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作者：Sarkka, Simo; Garcia-Fernandez, Angel F.
作者单位：Aalto University; University of Liverpool
摘要：This article presents algorithms for temporal parallelization of Bayesian smoothers. We define the elements and the operators to pose these problems as the solutions to all-prefix-sums operations for which efficient parallel scan-algorithms are available. We present the temporal parallelization of the general Bayesian filtering and smoothing equations, and specialize them to linear/Gaussian models. The advantage of the proposed algorithms is that they reduce the linear complexity of standard s...
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作者：Lhachemi, Hugo; Prieur, Christophe; Shorten, Robert
作者单位：Universite Paris Saclay; Communaute Universite Grenoble Alpes; Institut National Polytechnique de Grenoble; Universite Grenoble Alpes (UGA); Centre National de la Recherche Scientifique (CNRS); Imperial College London; University College Dublin
摘要：This article is concerned with the in-domain stabilization of a class of block diagonal infinite-dimensional systems in the presence of an uncertain and time-varying delay in the distributed control input. Two actuation schemes are considered. The first one assumes a control input that is fully distributed over the domain. The second one assumes that the control input is finite-dimensional, acting over the domain via a bounded operator. In both cases, the control design strategy consists in a ...
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作者：Zhao, Wanbing; Liu, Hao; Lewis, Frank L.
作者单位：Beihang University; Beihang University; University of Texas System; University of Texas Arlington
摘要：In this article, the data-driven fault-tolerant synchronization control problem is investigated for unknown cooperative quadrotors subject to nonlinearities and multiple actuator faults in the quadrotor dynamics. A distributed observer is provided to estimate the state of the virtual leader. Based on the reinforcement learning theory, the optimal control policy is learned for each quadrotor without any knowledge of the quadrotor dynamic information. Then, the learned control policy is used to ...
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作者：Boutselis, George, I; Theodorou, Evangelos
作者单位：University System of Georgia; Georgia Institute of Technology; General Electric
摘要：We develop a discrete-time optimal control framework for systems evolving on Lie groups. Our article generalizes the original differential dynamic programming method, by employing a coordinate-free, Lie-theoretic approach for its derivation. A key element lies, specifically, in the use of quadratic expansion schemes for cost functions and dynamics defined on Lie groups. The obtained algorithm iteratively optimizes local approximations of the control problem, until reaching a (sub)optimal solut...
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作者：Lee, Chang-Shen; Michelusi, Nicolo; Scutari, Gesualdo
作者单位：Purdue University System; Purdue University; Arizona State University; Arizona State University-Tempe; Purdue University System; Purdue University
摘要：This article proposes the first distributed algorithm that solves the weight-balancing problem using only finite rate and simplex communications among nodes, compliant with the directed nature of the graph edges. It is proved that the algorithm converges to a weight-balanced solution at sublinear rate. The analysis builds upon a new metric inspired by positional system representations, which characterizes the dynamics of information exchange over the network, and on a novel step-size rule. Bui...
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作者：Liu, Xinghua; Mo, Yilin; Garone, Emanuele
作者单位：Xi'an University of Technology; Tsinghua University; Tsinghua University; Universite Libre de Bruxelles
摘要：This article is concerned with the secure state estimation problem of a linear discrete-time Gaussian system in the presence of sparse integrity attacks. m sensors are deployed to monitor the state and p of them can potentially be compromised by an adversary, whose data can be arbitrarily manipulated by the attacker. We show that the optimal Kalman estimate can be decomposed as a weighted sum of local state estimates. Based on these local estimates, we propose a convex optimization based appro...
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作者：Ma, Aoyun; Liu, Kun; Zhang, Qirui; Liu, Tao; Xia, Yuanqing
作者单位：Beijing Institute of Technology; Beijing Wuzi University
摘要：This article presents an event-triggered distributed model predictive control with variable prediction horizon strategy for spatially interconnected systems with input and state constraints. Each subsystem compares the error between actual state and optimal state with a triggering level, and cooperates with other subsystems to determine the triggering time and the corresponding prediction horizon. A shrinking constraint related to the bounds of errors between the predicted states and the optim...
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作者：Sayin, Muhammed O.; Basar, Tamer
作者单位：Massachusetts Institute of Technology (MIT); University of Illinois System; University of Illinois Urbana-Champaign
摘要：We introduce a robust sensor design framework to provide persuasion-based defense in stochastic control systems against an unknown type attacker with a control objective exclusive to its type. We design a robust linear-plus-noise signaling strategy in order to persuade the attacker to take actions that lead to minimum damage with respect to the system's objective. The specific model we adopt is a Gauss-Markov process driven by a controller with a (partially) unknown malicious/benign control ob...
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作者：Sun, Shan; Chen, Fei; Ren, Wei
作者单位：University of California System; University of California Riverside; Northeastern University - China; Northeastern University - China
摘要：This article studies a distributed average tracking (DAT) problem, in which a collection of agents work collaboratively, subject to local communication, to track the average of a set of reference signals, each of which is available to a single agent. Our primary objective is to seek a design methodology for DAT under possibly weight-unbalanced directed networks-the most general and thus most challenging case from the network topology perspective, which has few results in the literature. For th...
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作者：Wang, Chenliang; Wen, Changyun; Guo, Lei
作者单位：Beihang University; Beihang University; Nanyang Technological University
摘要：In this article, an adaptive consensus tracking control scheme is proposed for a class of high-order nonlinear multiagent systems with unknown control directions. Different from the existing results, the unknown control directions are not required to be identical and also unknown time-varying actuator faults are taken into account simultaneously. We design some novel Nussbaum functions and construct a monotonously increasing sequence in which the effects of our multiple Nussbaum functions rein...
