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作者：Zhang, Kang-Kang; Zhou, Bin; Lam, James
作者单位：KU Leuven; University of Hong Kong; Harbin Institute of Technology
摘要：In this article, the global control problem for a chained nonholonomic system composed of a scalar subsystem and a bilinear chain of integrators with input delays is solved. For the scalar subsystem, a finite-dimensional periodic delayed feedback is constructed and the closed form of the controller is given explicitly. With the aid of a smooth linear time-varying state transformation, the bilinear chain of integrators subsystem is re-expressed as a linear time-varying system with input delay. ...
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作者：Zhang, Bin; Ren, Yingying; Ding, Da-Wei
作者单位：University of Science & Technology Beijing
摘要：This technical note investigates the optimal tracking and regulation performance of networked control systems (NCSs) with time delay and input quantization. To this end, advanced tradeoff performance indices for multi-input multi-output systems are first proposed, aiming to identify new design constraints beyond those imposed by known limitations, such as unstable poles (UPs) and nonminimum phase zeros (NMPZs). Then, some analytical expressions of optimal tracking and regulation performance ar...
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作者：Huan, Mingchen; Li, Chuandong; Hu, Xiang
作者单位：Southwest University - China
摘要：In this article, we address a class of differential games where one player utilizes piecewise continuous control strategy, while the other player employs event-triggered impulses. This article considers scenarios where impulses act as control inputs or as disturbances, and the theoretical framework we propose is applicable to both zero-sum and nonzero-sum differential games. By employing discontinuous steady-state Hamilton-Jacobi-Isaacs (HJI) equations and constructing Lyapunov functions, we e...
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作者：Wu, Xuyang; Liu, Changxin; Magnusson, Sindri; Johansson, Mikael
作者单位：Southern University of Science & Technology; East China University of Science and Technology; Stockholm University; Royal Institute of Technology
摘要：Existing asynchronous distributed optimization algorithms often use diminishing step-sizes that cause slow practical convergence, or use fixed step-sizes that depend on and decrease with an upper bound of the delays. Not only are such delay bounds hard to obtain in advance, but they also tend to be large and rarely attained, resulting in unnecessarily slow convergence. This article develops asynchronous versions of two distributed algorithms, Prox-DGD and DGD-ATC, for solving consensus optimiz...
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作者：Chen, Yuhan; Liu, Tao; Huang, Jie
作者单位：Southern University of Science & Technology; Chinese University of Hong Kong
摘要：The leader-following consensus problem for general linear multiagent systems over jointly connected switching networks has been a challenging problem and the solvability of the problem has been limited to the class of linear multiagent systems whose system matrix is marginally stable. This condition is restrictive since it even excludes the most commonly used double-integrator system. This article presents an advancement by showing that leader-following exponential consensus is achievable for ...
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作者：Costa, Ramon R.
作者单位：Universidade Federal Rural do Rio de Janeiro (UFRRJ); Universidade Federal do Rio de Janeiro
摘要：A Lyapunov-based least-squares model-reference adaptive controller was recently developed for plants with relative degree one. The algorithm exhibits a remarkable tracking error transient performance while also ensuring fast parameter convergence. In this article, we generalize this algorithm to the more complex and challenging case of plants with higher relative degree. The key elements for the design procedure are the strictly positive real (SPR) principle and the backstepping technique. The...
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作者：Lhachemi, Hugo
作者单位：Universite Paris Saclay; Centre National de la Recherche Scientifique (CNRS)
摘要：This article presents an output feedback control strategy for the setpoint regulation control of heat equations. Inspired by classical finite-dimensional methods, the adopted approach leverages an integral component of the tracking error. The reported approach relies on spectral reduction methods, directly applied to the heat equation once augmented with the integral component. It is shown that the adopted boundary control design strategy can always be successfully implemented for the setpoint...
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作者：Xu, Haofeng; Zhu, Quanxin
作者单位：Hunan Normal University
摘要：This article is committed to the stability analysis of discrete-time impulsive stochastic systems involving hybrid nondeterministic delays. We develop several novel criteria of weakly globally stochastically exponential stability for the suggested systems by means of delayed inequality approach under impulsive disturbance and Razumikhin method under impulsive control, respectively. It should be highlighted that different from the majority works that focused on constant delays or time-dependent...
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作者：Gao, Shuai; Shen, Dong; Tayebi, Abdelhamid
作者单位：Renmin University of China; Lakehead University; Shandong University
摘要：We address the tracking problem for a class of uncertain nonaffine nonlinear systems with high relative degrees, performing nonrepetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a gradient descent parameter adaptation law to handle the unknown time-varying parameters of the system, along with a state estimator that estimates the unmeasurable state variables. Furthermore, despite the inherently complex nature of the nonaffine system, we prov...
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作者：Liu, Changrui; Shi, Shengling; De Schutter, Bart
作者单位：Delft University of Technology; Massachusetts Institute of Technology (MIT)
摘要：Handling model mismatch is a common challenge in model predictive control (MPC). While robust MPC is effective, its conservatism often makes it less desirable. Certainty-equivalence MPC (CE-MPC), which uses the nominal model, offers an appealing alternative due to its design simplicity and low computational cost. This article investigates CE-MPC for uncertain nonlinear systems with multiplicative parametric uncertainty and input constraints that are inactive at the steady state. The primary co...
