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作者：Mestres, Pol; Cortes, Jorge
作者单位：University of California System; University of California San Diego
摘要：Motivated by the key role of control barrier functions (CBFs) in assessing safety and enabling the synthesis of safe controllers in nonlinear control systems, this article presents a suite of converse results on CBFs. Given any safe set, we first identify a set of general sufficient conditions which guarantee the existence of a CBF. Our technical analysis also enables us to define an extended notion of CBF which is always guaranteed to exist if the set is safe. We next turn our attention to th...
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作者：Kucera, Vladimir
作者单位：Czech Technical University Prague
摘要：This article addresses the problem of row-by-row (or diagonal) decoupling of discrete-time linear multiinput multioutput systems with periodic time-varying coefficients using periodic state feedback. Previous solutions have tackled row-by-row decoupling using dynamic compensation for square systems and block decoupling through regular state feedback for nonsquare systems with more outputs than inputs. While it appears likely that a row-by-row state feedback solution for square systems can be d...
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作者：Meindl, Michael; Bachhuber, Simon; Seel, Thomas
作者单位：Leibniz University Hannover; University of Erlangen Nuremberg
摘要：Accurate reference tracking is essential in control tasks, and, in repetitive systems, model-based iterative learning control (MB-ILC) is a standard solution. However, MB-ILC suffers from two downsides: MB-ILC not only requires prior model information but also learning parameters that have to be manually tuned, which poses an inherent design effort. To overcome the requirement of model information, data-driven ILC (DD-ILC) methods have been proposed which, nonetheless, still require manual par...
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作者：Liu, Mei; Feng, Kai; Lanzon, Alexander
作者单位：Tianjin University; University of Manchester
摘要：This article proposes several algorithms based on eigenvalue computations for testing negative imaginariness of scalar transfer functions of single-input single-output time-invariant linear systems. The input of the proposed eigenvalue-based algorithms can be any state-space realization, not necessarily minimal. The algorithms can test negative imaginariness of descriptor systems whose transfer functions may be nonproper, and only involve eigenvalues computation of matrices or matrix pencils w...
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作者：Mo, Yuanqiu; Wang, He; Li, Shuai; Yu, Wenwu
作者单位：Southeast University - China; University of Oulu
摘要：Unlike the classical distributed consensus protocols that enable a group of agents to reach an agreement regarding a certain quantity of interest in a distributed fashion, the distributed biased min-consensus protocol (DBMC) has been proven to handle the advanced complexity of solving the shortest path problem. Such a protocol is commonly incorporated as the first step of a hierarchical architecture in real applications, such as robot path planning and the management of dispersed computing ser...
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作者：Belhadjoudja, M. C.; Maghenem, M.; Witrant, E.
作者单位：Centre National de la Recherche Scientifique (CNRS); Communaute Universite Grenoble Alpes; Universite Grenoble Alpes (UGA); Institut National Polytechnique de Grenoble; Dalhousie University
摘要：We study state estimation for the nonhomogeneous Kuramoto-Sivashinsky (KS) equation whose output takes location at a time-dependent position that browses the spatial domain back and forth. The only available data are the system's state and some of its spatial derivatives at the output's location. In this context, we construct a state observer by combining two KS equations. The first one is defined from one boundary up to the output's location, and the second one is defined from the output's lo...
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作者：Wang, Ding; Hu, Lingzhi; Zhang, Liguo; Qiao, Junfei
作者单位：Beijing University of Technology
摘要：A new online self-triggered sampling control method is presented to address the optimal adaptive critic regulation issue for discrete-time nonlinear systems. First, a self-sampling function is designed based on the stability of the controlled system to gather only the necessary data during the sampling process, and the influence of the control parameters on the self-triggering interval is proved in detail. Subsequently, a self-triggered-based offline iterative algorithm is developed to create ...
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作者：Banse, Adrien; Romao, Licio; Abate, Alessandro; Jungers, Raphael M.
作者单位：Universite Catholique Louvain; Technical University of Denmark; University of Oxford
摘要：The Abstractions of dynamical systems enable their verification and the design of feedback controllers using simpler, usually discrete, models. In this article, we propose a data-driven abstraction mechanism based on a novel metric between Markov models. Our approach is based purely on observing output labels of the underlying dynamics, thus opening the road for a fully data-driven approach to construct abstractions. Another feature of the proposed approach is the use of memory to better repre...
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作者：Mannini, Davide; Hespanha, Joao P.; 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：This study presents the optimal solutions to the state feedback finite horizon disturbance attenuation problem using a game theory approach. The proposed solution method is valid for linear dynamical systems and quadratic objective functions under bounded disturbances. Two solution regions in the space of initial states define the optimal value of the controller. The first region, which contains the zero initial state, features the linear optimal H-infinity controller, whereas the second regio...
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作者：Aggarwal, Naman; How, Jonathan P.
作者单位：Massachusetts Institute of Technology (MIT)
摘要：In this article, we present Maximal Ellipsoid Backward Reachable Trees MAXELLIPSOID BRT, which is a multiquery algorithm for planning of dynamic systems under stochastic motion uncertainty and constraints on the control input. In contrast to existing probabilistic planning methods that grow a roadmap of distributions, our proposed method introduces a framework to construct a roadmap of ambiguity sets of distributions such that each edge in our proposed roadmap provides a feasible control seque...
