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作者：Wang, Xiaojun; Shu, Shaolong; Lin, Feng
作者单位：University of Shanghai for Science & Technology; Tongji University; Wayne State University
摘要：Networks have now been widely used in everyday life. Many engineering systems are networked systems that can be modeled as discrete event systems (DES). To control such systems, supervisory control of networked DES has been developed. Because of nondeterminism, the behavior of a controlled/supervised system is described by the upper bound (large) language and the lower bound (small) language. Therefore, three types of controls are needed: 1) control for the large language to ensure safety, 2) ...
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作者：Zhang, Hongchao; Li, Zhouchi; Clark, Andrew
作者单位：Washington University (WUSTL)
摘要：Safety is one of the most important properties of control systems. Sensor faults and attacks and actuator failures may cause errors in the sensor measurements and system dynamics, which leads to erroneous control inputs and hence safety violations. In this article, we improve the robustness against sensor faults and actuator failures by proposing a class of fault-tolerant control barrier functions (FT-CBFs) for nonlinear systems. Our approach maintains a set of state estimators according to fa...
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作者：Wang, Xiaojun; Shu, Shaolong; Lin, Feng
作者单位：University of Shanghai for Science & Technology; Tongji University; Wayne State University
摘要：Networks have now been widely used in everyday life. Many engineering systems are networked systems that can be modeled as discrete event systems (DES). To control such systems, supervisory control of networked DES has been developed. Because of nondeterminism, the behavior of a controlled/supervised system is described by the upper bound (large) language and the lower bound (small) language. Therefore, three types of controls are needed: 1) control for the large language to ensure safety, 2) ...
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作者：Zhang, Hongchao; Li, Zhouchi; Clark, Andrew
作者单位：Washington University (WUSTL)
摘要：Safety is one of the most important properties of control systems. Sensor faults and attacks and actuator failures may cause errors in the sensor measurements and system dynamics, which leads to erroneous control inputs and hence safety violations. In this article, we improve the robustness against sensor faults and actuator failures by proposing a class of fault-tolerant control barrier functions (FT-CBFs) for nonlinear systems. Our approach maintains a set of state estimators according to fa...
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作者：Maheshwari, Chinmay; Wu, Manxi; Pai, Druv; Sastry, Shankar
作者单位：University of California System; University of California Berkeley; University of California System; University of California Berkeley
摘要：We study a multiagent reinforcement learning dynamics and analyze its asymptotic behavior in infinite-horizon discounted Markov potential games. We focus on the independent and decentralized setting, where players do not know the game parameters and cannot communicate or coordinate. In each stage, players update their estimate of Q-function that evaluates their total contingent payoff based on the realized one-stage reward in an asynchronous manner. Then, players independently update their pol...
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作者：Zhao, Feiran; Dorfler, Florian; Chiuso, Alessandro; You, Keyou
作者单位：Tsinghua University; Tsinghua University; Swiss Federal Institutes of Technology Domain; ETH Zurich; University of Padua
摘要：Direct data-driven design methods for the linear quadratic regulator (LQR) mainly use offline or episodic data batches, and their online adaptation remains unclear. In this article, we propose a direct adaptive method to learn the LQR from online closed-loop data. First, we propose a new policy parameterization based on the sample covariance to formulate a direct data-driven LQR problem, which is shown to be equivalent to the certainty-equivalence LQR with optimal nonasymptotic guarantees. Sec...
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作者：Li, Lianhua; Zhao, Kai; Song, Yongduan
作者单位：Chongqing University; Chongqing University
摘要：For cooperative multiagent systems, the existing semiglobal performance control methods lack uniformness with respect to initial conditions, and the global ones cannot tackle asymmetric performance situations. In this work, we propose a robust distributed control protocol for heterogenous strict-feedback multiagent systems that not only guarantees multiple performance behaviors on the consensus error but also achieves uniform performance behaviors on the virtual errors under one framework. Our...
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作者：Wang, JinRong; Chen, Dan
作者单位：Guizhou University
摘要：The linear quaternion discrete system (LQDS) serves as an effective mathematical tool for applications in wave modeling, fluid dynamics, and filter design. This article is dedicated to the analysis of relative controllability for LQDS with delay. Formulas for the exact solutions of system trajectories are derived by using a delay-adapted quaternion discrete matrix exponential. The Gram and rank criteria for the relative controllability of LQDS with pure delay are established by the quaternion ...
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作者：Chandrasekaran, Rama Seshan; Banavar, Ravi N.; Mahindrakar, Arun D.
作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Madras; Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Bombay
摘要：For a finite number of agents evolving in a Euclidean space and linked to each other by a connected graph, the Laplacian flow that is based on the interagent errors ensures consensus or synchronization for both first- and second-order dynamics. When such agents evolve on a circle (such as the Kuramoto oscillator), the flow that depends on the sinusoid of the interagent error angles generalizes the same result. In this work, it is shown that the Laplacian flow and the Kuramoto oscillator are sp...
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作者：Abdelgalil, Mahmoud; Georgiou, Tryphon T.
作者单位：University of California System; University of California San Diego; University of California System; University of California Irvine
摘要：We consider the problem of steering a collection of n particles that obey identical n-dimensional linear dynamics via a common state feedback law toward a rearrangement of their positions, cast as a controllability problem for a dynamical system evolving on the space of matrices with positive determinant. We show that such a task is always feasible and, moreover, that it can be achieved arbitrarily fast. We also show that an optimal feedback control policy to achieve a similar feat, may not ex...
