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作者：Possieri, Corrado
作者单位：University of Rome Tor Vergata; Consiglio Nazionale delle Ricerche (CNR); Istituto di Analisi dei Sistemi ed Informatica Antonio Ruberti (IASI-CNR)
摘要：This article provides a comprehensive characterization of the quadratic optimal tracking problem for hybrid systems with linear dynamics undergoing periodic time-driven jumps. Solutions to such a problem are proposed for both the finite horizon and the periodic cases. Furthermore, it is shown that if the reference signals are not known in advance, then the best control strategy to deal with the worst case reference signals is to simply minimize the (scaled) outputs. Finally, the derived optima...
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作者：Du, Bin; Qian, Kun; Claudel, Christian; Sun, Dengfeng
作者单位：Nanjing University of Aeronautics & Astronautics; University of Texas System; University of Texas Austin; Purdue University System; Purdue University
摘要：This article presents a learning-based algorithm for solving the online source-seeking problem with a multiagent system under an unknown dynamical environment. Our algorithm, building on a notion termed as dummy confidence upper bound (D-UCB), integrates both estimation of the unknown environment and task planning for the multiple agents simultaneously, and as a result, enables the multiple agents to track the extremum spots of the dynamical environment in an online manner. Unlike the standard...
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作者：Reed, Emily A. A.; Ramos, Guilherme; Bogdan, Paul; Pequito, Sergio
作者单位：University of Southern California; Universidade de Lisboa; Universidade de Lisboa; Uppsala University
摘要：Finding strongly connected components (SCCs) and the diameter of a directed network play a key role in a variety of machine learning and control theory problems. In this article, we provide for the first time a scalable distributed solution for these two problems by leveraging dynamical consensus-like protocols to find the SCCs. The proposed solution has a time complexity of O(NDd(max) (in-degree)), where N is the number of vertices in the network, D is the (finite) diameter of the network, an...
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作者：Orlov, Yury; Kairuz, Ramon I. Verdes
摘要：Novel output feedback stabilization is developed for a chain of integrators to impose on the closed-loop system an a priori given settling-time bound regardless of the initial state. The intended design is deduced from fixed-time stabilization using a proportional time-space scaling. The resulting nonsmooth feedback relies on time-independent gains thereby admitting its straightforward implementation as opposed to the original design (Song et al., 2017) with time-varying gains, escaping to inf...
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作者：Shafa, Taha; Ornik, Melkior
作者单位：University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign
摘要：Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This article is motivated by a scenario where a system suffers an adverse event mid-operation, resulting in a substantial change to the system's dynamics, rendering them largely unknown. Our objective is to conservatively approximate the system's reachable set solely from its local dynamics at a ...
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作者：Zhang, Qinghua; Delyon, Bernard
作者单位：Universite Gustave-Eiffel; Inria; Universite de Rennes; Centre National de la Recherche Scientifique (CNRS); CNRS - National Institute for Mathematical Sciences (INSMI); Universite de Rennes
摘要：The Kitanidis filter is a natural extension of the Kalman filter to systems subject to arbitrary unknown inputs or disturbances. Though the optimality of the Kitanidis filter was founded for general time varying systems more than 30 years ago, its boundedness and stability analysis is still limited to time-invariant systems, up to the authors' knowledge. In the framework of general time varying systems, this article establishes upper and lower bounds of the error covariance of the Kitanidis fi...
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作者：Na, Sen; Anitescu, Mihai
作者单位：University of Chicago; United States Department of Energy (DOE); Argonne National Laboratory
摘要：We develop a one-Newton-step-per-horizon, online, lag-L, model predictive control (MPC) algorithm for solving discrete-time, equality-constrained, nonlinear dynamic programs. Based on recent sensitivity analysis results for the target problems class, we prove that the approach exhibits a behavior that we call superconvergence; that is, the tracking error with respect to the full-horizon solution is not only stable for successive horizon shifts, but also decreases with increasing shift order to...
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作者：Wang, Xiaoling; Su, Housheng; Zhang, Fan; Chen, Guanrong
作者单位：Nanjing University of Posts & Telecommunications; Nanjing University of Posts & Telecommunications; Huazhong University of Science & Technology; Sun Yat Sen University; City University of Hong Kong
摘要：In this article, the state estimation problem of a continuous-time linear time-invariant system is investigated for the situation with unknown external disturbance and measurement noise. A robust distributed interval observer is designed, which consists of a group of sensors communicating with others through a directed graph where each sensor can only access partial information from the output of the plant. The communication among the sensors together with the heterogeneity and undetectability...
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作者：Bisoffi, Andrea; De Persis, Claudio; Tesi, Pietro
作者单位：University of Groningen; University of Florence
摘要：For an unknown linear system, starting from noisy input-state data collected during a finite-length experiment, we directly design a linear feedback controller that guarantees robust invariance of a given polyhedral set of the state in the presence of disturbances. The main result is a necessary and sufficient condition for the existence of such a controller, and amounts to the solution of a linear program. The benefits of large and rich datasets for the solution of the problem are discussed. ...
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作者：Harandi, Mohammad Reza Jafari; Taghirad, Hamid D.
作者单位：K. N. Toosi University of Technology
摘要：Stabilization of an underactuated mechanical system may be accomplished via energy shaping. Interconnection and damping assignment passivity-based control is an approach based on total energy shaping by assigning desired kinetic and potential energy to the system. This method requires solving a partial differential equation (PDE) related to the potential energy shaping of the system. In this short article, we focus on reformulating this PDE in order to be solved easier. For this purpose, two s...
