IEEE Transactions on Automatic Control

最新文章

• Solving Nonlinear Filtering Problems in Real Time by Legendre Galerkin Spectral Method AI翻译
  作者：Dong, Wenhui; Luo, Xue; Yau, Stephen S-T
  作者单位：Tsinghua University; Shaanxi Normal University; Beihang University
  摘要：It is well known that the nonlinear filtering (NLF) problem has important applications in both military and civil industries. The central question is to solve the posterior conditional density function of the states, which satisfies the Kushner or the Duncan-Mortensen-Zakai (DMZ) equation after suitable change of probability measure. In this article, we shall follow the so-called Yau-Yau's algorithm to split the solution of the DMZ equation into on- and off-line part, where the off-line part i...
• Fault-Tolerant Control for Systems With Unmatched Actuator Faults and Disturbances AI翻译
  作者：Zhang, Kangkang; Jiang, Bin; Yan, Xinggang; Mao, Zehui; Polycarpou, Marios M.
  作者单位：Nanjing University of Aeronautics & Astronautics; University of Cyprus; University of Kent
  摘要：A fault-tolerant control (FTC) scheme for a class of nonlinear systems with unmatched actuator redundancy and unmatched disturbances is proposed in this article. A methodology to construct unified smooth sliding mode control laws and update laws are proposed such that the equivalent injections of the first-order time derivatives of the unmatched actuator faults and unmatched disturbances can appear in the unmatched channels. The unmatched actuator faults and unmatched disturbances are complete...
• Macroscopic Noisy Bounded Confidence Models With Distributed Radical Opinions AI翻译
  作者：Kolarijani, Mohamad Amin Sharifi; Proskurnikov, Anton, V; Esfahani, Peyman Mohajerin
  作者单位：Delft University of Technology; Polytechnic University of Turin
  摘要：In this article, we study the nonlinear Fokker-Planck (FP) equation that arises as a mean-field (macroscopic) approximation of bounded confidence opinion dynamics, where opinions are influenced by environmental noises and opinions of radicals (stubborn individuals). The distribution of radical opinions serves as an infinite-dimensional exogenous input to the FP equation, visibly influencing the steady opinion profile. We establish mathematical properties of the FP equation. In particular, we, ...
• Reverse and Forward Engineering of Local Voltage Control in Distribution Networks AI翻译
  作者：Zhou, Xinyang; Farivar, Masoud; Liu, Zhiyuan; Chen, Lijun; Low, Steven H.
  作者单位：United States Department of Energy (DOE); National Renewable Energy Laboratory - USA; University of Colorado System; University of Colorado Boulder; California Institute of Technology; Alphabet Inc.; Google Incorporated
  摘要：The increasing penetration of renewable and distributed energy resources in distribution networks calls for real-time and distributed voltage control. In this article, we investigate local Volt/VAR control with a general class of control functions, and show that the power system dynamics with nonincremental local voltage control can be seen as a distributed algorithm for solving a well-defined optimization problem (reverse engineering). The reverse engineering further reveals a fundamental lim...
• A Nonsmooth Approach to Controller Synthesis for Boolean Specifications AI翻译
  作者：Glotfelter, Paul; Cortes, Jorge; Egerstedt, Magnus
  作者单位：University System of Georgia; Georgia Institute of Technology; University of California System; University of California San Diego
  摘要：Robotic systems have been proposed as a solution to a wide array of problems, from autonomous warehousing to precision agriculture. Yet these systems typically require satisfaction of multiple constraints, such as collision avoidance and connectivity maintenance, while completing their primary objectives. Many such problems may be decomposed into stability and invariance criteria (e.g., monitor crop patches while avoiding collisions), and this article utilizes Lyapunov and barrier functions to...
• Leader-Following Consensus for Multiple Euler-Lagrange Systems by Distributed Position Feedback Control AI翻译
  作者：He, Changran; Huang, Jie
  作者单位：Chinese University of Hong Kong
  摘要：In this article, we study the leader-following consensus problem for multiple Euler-Lagrange (EL) systems with natural damping over static and connected communication networks by a distributed position feedback control law. By combining the adaptive distributed observer for a leader system and the dynamic compensator technique for dealing with a single EL system by position feedback control, we synthesize a distributed position feedback control law and show that this control law solves the lea...
• A Local Direct Method for Module Identification in Dynamic Networks With Correlated Noise AI翻译
  作者：Ramaswamy, Karthik Raghavan; Van den Hof, Paul M. J.
  作者单位：Eindhoven University of Technology
  摘要：The identification of local modules in dynamic networks with known topology has recently been addressed by formulating conditions for arriving at consistent estimates of the module dynamics, under the assumption of having disturbances that are uncorrelated over the different nodes. The conditions typically reflect the selection of a set of node signals that are taken as predictor inputs in an multiple-input-single-output (MISO) identification setup. In this paper an extension is made to arrive...
• Indefinite Linear Quadratic Mean Field Social Control Problems With Multiplicative Noise AI翻译
  作者：Wang, Bing-Chang; Zhang, Huanshui
  作者单位：Shandong University; Shandong University of Science & Technology
  摘要：This article studies uniform stabilization and social optimality for linear quadratic (LQ) mean field control problems with multiplicative noise, where agents are coupled via dynamics and individual costs. The state and control weights in cost functionals are not limited to be positive semidefinite. This leads to an indefinite LQ mean field control problem, which may still be well-posed due to deep nature of multiplicative noise. We first obtain a set of forward-backward stochastic differentia...
• Convergence and Accuracy Analysis for a Distributed Static State Estimator Based on Gaussian Belief Propagation AI翻译
  作者：Marelli, Damian; Sui, Tianju; Fu, Minyue; Sun, Ximing
  作者单位：Guangdong University of Technology; Dalian University of Technology; University of Newcastle
  摘要：This article focuses on the distributed static estimation problem. A belief propagation (BP) based estimation algorithm is studied for its convergence and accuracy. More precisely, we give conditions under which the BP-based distributed estimator is guaranteed to converge and we give concrete characterizations for its accuracy. Our results reveal new insights and properties of this distributed algorithm, leading to better theoretical understanding of static distributed state estimation and new...
• Aerial Slung-Load Position Tracking Under Unknown Wind Forces AI翻译
  作者：Pereira, Pedro; Cortes, Jorge; Dimarogonas, Dimos, V
  作者单位：Royal Institute of Technology; University of California System; University of California San Diego
  摘要：We propose a dynamic controller for position tracking of a point-mass load attached to an omnidirectional aerial vehicle by means of a cable. Both the load and the aerial vehicle are subject to unknown wind forces. We model the dynamics of the slung-load system and put it into canonical form, i.e., a form which is independent of the system's physical parameters. Following a backstepping strategy, we design a dynamic control law for the canonical system that contains four estimators, since each...