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作者：Doan, Thinh T.
作者单位：Virginia Polytechnic Institute & State University
摘要：Motivated by its broad applications in system identifications, stochastic control, and machine learning, we study the popular stochastic gradient descent (SGD) when the gradient samples of the underlying objective function are generated from Markov processes. This Markov sampling leads to the gradient samples being biased and not independent. The existing results for the convergence of SGD under Markov settings are often established under the assumption on the boundedness of either the iterate...
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作者：Qi, Jie; Mo, Shurong; Krstic, Miroslav
作者单位：Donghua University; University of California System; University of California San Diego
摘要：We develop an input delay-compensating design for stabilization of an Aw-Rascle-Zhang (ARZ) traffic model in congested regime, which is governed by a 2 x 2 first-order hyperbolic nonlinear partial differential equation (PDE). The traffic flow consists of both adaptive cruise control-equipped (ACC-equipped) and manually driven vehicles. The control input is the time gap of ACC-equipped and connected vehicles, which is subject to delays resulting from communication lag. For the linearized system...
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作者：Schiller, Julian D.; Mueller, Matthias A.
作者单位：Leibniz University Hannover
摘要：In this article, we propose a suboptimal moving horizon estimator for a general class of nonlinear systems. For the stability analysis, we transfer the feasibility-implies-stability/robustness paradigm from model predictive control to the context of moving horizon estimation in the following sense. Using a suitably defined, feasible candidate solution based on an auxiliary observer, robust stability of the proposed suboptimal estimator is inherited independently of the horizon length and even ...
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作者：Scholl, Tessina H.; Groell, Lutz
作者单位：Helmholtz Association; Karlsruhe Institute of Technology
摘要：This article provides a delay-dependent and a necessary and sufficient delay-independent stability criterion for linear autonomous continuous-time systems with a discrete delay. We take a simple perspective on the two-variable formulation of the characteristic equation, which leads to the following advantageous but not widespread delay-independent criterion: The sum of the coefficient matrix of the delay-free term and the elementwise unitarily rotated matrix of the delay term must remain Hurwi...
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作者：Wu, Chu; Fang, Hao; Zeng, Xianlin; Yang, Qingkai; Wei, Yue; Chen, Jie
作者单位：Beijing Institute of Technology; Peng Cheng Laboratory; Tongji University
摘要：In this article, we investigate a continuous-time distributed optimization problem with time-varying cost functions and affine formation constraints, which are described by the stress matrices rather than the standard Laplacians. The objective is to minimize the sum of local time-varying cost functions, each of which is known by only one individual agent. The optimal solution is a time-varying affine transformation of a nominal configuration rather than some constants. To tackle the difficulty...
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作者：Jin, Xu; Dai, Shi-Lu; Liang, Jianjun
作者单位：University of Kentucky; South China University of Technology
摘要：A team of multiple tractor-trailer mobile robots has many applications in areas including agriculture, logistics, transportation, etc. In this article, we propose a novel adaptive constrained formation-tracking control algorithm for the trailers in a tractor-trailer mobile robot team to track a desired formation, while satisfying multiple precision, safety, and feasibility constraint requirements during the operation. Both universal barrier function approaches and a novel state transformation ...
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作者：Xu, Yong; Chen, Gang; Chen, Jie; Qiu, Li
作者单位：Guangdong University of Technology; University of California System; University of California Riverside; City University of Hong Kong; Hong Kong University of Science & Technology
摘要：This article studies Bode/Poisson type sensitivity and complementary sensitivity integral relations for linear, time-invariant feedback control systems. We call for attention to a seemingly unnoticed link between the well-known argument principle and Bode/Poisson integral relations. In this respect, a generalized version of the argument principle is developed, under which it is shown that various Bode/Poisson type integral relations can be unified, and new integral relations can be derived. Th...
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作者：Zheng, Yang; Sootla, Aivar; Papachristodoulou, Antonis
作者单位：University of California System; University of California San Diego; University of Oxford
摘要：Semidefinite and sum-of-squares (SOS) optimization are fundamental computational tools in many areas, including linear and nonlinear systems theory. However, the scale of problems that can be addressed reliably and efficiently is still limited. In this article, we introduce a new notion of block factor-width-two matrices and build a new hierarchy of inner and outer approximations of the cone of positive semidefinite (PSD) matrices. This notion is a block extension of the standard factor-width-...
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作者：Falsone, Alessandro; Margellos, Kostas; Zizzo, Jacopo; Prandini, Maria; Garatti, Simone
作者单位：Polytechnic University of Milan; University of Oxford
摘要：We consider a multi-agent optimal resource sharing problem that is represented by a linear program. The amount of resource to be shared is fixed, and agents belong to a population that is characterized probabilistically so as to allow heterogeneity among the agents. In this article, we provide a characterization of the probability that the arrival of a new agent affects the resource share of other agents, which means that accommodating the new agent request at the detriment of the other agents...
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作者：Hao, Yuqing; Wang, Qingyun; Duan, Zhisheng; Chen, Guanrong
作者单位：Beihang University; Beihang University; Peking University; City University of Hong Kong
摘要：In this article, the discernibility of topological variations for networked linear time-invariant (LTI) systems is investigated, where the network topology is general, and the nodes have identical higher dimensional dynamics. A necessary and sufficient condition on the discernibility is derived, revealing how the topological variations, node-system dynamics, and inner interactions altogether affect the discernibility of the network. Compared with the existing conditions in (Patil et al., 2019)...
