisory control problem is formulated in LTL. The problem formulation admits a more flexible specification of multiple markers to distinguish different DES tasks, and seeks to find a supervisor-a passive ...
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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...
