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作者：Cong, Yirui; Zhou, Xiangyun; Kennedy, Rodney A.
作者单位：National University of Defense Technology - China; Australian National University
摘要：In this article, we consider the minimum data rate problem for linear system stabilization under noiseless communication channels. Previous results indicated that having a data rate very approaching the entropy bound leads to large delays and data buffer sizes. In analogy, the entropy bound in Shannon's source coding theorem in traditional information theory displays this behavior, where the data rate can be arbitrarily close to the entropy bound but only at the cost of boundlessly enlarging t...
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作者：De, Souradip; Sahoo, Soumya Ranjan; Wahi, Pankaj
作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Kanpur; Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Kanpur
摘要：In this article, we present a consensus strategy based on cyclic pursuit that ensures rendezvous at any desired point in 2-D space (R-2 reachability) starting with any nonsingular initial configuration of the agents. Choice of a negative gain expands the reachable set beyond the convex hull of the initial configuration of agents. However, the entire R-2 is not reachable in general. We first find the necessary and sufficient condition for the initial configuration of the agents, which ensures R...
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作者：Laurenti, Luca; Lahijanian, Morteza; Abate, Alessandro; Cardelli, Luca; Kwiatkowska, Marta
作者单位：University of Oxford; University of Colorado System; University of Colorado Boulder
摘要：Stochastic processes are expressive mathematical tools for modeling real-world systems that are subject to uncertainty. It is hence crucial to be able to formally analyze the behavior of these processes, especially in safety-critical applications. Most of the existing formal methods are not designed for continuous-time processes, and those that are typically suffering from state explosion in practice. This article introduces a theoretical framework and a scalable computational method for forma...
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作者：Nie, Yuanbo; Kerrigan, Eric C.
作者单位：Imperial College London; Imperial College London
摘要：We propose a general approach to directly implement rate constraints on the discretization mesh for all collocation methods, for both state and input variables. Unlike conventional approaches that may lead to singular control arcs, the solution of this on-mesh implementation has better properties. Moreover, computational speedups of more than 30% can be achieved by exploiting the properties of the resulting linear constraint equations.
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作者：Zheng, Yang; Furieri, Luca; Papachristodoulou, Antonis; Li, Na; Kamgarpour, Maryam
作者单位：Harvard University; Harvard University; Swiss Federal Institutes of Technology Domain; ETH Zurich; University of Oxford
摘要：A convex parameterization of internally stabilizing controllers is fundamental for many controller synthesis procedures. The celebrated Youla parameterization relies on a doubly coprime factorization of the system, while the recent system-level and input-output parametrizations require no doubly coprime factorization, but a set of equality constraints for achievable closed-loop responses. In this article, we present explicit affine mappings among Youla, system-level, and input-output parameter...
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作者：Clerget, Charles-Henri; Petit, Nicolas
作者单位：Massachusetts Institute of Technology (MIT); Universite PSL; MINES ParisTech
摘要：In this article, we study the optimal control of systems subject to input-varying hydraulic delays, i.e., systems where the delay on the input depends on the past values of the input through a specific integral relation. The calculus of variations of this problem reveals its nondifferentiable nature. Then, a smooth relaxation is proposed to derive an iterative optimization algorithm. A convergence proof is detailed. The practical interest of the algorithm is evidenced on a numerical example.
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作者：Tang, Yang; Zhang, Dandan; Shi, Peng; Zhang, Wenbing; Qian, Feng
作者单位：East China University of Science & Technology; University of Adelaide; Victoria University; Yangzhou University
摘要：This article focuses on the formation control problem of nonlinear multiagent systems under denial-of-service attacks. The formation control can be preserved by the distributed hybrid event-triggering strategies (HETSs). As a balance between periodic and continuous event-triggering strategies, HETS arranges a tradeoff between the resource utilization and the communication frequency among agents. Theoretical results are verified using a benchmark problem of six miniature quadrotor prototypes.
