IEEE Transactions on Automatic Control

最新文章

• A Trisection Algorithm for Estimating Distance Measures for Strong Observability and Strong Detectability AI翻译
  作者：Falkensteiner, Roland; Seeber, Richard; Horn, Martin
  作者单位：Graz University of Technology; Graz University of Technology
  摘要：For reliably analyzing the properties of strong observability and strong detectability of a system, continuous distance measures can be used. When calculating these measures, it is necessary to find the global minimum of a nonconvex target function. The main contribution of this article is an optimization algorithm that guarantees to find this global minimum in a fast and efficient way by exploiting the special structure of the optimization problem. Using this optimization algorithm, the dista...
• On the Certainty-Equivalence Approach to Direct Data-Driven LQR Design AI翻译
  作者：Dorfler, Florian; Tesi, Pietro; De Persis, Claudio
  作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; University of Florence; University of Groningen
  摘要：The linear quadratic regulator (LQR) problem is a cornerstone of automatic control, and it has been widely studied in the data-driven setting. The various data-driven approaches can be classified as indirect (i.e., based on an identified model) versus direct or as robust (i.e., taking uncertainty into account) versus certainty-equivalence. Here, we show how to bridge these different formulations and propose a novel, direct, and regularized formulation. We start from indirect certainty-equivale...
• Passivity-Based Trajectory Tracking and Formation Control of Nonholonomic Wheeled Robots Without Velocity Measurements AI翻译
  作者：Li, Ningbo; Borja, Pablo; Scherpen, Jacquelien M. A.; van der Schaft, Arjan; Mahony, Robert
  作者单位：University of Groningen; University of Plymouth; Australian National University
  摘要：This note proposes a passivity-based control method for trajectory tracking and formation control of nonholonomic wheeled robots without velocity measurements. Coordinate transformations are used to incorporate the nonholonomic constraints, which are then avoided by controlling the front end of the robot rather than the center of the wheel axle into the differential equations. Starting from the passivity-based coordination design, the control goals are achieved via an internal controller for v...
• Distributed Range-Only Localization That Preserves Sensor and Navigator Privacies AI翻译
  作者：Ristic, Marko; Noack, Benjamin; Hanebeck, Uwe D.
  作者单位：Otto von Guericke University; Helmholtz Association; Karlsruhe Institute of Technology
  摘要：Distributed state estimation and localization methods have become increasingly popular with the rise of ubiquitous computing, and have led naturally to an increased concern regarding data and estimation privacy. Traditional distributed sensor navigation methods typically involve the leakage of sensor or navigator information by communicating measurements or estimates and thus do not preserve participants' privacy. The existing approaches that do provide such guarantees fail to address sensor a...
• Network Realization Functions for Optimal Distributed Control AI翻译
  作者：Sabau, Serban; Sperila, Andrei; Oara, Cristian; Jadbabaie, Ali
  作者单位：Stevens Institute of Technology; National University of Science & Technology POLITEHNICA Bucharest; Massachusetts Institute of Technology (MIT)
  摘要：In this article, we discuss a distributed control architecture, aimed at networks with linear and time-invariant dynamics, which is amenable to convex formulations for controller design. The proposed approach is well suited for large-scale systems, since the resulting feedback schemes completely avoid the exchange of internal states, i.e., plant or controller states, among subcontrollers. In addition, we provide state-space formulas for these subcontrollers, able to be implemented in a distrib...
• On Stabilizing Communication Law for Bilateral Teleoperations AI翻译
  作者：Tho, Ho Duc; Miyoshi, Takanori
  作者单位：Nagaoka University of Technology
  摘要：This article puts forward a stabilizing communication law to enable direct environmental contact force feedback for the wave transformation-based teleoperation architecture, potentially improving the human operator's experience of telepresence. The stability of the established stabilizing communication law and the closed-loop teleoperation system will be discussed. The simulation results are presented to highlight the advantage of the proposed communication law over the lossless passive one.
• A Necessary Condition for Network Identifiability With Partial Excitation and Measurement AI翻译
  作者：Cheng, Xiaodong; Shi, Shengling; Lestas, Ioannis; Van den Hof, Paul M. J.
  作者单位：University of Cambridge; Wageningen University & Research; Eindhoven University of Technology
  摘要：This article considers dynamic networks where vertices and edges represent manifest signals and causal dependencies among the signals, respectively. We address the problem of how to determine if the dynamics of a network can be identified when only partial vertices are measured and excited. A necessary condition for network identifiability is presented, where the analysis is performed based on identifying the dependency of a set of rational functions from excited vertices to measured ones. Thi...
• Minimal Realizations of Nonlinear Time-Delay Systems AI翻译
  作者：Kaldmae, Arvo; Bartosiewicz, Zbigniew; Kotta, Ulle; Wyrwas, Malgorzata
  作者单位：Bialystok University of Technology; Tallinn University of Technology
  摘要：The problem of finding a minimal realization of a single-input-single-output nonlinear retarded time-delay input-output equation with constant commensurable delays is addressed. First, an algorithm is given to find an observable realization of dimension n of a nth order input-output equation. Then, this algorithm is modified under two technical assumptions to find a realization of lower dimension, which is observable and accessible. It is shown that under the same technical assumptions an obse...
• Differentially Private Kalman Filtering With Signal Aggregation AI翻译
  作者：Degue, Kwassi Holali; Ny, Jerome Le
  作者单位：Universite de Montreal; Polytechnique Montreal; Universite de Montreal
  摘要：Large-scale monitoring and control systems increasingly rely on sensitive data obtained from private agents, e.g., location traces collected from the users of intelligent transportation systems. To encourage the participation of these agents, algorithms that process information in a privacy-preserving way are thus needed. This note revisits the Kalman filtering problem, subject to privacy constraints. We aim to enforce differential privacy, a formal state-of-the-art definition of privacy ensur...
• Detection and Identification of Sparse Sensor Attacks in Cyber-Physical Systems With Side Information AI翻译
  作者：Lu, An-Yang; Yang, Guang-Hong
  作者单位：Northeastern University - China; Northeastern University - China
  摘要：This article investigates the attack detection and identification problem for cyber-physical systems under sparse sensor attacks. A novel candidate set construction algorithm, where only partial combinations of different channels are checked, is proposed to efficiently generate the candidate set containing all the possible sets of corrupted channels under stealthy attacks. Besides, through introducing a unified attack model that precisely characterizes the attack performance and stealthiness, ...