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作者：Sawamura, Riki; Hayashi, Naoki; Inuiguchi, Masahiro
作者单位：University of Osaka
摘要：This article addresses distributed constrained convex optimization in open multiagent systems characterized by dynamic and unpredictable changes in their structural components and active participants. Such systems, often found in many networked infrastructures, have an openness property, wherein the configuration and the number of active agents vary significantly. This article considers a distributed online algorithm to estimate a dynamic optimal strategy that minimizes a dynamic regret and a ...
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作者：Datar, Adwait; Hespe, Christian; Werner, Herbert
作者单位：Hamburg University of Technology
摘要：In this article, we study cooperative control dynamics with gradient-based forcing terms. As a specific example, we focus on source-seeking dynamics with vehicles embedded in an unknown scalar field with a subset of agents having gradient information. We consider time-invariant and uncertain interaction potentials common in formation control and flocking. We leverage the framework of alpha -integral quadratic constraints (IQCs) to obtain convergence rate estimates whenever exponential stabilit...
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作者：Wang, Pengbiao; Ren, Xuemei
作者单位：Beijing Institute of Technology
摘要：This article proposes an iterative distributed model predictive control (DMPC) approach for discrete-time linear systems with decoupled and coupled constraints over undirected communication networks. To address the coupled constraint, we transform a DMPC optimization problem into its dual problem. Then, a novel event-triggered distributed dual averaging (ETDDA) algorithm is designed to solve this dual problem, in which event-triggered mechanisms can tremendously save communication resources. W...
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作者：Yuan, Liwei; Ishii, Hideaki
作者单位：Hunan University; University of Tokyo
摘要：In this article, we study the problem of resilient average consensus (RAC) in multiagent systems where some of the agents are subject to failures or attacks. The objective of RAC is for nonfaulty/normal agents to converge to the average of their initial values despite the erroneous effects from malicious agents. To this end, we propose a successful distributed iterative RAC algorithm for the multiagent networks with general directed topologies. The proposed algorithm has two parts at each iter...
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作者：Meshkat, Nicolette; Ovchinnikov, Alexey; Scanlon, Thomas
作者单位：Santa Clara University; City University of New York (CUNY) System; City University of New York (CUNY) System; University of California System; University of California Berkeley
摘要：Structural identifiability concerns the question of which unknown parameters of a model can be recovered from (perfect) input-output (IO) data. If all of the parameters of a model can be recovered from data, then the model is said to be identifiable. However, in many models, there are parameters that can take on an infinite number of values but yield the same input-output data. In this case, those parameters and the model are called unidentifiable. The question is then what to do with an unide...
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作者：Wu, Zhaojing
作者单位：Yantai University
摘要：The problem of trajectory tracking of autonomous aerial vehicles (AAVs) is researched by the aid of Rodrigues parameter (RP). With the attitude planner being designed, the underactuated translational system is transformed to the full-actuated form, and rotational error dynamics based-on RP is obtained. To avoid unwinding phenomenon, a continuous nested saturation controller is constructed such that the input-to-state stability of the closed-loop error system is obtained, which is equivalent to...
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作者：Zhu, Shuaibing; Li, Feng; Deng, Zhenhua; Lu, Jinhu
作者单位：Hunan Normal University; Anhui University of Technology; Central South University; Beihang University
摘要：Although pinning control of dynamical networks with or without delay has been well explored in the past two decades, little attention has been paid to the delay originated from pinning control itself. This article investigates the delayed pinning control scheme for lag synchronization and lag quasi-synchronization of dynamical networks. Two pinning control schemes with uniform delay and nonuniform delays are proposed, which are more practical than the widely used delay-free pinning control sch...
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作者：Aolaritei, Liviu; Lanzetti, Nicolas; Chen, Hongruyu; Dorfler, Florian
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich
摘要：This article addresses the limitations of standard uncertainty models, i.e., robust (norm-bounded) and stochastic (one fixed distribution, e.g., Gaussian), and proposes to model uncertainty via optimal transport (OT) ambiguity sets. These constitute a very rich uncertainty model, which enjoys many desirable geometrical, statistical, and computational properties, and which naturally generalizes both robust and stochastic models, and captures many additional real-world uncertainty phenomena (e.g...
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作者：Lovi, Alex; Fidan, Baris; Nielsen, Christopher
作者单位：University of Waterloo; University of Waterloo
摘要：In this article, we develop a multiple model reference adaptive controller (MMRAC) with blending. The systems under consideration are Non square, i.e., the num-ber of inputs is not equal to the number of states; multi-input, linear, time-invariant with uncertain parameters that lie inside of a known, compact, and convex set. Moreover, the full state of the plant is available for feedback. A multiple model online identification scheme for the plant's state and input matrices is developed that g...
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作者：Yang, Xinyu; Puig, Vicenc; Wang, Xingjian; Wang, Shaoping; Sun, Chen; Zhang, Yixin
作者单位：Beihang University; Universitat Politecnica de Catalunya; Consejo Superior de Investigaciones Cientificas (CSIC); CSIC - Institut de Robotica i Informatica Industrial (IRII); Beihang University; Beihang University; Tianmushan Lab; China University of Mining & Technology
摘要：In this article, a dynamic high-gain-based decentralized optimal fault-tolerant control (FTC) strategy for a class of strong interconnected systems with unknown actuator faults is proposed. The interactions considered are bounded by some functions that depend on all subsystems' states. A two-layer control framework is presented for each subsystem to steer its tracking error asymptotically to zero. In the upper layer, an error optimizer is designed to generate optimal error trajectory based on ...
