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作者：Koehler, Johannes; Soloperto, Raffaele; Mueller, Matthias A.; Allgoewer, Frank
作者单位：University of Stuttgart; Leibniz University Hannover
摘要：In this article, we present a nonlinear robust model predictive control (MPC) framework for general (state and input dependent) disturbances. This approach uses an online constructed tube in order to tighten the nominal (state and input) constraints. To facilitate an efficient online implementation, the shape of the tube is based on an offline computed incremental Lyapunov function with a corresponding (nonlinear) incrementally stabilizing feedback. Crucially, the online optimization only impl...
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作者：Bernard, Pauline; Praly, Laurent
作者单位：Universite PSL; MINES ParisTech
摘要：We show that the pair (rotor position, resistance) of a nonsalient permanent magnet synchronous motor (PMSM) is not observable in the sensorless setting, namely, when only the electrical signals (voltages and intensities) are measured. However, if the rotation speed omega and the current in rotating frame i(d) are not constantly zero, we prove that there only exist a maximum of six indistinguishable solutions, the resistance being the root of a polynomial of degree six. Besides, in the particu...
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作者：Lee, Hanmin; Cichella, Venanzio; Hovakimyan, Naira
作者单位：University of Iowa; University of Illinois System; University of Illinois Urbana-Champaign
摘要：This article considers adaptive output-feedback control problem for nonsquare multi-input-multi-output systems (MIMO) with arbitrary relative degree. The proposed controller, based on the L-1 adaptive control architecture, is designed using the right interactor matrix and a suitably defined projection matrix. A state-output predictor, a low-pass filter, and adaptive laws are introduced that achieve output tracking of a desired reference signal. It is shown that the proposed control strategy gu...
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作者：Li, Kuo; Hua, Chang-Chun; You, Xiu; Guan, Xin-Ping
作者单位：Yanshan University; Shanxi University; Shanghai Jiao Tong University
摘要：This article focuses on distributed consensus control for nonlinear multiagent systems under directed graphs of dynamic frequency switches. The agents exchange information with each other through directed graphs that are switched based on a new general switching law. Not all graphs contain a spanning tree with the leader as the root. Under this condition, a novel distributed switched observer is constructed for each follower, and it can accurately estimate the state information of the leader b...
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作者：Li, Weijian; Zeng, Xianlin; Hong, Yiguang; Ji, Haibo
作者单位：Chinese Academy of Sciences; University of Science & Technology of China, CAS; Beijing Institute of Technology; Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS
摘要：This article aims at a distributed design to minimize the nuclear norm (the sum of all singular values) under linear equality constraints over a multiagent network. The problem is reformulated as a distributed trace norm minimization problem by introducing substitutional variables. A distributed projected primal-dual algorithm is proposed for the reformulation. It is shown that the algorithm converges to an optimal solution with a rate of O(1/t). Numerical simulations on three classical proble...
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作者：Wang, Jun; Ding, Baocang; Hu, Jianchen
作者单位：Xi'an Jiaotong University
摘要：This article considers security control under the network environment for a system with deception attacks, polytopic uncertainty, and persistent bounded disturbance. Since the state is immeasurable and the physical constraint is considered, the output feedback robust model predictive control (MPC) is utilized. The previous results on the output feedback robust MPC are extended to address the deception attacks. The mean-square quadratic boundedness is defined in order to characterize the closed...
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作者：Giuseppi, Alessandro; Pietrabissa, Antonio
作者单位：Sapienza University Rome
摘要：This article presents a multicommodity, discrete-time, distributed, and noncooperative routing algorithm, which is proved to converge to an equilibrium in the presence of heterogeneous, unknown, time-varying but bounded delays. Under mild assumptions on the latency functions, which describe the cost associated with the network paths, two algorithms are proposed: The former assumes that each commodity relies only on measurements of the latencies associated with its own paths; the latter assumes...
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作者：Ma, Hong-Jun; Yang, Guang-Hong; Chen, Tongwen
作者单位：Northeastern University; University of Alberta
摘要：This article studies an optimal dynamic formation problem for heterogeneous affine nonlinear systems. The nonidenticality in agents and the requirement for dynamic spatial reconfiguration make it a challenging task to coordinate different types of agents to maintain an optimized formation shape. In an architecture of event-triggered decision and control, this article investigates how to fulfill dynamic formation by distributively optimizing a team cost function. The basic idea is to design a d...
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作者：Pang, Bo; Jiang, Zhong-Ping
作者单位：New York University; New York University Tandon School of Engineering
摘要：This article studies the infinite-horizon adaptive optimal control of continuous-time linear periodic (CTLP) systems. A novel value iteration (VI) based off-policy adaptive dynamic programming (ADP) algorithm is proposed for a general class of CTLP systems, so that approximate optimal solutions can be obtained directly from the collected data, without the exact knowledge of system dynamics. Under mild conditions, the proofs on uniform convergence of the proposed algorithm to the optimal soluti...
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作者：Rojas, Alejandro J.
作者单位：Universidad de Concepcion
摘要：Explicit communication channels in the feedback loop introduce new key elements such as channel input power, channel variable gain, channel bandwidth, additive channel noise, transmission rate, quantization, packet losses, etc. In this article, we propose a stationary signal-to-noise ratio (SNR) analysis for the fading channel model. The channel SNR can be connected with most communication issues such as channel input power, additive channel noise, and quantization noise. Recently, a power ana...
