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作者：Zhang, Pengpeng; Liu, Tengfei; Jiang, Zhong-Ping
作者单位：Northeastern University - China; Tongji University; New York University
摘要：This article studies the tracking control problem for unicycle mobile robots with event-triggered and self-triggered feedback. Based on a modified dynamic feedback linearization technique and a refined stability analysis, we first propose a new class of saturated sampled-data controllers for unicycle mobile robots of which the state is subject to sampling (measurement) errors. It is guaranteed that the generated control inputs are restricted to within desired ranges, and the unicycle trajector...
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作者：Haddad, Wassim M.; Lee, Junsoo; Bhat, Sanjay P.
作者单位：University System of Georgia; Georgia Institute of Technology; Tata Sons; Tata Consultancy Services Limited (TCS)
摘要：This article focuses on semistability and finite-time semistability analysis and synthesis of discrete-time dynamical systems having a continuum of equilibria. Semistability is the property whereby the solutions of a dynamical system converge to Lyapunov stable equilibrium points determined by the system initial conditions. In this article, we build on the theories of semistability and finite-time semistability for continuous-time dynamical systems to develop a rigorous framework for discrete ...
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作者：Oliva, Gabriele; Setola, Roberto; Gasparri, Andrea
作者单位：University Campus Bio-Medico - Rome Italy; Roma Tre University
摘要：In this article, we consider the problem of modifying in a distributed way the transition probabilities of a Markov chain over an undirected graph in order to achieve a desired limiting distribution, while minimizing the variation from the current weights. This problem setting could be used to model a (graph-based) distributed decision-making process where static agents, e.g., elements of Internet of Things (IoT) networks, are required to achieve a common objective while adapting to different ...
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作者：Jeeninga, Mark; De Persis, Claudio; van der Schaft, Arjan
作者单位：Polytechnic University of Turin; University of Groningen
摘要：In this two-part article, we develop a unifying framework for the analysis of the feasibility of the power flow equations for dc power grids with constant-power loads. In Part I of this article, we present a detailed introduction to the problem of power flow feasibility of such power grids, and the associated problem of selecting a desirable operating point which satisfies the power flow equations. We introduce and identify all long-term voltage semistable operating points, and show that there...
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作者：Li, Nan; Geng, Sijia; Kolmanovsky, Ilya; Girard, Anouck
作者单位：University of Michigan System; University of Michigan; University of Michigan System; University of Michigan
摘要：In this article, we propose a novel reference governor (RG) scheme for prestabilized linear sampled-data systems to satisfy pointwise-in-time constraints in the presence of bounded disturbances and uncertain input and/or measurement delays. Based on an explicit bound on the system response to step changes in the reference signal derived using the logarithmic norm, this RG scheme yields a closed-form solution for updating the reference signal at sample time instants that guarantees both sample-...
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作者：Wu, Bo; Cubuktepe, Murat; Djeumou, Franck; Xu, Zhe; Topcu, Ufuk
作者单位：University of Texas System; University of Texas Austin; Arizona State University; Arizona State University-Tempe
摘要：In this article, we study the synthesis of mode switching protocols for a class of discrete-time switched linear systems in which the mode jumps are governed by Markov decision processes (MDPs). We call such systems MDP-JLS for brevity. Each state of the MDP corresponds to a mode in the switched system. The probabilistic state transitions in the MDP represent the mode transitions. We focus on finding a policy that selects the switching actions at each mode such that the switched system is guar...
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作者：Cong, Xuya; Fanti, Maria Pia; Mangini, Agostino Marcello; Li, Zhiwu
作者单位：Xi'an University of Science & Technology; Politecnico di Bari; Xidian University; Macau University of Science & Technology
摘要：A discrete event system is said to be critically observable if the observer can always determine whether the current state necessarily belongs to a set of critical states. This article focuses on two issues related to the safety and security of discrete event systems, namely critical observability verification and enforcement of labeled Petri nets. First, given a bounded net, we verify its critical observability by using basis markings and solving some integer linear programming problems, thus...
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作者：Lhachemi, Hugo
作者单位：Centre National de la Recherche Scientifique (CNRS); Universite Paris Saclay
摘要：This article is concerned with the local output feedback stabilization of a nonlinear Kuramoto-Sivashinsky equation. The control is located at the boundary of the domain while the measurement is selected as a Neumann trace. This choice of system output requires the study of the system trajectories in H-2-norm. Moreover, the choice of the actuation/sensing scheme is discussed and adapted depending on the parameters of the plant in order to avoid the possible loss of controllability/observabilit...
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作者：Macchelli, Alessandro
作者单位：University of Bologna
摘要：This article aims at extending the continuous-time energy-shaping plus damping injection control design technique to deal with a class of nonlinear, discrete-time port-Hamiltonian systems. For such systems, the gradient of the Hamiltonian function in the continuous-time dynamics is replaced by a discrete gradient, thus leading to a state equation in implicit form. Its well-posedness is studied both in the autonomous and nonautonomous cases to determine when the dynamical equation admits a solu...
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作者：Schwan, Roland; Jones, Colin N.; Kuhn, Daniel
作者单位：Swiss Federal Institutes of Technology Domain; Ecole Polytechnique Federale de Lausanne; Swiss Federal Institutes of Technology Domain; Ecole Polytechnique Federale de Lausanne
摘要：In this article, we propose a framework for the stability verification of mixed-integer linear programming (MILP) representable control policies. This framework compares a fixed candidate policy, which admits an efficient parameterization and can be evaluated at a low computational cost, against a fixed baseline policy, which is known to be stable but expensive to evaluate. We provide sufficient conditions for the closed-loop stability of the candidate policy in terms of the worst-case approxi...
