IEEE Transactions on Automatic Control

最新文章

• Inner Approximating Robust Reach-Avoid Sets for Discrete-Time Polynomial Dynamical Systems AI翻译
  作者：Zhao, Changyuan; Zhang, Shuyuan; Wang, Lei; Xue, Bai
  作者单位：Chinese Academy of Sciences; Institute of Software, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS; Beihang University
  摘要：Reach-avoid analysis, which involves the computation of reach-avoid sets, is an established tool that provides hard guarantees of safety (via avoiding unsafe states) and target reachability (via reaching target sets) and, therefore, is widely used in safe-critical systems design, such as air traffic management systems and biomedical systems. This article investigates the problem of inner approximating robust reach-avoid sets for discrete-time polynomial dynamical systems subject to disturbance...
• Fully Distributed Event-Triggered Cooperative Output Regulation of Multiagent Systems Under Jointly Connected Digraphs AI翻译
  作者：Hao, Yahui; Zhang, Jin; Liu, Lu
  作者单位：City University of Hong Kong
  摘要：This article addresses the cooperative output regulation problem of heterogeneous linear multiagent systems with jointly connected digraphs under the assumption that the exosystem matrix is only known by the neighbors of the exosystem. First, a novel event-based adaptive distributed observer with time-dependent power functions as the event-triggering threshold is proposed to estimate the exosystem matrix and the exogenous signal simultaneously. A new analytical method based on the weighted mea...
• Improving the Feasibility of Moment-Based Safety Analysis for Stochastic Dynamics AI翻译
  作者：Du, Peter; Driggs-Campbell, Katherine; Dong, Roy
  作者单位：University of Illinois System; University of Illinois Urbana-Champaign
  摘要：Given a dynamical system modeled via stochastic differential equations (SDEs), we evaluate the safety of the system through its exit-time moments. Using appropriate semidefinite positive matrix constraints, an SDP moment-based approach can be used to compute moments of the exit time. However, the approach is impeded when analyzing higher dimensional physical systems as the dynamics are limited to polynomials. Computational scalability is also poor as the dimensionality of the state grows, larg...
• Nonlinear PID-Type Control of Flexible Joint Robots by Using Motor Position Measurements Is Globally Asymptotically Stable AI翻译
  作者：Moyron, Jeronimo; Moreno-Valenzuela, Javier; Sandoval, Jesus
  摘要：An important subject that arises in the position control of robot manipulators is the local or global asymptotic stability of the closed-loop system equilibrium point, especially when an integral action is added to the control loop. For rigid joint robot manipulators, global nonlinear proportional-integral-derivative (PID) controllers have been introduced few years ago. However, for the case of flexible joint robot manipulators, the design and analysis of such nonlinear PID laws is much more c...
• Adaptive Event-Triggered Control for Nonlinear Systems With Asymmetric State Constraints: A Prescribed-Time Approach AI翻译
  作者：Wang, Ziwei; Lam, Hak-Keung; Guo, Yao; Xiao, Bo; Li, Yanan; Su, Xiaojie; Yeatman, Eric M.; Burdet, Etienne
  作者单位：Imperial College London; University of London; King's College London; Shanghai Jiao Tong University; University of Sussex; Chongqing University
  摘要：Finite/fixed-time control yields a promising tool to optimize a system's settling time, but lacks the ability to separately define the settling time and the convergence domain (known as practically prescribed-time stability, PPTS). We provide a sufficient condition for PPTS based on a new piecewise exponential function, which decouples the settling time and convergence domain into separately user-defined parameters. We propose an adaptive event-triggered prescribed-time control scheme for nonl...
• Decentralized Circular Formation Control of Nonholonomic Mobile Robots Under a Directed Sensor Graph AI翻译
  作者：Yu, Xiao; Su, Rong
  作者单位：Xiamen University; Nanyang Technological University
  摘要：This article investigates the circular formation control problem of multiple unicycle-type mobile robots under a directed sensor graph. The topology of the sensor graph among all robots is described by a directed graph containing a spanning tree, and the node denoting the center is only required to be globally reachable in the sensor graph. A dynamic control law is developed such that the multi-robot systems with speed constraint are able to globally converge to a circular formation prescribed...
• Efficient Learning of a Linear Dynamical System With Stability Guarantees AI翻译
  作者：Jongeneel, Wouter; Sutter, Tobias; Kuhn, Daniel
  作者单位：Swiss Federal Institutes of Technology Domain; Ecole Polytechnique Federale de Lausanne; University of Konstanz
  摘要：We propose a principled method for projecting an arbitrary square matrix to the nonconvex set of asymptotically stable matrices. Leveraging ideas from large deviations theory, we show that this projection is optimal in an information-theoretic sense and that it simply amounts to shifting the initial matrix by an optimal linear quadratic feedback gain, which can be computed exactly and highly efficiently by solving a standard linear quadratic regulator problem. The proposed approach allows us t...
• Adaptive Output Consensus of Heterogeneous Nonlinear Multiagent Systems: A Distributed Dynamic Compensator Approach AI翻译
  作者：Li, Guangqi; Wang, Long
  作者单位：Xidian University; Peking University
  摘要：Distributed dynamic compensators play a key role in the output consensus problem of heterogeneous nonlinear multiagent systems. The existing distributed dynamic compensators require the compensators' information to be exchanged through communication networks and to satisfy additional stability conditions in the controller design. This article proposes a distributed dynamic compensator to address the adaptive output consensus problem of heterogeneous nonlinear multiagent systems with unknown pa...
• Stochastic Relative Degree and Path-Wise Control of Nonlinear Stochastic Systems AI翻译
  作者：Mellone, Alberto; Scarciotti, Giordano
  作者单位：Imperial College London
  摘要：In this article, we address the path-wise control of systems described by a set of nonlinear stochastic differential equations. For this class of systems, we introduce a notion of stochastic relative degree and a change of coordinates, which transforms the dynamics to a stochastic normal form. The normal form is instrumental for the design of a state-feedback control, which linearizes and makes the dynamics deterministic. We observe that this control is idealistic, i.e., it is not practically ...
• Reinforcement Learning for Adaptive Optimal Stationary Control of Linear Stochastic Systems AI翻译
  作者：Pang, Bo; Jiang, Zhong-Ping
  作者单位：New York University; New York University Tandon School of Engineering
  摘要：This article studies the adaptive optimal stationary control of continuous-time linear stochastic systems with both additive and multiplicative noises, using reinforcement learning techniques. Based on policy iteration, a novel off-policy reinforcement learning algorithm, named optimistic least-squares-based policy iteration, is proposed, which is able to find iteratively near-optimal policies of the adaptive optimal stationary control problem directly from input/state data without explicitly ...