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作者：Buerger, Johannes; Cannon, Mark
作者单位：BMW AG; University of Oxford
摘要：We propose a computationally efficient nonlinear model predictive control algorithm for safe, learning-based control. The system model is represented as an affine combination of basis functions with unknown parameters, and is subject to additive set-bounded disturbances. Our algorithm employs successive linearization around nominal predicted trajectories and accounts for uncertainties in predicted states due to linearization, model errors, and disturbances using ellipsoidal sets. The ellipsoid...
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作者：Bajaj, Shivam; Jha, Bhargav; Bopardikar, Shaunak D.; Von Moll, Alexander; Casbeer, David W.
作者单位：Purdue University System; Purdue University; Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Kharagpur; Michigan State University
摘要：We formulate a planar motion planning problem for a Dubins-Laser system that consists of a Dubins vehicle with an attached controllable laser. The vehicle moves with unit speed and the laser, having a finite range, can rotate in a clockwise or anticlockwise direction with a bounded angular rate. From an arbitrary initial position and orientation, the aim is to steer the system so that a given static target is within the range of the laser and the laser is oriented at it in minimum time. We cha...
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作者：Maheshwari, Chinmay; Kulkarni, Kshitij; Wu, Manxi; Sastry, Shankar
作者单位：Johns Hopkins University; University of California System; University of California Berkeley; University of California System; University of California Berkeley
摘要：In this artice, we propose an adaptive incentive mechanism that learns the optimal incentives in environments where players continuously update their strategies. Our mechanism updates incentives based on each player's externality, defined as the difference between the player's marginal cost and the operator's marginal cost at each time step. The proposed mechanism updates the incentives on a slower timescale compared to the players' learning dynamics, resulting in a two-timescale coupled dynam...
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作者：Xie, Huahui; Dai, Li; Sun, Zhongqi; Zhai, Di-Hua; Xia, Yuanqing
作者单位：Beijing Institute of Technology; Zhongyuan University of Technology; Zhongyuan University of Technology
摘要：This article proposes a robust model predictive control (RMPC) framework under uncontrollable sampling intervals, i.e., only a known bound on the sampling interval, designed for incrementally stabilizable nonlinear systems with general state and input-dependent disturbances. We begin by establishing a tube that sets an upper limit for an offline incremental Lyapunov function, defining the permissible range for the actual state deviation from the optimal state at each prediction step due to dis...
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作者：Zhang, Kai; Zhou, Bin; Chen, Guanrong
作者单位：Harbin Institute of Technology; City University of Hong Kong
摘要：This article delves into the study of the linear cooperative output regulation problem for multiple heterogeneous agents with a general directed topology, emphasizing on its cyber-attack-immune and fully distributed characteristics. For a class of introspective multiagent systems in which the agents have the ability to measure their own output, several distributed observer-based linear time-varying protocols are introduced. These protocols utilize only absolute and relative output information ...
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作者：Zhao, Wenyu; Tie, Lin
作者单位：Beihang University
摘要：Lie algebra methods have been the leading methods in studying the controllability problems of nonlinear systems including bilinear systems over the past decades. However, once semigroups tend to appear, which often occurs on, for instance, bilinear systems with drift, the Lie algebra methods are limited unless assumptions are made to avoid semigroups. In this article, we face the problem of semigroups directly without those assumptions. That is, we propose a new approach to controllability of ...
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作者：Li, Baojia; Liu, Kun; Wang, Haojun; Ma, Qian; Xu, Shengyuan; Xia, Yuanqing
作者单位：Beijing Institute of Technology; Nanjing University of Science & Technology
摘要：This article is concerned with the vulnerability of a class of nonlinear state estimation under joint deception attacks. By decomposing the considered nonlinear system into two coupled subsystems and utilizing a decoupling method based on the subspace constructed in the kernel of the nonlinearity, we obtain the relationship between the vulnerability of nonlinear system under attacks and the stability of the two subsystems. Then, the vulnerability conditions of nonlinear state estimation under ...
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作者：Ramadan, Mohammad S.; Toler, Evan; Anitescu, Mihai
作者单位：United States Department of Energy (DOE); Argonne National Laboratory
摘要：Data-driven and adaptive control approaches face the problem of introducing sudden distributional shifts beyond the distribution of data encountered during learning. Therefore, they are prone to invalidating the very assumptions used in their own construction. This is due to the linearity of the underlying system, inherently assumed and formulated in most data-driven control approaches, which may falsely generalize the behavior of the system beyond the behavior experienced in the data. This ar...
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作者：Cai, Xiushan; Lin, Yuhang
作者单位：Xiamen Institute of Technology; Hubei Normal University; Zhejiang Normal University
摘要：We present a control design and stability analysis for a reaction-diffusion partial differential equation (PDE) with boundary control. The system admits an arbitrary number of unstable eigenvalues and is subject to a time-varying input delay, with an unbounded input operator. The unbounded nature of the input operator requires the stability analysis to be carried out in the H(1 )norm rather than the conventional L(2 )norm of the actuator state. The analysis reveals a cascaded structure compose...
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作者：Tang, Michael; Krstic, Miroslav; Poveda, Jorge I.
作者单位：University of California System; University of California San Diego; University of California System; University of California San Diego
摘要：We study singularly perturbed systems that exhibit input-to-state stability (ISS) with fixed-time properties in the presence of bounded disturbances. In these systems, solutions converge to the origin within a time frame independent of initial conditions when undisturbed, and to a vicinity of the origin when subjected to bounded disturbances. First, we extend the traditional composite Lyapunov method, commonly applied in singular perturbation theory to analyze asymptotic stability, to include ...
