7期

最新文章

• Adaptive Safety Control of Nonlinearly Parameterized Systems via Logic-Based Switching AI翻译
  作者：Long, Lijun; Tang, Siyu
  作者单位：Northeastern University - China; Northeastern University - China
  摘要：This article investigates the problem of adaptive safety control for a class of nonlinearly parameterized systems. A novel adaptive safety control strategy for the problem studied is established to guarantee system safety, in which a logic switching mechanism is designed to replace parameter update law and a barrier function with a high relative degree with respect to the control input is considered. Also, a high-order parameterized control barrier function is introduced, which can accommodate...
• Distributed Optimal Solution Manipulated via Local False Information AI翻译
  作者：Zhu, Wenbo; Hong, Yiguang
  作者单位：Tongji University; Tongji University
  摘要：In this article, we consider how a selfish agent manipulates the optimal value of multiagent optimization by local false information. First, we formulate a distributed optimization problem for multiagent systems with a selfish agent that aims to shift the global optimal state to its preference via local information manipulation. Then, based on a well-known distributed proportion-integral optimization, the deception strategies are proposed, and the exponential convergence of the manipulated alg...
• Control Occupation Kernel Regression for Nonlinear Control-Affine Systems AI翻译
  作者：Abudia, Moad; Channagiri, Tejasvi; Rosenfeld, Joel A.; Kamalapurkar, Rushikesh
  作者单位：Texas Tech University System; Oklahoma State University System; Texas Tech University; Oklahoma State University - Stillwater; Harvard University; Harvard T.H. Chan School of Public Health; State University System of Florida; University of South Florida; State University System of Florida; University of Florida
  摘要：This manuscript presents an algorithm for obtaining an approximation of a nonlinear high order control affine dynamical system. Controlled trajectories of the system are leveraged as the central unit of information via embedding them in vector-valued reproducing kernel Hilbert space (vvRKHS). The trajectories are embedded as the so-called higher order control occupation kernels, which represent an operator on the vvRKHS corresponding to iterated integration after multiplication by a given cont...
• QuITO v.2: Numerical Solutions With Uniform Error Guarantees to Optimal Control Problems Under Path Constraints AI翻译
  作者：Ganguly, Siddhartha; D'Silva, Rihan Aaron; Chatterjee, Debasish
  作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Bombay; Kyoto University; University of Illinois System; University of Illinois Urbana-Champaign; Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Bombay
  摘要：This article introduces a new transcription, change point localization, and mesh refinement scheme for direct optimization-based solutions and for uniform approximation of optimal control trajectories associated with a class of optimal control problems (OCPs) for control affine nonlinear systems under convex cost and path constraints. The base transcription algorithm, for which we establish the mesh refinement scheme, is a direct multiple shooting technique-QuITO v.2 (Quasi-Interpolation-based...
• From Dissipativity Property to Data-Driven GAS Certificate of Degree-One Homogeneous Networks With Unknown Topology AI翻译
  作者：Lavaei, Abolfazl; Angeli, David
  作者单位：Newcastle University - UK; Imperial College London; University of Florence
  摘要：In this work, we propose a data-driven divide and conquer strategy for the stability analysis of interconnected nonlinear homogeneous networks of degree one with unknown models and an unknown topology. The proposed scheme leverages joint dissipativity-type properties of subsystems described by storage functions (SFs), while providing a stability certificate over unknown interconnected networks. In our data-driven framework, we begin by formulating the required conditions for constructing SFs a...
• Boundary Stabilization for a Class of Nonlinear Axially Moving Systems With Coupling Transverse and Longitudinal Vibrations AI翻译
  作者：Zhang, Yuexi; Cheng, Yi; Wu, Yuhu; Guo, Bao-Zhu
  作者单位：Bohai University; Dalian University of Technology; Dalian University of Technology; Bohai University; Shandong Normal University; Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS
  摘要：This article discusses boundary stabilization within the framework of absolute stability for axially moving systems experiencing transverse and longitudinal coupling vibrations. These vibrations are described by a nonlinear coupled beam model derived from Hamilton's principle. A boundary feedback sector criterion is proposed, encompassing a wide array of linear and nonlinear functions, to reduce vibrations within the axially moving systems by measuring boundary transverse, longitudinal, and an...
• Finite-Sample Guarantees for Data-Driven Forward-Backward Operator Methods AI翻译
  作者：Fabiani, Filippo; Franci, Barbara
  作者单位：IMT School for Advanced Studies Lucca
  摘要：We establish finite sample certificates on the quality of solutions produced by data-based forward-backward (FB) operator splitting schemes. As frequently happens in stochastic regimes, we consider the problem of finding a zero of the sum of two operators, where one is either unavailable in closed form or computationally expensive to evaluate, and shall therefore be approximated using a finite number of noisy oracle samples. Under the lens of algorithmic stability, we then derive probabilistic...
• Unified Feedforward Control Framework for Disturbed Nonminimum Phase Systems: The Koopman-Type Inverse Operator Approach AI翻译
  作者：Ji, Xiaoqiang; Dou, Yuanke; Zhu, Shaoqin; Xu, Yangsheng
  作者单位：The Chinese University of Hong Kong, Shenzhen; The Chinese University of Hong Kong, Shenzhen; Shenzhen Institute of Artificial Intelligence & Robotics for Society
  摘要：Feedforward control is essential for precise output tracking in nonminimum phase (NMP) systems, and stable inversion has been proposed to address input instability caused by unstable internal dynamics. However, this approach demands an accurate mathematical model, limiting its effectiveness in the presence of model uncertainties and especially in cases without a model. While data-driven control (DDC) can enhance performance in these scenarios, it often fails to achieve precise tracking under i...
• Conservative Linear Envelopes for Nonlinear, High-Dimensional, Hamilton-Jacobi Reachability AI翻译
  作者：Sharpless, William; Chow, Yat Tin; Herbert, Sylvia
  作者单位：University of California System; University of California San Diego; University of California System; University of California Riverside
  摘要：Hamilton-Jacobi reachability (HJR) provides a value function that encodes the set of states from which a system with bounded control inputs can reach or avoid a target despite any bounded disturbance, and the corresponding robust, optimal control policy. Though powerful, traditional methods for HJR rely on dynamic programming (DP) and suffer from exponential computation growth with respect to state dimension. The recently favored Hopf formula mitigates this curse of dimensionality by providing...
• FIR Stabilizability Ensures Stabilizability by Non-FIR Controllers Having Integer Monic Characteristic Polynomials AI翻译
  作者：Tavazoei, Mohammad Saleh
  作者单位：Sharif University of Technology
  摘要：To avoid computational overflow in partially homomorphic encrypted control systems with dynamic linear time-invariant (LTI) discrete-time controllers, it has been previously suggested to use controllers possessing integer characteristic polynomials. These controllers are divided into two categories: finite impulse response (FIR) controllers and non-FIR ones. In this article, it is proved that each plant, which is stabilizable by FIR controllers, can also be stabilized by non-FIR ones having in...