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作者：Cao, Ye; Wang, Xinjun; Ma, Yajing; Cao, Jianfu; Song, Yongduan
作者单位：Xi'an Jiaotong University; Shandong Normal University; Nanjing University of Posts & Telecommunications; Chongqing University; Chongqing University
摘要：Most existing fault-tolerant control schemes either are contingent upon timely and accurate fault identification or need to be redesigned whenever the types/phases of actuator failures change, rendering the control design rather complex. In this work, a dynamic hardware redundancy technique with a performance-based trivial fault detector is proposed to accommodate multiple levels of actuator failures, upon which a unified performance-based fault-tolerant control scheme is developed irrespectiv...
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作者：Prasun, Parijat; Kamal, Shyam; Pandey, Sunidhi; Bartoszewicz, Andrzej; Ghosh, Sandip
作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology BHU Varanasi (IIT BHU Varanasi); Lodz University of Technology
摘要：In this article, a minimum operator-based law for discrete-time sliding mode control is proposed, which stands between the Gao's reaching law and Utkin's reaching law, alleviating the limitations of both types, i.e., primarily chattering in the former and overly large control action in the latter case. The minimum operator-based discrete-time sliding mode control is designed for first-order and second-order perturbed systems. Further, a minimum operator-based twisting-like algorithm is develop...
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作者：Kim, Junsoo
作者单位：Seoul National University of Science & Technology
摘要：Homomorphic encryption applied to a networked controller enables secure operation, but in most cases it allows for addition and multiplication over integers only, because of computation efficiency. Several related results deal with such constraints by means of re-encrypted controller output, based on which the controller can be reconstructed and operate over integers. This article presents two modified methods based on the output re-encryption, which will further reduce the required communicat...
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作者：Nortmann, Benita; Monti, Andrea; Sassano, Mario; Mylvaganam, Thulasi
作者单位：Imperial College London; Helmholtz Association; German Aerospace Centre (DLR)
摘要：Determining feedback Nash equilibrium solutions of nonzero-sum dynamic games is generally challenging. In this article, we propose four different iterative algorithms to find Nash equilibrium strategies for discrete-time linear quadratic games. The strategy update laws are based on the solution of either Lyapunov or Riccati equations for each player. Local convergence criteria are discussed. Motivated by the fact that in many practical scenarios each player in the game may have access to diffe...
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作者：Zheng, Jun; Zhu, Guchuan
作者单位：Southwest Jiaotong University; Universite de Montreal; Polytechnique Montreal
摘要：In this note, we study the global input-to-state stability (ISS) of the viscous Burgers' equation with respect to Dirichlet boundary disturbances. More specifically, under the assumption that the reaction coefficient is strictly less than pi(2), we establish first the global ISS in the spatial L-infinity-norm for the viscous Burgers' equation with Dirichlet boundary disturbances. Then, under the assumption that the reaction coefficient is nonpositive (and respectively strictly negative), we es...
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作者：Han, Dongyu; Liu, Kun; Lin, Yeming; Xia, Yuanqing
作者单位：Beijing Institute of Technology
摘要：This article considers a distributed stochastic nonconvex optimization problem, where the nodes in a network cooperatively minimize a sum of $L$-smooth local cost functions with sparse gradients. By adaptively adjusting the stepsizes according to the historical (possibly sparse) gradients, a distributed adaptive gradient algorithm is proposed, in which a gradient tracking estimator is used to handle the heterogeneity between different local cost functions. We establish an upper bound on the op...
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作者：Huang, Kun; Li, Xiao; Pu, Shi
作者单位：The Chinese University of Hong Kong, Shenzhen
摘要：Distributed stochastic optimization has drawn great attention recently due to its effectiveness in solving large-scale machine learning problems. Although numerous algorithms have been proposed and successfully applied to general practical problems, their theoretical guarantees mainly rely on certain boundedness conditions on the stochastic gradients, varying from uniform boundedness to the relaxed growth condition. In addition, how to characterize the data heterogeneity among the agents and i...
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作者：Hustiu, Sofia; Mahulea, Cristian; Kloetzer, Marius; Lesage, Jean-Jacques
作者单位：GH Asachi Technical University; University of Zaragoza; Universite Paris Saclay
摘要：This article proposes a method exploiting the advantages of Petri net (PN) and B & uuml;chi automata models by joining them in a newly defined composed PN representation. Based on the latter model, collision-free trajectories are computed for a team of robots. The path planning algorithm is divided into two steps: computing a solution in a reduced PN model and projecting it to the PN assigned to the environment. The results, given by a set of mixed integer linear programming (MILP) problems, y...
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作者：Sun, Weichao; Yuan, Yeqing; Gao, Huijun
作者单位：Harbin Institute of Technology
摘要：Hierarchical impedance-based tracking control has attracted much interest recently due to its advantages of no external forces/torques feedback and inertia reshaping. Desired trajectories on each hierarchy level can be asymptotically tracked following the order of priorities. However, tasks specified by users are required to have the same dimensions as the DOF of robot and are simultaneously feasible and independent. In this article, all these restrictions are removed and a passivity-based hie...
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作者：Gallegos, Javier A.; Schlotterbeck, Constanza; Nunez, Felipe
作者单位：Pontificia Universidad Catolica de Chile
摘要：Average consensus is a fundamental problem in distributed control that still lacks a general solution when the agents face nonideal conditions and uncertain environments. This note contributes to the topic by addressing average consensus in networks of agents that: 1) interact over a time-varying and nonbalanced environment and 2) face parametric and nonparametric disturbances. It is shown that an adaptive strategy, which combines surplus variables and virtual agents, effectively solves the ex...
