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作者：Nakahira, Yorie; Xiao, Fangzhou; Kostina, Victoria; Doyle, John C.
作者单位：Carnegie Mellon University; Westlake University; California Institute of Technology
摘要：This article focuses on rate-limited control of the generalized Ornstein-Uhlenbeck process where the control action can be either multiplicative or additive, and the noise variance can depend on the control action. We derive a lower bound on the data rate necessary to achieve the desired control cost. The lower bound is attained with equality if the control is performed via an additive white Gaussian channel. The system model approximates the dynamics of a discrete-state molecular birth-death ...
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作者：Qiu, Haohao; Fan, Chenchen; Xu, Feng; Lam, James
作者单位：University of Hong Kong; Hong Kong Polytechnic University; Tsinghua University; The University of Hong Kong Shenzhen Institute of Research & Innovation
摘要：A multiagent trajectory optimization method for differentially flat systems under the effect of uncertainties is proposed. Multiagent and obstacle collision avoidance constraints, incorporating reachable sets of tracking errors, are formulated as dynamic reachability constraints. Based on exact feedback linearization, a flat system is presented in Brunovsky canonical form, along with a linear tracking error system. The reachability of tracking errors is then analyzed using set propagation tech...
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作者：Chen, Jin; Villar, Jesus Bautista; Jayawardhana, Bayu; de Marina, Hector Garcia
作者单位：Shanghai Jiao Tong University; University of Granada; University of Granada; University of Groningen
摘要：In this article, we introduce and develop the concept of dispersion formation control, bridging a gap between shape assembly studies in physics and biology and formation control theory. In current formation control studies, the control objectives typically focus on achieving desired local geometric properties, such as interagent distances, bearings, or relative positions. In contrast, our dispersion formation control approach enables agents to directly regulate the dispersion of their spatial ...
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作者：De Persis, Claudio; Gadginmath, Darshan; Pasqualetti, Fabio; Tesi, Pietro
作者单位：University of Groningen; University of California System; University of California Riverside; University of Florence
摘要：Controlling nonlinear systems is challenging, especially when data are used to address model uncertainties. By contrast, linear systems are well understood. Thus, a common strategy is to transform the nonlinear system into a linear one through a change of coordinates and feedback-a technique known as feedback linearization. Here, we consider the feedback linearization problem of an unknown system when the solution must be found using experimental data. We propose a new method that learns the c...
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作者：Wang, Yunan; Hu, Chuxiong; Lin, Yujie; Li, Zeyang; Lin, Shize; He, Suqin
作者单位：Tsinghua University; Tsinghua University; Tsinghua University
摘要：Most existing necessary conditions for optimal control based on adjoining methods require both state and costate information, yet the unobservability of costates for a given feasible trajectory impedes the determination of optimality in practice. This article establishes a novel theoretical framework for time-optimal control of controllable linear systems with a single input, proposing the augmented switching law (ASL) that represents the input control and the feasibility in a compact form. Gi...
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作者：Cecilia, Andreu; Zoboli, Samuele; Astolfi, Daniele; Serres, Ulysse; Andrieu, Vincent
作者单位：Universitat Politecnica de Catalunya; Centre National de la Recherche Scientifique (CNRS); Communaute d'universites et etablissements de Toulouse (Comue); Centre National de la Recherche Scientifique (CNRS); Universite Lyon 1; CNRS - Institute for Engineering & Systems Sciences (INSIS)
摘要：Recently, the concept of $\mathit {k}$-contraction has been introduced as a promising generalization of contraction for dynamical systems. However, the study of $\mathit {k}$-contraction properties has faced significant challenges due to the reliance on complex mathematical objects called matrix compounds. As a result, related control design methodologies have yet to appear in the literature. In this article, we overcome existing limitations and propose new sufficient conditions for $\mathit {...
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作者：Niu, Mengfei; Wen, Guanghui; Zheng, Wei Xing; Ge, Quanbo
作者单位：Southeast University - China; Southeast University - China; Western Sydney University; Nanjing University of Information Science & Technology
摘要：This article is concerned with the issue of distributed hierarchical secure estimation over wireless cluster networks under denial-of-service (DoS) attacks. Here, communication interactions rely on hierarchical networks with local wireless sensor networks in the first layer and wireless cluster networks in the second layer. To reduce communication consumption over local wireless sensor networks, recursive event-triggered sequential local estimators are first proposed in each cluster head (CH) ...
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作者：Doan, Thinh T.
作者单位：University of Texas System; University of Texas Austin
摘要：This article proposes to develop a new variant of the two-time-scale stochastic approximation to find the roots of two coupled nonlinear operators, assuming that only noisy samples of these operators can be observed. Our key idea is to leverage the classic Polyak-Ruppert averaging technique to dynamically estimate the operators through their samples. The estimated values of these averaging steps will then be used in the two-time-scale stochastic approximation updates to find the desired soluti...
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作者：Liu, Qian; He, Yong; Jiang, Lin
作者单位：China University of Geosciences; University of Liverpool
摘要：This article investigates uniform almost sure stability of randomly switched time-varying systems. Mode-dependent indefinite multiple Lyapunov functions (iMLFs) are introduced to assess stability properties of diverse time-varying subsystems. To realize the stability conditions establishment based on iMLFs, we present a novel condition so-called mean uniformly stable function (MUSF) for time-varying parameters of iMLFs' derivatives. Our approach provides a probabilistic perspective, making iML...
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作者：Yan, Jiaqi; Markovsky, Ivan; Lygeros, John
作者单位：Beihang University; Beihang University; ICREA; Universitat Politecnica de Catalunya; Centre Internacional de Metodes Numerics en Enginyeria (CIMNE); Swiss Federal Institutes of Technology Domain; ETH Zurich
摘要：This article addresses the problem of secure data reconstruction for unknown systems, where data collected from the system are susceptible to malicious manipulation. We aim to recover the real trajectory without prior knowledge of the system model. To achieve this, a behavioral language is used to represent the system, describing it using input/output trajectories instead of state-space models. We consider two attack scenarios. In the first scenario, up to $k$ entries of the collected data are...
