IEEE Transactions on Automatic Control

最新文章

• High-Perception-Area Collaborative Exploration of Double-Integrator Robots in Parabolic-Type Diffusion Fields With Partially Unknown Information AI翻译
  作者：Li, Rui-Guo; Wang, Liang; Wu, Huai-Ning
  作者单位：Tiangong University; Shenzhen University; Beihang University
  摘要：This article solves a high-perception-area collaborative exploration issue for double-integrator robots in 2-dimensional parabolic-type diffusion scalar fields with partially unknown information. In the absence of surrounding field density information for robots, a distributed field density observer with adaptive update laws and event-triggering mechanisms is built to approximate necessary field density information. Taking into account of the scenario that robot's actual velocity is unmeasurab...
• Online Learning and Control Synthesis for Reachable Paths of Unknown Nonlinear Systems AI翻译
  作者：Meng, Yiming; Shafa, Taha; Wei, Jesse; Ornik, Melkior
  作者单位：University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign
  摘要：In this article, we present a novel method to drive a nonlinear system to a desired state, with limited a priori knowledge of its dynamic model: local dynamics at a single point and the bounds on the rate of change of these dynamics. This method synthesizes control actions by utilizing locally learned dynamics along a trajectory, based on data available up to that moment, and known proxy dynamics, which can generate an underapproximation of the unknown system's true reachable set. An important...
• Minimax Linear Regulator Problems for Positive Systems AI翻译
  作者：Gurpegui, Alba; Jeeninga, Mark; Tegling, Emma; Rantzer, Anders
  作者单位：Lund University
  摘要：Explicit solutions to optimal control problems are rarely obtainable. Of particular interest are the explicit solutions derived for minimax problems, providing a framework to address adversarial conditions and uncertainty. This work considers a multidisturbance minimax linear regulator (LR) framework for positive linear time-invariant systems in continuous time, which, analogous to the linear-quadratic regulator problem, can be utilized for the stabilization of positive systems. The problem is...
• Differentially Private Consensus of Multiagent Systems Under Binary-Valued Communications AI翻译
  作者：Lu, Xiaodong; Zhao, Yanlong; Zhang, Ji-Feng
  作者单位：University of Science & Technology Beijing; Chinese Academy of Sciences; Nanjing Institute of Geology & Paleontology, CAS; Academy of Mathematics & System Sciences, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS; Zhongyuan University of Technology
  摘要：This article investigates the differentially private output consensus problem of continuous-time heterogeneous multiagent systems. An algorithm blending estimation, control and privacy is proposed. To prevent privacy leakage, each agent constructs an auxiliary variable regarding to its own initial output, and then adds a nondecaying noise to this variable. To incorporate the network bandwidth limitation, each agent quantifies the noisy auxiliary variable to 1-bit binary-valued data, and transm...
• Inverse Reinforcement Learning via a Modified Kleinman Iteration Approach AI翻译
  作者：Wu, Jiacheng; Shen, Hao
  作者单位：Zhejiang University; Anhui University of Technology
  摘要：The Kleinman iteration is a policy iteration method for solving Riccati equations and forms the basis of many reinforcement learning (RL) algorithms. However, its direct application to inverse RL problems is limited by its reliance on known cost functions. To overcome this limitation, we propose a modified Kleinman iteration algorithm that simultaneously estimates the cost weight and the value function matrix during policy evaluation without an additional update step for the cost weight, there...
• Decentralized Fault Diagnosis of Labeled Petri Nets AI翻译
  作者：Zhu, Guanghui; Chang, Tingxian; Yin, Li; Wu, Naiqi; Li, Zhiwu
  作者单位：Xuchang University; North China University of Water Resources & Electric Power; Macau University of Science and Technology
  摘要：This article presents a fault diagnosis approach for labeled Petri nets under a decentralized architecture consisting of multiple local sites and a coordinator. The key contribution is a communication protocol that defines the data exchange between each local site and the coordinator. A local site performs fault diagnosis by solving an integer linear programming (ILP) problem, which is formulated based on its local observation and the data received from the coordinator. Since the ILP problem i...
• Optimal Stabilization of Periodic Orbits: A Symplectic Geometry Approach AI翻译
  作者：Beck, Fabian; Sakamoto, Noboru
  作者单位：Helmholtz Association; German Aerospace Centre (DLR); Technical University of Munich
  摘要：In this contribution, the optimal stabilization problem of periodic orbits is studied via invariant manifold theory and symplectic geometry. The stable manifold theory for the optimal point stabilization case is generalized to the case of periodic orbit stabilization, where a normally hyperbolic invariant manifold (NHIM) plays the role of a hyperbolic equilibrium point. A sufficient condition for the existence of an NHIM of an extended Hamiltonian system is derived in terms of a periodic Ricca...
• An Adaptive Accelerated Derivative-Free Optimization Algorithm Based on Noncommutative Maps AI翻译
  作者：Chu, Minghui; Huo, Xin; Ebenbauer, Christian; Ma, Kemao
  作者单位：Harbin Institute of Technology; RWTH Aachen University
  摘要：In this article, an adaptive accelerated derivative-free optimization algorithm is developed. A composition of noncommutative maps based on objective function evaluations is used to approximate an accelerated gradient descent algorithm with a momentum term. An adaptive step-size rule and an adaptive momentum term are introduced to improve the algorithm's performance in terms of convergence speed and steady-state accuracy. Semi-global asymptotic stability of the proposed algorithm is proved for...
• Super-Twisting Sliding Mode Control for Markovian Jump Systems Based on Quantized Output-Feedback AI翻译
  作者：Huang, Zixin; Zhou, Sai; Song, Jun; Shu, Zhan
  作者单位：Wuhan Institute of Technology; Xi'an Jiaotong University; Anhui University; University of Alberta
  摘要：This article focused on designing the super-twisting algorithm (STA)-based output-feedback sliding mode control (SMC) for multi-input Markovian jump systems under digital channel transmission. Specifically, the uniform quantization strategy is employed to implement the network communication for both the measured outputs and the sliding variables. It is shown that the novel quantized-data-based output-feedback STA can guarantee the practical reachability of the sliding variable with probability...
• A Complete Set of Quadratic Constraints for Repeated ReLU and Generalizations AI翻译
  作者：Noori, Sahel Vahedi; Hu, Bin; Dullerud, Geir; Seiler, Peter
  作者单位：University of Michigan System; University of Michigan; University of Illinois System; University of Illinois Urbana-Champaign; University of Minnesota System; University of Minnesota Twin Cities
  摘要：This article derives a complete set of quadratic constraints (QCs) for the repeated ReLU. The complete set of QCs is described by a collection of matrix copositivity conditions. We also show that only two functions satisfy all QCs in our complete set: the repeated rectified linear unit (ReLU) and flipped ReLU. Thus, our complete set of QCs bounds the repeated ReLU as tight as possible up to the sign invariance inherent in quadratic forms. We derive a similar complete set of incremental QCs for...