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作者：Oh, Yoonseon; Cho, Kyunghoon; Choi, Yunho; Oh, Songhwai
作者单位：Korea Institute of Science & Technology (KIST); Incheon National University; Seoul National University (SNU)
摘要：This article introduces a robust and safe path planning algorithm in order to satisfy mission requirements specified in linear temporal logic (LTL). When a path is planned to accomplish a mission, it is possible for a robot to fail to complete the mission or collide with obstacles due to noises and disturbances in the system. Hence, we need to find a robust path against possible disturbances. We introduce a robust path planning algorithm, which maximizes the probability of success in accomplis...
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作者：Cannelli, Loris; Facchinei, Francisco; Scutari, Gesualdo; Kungurtsev, Vyacheslav
作者单位：Universita della Svizzera Italiana; Purdue University System; Purdue University; Sapienza University Rome; Czech Technical University Prague
摘要：We consider convex and nonconvex constrained optimization with a partially separable objective function: Agents minimize the sum of local objective functions, each of which is known only by the associated agent and depends on the variables of that agent and those of a few others. This partitioned setting arises in several applications of practical interest. We propose what is, to the best of our knowledge, the first distributed, asynchronous algorithm with rate guarantees for this class of pro...
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作者：Qi, Qingyuan; Xie, Lihua; Zhang, Huanshui
作者单位：Qingdao University; Nanyang Technological University; Shandong University
摘要：In this article, we investigate the optimal linear quadratic control problem for stochastic systems with multiple controllers, where each controller has its own information structure, which differs from each other. More specifically, we consider the optimal control problem for systems with multiple controllers of different delayed state information. First, the necessary and sufficient solvability conditions are given in terms of forward and backward difference equations (FBSDEs). Further, an i...
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作者：Bako, Laurent
作者单位：Universite Claude Bernard Lyon 1; Ecole Centrale de Lyon; Centre National de la Recherche Scientifique (CNRS); CNRS - Institute for Engineering & Systems Sciences (INSIS); Institut National des Sciences Appliquees de Lyon - INSA Lyon
摘要：This article considers a particular parameter estimator for switched systems and analyzes its properties. The estimator in question is defined as the map from the dataset to the solution set of an optimization problem where the to-be-optimized cost function is a sum of pointwise infima over a finite set of subfunctions. This is a hard nonconvex problem. The article studies some fundamental properties of this problem such as uniqueness of the solution or boundedness of the estimation error rega...
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作者：Khong, Sei Zhen; Kao, Chung-Yao
作者单位：University of Hong Kong; National Sun Yat Sen University
摘要：A collection of converse theorems for integral quadratic constraints (IQCs) is established for linear time-invariant systems. It is demonstrated that when a system interconnected in feedback with an arbitrary system satisfying an IQC is stable, then the given system must necessarily satisfy the complementary IQC. These theorems are specialized to derive multiple versions of converse passivity results. They cover standard notions of strict passivity as well as passivity indices that characteriz...
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作者：Ciccone, Valentina; Chen, Yongxin; Georgiou, Tryphon T.; Pavon, Michele
作者单位：University of Padua; University System of Georgia; Georgia Institute of Technology; University of California System; University of California Irvine; University of Padua
摘要：We consider the problem of steering a linear stochastic system between two endpoint degenerate Gaussian distributions in finite time. This accounts for those situations in which some but not all of the state entries are uncertain at the initial, t=0, and final time, t=T. This problem entails nontrivial technical challenges, as the singularity of terminal state covariance causes the control to grow unbounded at the final time T. Consequently, the entropic interpolation (Schrodinger bridge) is p...
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作者：Gadjov, Dian; Pavel, Lacra
作者单位：University of Toronto
摘要：We consider aggregative games with affine coupling constraints, where agents have partial information on the aggregate value and can only communicate with neighboring agents. We propose a single-layer distributed algorithm that reaches a variational generalized Nash equilibrium, under constant step sizes. The algorithm works on a single timescale, i.e., it does not require multiple communication rounds between agents before updating their action. The convergence proof leverages an invariance p...
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作者：She, Baike; Mehta, Siddhartha; Ton, Chau; Kan, Zhen
作者单位：University of Iowa; Southwest Research Institute; Chinese Academy of Sciences; University of Science & Technology of China, CAS
摘要：This article investigates energy-related controllability of complex networks. Specifically, our objective is to establish controllability characteristics on signed complex networks, where the network units interact via neighbor-based Laplacian feedback and the network admits positive and negative edges to capture cooperative and competitive interactions among these units. The network units can be classified into leaders and followers. This article focuses on characterizing the energy-related c...
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作者：Dai, Jiajun; Geng, Na; Xie, Xiaolan
作者单位：Shanghai Jiao Tong University; Shanghai Jiao Tong University; IMT - Institut Mines-Telecom; Mines Saint-Etienne; Centre National de la Recherche Scientifique (CNRS); Universite Clermont Auvergne (UCA); Shanghai Jiao Tong University
摘要：This article considers an admission quota control which determines the maximum daily admission (known as the quota) of controllable demand that shares capacity with uncontrollable demand. General arrival processes and general discrete stochastic service time are assumed. An infinite-horizon Markov decision process model is proposed to maximize the expected total discounted net reward comprising admission revenues and overcapacity costs. Through formal proofs, the optimal quota control which ma...
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作者：Yan, Yan; Yu, Shuanghe; Yu, Xinghuo
作者单位：Dalian Maritime University; Royal Melbourne Institute of Technology (RMIT)
摘要：In this article, we study the Euler's discretization effect on a sliding-mode control system with a supertwisting algorithm (STA). We start from the undisturbed STA and show that the trajectory eventually converges to an exactly bounded region around the origin. Periodic behaviors are explored. Furthermore, the discretization effect on the disturbed STA is established, and the stability analysis is given. Simulation results demonstrate the effectiveness of the proposed strategies.
