IEEE Transactions on Automatic Control

最新文章

• Lyapunov Characterization of Input-to-State Stability for a Class of Impulsive Systems AI翻译
  作者：Bachmann, Patrick; Ahmed, Saeed; Bajcinca, Naim
  作者单位：University of Wurzburg; University of Groningen; University of Groningen
  摘要：We prove that the existence of an input-to-state stability (ISS)-Lyapunov function is a necessary and sufficient condition for the input-to-state stability of a class of impulsive systems over Banach spaces. A key feature of our work is that it employs time-varying ISS-Lyapunov functions as opposed to candidate ISS-Lyapunov functions, which also makes it possible to conclude ISS of impulsive systems with unstable continuous and discrete dynamics.
• Minimal Constraint Violation Probability in Model Predictive Control for Linear Systems AI翻译
  作者：Fink, Michael; Bruedigam, Tim; Wollherr, Dirk; Leibold, Marion
  作者单位：Technical University of Munich
  摘要：Handling uncertainty in model predictive control (MPC) comes with various challenges, especially when considering state constraints under uncertainty. Most methods focus on either the conservative approach of robustly accounting for uncertainty or allowing a small probability of constraint violation. In this work, we propose a linear MPC approach that minimizes the probability that linear state constraints are violated in the presence of additive uncertainty. This is achieved by first determin...
• Stable Inversion of Piecewise Affine Systems With Application to Feedforward and Iterative Learning Control AI翻译
  作者：Spiegel, Isaac A.; Strijbosch, Nard; de Rozario, Robin; Oomen, Tom; Barton, Kira
  作者单位：University of Michigan System; University of Michigan; Eindhoven University of Technology; Delft University of Technology; University of Michigan System; University of Michigan
  摘要：Model inversion is a fundamental technique in feedforward control. Unstable inverse models present a challenge in that useful feedforward control trajectories cannot be generated by directly propagating them. Stable inversion is a process for generating useful trajectories from unstable inverses by handling their stable and unstable modes separately. Piecewise affine (PWA) systems are a popular framework for modeling complicated dynamics. The primary contributions of this article are closed-fo...
• Fault Accommodation of Multiple Faults for a Class of Nonlinear Uncertain Systems: A Dynamic Fault Isolation Information Framework AI翻译
  作者：Zhao, Dong; Shi, Yang; Li, Yueyang; Liu, Shuai
  作者单位：Beihang University; University of Victoria; University of Jinan; Shandong University
  摘要：A new fault accommodation scheme is proposed for a class of nonlinear uncertain systems against multiple process faults. Different from the traditional fault detection information triggered static fault accommodation scheme for dealing with single batch of fault, a targeted and dynamic fault accommodation scheme is proposed based on the availability and quality of the fault information extracted by fault detection and isolation modules. A nominal controller is designed to maintain the essentia...
• Deadlock Resolution and Recursive Feasibility in MPC-Based Multirobot Trajectory Generation AI翻译
  作者：Chen, Yuda; Guo, Meng; Li, Zhongkui
  作者单位：Peking University
  摘要：Online collision-free trajectory generation within a shared workspace is fundamental for most multirobot applications. However, many widely-used methods based on model predictive control (MPC) lack theoretical guarantees on the feasibility of underlying optimization. Furthermore, when applied in a distributed manner without a central coordinator, deadlocks often occur where several robots block each other indefinitely. Whereas heuristic methods such as introducing random perturbations exist, n...
• A Restless Bandit Model for Energy-Efficient Job Assignments in Server Farms AI翻译
  作者：Fu, Jing; Wang, Xinyu; Wang, Zengfu; Zukerman, Moshe
  作者单位：Royal Melbourne Institute of Technology (RMIT); City University of Hong Kong; Northwestern Polytechnical University
  摘要：We aim to maximize the energy efficiency, gauged as average energy cost per job, in a large-scale server farm with various storage or/and computing components modeled as parallel abstracted servers. Each server operates in multiple power modes characterized by potentially different service and energy consumption rates. The heterogeneity of servers and multiple power modes complicate the maximization problem, where optimal solutions are generally intractable. Relying on the Whittle relaxation t...
• Differentially Private Distributed Algorithms for Aggregative Games With Guaranteed Convergence AI翻译
  作者：Wang, Yongqiang; Nedic, Angelia
  作者单位：Clemson University; Arizona State University; Arizona State University-Tempe
  摘要：The distributed computation of a Nash equilibrium in aggregative games is gaining increased attention in recent years. Of particular interest is the coordinator-free scenario where individual players only observe the decisions of their neighbors due to practical constraints. Given the noncooperative relationship among participating players, protecting the privacy of individual players becomes imperative when sensitive information is involved. We propose a fully distributed equilibrium-seeking ...
• Ensuring Both Almost Sure Convergence and Differential Privacy in Nash Equilibrium Seeking on Directed Graphs AI翻译
  作者：Wang, Yongqiang; Basar, Tamer
  作者单位：Clemson University; University of Illinois System; University of Illinois Urbana-Champaign
  摘要：We propose a distributed Nash equilibrium seeking approach that can achieve both almost sure convergence and rigorous differential privacy with finite cumulative privacy budget, which is in sharp contrast to existing differential-privacy solutions for networked games that have to trade provable convergence for differential privacy. The approach is applicable when the communication graph is directed and unbalanced. Numerical comparison results with existing counterparts confirm the effectivenes...
• Kernel Regression-Based State-Space Estimation of Continuous-Time Dynamic Systems From Noisy Sampled State Data AI翻译
  作者：Kim, Taekyoo
  作者单位：Korea Railroad Research Institute (KRRI)
  摘要：Despite various physical applications, state-space identification for continuous-time dynamic systems with noisy sampled data is less popular than discrete-time systems owing to unmeasurable state derivatives. Consequently, its scope is limited to linear or preparameterized systems. In this study, we formulate the identification as a (nonparametric) kernel regression problem applicable to nonlinear dynamic systems, which facilitates the joint assessment of the data fitness and fidelity of dyna...
• Self-Triggered Consensus Control of Multiagent Systems From Data AI翻译
  作者：Li, Yifei; Wang, Xin; Sun, Jian; Wang, Gang; Chen, Jie
  作者单位：Beijing Institute of Technology; Tongji University; Beijing Institute of Technology
  摘要：This article considers self-triggered consensus control (STC) of unknown linear multiagent systems (MASs). Self-triggering mechanisms (STMs) are widely used in MASs, thanks to their advantages in avoiding continuous monitoring and saving computing and communication resources. However, existing results require the knowledge of system matrices, which are difficult to obtain in real-world settings. To address this challenge, we present a data-driven approach to designing STMs for unknown MASs bui...