2期

最新文章

• Beyond Inherent Robustness: Strong Stability of MPC Despite Plant-Model Mismatch AI翻译
  作者：Kuntz, Steven J.; Rawlings, James B.
  作者单位：University of California System; University of California Santa Barbara; University of California System; University of California Santa Barbara
  摘要：In this article, we establish the asymptotic stability of model predictive control (MPC) under plant-model mismatch for problems where the origin remains a steady state despite mismatch. This class of problems includes, but is not limited to, inventory management, path planning, and control of systems in deviation variables. Our results differ from prior results on the inherent robustness of MPC, which guarantee only convergence to a neighborhood of the origin, the size of which scales with th...
• Distributed Roto-Translation Formation Control of Multirigid-Body Using Dual Quaternion Laplacian AI翻译
  作者：Liu, Xudong; Cao, Su; Wang, Xiangke; Cui, Chunfeng; Qi, Liqun; Lin, Zhiyun
  作者单位：Beihang University; National University of Defense Technology - China; Beihang University; Hong Kong Polytechnic University; Southern University of Science & Technology; Peng Cheng Laboratory
  摘要：This article highlights the pivotal role of dual quaternion Laplacians in the control of rigid-body roto-translation formations. We propose a new distributed and linear control framework, dual quaternion Laplacian coordination framework, aimed at managing multiple rigid-body formations within the SE(3) space, leveraging the dual quaternion Laplacian. It is established that the system's pairwise asymptotic stability is contingent upon the presence of a directed spanning tree in the communicatio...
• Distributed Norm Optimal Iterative Learning Control for High-Performance Consensus Tracking AI翻译
  作者：Chen, Bin; Chu, Bing
  作者单位：University of Sheffield; University of Southampton
  摘要：High-performance consensus tracking problem, which requires all the subsystems operating repetitively to track a desired reference, has found a number of important applications in the last decade. To achieve the high-performance requirement, recent designs use iterative learning control (ILC) to avoid the use of an accurate model that is usually required in conventional control methods. However, most of the existing distributed ILC algorithms have poor scalability (i.e., they will have difficu...
• Continuous Safety-Critical Control of Mobile Robots With Set-Valued Feedback in Body-Fixed Coordinate Frame AI翻译
  作者：Wu, Si; Liu, Tengfei; Zhang, Weidong; Ding, Jinliang; Jiang, Zhong-Ping; Chai, Tianyou
  作者单位：Northeastern University - China; Shanghai Jiao Tong University; New York University; New York University Tandon School of Engineering
  摘要：This article investigates a safety-critical control problem for a mobile robot navigating cluttered environments. Obstacles are represented as a closed set, and a direction-distance function is used to model the obstacle measurement process. Based on real-time obstacle measurements, a safety-critical controller is expected to maintain a safe distance between the robot and obstacles while ensuring that the robot's velocity, considered as the control input, follows a given velocity command signa...
• Semiglobal Adaptive Event-Triggered Output Feedback Consensus of Linear MASs With Input Saturation AI翻译
  作者：Yang, Yucheng; Su, Housheng; Chen, Zhiyong
  作者单位：Hubei University of Automotive Technology; Huazhong University of Science & Technology; University of Newcastle
  摘要：This study explores the adaptive event-triggered output feedback consensus problem in linear multiagent systems subject to input saturation. It provides a semiglobal solution without requiring global information on the topology graph for the development of control algorithms. The framework is first introduced for a specific category of networks characterized by a strongly connected graph and is subsequently generalized to the case of a digraph containing a directed spanning tree. The solution ...
• Robust Safety-Critical Control of Uncertain Nonlinear Systems With DoS Attacks AI翻译
  作者：Dong, Yi; Cui, Xiran; Hong, Yiguang; Chen, Jie
  作者单位：Tongji University
  摘要：This article considers the robust safety-critical control problem of an uncertain second-order nonlinear system subject to denial-of-service (DoS) attacks on the sensor-controller and controller-actuator channels. In order to handle the safety constraint described by a general nonlinear function, we first propose a governor function, regarded as a generalized barrier function, with additional properties. Then, a safety-critical control strategy is designed to guarantee the safety and stability...
• Leader-Follower Synchronization of High-Dimensional Networks Over Finite Fields AI翻译
  作者：Zou, Siyu; Li, Ting; Zhu, Jiandong
  作者单位：Nanjing Normal University
  摘要：This article investigates the synchronization problem of high-dimensional leader-follower networks over finite fields. By analyzing the transition graph of finite field networks, the relationship between the cycle spaces of the studied networks and the leader-subnetwork is revealed. Based on characteristic polynomials and ranks of matrices, several equivalent conditions for the leader-follower synchronization and leader-follower consensus of networks over finite fields are derived, respectivel...
• Synchronization and Pinning Control on Circulating Directed Hypergraphs AI翻译
  作者：Liuzza, Davide; Della Rossa, Fabio; Lo Iudice, Francesco; De Lellis, Pietro
  作者单位：University of Sannio; Italian National Agency New Technical Energy & Sustainable Economics Development; Polytechnic University of Milan; University of Naples Federico II
  摘要：A pressing open problem in the study of interconnected dynamical systems is how to gauge the impact higher order interactions have on the onset of collective behaviors. In this article, we describe multibody interactions among systems using the formalism of directed hypergraphs. Introducing the novel concept of circulating hypergraphs, we formulate the synchronization and pinning control problems in hypernetwork dynamical systems. Extending the notion of balanced digraphs to the case of direct...
• Duality-Based Dynamical Optimal Transport of Discrete Time Systems AI翻译
  作者：Wu, Dongjun; Rantzer, Anders
  作者单位：Lund University
  摘要：We study dynamical optimal transport of discrete time systems with Lagrangian cost. The problem is approached by combining optimal control and Kantorovich duality theory. Based on the derived solution, a first order splitting algorithm is proposed for numerical implementation. While solving partial differential equations is often required in the continuous time case, a salient feature of our algorithm is that it avoids equation solving entirely. Furthermore, it is typical to solve a convex opt...
• Open Distributed Convex Optimization AI翻译
  作者：Wu, Xiaoyu; Lin, Jie; Jiang, Shanchan; Zhang, Zhicheng; Du, Yingxue; Zhang, Yan
  作者单位：Zhejiang Normal University; Tianjin University
  摘要：This article investigates the distributed convex optimization problem where dimension of the feasible set is fluctuated. To address this, we formulate an open consensus algorithm that enables agents to join or leave at any time while seeking the optimal solution. By introducing an auxiliary variable to account for agent departures and incorporating a diminishing gradient descent scheme, we seek the Lyapunov-based method to establish conditions ensuring that consensus remains achievable and rig...