IEEE Transactions on Automatic Control

最新文章

• Nonlocal Nonholonomic Source Seeking Despite Local Extrema AI翻译
  作者：Suttner, Raik; Krstic, Miroslav
  作者单位：University of Wurzburg; University of California System; University of California San Diego
  摘要：In this article, we investigate the problem of source seeking with a unicycle in the presence of local extrema. Our study is motivated by the fact that most of the existing source-seeking methods follow the gradient direction of the signal function and thus only lead to local convergence into a neighborhood of the nearest local extremum. So far, only a few studies present ideas on how to overcome local extrema in order to reach a global extremum. None of them apply to second-order (force- and ...
• Stability in Distribution of Highly Nonlinear Hybrid Stochastic Delay Systems by Delay Feedback Control AI翻译
  作者：Gao, Xiaomeng; Li, Yajing; Fan, Hongtao
  作者单位：Northwest A&F University - China
  摘要：In this article, the stability in distribution by delay feedback control for a class of hybrid stochastic differential delay equations with highly nonlinear drift and diffusion coefficients is investigated for the first time. Special emphasis should be placed on our success in revealing that the stability of highly nonlinear hybrid stochastic delay systems in distribution can be achieved through more general highly nonlinear delay feedback control (than linear delay feedback control). In order...
• A Unified Distributed Method for Constrained Networked Optimization via Saddle-Point Dynamics AI翻译
  作者：Huang, Yi; Meng, Ziyang; Sun, Jian; Ren, Wei
  作者单位：Beijing Institute of Technology; Tsinghua University; University of California System; University of California Riverside
  摘要：This article develops a unified distributed method for solving two classes of constrained networked optimization problems, i.e., optimal consensus problem and resource allocation problem with nonidentical set constraints. We first transform these two constrained networked optimization problems into a unified saddle-point problem framework with set constraints. Subsequently, two projection-based primal-dual algorithms via optimistic gradient descent ascent method and extra-gradient method are d...
• A Minimum Discounted Reward Hamilton-Jacobi Formulation for Computing Reachable Sets AI翻译
  作者：Akametalu, Anayo K.; Ghosh, Shromona; Fisac, Jaime F.; Rubies-Royo, Vicenc; Tomlin, Claire J.
  作者单位：University of California System; University of California Berkeley
  摘要：We propose a novel formulation for approximating reachable sets through a minimum discounted reward optimal control problem. The formulation yields a continuous solution that can be obtained by solving a Hamilton-Jacobi equation. Furthermore, the numerical approximation to this solution is the unique fixed-point to a contraction mapping. This allows for more efficient solution methods that are not applicable under traditional formulations for solving reachable sets. Lastly, this formulation pr...
• Trust-Region Inverse Reinforcement Learning AI翻译
  作者：Cao, Kun; Xie, Lihua
  作者单位：Nanyang Technological University
  摘要：This article proposes a new unified inverse reinforcement learning framework based on trust-region methods and a recently proposed Pontryagin differential programming method in Jin et al.'s work (2020), which aims to learn the parameters in both the system model and the cost function for three types of problems, namely, N-player nonzero-sum multistage games, two-player zero-sum multistage games, and one-player optimal control, from demonstrated trajectories. Different from the existing framewo...
• Fully Distributed Algorithms for Constrained Nonsmooth Optimization Problems of General Linear Multiagent Systems and Their Application AI翻译
  作者：Deng, Zhenhua; Luo, Jin
  作者单位：Central South University
  摘要：This article investigates the constrained nonsmooth distributed optimization problems (DOPs) of general linear multiagent systems. Our problem involves the general linear dynamics of agents, and the cost functions are nondifferentiable. Moreover, the decisions of agents are constrained by both local and coupled inequalities. Without considering the general linear dynamics, the nonsmooth cost functions, and/or the inequality constraints, existing distributed algorithms are ineffective for our p...
• Trust-Based Distributed Secure State Estimation Against Malicious Agents via Two-Hop Communication AI翻译
  作者：Gao, Rui; Yang, Guang-Hong
  作者单位：Northeastern University - China; Northeastern University - China; King Abdulaziz University
  摘要：This article studies the distributed secure state estimation problem in unreliable multiagent networks through adversary detection. The agents are endowed with the capacity for detecting malicious neighbors and aim to collaboratively estimate the state variables of a dynamic system in the presence of malicious agents. A trust mechanism is first introduced to characterize the reliability of the information received from in-neighbors and identify the reliable information of two-hop in-neighbors....
• Distributed Saturated Impulsive Control for Local Consensus of Nonlinear Time-Delay Multiagent Systems With Switching Topologies AI翻译
  作者：Lv, Xiaoxiao; Cao, Jinde; Rutkowski, Leszek; Duan, Peiyong
  作者单位：Southeast University - China; Polish Academy of Sciences; Systems Research Institute of the Polish Academy of Sciences; AGH University of Krakow; Yantai University
  摘要：In this article, the local consensus problem of nonlinear time-delay multiagent systems with switching topologies via distributed saturated impulsive control is discussed and the maximum domain of attraction is well estimated. Specifically, we develop a new estimation approach that is quite distinct from the contractive invariant set to estimate the domain of attraction. Moreover, a novel composite impulsive-instant-dependent Lyapunov function is constructed and an improved convex hull represe...
• On the Exact Parameter Estimation for Robot Manipulators Without Persistence of Excitation AI翻译
  作者：Arteaga, Marco A.
  作者单位：Universidad Nacional Autonoma de Mexico
  摘要：Adaptive control is one of the most employed techniques to achieve trajectory tracking of robot manipulators. Although it is desirable to obtain exact parameter estimation, most adaptive schemes need the persistency of excitation (PE) condition on the regressor to be satisfied. In the recent years, the so-called dynamic regressor extension and mixing (DREM) procedure was developed to provide an alternative in the design of adaptive laws with conditions different from PE. When met, the improvem...
• Parallel and Flexible Dynamic Programming via the Mini-Batch Bellman Operator AI翻译
  作者：Gargiani, Matilde; Martinelli, Andrea; Martinez, Max Ruts; Lygeros, John
  作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; Swiss Federal Institutes of Technology Domain; ETH Zurich
  摘要：The Bellman operator constitutes the foundation of dynamic programming (DP). An alternative is presented by the Gauss-Seidel operator, whose evaluation, differently from that of the Bellman operator where the states are all processed at once, updates one state at a time while incorporating into the computation the interim results. The provably better convergence rate of DP methods based on the Gauss-Seidel operator comes at the price of an inherent sequentiality, which prevents the exploitatio...