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作者：Mondal, Saikat; Behera, Abhisek K.
作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Roorkee
摘要：This article deals with the practical state estimation for an uncertain dynamical system under feedback constraints. We propose an event-triggered sliding mode observer to estimate the states in the practical sense, i.e., arbitrary steady-state bound can be achieved for the estimation error irrespective of the disturbance signal. A new sliding mode observer is proposed with the discontinuous output error injection vector of the same order as that of the disturbance vector; therefore the observ...
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作者：Vaidya, Umesh; Tellez-Castro, Duvan
作者单位：Clemson University
摘要：In this article, we provide a data-driven framework for optimal control of a continuous-time control-affine stochastic dynamical system. The proposed framework relies on the linear operator theory involving Perron-Frobenius (P-F) and Koopman operators. Our first result involving the P-F operator provides a convex formulation to the optimal control problem in the dual space of densities. This convex formulation of the stochastic optimal control problem leads to an infinite-dimensional convex pr...
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作者：Yan, Rui; Deng, Ruiliang; Lai, Haowen; Zhang, Weixian; Shi, Zongying; Zhong, Yisheng
作者单位：Tsinghua University
摘要：This article studies a planar Homicidal Chauffeur reach-avoid differential game, where the pursuer is a Dubins car and the evader has simple motion. The pursuer aims to protect a goal region from the evader. The game is solved in an analytical approach instead of solving Hamilton-Jacobi-Isaacs equations numerically. First, an evasion region is introduced, based on which a pursuit strategy guaranteeing the winning of a simple-motion pursuer under specific conditions is proposed. Motivated by th...
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作者：Bonilla-Licea, Moise; Bonilla, Moises E.
作者单位：CINVESTAV - Centro de Investigacion y de Estudios Avanzados del Instituto Politecnico Nacional
摘要：In this article, we tackle the mean value control of a diatomic molecule. This problem is treated as a behavioral reachability problem. The control law is synthesized with an operator extracted from the characteristic polynomial of the system. This operator is applied to a Fourier series. The initial and final conditions are, respectively, adjusted with cosinus and sinus terms. We illustrate our results with an HCI molecule.
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作者：Zou, Wencheng; Zhou, Jiantao
作者单位：Nanjing University of Science & Technology; University of Macau; University of Macau
摘要：In the existing works on multiagent systems with neural-network-based protocols, it is usually assumed that states of all agents are within a compact set so that the approximation accuracy can be guaranteed. However, such an assumption means these protocols may only work if the agents' initial state values are set within a small enough neighborhood of the origin. This article develops a novel neural-network-based consensus protocol for a class of nonlinear multiagent systems. It is strictly pr...
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作者：Duan, Jingliang; Cao, Wenhan; Zheng, Yang; Zhao, Lin
作者单位：University of Science & Technology Beijing; National University of Singapore; Tsinghua University; University of California System; University of California San Diego; National University of Singapore
摘要：The convergence of policy gradient algorithms hinges on the optimization landscape of the underlying optimal control problem. Theoretical insights into these algorithms can often be acquired from analyzing those of linear quadratic control. However, most of the existing literature only considers the optimization landscape for static full-state or output feedback policies (controllers). In this article, we investigate the more challenging case of dynamic output-feedback policies for linear quad...
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作者：Mcallister, Robert D.; Rawlings, James B.
作者单位：University of California System; University of California Santa Barbara
摘要：We define a notion of distributional robustness, via the Wasserstein metric, for closed-loop systems subject to errors in the disturbance distribution used to construct the controller. We then establish sufficient conditions for stochastic model predictive control (SMPC) to satisfy this definition of distributional robustness and establish a similar notion of distributional robustness for economic applications of SMPC. These results address incorrectly or unmodeled disturbances, demonstrate th...
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作者：Yu, Xingkai; Meng, Ziyang
作者单位：Tsinghua University
摘要：In this article, the joint estimation of state and noise covariance for linear systems with unknown covariance of multiplicative noise is considered. The measurement likelihood is modeled as a mixture of two Gaussian distributions and a Student's t distribution, respectively. The unknown covariance of multiplicative noise is modeled as an inverse Gamma/Wishart distribution and the initial condition is formulated as the nominal covariance. By using robust design and choosing hierarchical priors...
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作者：Zhao, Xudong; Liu, Le; Basin, Michael V.; Fei, Zhongyang
作者单位：Dalian University of Technology; Universidad Autonoma de Nuevo Leon
摘要：Security issues in cyber-physical systems have attracted increasing attention in recent years. In this article, a security problem in a remote estimation application is considered, where an attacker tries to degrade estimation performance via malicious attacks. In our scenario, a smart sensor transmits its innovation to a remote estimator with a residue-based false data detector. Instead of assuming that the attacker launches a consecutive man-in-the-middle attack, we consider the case with in...
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作者：de Oliveira, Arthur Castello B.; Siami, Milad; Sontag, Eduardo D.
作者单位：Northeastern University; Northeastern University
摘要：We develop some basic principles for the design and robustness analysis of a continuous-time bilinear dynamical network, where an attacker can manipulate the strength of the interconnections/edges between some of the agents/nodes. We formulate the edge protection optimization problem of picking a limited number of attack-free edges and minimizing the impact of the attack over the bilinear dynamical network. In particular, the H-2-norm of bilinear systems is known to capture robustness and perf...
