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作者：Garcia de Marina, Hector
作者单位：Complutense University of Madrid
摘要：In this article, we first propose a novel maneuvering technique compatible with displacement-consensus-based formation controllers. We show that the formation can be translated with an arbitrary velocity by modifying the weights in the consensus Laplacian matrix. In fact, we demonstrate that the displacement-consensus-based formation control is a particular case of our more general method. We then uncover robustness issues with undesired steady-state motions and resultant distorted shapes in u...
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作者：Wang, Jingyi; Feng, Jianwen; Lou, Yijun; Chen, Guanrong
作者单位：Shenzhen University; Hong Kong Polytechnic University; City University of Hong Kong
摘要：In this article, we propose a practicable quantized sampled velocity data coupling protocol for synchronization of a set of harmonic oscillators. The coupling protocol is designed in a quantized way via interconnecting the velocities encoded by a uniform quantizer with a zooming parameter in either a fixed or an adjustable form over a directed communication network. By constructing a suitable norm to measure the convergence of the synchronization errors, we establish sufficient conditions for ...
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作者：Almeida, Tiago A.; Dorea, Carlos E. T.
作者单位：Universidade Federal do Rio Grande do Norte
摘要：Design of output feedback controllers applied to the regulation problem for constrained linear discrete-time systems via set-invariance techniques is studied. Output feedback controlled-invariant (OFCI) polyhedra are used to ensure that state and input constraints are satisfied even in the presence of additive disturbances and measurement noise. Necessary and sufficient conditions for a polyhedral set to be OFCI are presented. A dynamic output feedback compensator is proposed through the const...
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作者：Gao, Yulong; Johansson, Karl Henrik; Xie, Lihua
作者单位：Royal Institute of Technology; Nanyang Technological University
摘要：This article investigates stochastic invariance for control systems through probabilistic controlled invariant sets (PCISs). As a natural complement to robust controlled invariant sets (RCISs), we propose finite-, and infinite-horizon PCISs, and explore their relation to RICSs. We design iterative algorithms to compute the PCIS within a given set. For systems with discrete spaces, the computations of the finite-, and infinite-horizon PCISs at each iteration are based on linear programming, and...
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作者：Richter, Hanz; Warner, Holly
作者单位：University System of Ohio; Cleveland State University
摘要：A new approach for trajectory optimization of musculoskeletal dynamic models is introduced. The model combines rigid-body and muscle dynamics described with a Hill-type model driven by neural control inputs. The objective is to find input and state trajectories that are optimal with respect to a minimum-effort objective and meet constraints associated with musculoskeletal models. The measure of effort is given by the integral of pairwise average forces of the agonist-antagonist muscles. The co...
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作者：Verginis, Christos K.; Dimarogonas, Dimos, V
摘要：This article considers the asymptotic tracking control problem for a class of nonlinear systems subject to predefined constraints for the system response, such as maximum overshoot or minimum convergence rate. In particular, by employing discontinuous control protocols and nonsmooth analysis, we extend previous results on funnel control to guarantee at the same time asymptotic trajectory tracking. We consider second-order systems that are affine in the control input, and contain completely unk...
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作者：Xu, Xiangru; Ackmese, Behcet
作者单位：University of Wisconsin System; University of Wisconsin Madison; University of Washington; University of Washington Seattle
摘要：This article studies the constrained switching (linear) system which is a discrete-time switched linear system whose switching sequences are constrained by a deterministic finite automaton. The stability of a constrained switching system is characterized by its constrained joint spectral radius that is known to be difficult to compute or approximate. Using the semitensor product of matrices, the matrix-form expression of a constrained switching system is shown to be equivalent to that of a lif...
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作者：Dutreix, Maxence; Coogan, Samuel
作者单位：University System of Georgia; Georgia Institute of Technology; University System of Georgia; Georgia Institute of Technology
摘要：This article addresses the problem of verifying discrete-time stochastic systems against omega-regular specifications using finite-state abstractions. Omega-regular properties allow specifying complex behavior and encompass, for example, linear temporal logic. We focus on a class of systems with mixed monotone dynamics. This class is shown to be amenable to efficient reachable set computation and models a wide range of physically relevant systems. In general, finite-state abstractions of conti...
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作者：Cubuktepe, Murat; Jansen, Nils; Alshiekh, Mohammed; Topcu, Ufuk
作者单位：Radboud University Nijmegen; University of Texas System; University of Texas Austin
摘要：We synthesize shared control protocols subject to probabilistic temporal logic specifications. Specifically, we develop a framework in which a human and an autonomy protocol can issue commands to carry out a certain task. We blend these commands into a joint input to a robot. We model the interaction between the human and the robot as a Markov decision process representing the shared control scenario. Using inverse reinforcement learning, we obtain an abstraction of the human's behavior. We us...
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作者：Jin, Bo; Li, Huiping; Yan, Weisheng; Cao, Ming
作者单位：Northwestern Polytechnical University; University of Groningen
摘要：In the article, we study the distributed model predictive control (DMPC) problem for a network of linear discrete-time systems, where the system dynamics are decoupled, the system constraints are coupled, and the communication networks are described by time-varying directed graphs. A novel distributed optimization algorithm called the push-sum dual gradient (PSDG) algorithm is proposed to solve the dual problem of the DMPC optimization problem in a fully distributed way. We prove that the sequ...
