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作者：Shi, Kanghong; Petersen, Ian R.; Vladimirov, Igor G.
作者单位：Australian National University
摘要：This article provides a protocol to address the robust output feedback consensus problem for networked heterogeneous nonlinear negative-imaginary (NI) systems with free body dynamics. We extend the definition of nonlinear NI systems to allow for systems with free-body motion. A new stability result is developed for the interconnection of a nonlinear NI system and a nonlinear output strictly negative-imaginary (OSNI) system. Also, a class of networked nonlinear OSNI controllers is proposed to a...
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作者：Aschenbruck, Tim; Petzke, Felix; Rumschinski, Philipp; Streif, Stefan
作者单位：Technische Universitat Chemnitz
摘要：Several control architectures, such as decentralized, distributed, and hierarchical control, have been elaborated over the past decades for controlling systems composed of a set of subsystems. However, computational complexity and constraint satisfaction are still challenging tasks. We present an approach to control an ensemble of similar heterogeneous systems with input and state constraints via an identical control input. This control input is globally admissible and computed based on an agg...
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作者：Tayyebi, Ali; Anta, Adolfo; Dorfler, Florian
作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; Austrian Institute of Technology (AIT)
摘要：This article introduces a new grid-forming control for a grid-connected dc-ac power converter, termed hybrid angle control (HAC) that combines the dc-based matching control with a novel nonlinear angle feedback reminiscent of (though not identical to) classic droop control. The synthesis of HAC is inspired by the complementary benefits of the dc-based matching and ac-based grid-forming controls as well as ideas from direct angle control and nonlinear damping assignment. The proposed HAC is app...
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作者：Liu, Changxin; Shi, Yang; Li, Huiping; Du, Wenli
作者单位：East China University of Science & Technology; University of Victoria; Northwestern Polytechnical University
摘要：In this article, we study decentralized convex constrained optimization problems in networks. We focus on the dual averaging-based algorithmic framework that is well-documented to be superior in handling constraints and complex communication environments simultaneously. Two new decentralized dual averaging (DDA) algorithms are proposed. In the first one, a second-order dynamic average consensus protocol is tailored for DDA-type algorithms, which equips each agent with a provably more accurate ...
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作者：Ng, Yonhon; van Goor, Pieter; Hamel, Tarek; Mahony, Robert
作者单位：Australian National University; Centre National de la Recherche Scientifique (CNRS); Universite Cote d'Azur; Institut Universitaire de France
摘要：This article develops an equivariant symmetry for second-order kinematic systems on matrix Lie groups and uses this symmetry for observer design. The state of a second-order kinematic system on a matrix Lie group is naturally posed on the tangent bundle of the group with the inputs lying in the tangent of the tangent bundle known as the double-tangent bundle. We provide a simple parameterization of both the tangent bundle state-space and the input space (the fiber space of the double-tangent b...
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作者：Soloperto, Raffaele; Koehler, Johannes; Allgoewer, Frank
作者单位：University of Stuttgart
摘要：In this article, we propose a novel nonlinear model predictive control (MPC) scheme without terminal ingredients for output tracking. The control objective is to steer the output of the controlled system toward some desired set, or toward the best reachable set, in the case of unreachable targets. The considered MPC formulation combines a stabilizing MPC scheme without terminal ingredients with an output tracking formulation using an artificial steady state. In addition, we propose an offset c...
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作者：Kost, Oliver; Dunik, Jindrich; Straka, Ondrej
作者单位：University of West Bohemia Pilsen
摘要：This article deals with noise identification of a system described by the linear time-varying state-space model using correlation methods. In particular, the stress is laid on the measurement difference method (MDM) as a universal tool allowing estimation of moments and parameters of the state and measurement noises. The recent results are summarized in a common framework and the full (and weighted) MDM implementation is developed. This implementation provides unbiased and weakly consistent es...
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作者：Augier, Nicolas; Chaves, Madalena; Gouze, Jean-Luc
作者单位：Sorbonne Universite; Inria; Universite Cote d'Azur; Centre National de la Recherche Scientifique (CNRS)
摘要：In this article, we investigate the emergent dynamics in a network of N coupled cells, each expressing a similar genetic bistable switch. The bistable switch is modeled as a piecewise affine system and the cells are diffusively coupled. We show that both the coupling topology and the strength of the diffusion parameter may introduce new steady-state patterns in the network. We study the synchronization properties of the coupled network and, using a control set of only three possible values (u(...
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作者：Lv, Maolong; De Schutter, Bart; Cao, Jinde; Baldi, Simone
作者单位：Air Force Engineering University; Delft University of Technology; Southeast University - China; Yonsei University
摘要：Practical tracking results have been reported in the literature for high-order odd-rational-power nonlinear dynamics (a chain of integrators whose power is the ratio of odd integers). Asymptotic tracking remains an open problem for such dynamics. This note gives a positive answer to this problem in the framework of prescribed performance control, without approximation structures (neural networks, fuzzy logic, etc.) being involved in the control design. The unknown system uncertainties are firs...
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作者：Suttner, Raik
作者单位：University of Wurzburg
摘要：We present a novel extremum-seeking method for affine connection mechanical control systems. The proposed control law involves periodic perturbation signals with sufficiently large amplitudes and frequencies. A suitable averaging analysis reveals that the solutions of the closed-loop system converge locally uniformly to the solutions of an averaged system in the large-amplitude high-frequency limit. This in turn leads to the effect that stability properties of the averaged system carry over to...
