IEEE Transactions on Automatic Control

最新文章

• Switching Model Predictive Control for Perturbed Max-Plus Linear Systems via Minimum Dwell-Time AI翻译
  作者：Wang, Jin; Yang, Hongjiu; Zuo, Zhiqiang; Mu, Chaoxu
  作者单位：Tianjin University
  摘要：In this article, switching model predictive control (MPC) is proposed for a perturbed max-plus linear system with a reference signal. The lack of stability guarantee for MPC brings difficulties in reducing tracking errors caused by perturbations in the perturbed max-plus linear system. To reduce tracking errors, the perturbed max-plus linear system is partitioned into a switching max-plus linear system by a permutation matrix. Based on a local maximum terminal set, each mode of the switching m...
• Output-Feedback Stabilization of an Underactuated Network of N Interconnected n plus m Hyperbolic PDE Systems AI翻译
  作者：Auriol, Jean
  作者单位：Universite Paris Saclay; Centre National de la Recherche Scientifique (CNRS)
  摘要：In this article, we detail the design of an output feedback stabilizing control law for an underactuated network of N subsystems of n+m heterodirectional linear first-order hyperbolic partial differential equations interconnected through their boundaries. The network has a chain structure, as only one of the subsystems is actuated. The available measurements are located at the opposite extremity of the chain. The proposed approach introduces a new type of integral transformation to tackle in-d...
• Asynchronous Speedup in Decentralized Optimization AI翻译
  作者：Even, Mathieu; Hendrikx, Hadrien; Massoulie, Laurent
  作者单位：Universite PSL; Ecole Normale Superieure (ENS); Swiss Federal Institutes of Technology Domain; Ecole Polytechnique Federale de Lausanne; Universite PSL; Ecole Normale Superieure (ENS)
  摘要：In decentralized optimization, nodes of a communication network each possess a local objective function, and communicate using gossip-based methods in order to minimize the average of these per-node functions. While synchronous algorithms are heavily impacted by a few slow nodes or edges in the graph (the straggler problem), their asynchronous counterparts are notoriously harder to parameterize. Indeed, their convergence properties for networks with heterogeneous communication and computation ...
• Global Coordinated Stabilization of Multiple Simple Mechanical Control Systems on a Class of Lie Groups AI翻译
  作者：Tong, Xin; Ding, Qingpeng; Cheng, Shing Shin
  作者单位：Nanjing University; Chinese University of Hong Kong; Chinese University of Hong Kong; Chinese University of Hong Kong
  摘要：This article investigates the problem of global coordinated stabilization for a multiagent system, which consists of a general class of mechanical systems that evolve on compact connected Lie groups. First, a distributed synergistic hybrid controller is synthesized by leveraging a coadjoint incidence matrix to assign to neighboring agents a hybrid feedback that is based on their relative position. It leads to robust and global asymptotic stability in tree networks. Second, the existence of syn...
• Aperiodic Event-Triggered Controls for Stochastic Functional Differential Systems With Sampled-Data Delayed Output AI翻译
  作者：Yang, Xuetao; Zhao, Taizhong; Zhu, Quanxin
  作者单位：Nanjing University of Posts & Telecommunications; Hunan Normal University; Hunan Normal University
  摘要：In this article, we discuss the stabilization problem for stochastic functional differential systems (SFDSs) with sampled-data delayed output. Different from the traditional stochastic systems with continuous or periodic output signals, the system output measurements under consideration are only available at sampling times and they are aperiodic. To deal with this problem, we propose a compensator for the unmeasurable system states and a novel aperiodic event-triggered control (AETC) based on ...
• PEBO-SLAM: Observer Design for Visual Inertial SLAM With Convergence Guarantees AI翻译
  作者：Yi, Bowen; Jin, Chi; Wang, Lei; Shi, Guodong; Ila, Viorela; Manchester, Ian R.
  作者单位：Universite de Montreal; Polytechnique Montreal; Universite de Montreal; Zhejiang University; University of Sydney
  摘要：In this article, we introduce a new parameterization for the problem of visual inertial simultaneous localization and mapping (VI-SLAM), i.e., for a robot only equipped with a single monocular camera and an inertial measurement unit. In this problem, the system state evolves on the nonlinear manifold SE(3)xR(3n), on which we design dynamic extensions such that the deterministic VI-SLAM problem can be reformulated-without any approximation-into online constant parameter identification, expresse...
• Online Constraint Tightening in Stochastic Model Predictive Control: A Regression Approach AI翻译
  作者：Capone, Alexandre; Brudigam, Tim; Hirche, Sandra
  作者单位：Carnegie Mellon University; Technical University of Munich; Technical University of Munich
  摘要：Solving chance-constrained stochastic optimal control problems is a significant challenge in control. This is because no analytical solutions exist for up to a handful of special cases. A common and computationally efficient approach for tackling chance-constrained stochastic optimal control problems consists of a deterministic reformulation, where hard constraints with an additional constraint-tightening parameter are imposed on a nominal prediction that ignores stochastic disturbances. Howev...
• A Zonotope-Based Interval Estimation Method for Systems With Nonlinear Equality Constraints AI翻译
  作者：Ma, Youdao; Wang, Zhenhua; Kinnaert, Michel; Shen, Yi
  作者单位：Harbin Institute of Technology
  摘要：This article studies the problem of interval estimation for systems with nonlinear equality constraints and unknown but bounded uncertainties. An iterative zonotope-based method is presented to compute accurate interval bounds of system states. To manage the nonlinear constraints, we utilize a Taylor expansion and consider the dependence in the remainder. Furthermore, to determine the optimal zonotopic enclosures of the intersection of two zonotopes, the widths of the smallest intervals enclos...
• Secrecy Codes for State Estimation of General Linear Systems AI翻译
  作者：Marelli, Damian; Sui, Tianju; Fu, Minyue; Cai, Qianqian
  作者单位：Guangdong University of Technology; Dalian University of Technology; Southern University of Science & Technology
  摘要：A typical cyber-physical system setup includes a local system sending measurements of its internal state to a remote state estimator. A form of attack consists of an eavesdropper observing this information exchange. Secrecy coding schemes have been recently proposed to achieve immunity to eavesdropping. The essential idea consists in coding the transmitting information in a way such that a single packet lost by the eavesdropper causes an irrecoverable error of its state estimation. Common limi...
• Sparsity Promoting Observer Design for Wireless Sensor-Estimator Networks AI翻译
  作者：Yang, Nachuan; Li, Yuzhe; Chen, Tongwen; Shi, Ling
  作者单位：Hong Kong University of Science & Technology; Northeastern University - China; University of Alberta
  摘要：In this article, we consider the design of structured Luenberger observers to generate sparse sensor-estimator communication networks. We first illustrate the relationship between the topology of communication channels and the structure of the observer gain matrix. To balance the estimation error and the communication cost, we formulate the design of the sparsity-promoting observer as a regularized l(1)-optimization problem. Then, we characterize its first-order optimality condition using grad...