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作者：Azimi, Vahid; Hutchinson, Seth
作者单位：University System of Georgia; Georgia Institute of Technology
摘要：The state-of-the-art quadratic-program-based control Lyapunov-barrier function (QP-CLBF) is a powerful control approach to balance safety and stability in an optimal fashion. However, under this approach, modeling inaccuracies may degrade the performance of closed-loop systems and cause violation or restriction of safety-critical constraints. This article presents an adaptive QP-CLBF approach for a class of nonlinear systems in the presence of parameter uncertainties with an unknown control co...
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作者：Zanon, Mario; Bemporad, Alberto
作者单位：IMT School for Advanced Studies Lucca
摘要：Model predictive control (MPC) is often tuned by trial and error. When a baseline linear controller exists that is already well tuned in the absence of constraints and MPC is introduced to enforce them, one would like to avoid altering the original linear feedback law whenever they are not active. We formulate this problem as a controller matching similar to the works of Di Cairano and Bemporad (2009), Di Cairano and Bemporad (2010), and Tran et al. (2015), which we extend to a more general fr...
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作者：Abate, Matthew; Coogan, Samuel
作者单位：University System of Georgia; Georgia Institute of Technology; University System of Georgia; Georgia Institute of Technology; University System of Georgia; Georgia Institute of Technology
摘要：Safety for dynamical systems is often posed as an invariance constraint, requiring the system trajectory to remain in some safe subset of the state-space for all time. This note presents new tools for studying reachability and set invariance for nondeterministic systems subject to a disturbance input using the theory of mixed-monotone dynamical systems. The vector field of a mixed-monotone system is characterized as being decomposable into increasing and decreasing components, which allows the...
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作者：He, Xin; Hu, Rong; Fang, Ya-Ping
作者单位：Sichuan University; Chengdu University of Information Technology
摘要：Second-order dynamical systems are important tools for solving optimization problems, and most of the existing works in this field have focused on unconstrained optimization problems. In this article, we propose an inertial primal-dual dynamical system with constant viscous damping and time scaling for the linear equality constrained convex optimization problem, which consists of a second-order ordinary differential equation (ODE) for the primal variable and a first-order ODE for the dual vari...
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作者：Koch, Anne; Berberich, Julian; Allgoewer, Frank
作者单位：University of Stuttgart
摘要：Dissipativity properties have proven to be very valuable for systems analysis and controller design. With the rising amount of available data, there has, therefore, been an increasing interest in determining dissipativity properties from (measured) trajectories directly, while an explicit model of the system remains undisclosed. Most existing approaches for data-driven dissipativity, however, guarantee the dissipativity condition only over a finite-time horizon and provide weak or no guarantee...
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作者：Roy, Arghyadip; Borkar, Vivek; Karandikar, Abhay; Chaporkar, Prasanna
作者单位：University of Illinois System; University of Illinois Urbana-Champaign; Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Bombay; Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Kanpur
摘要：To overcome the curses of dimensionality and modeling of dynamic programming methods to solve Markov decision process problems, reinforcement learning (RL) methods are adopted in practice. Contrary to traditional RL algorithms, which do not consider the structural properties of the optimal policy, we propose a structure-aware learning algorithm to exploit the ordered multithreshold structure of the optimal policy, if any. We prove the asymptotic convergence of the proposed algorithm to the opt...
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作者：Ruediger-Wetzlinger, Maximilian; Reichhartinger, Markus; Horn, Martin
作者单位：Graz University of Technology; Graz University of Technology
摘要：This article proposes a discrete-time differentiation algorithm of arbitrary order inspired by the continuous-time uniform robust exact differentiator and the continuous-time arbitrary-order robust exact differentiator. As the well-known explicit Euler method is not suitable for discretizing algorithms with the fixed-time convergence property, a semi-implicit approach is proposed. The discrete-time differentiators of orders 2 and 3 are studied in detail, and it is proven that the estimation er...
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作者：Liu, Zhangjie; Su, Mei; Sun, Yao; Zhang, Xin; Liang, Xiao; Zheng, Minghui
作者单位：Central South University; Central South University; Zhejiang University; State University of New York (SUNY) System; University at Buffalo, SUNY; State University of New York (SUNY) System; University at Buffalo, SUNY
摘要：Constant power loads (CPLs) may cause instability of direct-current (dc) distribution networks. This article studies the existence and stability of equilibria of dc-distribution networks where the sources are buck converters under droop control, the cables are resistances and inductances, and the loads are ZIP (constant impedance, constant current, and constant power) loads. Particularly, a sufficient and necessary condition that guarantees the existence of equilibria is determined. Then, the ...
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作者：Chamon, Luiz F. O.; Amice, Alexandre; Ribeiro, Alejandro
作者单位：University of Pennsylvania
摘要：Control scheduling refers to the problem of assigning agents or actuators to act upon a dynamical system at specific times so as to minimize a quadratic control cost, such as the objectives of the linear-quadratic-Gaussian (LQG) or linear quadratic regulator problems. When budget or operational constraints are imposed on the schedule, this problem is in general NP-hard and its solution can therefore only be approximated even for moderately sized systems. The quality of this approximation depen...
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作者：Pepe, Pierdomenico
作者单位：University of L'Aquila
摘要：A novel Lyapunov methodology for the stability check of nonlinear discrete-time switching systems, equipped with switches digraphs and nonuniform dwell-time ranges, is here presented. The novelty of the methodology consists in the following coexisting features: i) the global uniform (with respect to compact sets of initial conditions and switching signals) asymptotic stability is addressed; ii) the information on allowed switches and (nonuniform) dwell-time ranges is fully exploited; iii) no a...
