IEEE Transactions on Automatic Control

最新文章

• Hybrid Control Barrier Functions for Continuous-Time Systems AI翻译
  作者：Marley, Mathias; Skjetne, Roger; Teel, Andrew R.
  作者单位：Norwegian University of Science & Technology (NTNU); University of California System; University of California Santa Barbara
  摘要：Control barrier functions (CBFs) enable constraint satisfaction in controlled dynamical systems, by mapping state constraints into state-dependent input constraints. This article investigates the use of hybrid CBF formulations for constraint satisfaction in continuous-time systems. Augmenting CBFs with logic variables enables solving control problems that are not solvable by continuous, or even discontinuous, control. Examples include robust deadlock resolution for vehicles moving in the prese...
• Optimal Communication and Control Strategies in a Cooperative Multiagent MDP Problem AI翻译
  作者：Sudhakara, Sagar; Kartik, Dhruva; Jain, Rahul; Nayyar, Ashutosh
  作者单位：University of Southern California
  摘要：The problem of controlling cooperative multiagent systems under different models of information sharing among agents has received significant attention in the recent literature. In this article, we consider a setup where rather than committing to a fixed and nonadaptive information sharing protocol (e.g., periodic sharing or no sharing, etc.), agents can dynamically decide at each time step whether to share information with each other and incur the resulting communication cost. This setup requ...
• Consensus of Discrete-Time Multiagent Systems With Transient Performance Constraints AI翻译
  作者：Zhang, Zhixin; Chen, Zhiyong
  作者单位：Central South University; University of Newcastle
  摘要：This note investigates the consensus of discrete-time multiagent systems, where the consensus error between neighboring agents is subject to transient performance constraints. The examination of transient performance constraints holds paramount importance in ensuring the secure and optimal functioning of real systems. Nevertheless, the existing body of research pertaining to constraints has predominantly focused on continuous-time systems, with limited attention given to discrete-time systems....
• Error Corrected References for Accelerated Convergence of Low Gain Norm Optimal Iterative Learning Control AI翻译
  作者：Owens, David H.; Chu, Bing
  作者单位：Zhengzhou University; University of Sheffield; University of Southampton
  摘要：To reduce the need for high gains (reduced control weighting) for fast convergence in norm optimal iterative learning control (NOILC), this article presents a simple data-driven mechanism for accelerating the convergence of low gain feedback NOILC controllers. The method uses a modification to the reference signal on each NOILC iteration using the measured tracking error from the previous iteration. The basic algorithm is equivalent to a gradient iteration combined with an NOILC iteration. The...
• Reinforcement Learning for Partially Observable Linear Gaussian Systems Using Batch Dynamics of Noisy Observations AI翻译
  作者：Yaghmaie, Farnaz Adib; Modares, Hamidreza; Gustafsson, Fredrik
  作者单位：Linkoping University; Michigan State University
  摘要：Reinforcement learning algorithms are commonly used to control dynamical systems with measurable state variables. If the dynamical system is partially observable, reinforcement learning algorithms are modified to compensate for the effect of partial observability. One common approach is to feed a finite history of input-output data instead of the state variable. In this article, we study and quantify the effect of this approach in linear Gaussian systems with quadratic costs. We coin the conce...
• Data-Driven Near Optimization for Fast Sampling Singularly Perturbed Systems AI翻译
  作者：Shen, Hao; Peng, Chuanjun; Yan, Huaicheng; Xu, Shengyuan
  作者单位：Anhui University of Technology; Anhui University of Technology; East China University of Science & Technology; Nanjing University of Science & Technology
  摘要：The optimal control issue of fast sampling singularly perturbed systems is discussed throughout this article. As a new attempt, without using complete system dynamics, the composite controller is designed by using controller of the different subsystems along with the usage of the subsystem decomposition technique by means of singular perturbation theory. Compared with the existing policy iteration and value iteration algorithms, there is no enforced requirement for a stabilizing control strate...
• Simultaneously Stabilizing Networked Systems With Minimal Communication AI翻译
  作者：Colombo, Alessandro; Bahraini, Masoud; Zanon, Mario; Falcone, Paolo
  作者单位：Polytechnic University of Milan; Chalmers University of Technology; IMT School for Advanced Studies Lucca; Universita di Modena e Reggio Emilia
  摘要：Self-triggered feedback control is used as a means to reduce the energy and communication requirements of networked systems. Triggered-control schemes result in aperiodic communications, with the potential for communication conflicts when multiple feedback loops are closed over a shared network. In this article, we analyze the necessary/sufficient conditions for simultaneous stabilizability of a set of nonlinear systems over a network from the perspective of scheduling theory, using Lyapunov f...
• Aggregation Method to Strategy Consensus of Large-Size Networked Evolutionary Matrix Games AI翻译
  作者：Li, Haitao; Wang, Shuling; Li, Wenrong
  作者单位：Shandong Normal University
  摘要：The study of large-size networked evolutionary matrix games (NEMGs) with general network structure is a challenging topic due to the inherent complexity of networks. This note analyzes the strategy consensus of large-size NEMGs. The considered large-size NEMG is partitioned into several small-size control subgames via aggregation method. Then, the strategy consensus analysis of large-size NEMGs is converted into the strategy synthesis of small-size control subgames. Based on the strategy profi...
• Consensus Robustness Margins of First-Order Agents Over Undirected Graphs AI翻译
  作者：Ding, Yanling; Ma, Dan; Mao, Qi; Peng, Hui; Chen, Jie
  作者单位：City University of Hong Kong; Northeastern University - China; Guangdong University of Technology
  摘要：This article concerns robust consensus problems for continuous-time first-order multi-agent systems with respect to uncertain gain and phase of the agent's frequency response varying within certain ranges. We consider dynamic output feedback control protocol in the form of proportional-integral (PI) control. The agents can in general be nonminimum phase and unstable systems, which are interconnected by an undirected graph network. We seek to determine the largest ranges of gain and phase varia...
• A Computational Governor for Maintaining Feasibility and Low Computational Cost in Model Predictive Control AI翻译
  作者：Leung, Jordan; Permenter, Frank; Kolmanovsky, Ilya V.
  作者单位：University of Michigan System; University of Michigan; Toyota Motor Corporation
  摘要：This article introduces an approach for reducing the computational cost of implementing linear quadratic model predictive control (MPC) for set-point tracking subject to pointwise-in-time state and control constraints. The approach consists of the following three key components: First, a log-domain interior-point method used to solve the receding horizon optimal control problems; second, a method of warm-starting this optimizer by using the MPC solution from the previous timestep; and third, a...