-
作者：Wang, Weixin; Gamagedara, Kanishke; Lee, Taeyoung
作者单位：George Washington University
摘要：The attitude of a rigid body evolves on the three-dimensional (3-D) special orthogonal group, and it is often estimated by measuring reference directions, such as gravity or magnetic field, using onboard sensors. As a single direction measurement provides a 2-D constraint, it has been widely accepted that at least two nonparallel reference directions should be measured, or the reference direction should change over time, to determine the attitude completely. This article uncovers an intriguing...
-
作者：Franci, Barbara; Grammatico, Sergio
作者单位：Delft University of Technology
摘要：We solve the stochastic generalized Nash equilibrium (SGNE) problem in merely monotone games with expected value cost functions. Specifically, we present the first distributed SGNE-seeking algorithm for monotone games that require one proximal computation (e.g., one projection step) and one pseudogradient evaluation per iteration. Our main contribution is to extend the relaxed forward-backward operator splitting by the Malitsky (Mathematical Programming, 2019) to the stochastic case and in tur...
-
作者：Xu, Wenying; Kurths, Juergen; Wen, Guanghui; Yu, Xinghuo
作者单位：Southeast University - China; Potsdam Institut fur Klimafolgenforschung; Royal Melbourne Institute of Technology (RMIT)
摘要：This article investigates the second-order consensus issue for multiagent systems subject to both limited communication resources and replay attacks. First, an asynchronous dynamic edge event-triggered (DEET) communication scheme is developed to reduce the utilization of network resources in the absence of attacks. Then, we further consider the case of replay attacks launched by multiple adversaries, under which the transmitted information is maliciously replaced by a previous unnecessary mess...
-
作者：Gerbet, Daniel; Roebenack, Klaus
作者单位：Technische Universitat Dresden
摘要：LaSalle's invariance principle is a commonly used extension of Lyapunov's second method to study asymptotic stability of nonlinear systems. If the system can be written in polynomial form, the examination can be automated using algebraic geometry and quantifier elimination. This article addresses this automated examination using a method relying on polynomial ideals and applies it on some example systems. In addition, some properties of these special ideals are derived that allow to reduce the...
-
作者：Deshmukh, Ankit; Ghosh, Arun
作者单位：Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Kharagpur
摘要：Given a centralized linear time-invariant (LTI) controller, this article investigates if and when the same can be implemented in a decentralized fashion using continuous-time, high-frequency, periodic controllers, recently reported in literature, without compromising input-output performance in averaged sense. In this regard, it is shown that for a strongly connected two-channel system having each subsystem of equal sizes, there exists a relation to compute the decentralized periodic controlle...
-
作者：Han, Dongyu; Liu, Kun; Sandberg, Henrik; Chai, Senchun; Xia, Yuanqing
作者单位：Beijing Institute of Technology; Royal Institute of Technology
摘要：This article considers a privacy-concerned distributed optimization problem over multiagent networks, in which malicious agents exist and try to infer the privacy information of the normal ones. We propose a novel dual averaging algorithm which involves the use of a correlated perturbation mechanism to preserve the privacy of the normal agents. It is shown that our algorithm achieves deterministic convergence under arbitrary initial conditions and the privacy preservation is guaranteed. Moreov...
-
作者：Al-Abri, Said; Zhang, Fumin
作者单位：University System of Georgia; Georgia Institute of Technology
摘要：Algorithms for multiagent systems to locate a source or to follow a desired level curve of spatially distributed scalar fields generally require sharing field measurements among the agents for gradient estimation. Yet, in this article, we propose a distributed active perception strategy that enables swarms of various sizes and graph structures to perform source seeking and level curve tracking without the need to explicitly estimate the field gradient or explicitly share measurements. The prop...
-
作者：Khorasani, Masoud Moravej; Weyer, Erik
作者单位：University of Melbourne
摘要：Finite-sample system identification (FSID) methods provide guaranteed confidence regions for the unknown model parameter of dynamical systems under mild statistical assumptions for a finite number of data points. In this article, two FSID methods, the leave-out sign-dominant correlation region (LSCR) and sign-perturbed sums (SPS) methods are extended to errors-in-variables (EIV) systems. In EIV systems, both the measured input and the measured output are corrupted by noise, and they are not no...
-
作者：Xiao, Wei; Belta, Calin; Cassandras, Christos G.
作者单位：Boston University; Boston University
摘要：It has been shown that optimizing quadratic costs while stabilizing affine control systems to desired (sets of) states subject to state and control constraints can be reduced to a sequence of quadratic programs (QPs) by using control barrier functions (CBFs) and control Lyapunov functions (CLFs). In this article, we introduce adaptive CBFs (aCBFs) that can accommodate time-varying control bounds and noise in the system dynamics while also guaranteeing the feasibility of the QPs if the original...
-
作者：Zhu, Bohao; Lam, James; Xie, Xiaochen; Song, Xiaoqi; Kwok, Ka-Wai
作者单位：University of Hong Kong; The University of Hong Kong Shenzhen Institute of Research & Innovation; University of Hong Kong
摘要：This article is concerned with the stability and L-1-gain analysis of periodic piecewise positive systems with constant time delay. lambda-exponential stability, which is applied to characterize the decay rates of the considered systems, is investigated first. A copositive Lyapunov-Krasovskii functional is used to obtain a sufficient stability condition. The stability condition characterizes the convergent speed of the state by the system matrices and the size of the time delay. One can also a...
