IEEE Transactions on Automatic Control

最新文章

• Probabilistic Model Predictive Safety Certification for Learning-Based Control AI翻译
  作者：Wabersich, Kim J.; Hewing, Lukas; Carron, Andrea; Zeilinger, Melanie N.
  作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich
  摘要：Reinforcement learning (RL) methods have demonstrated their efficiency in simulation. However, many of the applications for which RL offers great potential, such as autonomous driving, are also safety critical and require a certified closed-loop behavior in order to meet the safety specifications in the presence of physical constraints. This article introduces a concept called probabilistic model predictive safety certification (PMPSC), which can be combined with any RL algorithm and provides ...
• Distributed Synthesis of Local Controllers for Networked Systems With Arbitrary Interconnection Topologies (vol 66, pg 683, 2021) AI翻译
  作者：Agarwal, Etika; Sivaranjani, S.; Song, Yang; Gupta, Vijay; Antsaklis, Panos
  作者单位：Purdue University System; Purdue University; Shanghai University; Purdue University System; Purdue University; University of Notre Dame
  摘要：In the article entitled Distributed synthesis of local controllers for networked systems with arbitrary interconnection topologies published in the IEEE Transactions on Automatic Control, vol. 66, pp. 683-698, 2021, there were some missing terms in Lemma 1 and the definition of the messenger matrices. Here, we include these terms and suitably modify the corresponding proofs. Note that all the main claims of the original article, including distributed analysis, distributed synthesis, and compo...
• Prediction With Approximated Gaussian Process Dynamical Models AI翻译
  作者：Beckers, Thomas; Hirche, Sandra
  作者单位：University of Pennsylvania; Technical University of Munich
  摘要：The modeling and simulation of dynamical systems is a necessary step for many control approaches. Using classical, parameter-based techniques for modeling of modern systems, e.g., soft robotics or human-robot interaction, are often challenging or even infeasible due to the complexity of the system dynamics. In contrast, data-driven approaches need only a minimum of prior knowledge and scale with the complexity of the system. In particular, Gaussian process dynamical models (GPDMs) provide very...
• Geometric Properties of Time-Optimal Controls With State Constraints Using Strong Observability AI翻译
  作者：Woodford, Nathaniel T.; Harris, Matthew W.
  作者单位：Utah System of Higher Education; Utah State University
  摘要：This article considers minimum time optimal control problems with linear dynamics subject to state equality constraints and control inequality constraints. In the absence of state constraints, there are well-known sufficient conditions to guarantee that optimal controls are at the boundary or extreme points of the control set. With strong observability as the key tool, analogous conditions are derived for problems subject to both extrinsic and intrinsic state constraints. Understanding these g...
• Controller Reduction for Nonlinear Systems by Generalized Differential Balancing AI翻译
  作者：Kawano, Yu
  作者单位：Hiroshima University
  摘要：In this article, we aim at developing computationally tractable methods for nonlinear model/controller reduction. Recently, model reduction by generalized differential (GD) balancing has been proposed for nonlinear systems with constant input-vector fields and linear output functions. First, we study incremental properties in the GD balancing framework. Next, based on these analyses, we provide GD linear quadratic Gaussian (LQG) balancing and GD H-infinity-balancing as controller reduction met...
• Robust Stability Analysis of Linear Parameter-Varying Systems With Markov Jumps AI翻译
  作者：Vargas, Alessandro N.; Agulhari, Cristiano M.; Oliveira, Ricardo C. L. F.; Preciado, Victor M.
  作者单位：Universidade Tecnologica Federal do Parana; Universidade Estadual de Campinas; University of Pennsylvania
  摘要：This article presents conditions to assure the mean-square stability of linear parameter-varying systems with Markov jumps. The model dynamics are driven not only by a Markov chain but also by time-varying parameters that take values in a polytopic set. No assumption is imposed on how the parameters vary within the polytopic set, i.e., the variation rate can be arbitrarily fast. The proposed conditions stem from a homogeneous polynomial Lyapunov function in the state space, adapted to account ...
• Decentralized Control of Multiagent Systems Using Local Density Feedback AI翻译
  作者：Biswal, Shiba; Elamvazhuthi, Karthik; Berman, Spring
  作者单位：University of California System; University of California Los Angeles; Arizona State University; Arizona State University-Tempe
  摘要：In this article, we stabilize a discrete-time Markov process evolving on a compact subset of Rd to an arbitrary target distribution that has an L-infinity(.) density and does not necessarily have a connected support on the state space. We address this problem by stabilizing the corresponding Kolmogorov forward equation, the mean-field model of the system, using a density-dependent transition Kernel as the control parameter. Our main application of interest is controlling the distribution of a ...
• Necessary and Sufficient Conditions for Harmonic Control in Continuous Time AI翻译
  作者：Blin, Ncolas; Riedinger, Pierre; Daafouz, Jamal; Grimaud, Louis; Feyel, Philippe
  作者单位：Universite de Lorraine; Safran S.A.; Safran S.A.
  摘要：In this article, we revisit the concepts and tools of harmonic analysis and control and provide a rigorous mathematical answer to the following question: When does an harmonic control have a representative in the time domain? By representative we mean a control in the time domain that leads by sliding Fourier decomposition to exactly the same harmonic control. Harmonic controls that do not have such representatives lead to erroneous results in practice. The main results of this article are: A ...
• Multiple Sparsity Constrained Control Node Scheduling With Application to Rebalancing of Mobility Networks AI翻译
  作者：Ikeda, Takuya; Sakurama, Kazunori; Kashima, Kenji
  作者单位：University of Kitakyushu; Kyoto University
  摘要：This article treats an optimal scheduling problem of control nodes in networked systems. We newly introduce both the L-0 and l(0) constraints on control inputs to extract a time-varying small number of effective control nodes. As the cost function, we adopt the trace of the controllability Gramian to reduce the required control energy. Since the formulated optimization problem is combinatorial, we introduce a convex relaxation problem for its computational tractability. After a reformulation o...
• Performance Optimization via Sequential Processing for Nonlinear State Estimation of Noisy Systems AI翻译
  作者：Battilotti, Stefano
  作者单位：Sapienza University Rome
  摘要：We propose a framework for designing observers for noisy nonlinear systems with global convergence properties and performing robustness and noise sensitivity. This framework comes out from the combination of a state norm estimator with a chain of filters, adaptively tuned by the state norm estimator. The state estimate is sequentially processed through the chain of filters. Each filter contributes to improving, by a certain amount, the estimation error performances of the previous filter in te...