IEEE Transactions on Automatic Control

最新文章

• Toward a Convex Design Framework for Online Active Fault Diagnosis of LPV Systems AI翻译
  作者：Tan, Junbo; Olaru, Sorin; Xu, Feng; Wang, Xueqian
  作者单位：Tsinghua Shenzhen International Graduate School; Tsinghua University; Centre National de la Recherche Scientifique (CNRS); Universite Paris Saclay
  摘要：This article focuses on the design of online optimal input sequence for robust active fault diagnosis of discrete-time linear parameter-varying systems using set-theoretic methods. Instead of the traditional set-separation constraint conditions leading to the design of offline input sequence, the proposed approach focuses on online (re)shaping of the input sequence based on the real-time information of the output to discriminate system modes at each time instant such that the diagnosability of...
• A Scalable Strategy for the Identification of Latent-Variable Graphical Models AI翻译
  作者：Alpago, Daniele; Zorzi, Mattia; Ferrante, Augusto
  作者单位：University of Padua
  摘要：In this article, we propose an identification method for latent-variable graphical models associated with autoregressive (AR) Gaussian stationary processes. The identification procedure exploits the approximation of AR processes through stationary reciprocal processes thus benefiting of the numerical advantages of dealing with block-circulant matrices. These advantages become more and more significant as the order of the process gets large. We show how the identification can be cast in a regul...
• A Game-Theoretic Framework for Security-Aware Sensor Placement Problem in Networked Control Systems AI翻译
  作者：Pirani, Mohammad; Nekouei, Ehsan; Sandberg, Henrik; Johansson, Karl Henrik
  作者单位：University of Toronto; City University of Hong Kong; Royal Institute of Technology
  摘要：This article studies the sensor placement problem in a leader-follower networked control system for improving its security against cyber-physical attacks. In a zero-sum game, the attacker selects f nodes of the network to attack, and the detector places f sensors to detect the presence of the attack signals. In our formulation, the attacker's objective is to have a large impact on a target node in the network while being as little visible as possible to the detector. The detector, however, see...
• Functional Interval Observer for Discrete-Time Switched Descriptor Systems AI翻译
  作者：Huang, Jun; Che, Haochi; Raissi, Tarek; Wang, Zhenhua
  作者单位：Soochow University - China; heSam Universite; Conservatoire National Arts & Metiers (CNAM); Harbin Institute of Technology
  摘要：This article investigates functional interval observer based estimation methods for discrete-time switched descriptor systems with disturbances. A functional observer is presented using the H-infinity formalism, and then a zonotope-based approach is applied to estimate its boundaries with a reduction of observer design constraints. To avoid the wrapping effect brought by the order reduction operations in the zonotope approach, reachability analysis is combined with the H-infinity technique to ...
• On the Existence and Computation of Minimum Attention Optimal Control Laws AI翻译
  作者：Lee, Pilhwa; Park, Frank
  作者单位：Morgan State University; Seoul National University (SNU)
  摘要：One means of capturing the cost of control implementation of a general nonlinear control system is via Brockett's minimum attention criterion, defined as a multidimensional integral of the rate of change of the control with respect to state and time. Although shown to be important in human motor control and robotics applications, a practical difficulty with this criterion is that the existence of solutions is not always assured; even when they exist, obtaining local solutions numerically is di...
• An Analysis of Closed-Loop Stability for Linear Model Predictive Control Based on Time-Distributed Optimization AI翻译
  作者：Liao-McPherson, Dominic; Skibik, Terrence; Leung, Jordan; Kolmanovsky, Ilya; Nicotra, Marco M.
  作者单位：Swiss Federal Institutes of Technology Domain; ETH Zurich; University of Michigan System; University of Michigan; University of Colorado System; University of Colorado Boulder
  摘要：Time-distributed optimization (TDO) is an approach for reducing the computational burden of model predictive control (MPC) and a generalization of the real-time iteration scheme. When using TDO, optimization iterations are distributed over time by maintaining a running solution estimate and updating it at each sampling instant. In this article, TDO applied to input-constrained linear-quadratic MPC is studied in detail, and an analytic bound for the number of optimization iterations per samplin...
• A New Approach to Finite-Horizon Optimal Control for Discrete-Time Affine Nonlinear Systems via a Pseudolinear Method AI翻译
  作者：Wei, Qinglai; Zhu, Liao; Li, Tao; Liu, Derong
  作者单位：Chinese Academy of Sciences; Institute of Automation, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS; Macau University of Science & Technology; Guangdong University of Technology
  摘要：In this article, a new time-varying adaptivedynamic programming (ADP) algorithm is developed to solve finite-horizon optimal control problems for a class of discrete-time affine nonlinear systems. Inspired by the pseudolinear method, the nonlinear system can be approximated by a series of time-varying linear systems. In each iteration of the time-varying ADP algorithm, the optimal control law for the time-varying linear system is obtained. For an arbitrary initial state, it is proven that stat...
• Controller Synthesis for Linear System With Reach-Avoid Specifications AI翻译
  作者：Fan, Chuchu; Qin, Zengyi; Mathur, Umang; Ning, Qiang; Mitra, Sayan; Viswanathan, Mahesh
  作者单位：Massachusetts Institute of Technology (MIT); University of Illinois System; University of Illinois Urbana-Champaign; Amazon.com; University of Illinois System; University of Illinois Urbana-Champaign
  摘要：We address the problem of synthesizing provably correct controllers for linear systems with reach-avoid specifications. Discrete abstraction-based controller synthesis techniques have been developed for linear and nonlinear systems with various types of specifications. However, these methods typically suffer from the state space explosion problem. Our solution decomposes the overall synthesis problem into two smaller, and more tractable problems: one synthesis problem for an open-loop controll...
• Exact LMI Conditions for Stability and L2 Gain Analysis of 2-D Mixed Continuous-Discrete Time Systems via Quadratically Frequency-Dependent Lyapunov Functions AI翻译
  作者：Chesi, Graziano
  作者单位：University of Hong Kong
  摘要：This article addresses the problems of establishing structural stability and the L-2 gain of 2-D mixed continuous-discrete time systems. The first contribution is to show that Lyapunov functions quadratically dependent on the frequency are exact for establishing structural stability. This is particularly important since the existing works that exploit Lyapunov functions provide a much larger upper bound on the dependence on the frequency or other parameters. The second contribution is to propo...
• Robust Safety-Critical Control for Dynamic Robotics AI翻译
  作者：Nguyen, Quan; Sreenath, Koushil
  作者单位：University of Southern California; University of California System; University of California Berkeley
  摘要：We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems in the presence of model uncertainty. The proposed method formulates robust control Lyapunov and barrier functions to provide guarantees of stability and safety in the presence of model uncertainty. We evaluate our proposed control design on dynamic walking ...