8期

最新文章

• Reach-Avoid Control Synthesis for a Quadrotor UAV With Formal Safety Guarantees AI翻译
  作者：Serry, Mohamed; Yuan, Yating; Chang, Haocheng; Liu, Jun
  作者单位：University of Waterloo; University of Waterloo
  摘要：Accomplishing reach-avoid tasks for quadrotor unmanned aerial vehicles while ensuring formal safety guarantees remains a challenging problem despite significant research advancements. In this article, we address this challenge by adopting an efficient planning-tracking paradigm that integrates geometric control for tracking and B & eacute;zier curves for polynomial trajectory generation. Our framework explicitly addresses tracking errors during trajectory synthesis by incorporating closed-form...
• Verification of Diagnosability for Cyber-Physical Systems: A Hybrid Barrier Certificate Approach AI翻译
  作者：Zhong, Bingzhuo; Dong, Weijie; Yin, Xiang; Zamani, Majid
  作者单位：Hong Kong University of Science & Technology; Shanghai Jiao Tong University; University of Colorado System; University of Colorado Boulder
  摘要：Diagnosability is a system theoretical property characterizing whether fault occurrences in a system can always be detected within a finite time. In this article, we investigate the verification of diagnosability for cyberphysical systems with continuous state sets. We develop an abstraction-free and automata-based framework to verify (the lack of) diagnosability, leveraging a notion of hybrid barrier certificates. To this end, we first construct a (delta, K)-deterministic finite automaton tha...
• State Observer for the Fourth-Order Model of a Salient Pole Synchronous Generator With Stator Losses and Partial Input Measurements AI翻译
  作者：Bobtsov, Alexey; Ortega, Romeo; Nikolaev, Nikolay; Lorenz-Meyer, Nicolai; Schiffer, Johannes
  作者单位：ITMO University; Instituto Tecnologico Autonomo de Mexico; Brandenburg University of Technology Cottbus
  摘要：In this article, we study the question of how to reconstruct the state of a power system using phasor measurement units. In our previous research we proved that this question has an affirmative answer imposing some rather strict structural assumptions: namely, neglecting the generator rotors saliency and assuming that the stator resistance of the synchronous generator is zero. It was shown in simulations that the performance of the proposed observer was sensitive to these assumptions, observin...
• An Invariance Principle-Based Concentration Result for Large-Scale Stochastic Pairwise Interaction Network Systems AI翻译
  作者：Como, Giacomo; Fagnani, Fabio; Zampieri, Sandro
  作者单位：Polytechnic University of Turin; Lund University; University of Padua
  摘要：We study stochastic pairwise interaction network systems whereby a finite population of agents, identified with the nodes of a (directed) graph, update their states in response to both individual mutations and pairwise interactions with their neighbors. The considered class of systems includes the main epidemic models-such as the susceptible-infected-susceptible, susceptible-infected-recovered, and susceptible-infected-recovered-susceptible models-certain social dynamics models-such as the vot...
• Tight Bounds on Polynomials and Its Application to Dynamic Optimization Problems AI翻译
  作者：Vila, Eduardo M. G.; Kerrigan, Eric C.; Bruce, Paul
  作者单位：Imperial College London; Imperial College London
  摘要：This article presents a pseudospectral method for dynamic optimization problems (DOPs) that allows for tight polynomial bounds to be achieved via flexible subintervals. The proposed method not only rigorously enforces inequality constraints, but also allows for a lower cost in comparison with nonflexible discretizations. Two examples are provided to demonstrate the feasibility of the proposed method to solve optimal control problems. Solutions to the example problems exhibited up to a tenfold ...
• Encrypted Control for Timed Discrete Event Systems Using Homomorphic Encryption AI翻译
  作者：Fritz, Raphael; Krebs, Nico; Zhang, Ping
  作者单位：RPTU University Kaiserslautern; University of Duisburg Essen
  摘要：The rapid increase in networked cyber-physical system (CPS), especially in industrial environments, necessitates safe and secure communication. One possibility to increase the security of CPS is encryption. In this article, a controller encryption scheme for discrete event systems (DESs) is proposed that allows not only the encryption of the communication, but also the controller itself. The considered controller is modeled by a type of DES, namely, signal interpreted Petri nets (SIPNs). A new...
• Controllability Scores of Linear Time-Varying Network Systems AI翻译
  作者：Umezu, Kota; Sato, Kazuhiro
  作者单位：University of Tokyo
  摘要：For large-scale network systems, network centrality based on control theory plays a crucial role in understanding their properties and controlling them efficiently. The controllability score is such a centrality index and can give a physically meaningful measure. It is originally proposed for linear time-invariant systems, and we extend it to linear time-varying systems in this article. Since the controllability score is defined as an optimal solution to some optimization problem, it is not ne...
• Equivalent and Compact Representations of Neural Network Controllers With Decision Trees AI翻译
  作者：Chang, Kevin; Dahlin, Nathan; Jain, Rahul; Nuzzo, Pierluigi
  作者单位：University of California System; University of California Berkeley; State University of New York (SUNY) System; University at Albany, SUNY; University of Southern California
  摘要：Over the past decade, neural network (NN)-based controllers have demonstrated remarkable efficacy in a variety of decision-making tasks. However, their closed-box nature and the risk of unexpected behaviors pose a challenge to their deployment in real-world systems requiring strong guarantees of correctness and safety. We address these limitations by investigating the transformation of NN-based controllers into equivalent soft decision tree (SDT)-based controllers and its impact on verifiabili...
• Event-Triggered Sliding-Mode Control for Switched Systems With Reachability-Guaranteed AI翻译
  作者：Wang, Yuzhong; Wen, Changyun; Li, Xiaolei; Sang, Hong
  作者单位：University of Hong Kong; Nanyang Technological University; Yanshan University; Dalian Maritime University
  摘要：In existingevent-triggered sliding-mode control (ETSMC) for switched systems, triggering or switching behavior usually causes the system states to deviate from the sliding surface, which may affect both stability and robustness of the system. To deal with this issue, this article proposes a reachability-guaranteed ETSMC for switched systems without/with communication delay. First, an event-triggered scheme (ETS) is constructed with two error functions integrated to counteract the effects of th...
• Benign Nonconvex Landscapes in Optimal and Robust Control, Part I: Global Optimality AI翻译
  作者：Zheng, Yang; Pai, Chih-Fan Rich; Tang, Yujie
  作者单位：University of California System; University of California San Diego; Peking University
  摘要：Direct policy search has achieved great empir-ical success in reinforcement learning. Many recent stud-ies have revisited its theoretical foundation for continuous control, which reveals elegant nonconvex geometry in var-ious benchmark problems. This article considers two fun-damental optimal and robust control problems with partial observability: linear quadratic Gaussian (LQG) control and H infinity robust control. In the policy space, the former problem is smooth but nonconvex, while the la...