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作者：Lin, Li-Yu; Goppert, James; Hwang, Inseok
作者单位：Purdue University System; Purdue University
摘要：In this article, we use the derivative of the exponential map to derive the exact evolution of the logarithm of the tracking error for mixed-invariant systems, a class of systems capable of describing rigid body tracking problems in Lie groups. In addition, we design a log-linear dynamic inversion-based control law to remove the nonlinearities due to spatial curvature and enhance the robustness of the controller. We apply linear matrix inequalities to bound the tracking error given a bounded d...
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作者：Sasahara, Hampei; Sandberg, Henrik
作者单位：Institute of Science Tokyo; Tokyo Institute of Technology; Royal Institute of Technology
摘要：This article addresses the question whether model knowledge can guide a defender to appropriate decisions, or not, when an attacker intrudes into control systems. The model-based defense scheme considered in this study, namely Bayesian defense mechanism, chooses reasonable reactions through observation of the system's behavior using models of the system's stochastic dynamics, the vulnerability to be exploited, and the attacker's objective. On the other hand, rational attackers take deceptive s...
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作者：Afshar, Sepideh; Germ, Fabian; Morris, Kirsten
作者单位：University of Edinburgh; University of Waterloo
摘要：In many physical applications, the system's state varies with spatial variables as well as time. The state of such systems is modeled by partial differential equations and evolves on an infinite-dimensional space. Systems modeled by delay-differential equations are also infinite-dimensional systems. The full state of these systems cannot be measured. Observer design is an important tool for estimating the state from available measurements. For linear systems, both finite- and infinite-dimensio...
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作者：Nuno, Emmanuel; Sarras, Ioannis; Yin, Hao; Jayawardhana, Bayu
作者单位：Universidad de Guadalajara; Universite Paris Saclay; National Office for Aerospace Studies & Research (ONERA); University of Groningen
摘要：We propose a distributed control method to achieve consensus of heterogeneous Euler-Lagrange (EL) systems with bounded time-varying communication delays while simultaneously rejecting periodic external disturbances. Our proposed controller has a simple-to-implement structure of proportional-integral-derivative scheme that employs the internal model approach to reject the disturbance and that it is model-independent (when cancelling the gravity effects). We consider that the network of EL-syste...
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作者：Wang, Yan; Su, Rong
作者单位：Harbin Institute of Technology; Nanyang Technological University
摘要：This article studies the infinite horizon optimal linear quadratic Gaussian control problem (OLCP) of interconnected systems (ISs) with output feedback. The IS is defined over a directed graph, in which the nodes represent subsystems, and the edges represent the communication channels. Because the information transmission time is nonnegligible, we assume that the information traveling across an edge in the graph needs a fixed time. Under the abovementioned setup, the OLCP of ISs with output fe...
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作者：Huang, Chao
作者单位：Tongji University
摘要：The invariant-subspace based (ISP) system identification method is developed when the excitation signal is periodic and the measured data are obtained from irregular samplings. With the ISP method, frequency response data are obtained using least-square estimators, which reduces to discrete Fourier transformation (DFT) if the sampling is periodic. Then, with a careful use of the statistics of the sampled data, consistency of the identified model is established when the sampling rates at the in...
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作者：Zhao, Kai; Zhang, Jinhui; Sun, Zhongqi; Chen, Duanduan
作者单位：Beijing Institute of Technology; Beijing Institute of Technology
摘要：In this article, a novel state prediction framework is proposed to address the stabilization problem of linear time-invariant system with input delay and external disturbance. The predicted state is obtained by utilizing the estimates of unknown disturbance and its derivatives, which possesses a higher accuracy than traditional methods, and the predicted disturbance is incorporated into the controller to achieve active disturbance rejection. Furthermore, the application of the proposed predict...
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作者：Fang, Xu; Xie, Lihua
作者单位：Nanyang Technological University
摘要：This article studies the problem of distributed formation maneuver control of multiagent systems via complex Laplacian. We will show how to change the translation, scaling, rotation, and also the shape of formation continuously by only tuning the positions of the leaders in both 2-D and 3-D spaces, where the rotation of formation in the 3-D space is realized by changing the yaw angle, pitch angle, and roll angle of formation sequentially. Compared with real-Laplacian-based methods, the first a...
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作者：Tai, Ruochen; Lin, Liyong; Su, Rong
作者单位：Nanyang Technological University
摘要：This work investigates the existence of fortified supervisors against covert actuator attackers. For a supervisor $S$ that is nonresilient against covert actuator attackers, a fortified supervisor $S<^>{\prime }$ satisfies two requirements: 1) $S<^>{\prime }$ is resilient against any covert actuator attacker, and 2) the original closed-behavior of the closed-loop system under $S$ is preserved. We design a sound and complete procedure to show the problem of determining the existence of a fortif...
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作者：Wang, Bao; Zhu, Quanxin; Li, Subei
作者单位：Xuzhou University of Technology; Hunan Normal University
摘要：This article studies the stabilization problem for a class of discrete-time hidden semi-Markov jump linear systems with partly unknown emission probability matrix. By virtue of the improved semi-Markov kernel approach and emission probability approach, the less conservative sufficient stability conditions are proposed on the basis of emission probability matrix with partly unknown elements. With the aid of an improved eliminating matrix product technique, the nonlinear matrix terms with respec...
