IEEE Transactions on Automatic Control

最新文章

• Youla-Kucera Parameterization in Contraction Framework AI翻译
  作者：Kawano, Yu; van der Schaft, Arjan; Scherpen, Jacquelien M. A.
  作者单位：Hiroshima University; University of Groningen; University of Groningen; University of Groningen
  摘要：In this article, we study incrementally exponentially stable (IES) image and kernel representations for nonlinear systems with the aim of generalizing the Youla-Kucera parameterization in the contraction framework. We first construct these representations and their stable inverses in the contraction framework and then provide a parameterization of stabilizing controllers by additionally assuming incremental input-to-state stability for the image representation. Focusing on constant metrics res...
• Time-Optimal Control for High-Order Chain-of-Integrators Systems With Full State Constraints and Arbitrary Terminal States AI翻译
  作者：Wang, Yunan; Hu, Chuxiong; Li, Zeyang; Lin, Shize; He, Suqin; Zhu, Yu
  作者单位：Tsinghua University; Tsinghua University
  摘要：Time-optimal control for high-order chain-of-integrators systems with full state constraints and arbitrarily given terminal states remains a challenging problem in the optimal control theory domain, yet to be resolved. To enhance further comprehension of the problem, this article establishes a novel notation system and theoretical framework, providing the switching manifold for high-order problems in the form of switching laws. Through deriving properties of switching laws regarding signs and ...
• Automatic Nonlinear MPC Approximation With Closed-Loop Guarantees AI翻译
  作者：Tokmak, Abdullah; Fiedler, Christian; Zeilinger, Melanie N.; Trimpe, Sebastian; Kohler, Johannes
  作者单位：Aalto University; RWTH Aachen University; Swiss Federal Institutes of Technology Domain; ETH Zurich
  摘要：Safety guarantees are vital in many control applications, such as robotics. Model predictive control (MPC) provides a constructive framework for controlling safety-critical systems but is limited by its computational complexity. We address this problem by presenting a novel algorithm that automatically computes an explicit approximation to nonlinear MPC schemes while retaining closed-loop guarantees. Specifically, the problem can be reduced to a function approximation problem, which we tackle ...
• Completely Distributed State Estimation for Jointly Observable Uncertain Linear Systems AI翻译
  作者：Zhang, Lan; Guay, Martin; Wang, Shimin; Lu, Maobin
  作者单位：Beijing Institute of Technology; Beijing Institute of Technology; Queens University - Canada
  摘要：This article presents a novel design of a distributed adaptive observer for distributed state estimation of continuous-time uncertain linear time-invariant systems over directed networks. In contrast to existing works, the observed system is subject to uncertainties and possibly jointly observable. The distributed estimation of such systems allows practical applications in challenging problems subject to sparse arrangement of sensors and model uncertainties. A class of fully distributed nonlin...
• Robust Model Predictive Control Exploiting Monotonicity Properties AI翻译
  作者：Heinlein, Moritz; Subramanian, Sankaranarayanan; Lucia, Sergio
  作者单位：Dortmund University of Technology; Dortmund University of Technology
  摘要：Robust model predictive control (MPC) algorithms are essential for addressing unavoidable errors due to the uncertainty in predicting real-world systems. However, the formulation of such algorithms typically results in a tradeoff between conservatism and computational complexity. Monotone systems facilitate the efficient computation of reachable sets and thus the straightforward formulation of a robust MPC approach optimizing over open-loop predictions. We present an approach based on the divi...
• Event-Triggered Nonlinear Control With Reset Dynamics AI翻译
  作者：Zhu, Lijun; Chen, Zhiyong
  作者单位：Huazhong University of Science & Technology; University of Newcastle
  摘要：In this article, we propose an improved event-triggered control law based on the Lyapunov function method for a class of nonlinear systems by integrating a monotonically decreasing dynamics with a reset mechanism at each sampling instance. It is rigorously guaranteed that the sampling interval can be increased compared to a recently designed Lyapunov-function-based event-triggered control law when adopted at each step, while the advantages compared with other existing event-triggered control l...
• ADMM-Tracking Gradient for Distributed Optimization Over Asynchronous and Unreliable Networks AI翻译
  作者：Carnevale, Guido; Bastianello, Nicola; Notarstefano, Giuseppe; Carli, Ruggero
  作者单位：University of Bologna; Royal Institute of Technology; University of Padua
  摘要：In this article, we propose a novel distributed algorithm for consensus optimization over networks and a robust extension tailored to deal with asynchronous agents and packet losses. Indeed, to robustly achieve dynamic consensus on the solution estimates and the global descent direction, we embed in our algorithms a distributed implementation of the alternating direction method of multipliers. Such a mechanism is suitably interlaced with a local proportional action steering each agent estimate...
• Setwise Coordinate Descent for Dual Asynchronous Decentralized Optimization AI翻译
  作者：Costantini, Marina; Liakopoulos, Nikolaos; Mertikopoulos, Panayotis; Spyropoulos, Thrasyvoulos
  作者单位：IMT - Institut Mines-Telecom; EURECOM; Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS); Inria; Technical University of Crete
  摘要：In decentralized optimization over networks, synchronizing the updates of all nodes incurs significant communication overhead. Therefore, much of the recent literature has focused on designing asynchronous algorithms where nodes can activate anytime and contact a single neighbor to complete an iteration. However, most works assume that the neighbor selection is done randomly based on a fixed probability distribution, a choice that ignores the optimization landscape at the activation time. Inst...
• Closed-Loop Finite-Time Analysis of Suboptimal Online Control AI翻译
  作者：Karapetyan, Aren; Balta, Efe C.; Iannelli, Andrea; Lygeros, John
  作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; University of Stuttgart
  摘要：Suboptimal methods in optimal control arise due to a limited computational budget, unknown system dynamics, or a short prediction window among other reasons. In this work, we study the transient closed-loop performance of such methods by providing finite-time suboptimality gap guarantees. We consider the control of discrete-time, nonlinear time-varying dynamical systems and establish sufficient conditions for such guarantees. These allow the control design to distribute a limited computational...
• Exponential Regulation of Uncertain Nonlinear Triangular Impulsive Systems: A Logic-Based Switching Gain Approach AI翻译
  作者：Fan, Debao; Zhang, Xianfu; Wen, Changyun
  作者单位：Shandong University; Nanyang Technological University
  摘要：This article addresses the exponential regulation problem for uncertain nonlinear impulsive systems with generalized triangular structures. Different from the existing works, the nonlinear growth rates under consideration are allowed to contain unknown constants and state-input-dependent functions, and the impulse effects are allowed to have unknown sizes. This problem has remained unsolved because it exceeds the coverage of common assumptions in impulsive systems. To this end, we propose a no...