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作者：Gakis, Grigorios; Smith, Malcolm C.
作者单位：University of Cambridge
摘要：This article derives a filtering and a smoothing algorithm for simultaneous input and state estimation for linear discrete-time systems of any inherent delay. The exogenous input is assumed to be completely unknown and the only stochastic assumptions are on the output measurements and the initial state. The algorithm includes the Kalman filter which is itself a special case of a system with an inherent delay of zero. The derived recursions take a similar form to the Kalman filter, and are stra...
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作者：Teter, Alexis M. H.; Wang, Wenqing; Halder, Abhishek
作者单位：University of California System; University of California Santa Cruz; Iowa State University
摘要：Schrodinger bridge is a diffusion process that steers a given distribution to another in a prescribed time while minimizing the effort to do so. It can be seen as the stochastic dynamical version of the optimal mass transport, and has growing applications in generative diffusion models and stochastic optimal control. We say a Schr & ouml;dinger bridge is exactly solvable if the associated uncontrolled Markov kernel is available in closed form, since then the bridge can be numerically computed ...
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作者：Huang, Guilin; Shakib, M. Fahim; Jaimoukha, Imad M.
作者单位：Imperial College London; Eindhoven University of Technology
摘要：Controller synthesis in control theory faces significant challenges due to the complexity of solving nonlinear matrix inequalities (NLMIs). Common methods, such as weighting filters and change-of-variable techniques, have drawbacks like increased system order and restrictive assumptions requiring a common Lyapunov variable. This article presents a unified framework that linearizes NLMIs without needing a common Lyapunov variable. Our approach handles continuous and discrete linear time-invaria...
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作者：Liu, Guangyi; Somarakis, Christoforos; Motee, Nader
作者单位：Lehigh University; Merck & Company; Merck & Company USA
摘要：This article establishes and explores a framework to analyze the risk of cascading failures in a platoon of autonomous vehicles, accounting for communication time-delays and input uncertainty. Our proposed framework yields closed-form expressions for cascading collisions, which we quantify using the coherent average value-at-risk (AV@R) to assess the cascading effect of vehicle collisions within the platoon. We investigate how factors such as network connectivity, system dynamics, communicatio...
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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：Galuppini, Giacomo; Schimperna, Irene; Magni, Lalo
作者单位：University of Pavia
摘要：This article proposes an offset-free, output feedback, tracking model predictive control (MPC) stabilizing formulation, specifically designed to handle incrementally input-to-state stable (delta ISS) systems subject to input and input rate constraints. Recursive feasibility and stability are guaranteed by means of suitable terminal ingredients, and an extended region of attraction is provided by means of artificial reference variables. Moreover, the knowledge of a suitable cost detectability f...
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作者：Lutzow, Laura; Althoff, Matthias
作者单位：Technical University of Munich
摘要：Formal verification techniques play a pivotal role in ensuring the safety of complex cyber-physical systems. To transfer model-based verification results to the real world, we require that the measurements of the target system lie in the set of reachable outputs of the corresponding model, a property we refer to as reachset conformance. This article is on automatically identifying those reachset-conformant models. While state-of-the-art reachset-conformant identification methods focus on linea...
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作者：Zergeroglu, Erkan; Tatlicioglu, Enver; Obuz, Serhat
作者单位：Gebze Technical University; Ege University; Tarsus University
摘要：This work presents a novel solution to adaptive output feedback position tracking control of a class of nonlinear systems with guaranteed dynamical parameter estimation. Specifically, a concurrent learning-based update rule fused by the filtered version of the desired system dynamics in conjunction with a desired state-based regression matrix have been utilized to ensure that both the position tracking error and parameter estimation error terms converge to origin exponentially while requiring ...
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作者：Feng, Shilun; Shi, Dawei; Shi, Yang; Zheng, Kaikai
作者单位：Beijing Institute of Technology; Beijing Institute of Technology; Beijing Institute of Technology; University of Victoria
摘要：An important question in data-driven control is how to obtain an informative dataset. In this work, we consider the problem of effective data acquisition of an unknown linear system with bounded disturbance for both open-loop and closed-loop stages. The learning objective is to minimize the volume of the set of admissible systems. First, a performance measure based on historical data and the input sequence is introduced to characterize the upper bound of the volume of the set of admissible sys...
