IEEE Transactions on Automatic Control

最新文章

• Temporal Parallelization of the HJB Equation and Continuous-Time Linear Quadratic Control AI翻译
  作者：Sarkka, Simo; Garcia-Fernandez, Angel F.
  作者单位：Aalto University; University of Liverpool
  摘要：This article presents a mathematical formulation to perform temporal parallelization of continuous-time optimal control problems, which can be solved via the Hamilton-Jacobi-Bellman (HJB) equation. We divide the time interval of the control problem into subintervals, and define a control problem in each subinterval, conditioned on the start and end states, leading to conditional value functions for the subintervals. By defining an associative operator as the minimization of the sum of conditio...
• Identifiability and Observability of Nonsmooth Systems via Taylor-Like Approximations AI翻译
  作者：Stechlinski, Peter; Eisa, Sameh A.; Abdelfattah, Hesham
  作者单位：University of Maine System; University of Maine Orono; University System of Ohio; University of Cincinnati; University System of Ohio; University of Cincinnati
  摘要：New sensitivity-based methods are developed for determining identifiability and observability of nonsmooth input-output systems. More specifically, lexicographic derivatives are used to construct nonsmooth sensitivity rank condition (SERC) tests, which we call lexicographic SERC (L-SERC) tests. The introduced L-SERC tests are practically implementable, accurate, and analogous to (and indeed recover) their smooth counterparts. To accomplish this, a novel first-order Taylor-like approximation th...
• k-Contraction in a Generalized Lurie System AI翻译
  作者：Ofir, Ron; Slotine, Jean-Jacques; Margaliot, Michael
  作者单位：Tel Aviv University; Massachusetts Institute of Technology (MIT); Massachusetts Institute of Technology (MIT); Tel Aviv University; Tel Aviv University
  摘要：We derive a sufficient condition for k-contraction in a generalized Lurie system (GLS), that is, the feedback connection of a nonlinear dynamical system and a memoryless nonlinear function. For k=1, this reduces to a sufficient condition for standard contraction. For k=2, this condition implies that every bounded solution of the GLS converges to an equilibrium, which is not necessarily unique. We demonstrate the theoretical results by analyzing k-contraction in a biochemical control circuit wi...
• A Unified Model for Large-Scale Inexact Fixed-Point Iteration: A Stochastic Optimization Perspective AI翻译
  作者：Hashemi, Abolfazl
  作者单位：Purdue University System; Purdue University
  摘要：Calculating fixed points of a nonlinear function is a central problem in many areas of science and engineering with applications ranging from the study of dynamical systems to optimization and game theory. Fixed-point iteration methods provide a simple way to calculate the fixed point of nonexpansive mappings and they have been studied extensively. Emerging applications, however, necessitate the study of fixed-point calculation under various perturbations. For instance, in the data-driven iden...
• Switching Model Predictive Control for Perturbed Max-Plus Linear Systems via Minimum Dwell-Time AI翻译
  作者：Wang, Jin; Yang, Hongjiu; Zuo, Zhiqiang; Mu, Chaoxu
  作者单位：Tianjin University
  摘要：In this article, switching model predictive control (MPC) is proposed for a perturbed max-plus linear system with a reference signal. The lack of stability guarantee for MPC brings difficulties in reducing tracking errors caused by perturbations in the perturbed max-plus linear system. To reduce tracking errors, the perturbed max-plus linear system is partitioned into a switching max-plus linear system by a permutation matrix. Based on a local maximum terminal set, each mode of the switching m...
• Output-Feedback Stabilization of an Underactuated Network of N Interconnected n plus m Hyperbolic PDE Systems AI翻译
  作者：Auriol, Jean
  作者单位：Universite Paris Saclay; Centre National de la Recherche Scientifique (CNRS)
  摘要：In this article, we detail the design of an output feedback stabilizing control law for an underactuated network of N subsystems of n+m heterodirectional linear first-order hyperbolic partial differential equations interconnected through their boundaries. The network has a chain structure, as only one of the subsystems is actuated. The available measurements are located at the opposite extremity of the chain. The proposed approach introduces a new type of integral transformation to tackle in-d...
• Asynchronous Speedup in Decentralized Optimization AI翻译
  作者：Even, Mathieu; Hendrikx, Hadrien; Massoulie, Laurent
  作者单位：Universite PSL; Ecole Normale Superieure (ENS); Swiss Federal Institutes of Technology Domain; Ecole Polytechnique Federale de Lausanne; Universite PSL; Ecole Normale Superieure (ENS)
  摘要：In decentralized optimization, nodes of a communication network each possess a local objective function, and communicate using gossip-based methods in order to minimize the average of these per-node functions. While synchronous algorithms are heavily impacted by a few slow nodes or edges in the graph (the straggler problem), their asynchronous counterparts are notoriously harder to parameterize. Indeed, their convergence properties for networks with heterogeneous communication and computation ...
• Global Coordinated Stabilization of Multiple Simple Mechanical Control Systems on a Class of Lie Groups AI翻译
  作者：Tong, Xin; Ding, Qingpeng; Cheng, Shing Shin
  作者单位：Nanjing University; Chinese University of Hong Kong; Chinese University of Hong Kong; Chinese University of Hong Kong
  摘要：This article investigates the problem of global coordinated stabilization for a multiagent system, which consists of a general class of mechanical systems that evolve on compact connected Lie groups. First, a distributed synergistic hybrid controller is synthesized by leveraging a coadjoint incidence matrix to assign to neighboring agents a hybrid feedback that is based on their relative position. It leads to robust and global asymptotic stability in tree networks. Second, the existence of syn...
• Aperiodic Event-Triggered Controls for Stochastic Functional Differential Systems With Sampled-Data Delayed Output AI翻译
  作者：Yang, Xuetao; Zhao, Taizhong; Zhu, Quanxin
  作者单位：Nanjing University of Posts & Telecommunications; Hunan Normal University; Hunan Normal University
  摘要：In this article, we discuss the stabilization problem for stochastic functional differential systems (SFDSs) with sampled-data delayed output. Different from the traditional stochastic systems with continuous or periodic output signals, the system output measurements under consideration are only available at sampling times and they are aperiodic. To deal with this problem, we propose a compensator for the unmeasurable system states and a novel aperiodic event-triggered control (AETC) based on ...
• PEBO-SLAM: Observer Design for Visual Inertial SLAM With Convergence Guarantees AI翻译
  作者：Yi, Bowen; Jin, Chi; Wang, Lei; Shi, Guodong; Ila, Viorela; Manchester, Ian R.
  作者单位：Universite de Montreal; Polytechnique Montreal; Universite de Montreal; Zhejiang University; University of Sydney
  摘要：In this article, we introduce a new parameterization for the problem of visual inertial simultaneous localization and mapping (VI-SLAM), i.e., for a robot only equipped with a single monocular camera and an inertial measurement unit. In this problem, the system state evolves on the nonlinear manifold SE(3)xR(3n), on which we design dynamic extensions such that the deterministic VI-SLAM problem can be reformulated-without any approximation-into online constant parameter identification, expresse...