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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：Fotiadis, Filippos; Rovithakis, George A.
作者单位：University System of Georgia; Georgia Institute of Technology; Aristotle University of Thessaloniki
摘要：This article considers the problem of prescribed performance tracking control for a class of uncertain, multi-input multi-output (MIMO) nonlinear systems having a low-triangular structure, with possibly discontinuous reference signals. Prescribed performance means that the output tracking errors should converge to a prescribed maximum residual set in fixed time, exhibiting a predefined maximum overshoot. The controller we propose is of low complexity and is designed according to the philosophy...
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作者：Koenig, Adam W.; D'Amico, Simone
作者单位：Stanford University
摘要：This article presents a new fast and robust algorithm that provides fuel-optimal impulsive control input sequences that drive a linear time-variant system to a desired state at a specified time. This algorithm is applicable to a broad class of problems where the cost is expressed as a time-varying norm-like function of the control input, enabling inclusion of complex operational constraints in the control planning problem. First, it is shown that the reachable sets for this problem have identi...
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作者：Lu, Junjie; She, Zhikun; Liu, Bodan; Ge, Shuzhi Sam
作者单位：University of Science & Technology Beijing; Beihang University; National University of Singapore
摘要：This article concerns the theoretical analysis and mechanical verification of input-to-state stability (ISS) for nonautonomous discrete-time switched systems. To start with, based on a bounded function and the average dwell time, we successively propose less conservative sufficient conditions for uniform input-to-state stability, global uniform asymptotic input-to-state stability, and global uniform exponential input-to-state stability of nonautonomous switched nonlinear systems. Then, for sys...
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作者：Steentjes, Tom Robert Vince; Lazar, Mircea; Doban, Alina Ionela
作者单位：Eindhoven University of Technology; Eindhoven University of Technology; ASML Holding
摘要：In this article, two methods for constructing continuous and piecewise affine (CPA) feedback stabilizers for nonlinear systems are presented. First, a construction based on a piecewise affine interpolation of Sontag's universal formula is developed. Stability of the corresponding closed-loop system is verified a posteriori by means of a CPA control Lyapunov function and subsequently solving a feasibility problem. Second, we develop a procedure for computing CPA feedback stabilizers via linear ...
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作者：Qi, Qingyuan; Xie, Lihua; Zhang, Huanshui
作者单位：Qingdao University; Nanyang Technological University; Shandong University
摘要：In this article, we investigate the optimal linear quadratic control problem for stochastic systems with multiple controllers, where each controller has its own information structure, which differs from each other. More specifically, we consider the optimal control problem for systems with multiple controllers of different delayed state information. First, the necessary and sufficient solvability conditions are given in terms of forward and backward difference equations (FBSDEs). Further, an i...
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作者：Markdahl, Johan
作者单位：University of Luxembourg
摘要：This article concerns the evolution of multiagent systems on networks over Riemannian manifolds. The motion of each agent is governed by the gradient descent flow of a disagreement function that is a sum of (squared) distances between pairs of communicating agents. Two metrics are considered: geodesic distances and chordal distances for manifolds that are embedded in an ambient Euclidean space. We show that networks that, roughly speaking, are dominated by a large cycle yield multistable syste...
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作者：Xu, Yong; Zhou, Jiayu; Rao, Hongxia; Lu, Renquan; Xie, Lihua
作者单位：Guangdong University of Technology; East China University of Science & Technology; Nanyang Technological University
摘要：This article addresses reset moving horizon estimation for multiple output discrete-time systems with quantized measurements. A new state reset estimator is designed based on a one-dimensional noisy measurement to overcome underestimation or overestimation of the system state, and an iterative algorithm is proposed to deal with multiple output systems. It is shown that with the proposed reset algorithm, the state estimation error is improved in the presence of over or under estimation, and the...
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作者：Bell, Zachary, I; Deptula, Patryk; Doucette, Emily A.; Curtis, J. Willard; Dixon, Warren E.
作者单位：State University System of Florida; University of Florida
摘要：Data-based, exponentially converging observers are developed for a monocular camera to estimate the Euclidean distance (and hence accurately scaled coordinates) to features on a stationary object and to estimate the Euclidean trajectory taken by the camera while tracking the object, without requiring the typical positive depth constraint. A Lyapunov-based stability analysis shows that the developed observers are exponentially converging without requiring persistence of excitation through the u...
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作者：Li, Kuo; Hua, Chang-Chun; You, Xiu
作者单位：Yanshan University; Shanxi University
摘要：This article addresses the distributed asynchronous consensus problem for nonlinear multiagent systems with switching topologies. Different from the existing results, we consider the detection delay of topology modes and some topologies having no directed spanning tree with leader as the root. In these conditions, the distributed asynchronous switched observer is first developed for each follower to accurately estimate the state information of the leader. Then, an output feedback distributed c...
