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作者：Huang, Bowen; Vaidya, Umesh
作者单位：Clemson University
摘要：This article is about the data-driven computation of optimal control for a class of control affine deterministic nonlinear systems. We assume that the control dynamical system model is not available, and the only information about the system dynamics is available in the form of time-series data. We provide a convex formulation for the optimal control problem (OCP) of the nonlinear system. The convex formulation relies on the duality result in the dynamical system's stability theory involving d...
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作者：Arnstrom, Daniel; Bemporad, Alberto; Axehill, Daniel
作者单位：Linkoping University; IMT School for Advanced Studies Lucca
摘要：In this technical article, we present a dual active-set solver for quadratic programming that has properties suitable for use in embedded model predictive control applications. In particular, the solver is efficient, can easily be warm started, and is simple to code. Moreover, the exact worst-case computational complexity of the solver can be determined offline and, by using outer proximal-point iterations, ill-conditioned problems can be handled in a robust manner.
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作者：Cruz-Ancona, Christopher D.; Estrada, Manuel A.; Fridman, Leonid
作者单位：Universidad Nacional Autonoma de Mexico
摘要：The problem of an adaptive Lyapunov redesign is revisited for a class of systems without a priori knowledge of the function majoring nonlinear uncertainties and disturbances. An adaptive barrier function-based gain for unit control is proposed, ensuring an arbitrary a priori predefined uniform ultimate bound for solutions despite the presence of uncertainties and disturbances. The usage of positive semi-definite barrier function generates a continuous control signal adjusting the chattering, w...
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作者：Zhao, Xueyan; Deng, Feiqi
作者单位：South China University of Technology
摘要：This article aims to reveal an interesting phenomenon about the time delays (TDs) in control systems: stability preservation with over large intermittently or unbounded variable TDs. That is, given a system asymptotically stable for bounded TDs, it could remain to be stable when the TDs are enhanced to have peak values over large intermittently or unbounded. The investigation is carried out by theoretical analysis plus case studies with the stochastic system models. The stability of systems is...
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作者：Meira-Goes, Romulo; Kwong, Raymond H.; Lafortune, Stephane
作者单位：University of Michigan System; University of Michigan; University of Toronto
摘要：In this article, we study the security of control systems in the context of the supervisory control layer of stochastic discrete-event systems. Control systems heavily rely on correct communication between the plant and the controller. In this article, we consider that such communication is partially compromised by a malicious attacker. The attacker has the ability to modify a subset of the sensor readings and mislead the supervisor, with the goal of inducing the system into an unsafe state. W...
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作者：Wang, Miaomiao; Tayebi, Abdelhamid
作者单位：Western University (University of Western Ontario); Lakehead University
摘要：We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on SO(3) from achieving global stability. The key idea consists in constructing a suitable potential function on SO(3) x R involving an auxiliary scalar variable, with flow and jump dynamics, which keeps the state away from the undesired critical points while, at th...
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作者：Koehler, Johannes; Mueller, Matthias A.; Allgoewer, Frank
作者单位：University of Stuttgart; Leibniz University Hannover
摘要：We present a model predictive control (MPC) framework to solve the constrained nonlinear output regulation problem. The main feature of the proposed framework is that the application does not require the solution to classical regulator (Francis-Byrnes-Isidori) equations or any other offline design procedure. In particular, the proposed formulation simply minimizes the predicted output error, possibly with some input regularization. Instead of using terminal cost/sets or a positive-definite sta...
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作者：Chen, Liangming; de Marina, Hector Garcia; Cao, Ming
作者单位：University of Groningen; Complutense University of Madrid
摘要：This article investigates how to maneuver a planar formation of mobile agents using designed mismatched angles. The desired formation shape is specified by a set of interior angle constraints. To realize the maneuver of translation, rotation, and scaling of the formation as a whole, we intentionally force the agents to maintain mismatched desired angles by introducing a pair of mismatch parameters for each angle constraint. To allow different information requirements in the design and implemen...
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作者：Li, Xiaodi; Li, Peng
作者单位：Shandong Normal University
摘要：This article investigates input-to-state stability (ISS) of nonlinear systems via event-triggered impulsive control method. A novel impulsive event-triggered mechanism (IETM) which can exclude the Zeno behavior for nonlinear impulsive systems is designed. Some sufficient conditions which establish the relationship between impulse strength and IETM for ISS property are proposed. It is shown that under the designed IETM, a flexible impulsive control strategy can be provided. Since impulses only ...
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作者：Romvary, Jordan J.; Ferro, Giulio; Haider, Rabab; Annaswamy, Anuradha M.
作者单位：The Charles Stark Draper Laboratory, Inc.; University of Genoa; Massachusetts Institute of Technology (MIT)
摘要：In this article, we present a unified framework for distributed convex optimization using an algorithm called proximal atomic coordination (PAC). PAC is based on the prox-linear approach and we prove that it achieves convergence in both objective values and distance to feasibility with rate o(1/tau), where tau is the number of algorithmic iterations. We further prove that linear convergence is achieved when the objective functions are strongly convex and strongly smooth with condition number k...
