IEEE Transactions on Automatic Control

最新文章

• Generalized Lyapunov Functions for Discrete-Time Lurie Systems With Slope-Restricted Nonlinearities AI翻译
  作者：Drummond, Ross; Valmorbida, Giorgio
  作者单位：University of Sheffield; Universite Paris Saclay; Centre National de la Recherche Scientifique (CNRS)
  摘要：A class of Lyapunov functions for discrete-time Lurie systems with monotonic nonlinearities is proposed. The Lyapunov functions are composed of quadratic terms on the states and of the system's nonlinearities as well as Lurie-Postnikov-type integral terms. Crucially, positive definiteness of the matrix in the generalized quadratic form and positivity of the scaling terms of the Lurie-Postnikov integrals are relaxed in the stability conditions. Furthermore, they are used for regional stability ...
• Fast Approximate Dynamic Programming for Input-Affine Dynamics AI翻译
  作者：Kolarijani, Mohamad Amin Sharifi; Esfahani, Peyman Mohajerin
  作者单位：Delft University of Technology
  摘要：We propose two novel numerical schemes for the approximate implementation of the dynamic programming (DP) operation concerned with finite-horizon optimal control of discrete time systems with input-affine dynamics. The proposed algorithms involve discretization of the state and input spaces and are based on an alternative path that solves the dual problem corresponding to the DP operation. We provide error bounds for the proposed algorithms, along with a detailed analysis of their computationa...
• Convexifying State-Constrained Optimal Control Problem AI翻译
  作者：Lee, Donggun; Deka, Shankar A.; Tomlin, Claire J.
  作者单位：University of California System; University of California Berkeley; Royal Institute of Technology; University of California System; University of California Berkeley
  摘要：This article presents a method that convexifies state-constrained optimal control problems in the control-input space. The proposed method enables convex programming methods to find the globally optimal solution even if costs and control constraints are nonconvex in control and convex in state, dynamics is nonaffine in control and convex in state, and state constraints are convex in state. Under the above conditions, generic methods do not guarantee to find optimal solutions, but the proposed ...
• Improved Prediction Dynamics for Robust MPC AI翻译
  作者：Nguyen, Hoai-Nam
  作者单位：IMT - Institut Mines-Telecom; Institut Polytechnique de Paris; Telecom SudParis
  摘要：This article proposes a new model predictive control (MPC) control scheme for polytopic uncertain and/or time-varying systems with state and input constraints. The MPC policies we consider employ: 1) the intersection of ellipsoids to characterize the domain of attraction, 2) a time-varying Lyapunov function to bound from above the cost function, 3) a tailored alternating direction method of multipliers algorithm to solve efficiently the online optimization problem. With respect to other well-k...
• Distributed Optimization Over Dependent Random Networks AI翻译
  作者：Aghajan, Adel; Touri, Behrouz
  作者单位：University of California System; University of California Santa Barbara; University of California System; University of California San Diego
  摘要：We study the averaging-based distributed optimization solvers over random networks. We show a general result on the convergence of such schemes using weight matrices that are row-stochastic almost surely and column-stochastic in expectation for a broad class of dependent weight-matrix sequences. In addition to implying many of the previously known results on this domain, our work shows the robustness of distributed optimization results to link failure. Also, it provides a new tool for synthesi...
• Combining Prior Knowledge and Data for Robust Controller Design AI翻译
  作者：Berberich, Julian; Scherer, Carsten W.; Allgower, Frank
  作者单位：University of Stuttgart; University of Stuttgart
  摘要：We present a framework for systematically combining data of an unknown linear time-invariant system with prior knowledge on the system matrices or on the uncertainty for robust controller design. Our approach leads to linear matrix inequality (LMI)-based feasibility criteria that guarantee stability and performance robustly for all closed-loop systems consistent with the prior knowledge and the available data. The design procedures rely on a combination of multipliers inferred via prior knowle...
• Cautious Bayesian MPC: Regret Analysis and Bounds on the Number of Unsafe Learning Episodes AI翻译
  作者：Wabersich, Kim Peter; Zeilinger, Melanie N.
  作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich
  摘要：This article investigates the combination of model predictive control (MPC) concepts and posterior sampling techniques and proposes a simple constraint tightening technique to introduce cautiousness during explorative learning episodes. The provided theoretical analysis in terms of cumulative regret focuses on previously stated sufficient conditions of the resulting Cautious Bayesian MPC algorithm and shows Lipschitz continuity of the future reward function in the case of linear MPC problems. ...
• A Scalable Approach for Consensus Stability Analysis of a Large-Scale Multiagent System With Single Delay AI翻译
  作者：Gomez, Marco A.; Ramirez, Adrian
  作者单位：Universidad de Guanajuato; Consejo Nacional de Ciencia y Tecnologia (CONACyT); Instituto Potosino Investigacion Cientifica y Tecnologica
  摘要：This note presents a scalable approach for consensus stability analysis of a general class of large-scale multiagent system (MAS) with single delay considering directed and undirected graphs. It is shown that, under certain conditions satisfied by several protocols reported in the literature, consensus in MAS can be ensured by studying a set comprising a small number of quasipolynomials of reduced complexity. Specifically, if the graph is undirected, it suffices to guarantee the stability of o...
• 2-D Directed Formation Control Based on Bipolar Coordinates AI翻译
  作者：Mehdifar, Farhad; Bechlioulis, Charalampos P.; Hendrickx, Julien M.; Dimarogonas, Dimos V.
  作者单位：Royal Institute of Technology; University of Patras; Universite Catholique Louvain
  摘要：This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape. Prescribed performance control is employed to devise a decentralized control law that avoids singularities and introduces robustness against external disturbances while ensuring predefined transient and steady-state performance for the closed-loop system. Furthermore,...
• Verification of k-Step and Definite Critical Observability in Discrete-Event Systems AI翻译
  作者：Tong, Yin; Ma, Ziyue
  作者单位：Southwest Jiaotong University; Xidian University
  摘要：this article, we study the verification of critical observability in discrete-event systems in which a plant and its observer are connected via an unreliable communication channel. We consider a communication protocol in which each packet sent from the plant consists of an event and the sequence number of the packet. We define two novel notions of critical observability called first, the k-step critical observability that requires that the critical states can be distinguished from noncritical ...