IEEE Transactions on Automatic Control

最新文章

• On the Equivalence of Contraction and Koopman Approaches for Nonlinear Stability and Control AI翻译
  作者：Yi, Bowen; Manchester, Ian R.
  作者单位：University of Sydney; Universite de Montreal; Polytechnique Montreal; University of Sydney
  摘要：In this article, we prove new connections between two frameworks for analysis and control of nonlinear systems: the Koopman operator framework and contraction analysis. Each method, in different ways, provides exact and global analyses of nonlinear systems by way of linear systems theory. The main results of this article show equivalence between contraction and Koopman approaches for a wide class of stability analysis and control design problems. In particular, the stability or stablizability ...
• Robust Control for Hysteretic Microhand Actuator Using Robust Right Coprime Factorization AI翻译
  作者：Bu, Ni; Zhang, Yingying; Zhang, Yuyi; Morohoshi, Yuuki; Deng, Mingcong
  作者单位：Qingdao University of Science & Technology; Tokyo University of Agriculture & Technology
  摘要：In this article, the robust stability and tracking control of microhand system are researched, wherein the influence of hysteresis characteristics is eliminated, and the tracking accuracy is improved. First, the generalized hysteresis operator is combined with isomorphism to factorize the system, and then controllers are designed to stabilize the hysteretic microhand system. Next, a parallel compensation operator is discussed by combining the right coprime factorization, which eliminates the i...
• Bearing-Based Reliable Cooperative Localization for Multiagent Networks in the Presence of Malicious Measurements AI翻译
  作者：Shi, Chong-Xiao; Yang, Guang-Hong
  作者单位：Northeastern University - China; Northeastern University - China; King Abdulaziz University
  摘要：Due to the development of bearing-based sensors, the bearing-based localization becomes a typical technology for solving localization problems for multiagent networks. Most of the existing bearing-based network localization methods are developed under a secure environment. In contrast, this article studies a reliable bearing-based network localization problem in an adversarial environment, where some bearing measurements of the agents may be corrupted (which are called the malicious measuremen...
• A Framework for Distributed Estimation With Limited Information and Event-Based Communications AI翻译
  作者：Yan, Jiaqi; Mo, Yilin; Ishii, Hideaki
  作者单位：Institute of Science Tokyo; Tokyo Institute of Technology; Tsinghua University
  摘要：In this article, we consider the problem of distributed estimation in a sensor network, where multiple sensors are deployed to estimate the state of a linear time-invariant Gaussian system. By losslessly decomposing the Kalman filter, a framework of event-based distributed estimation is developed, where each sensor node runs a local filter using solely its own measurement, alongside with an event-based synchronization algorithm to fuse the neighboring information. One novelty of the proposed f...
• Robust State Synchronization for High-Order Relative Degree Two MIMO Uncertain Nonlinear Multiagent Systems AI翻译
  作者：Katsoukis, Ilias; Rovithakis, George A.
  作者单位：Aristotle University of Thessaloniki
  摘要：We consider the problem of synchronizing the state of high order and relative degree two, nonlinear multiagent systems, in a leader-following scenario, with the leader dynamics being totally unknown to its followers. The agent dynamics has a full-entry and state-dependent control input matrix. In addition, all nonlinearities involved have unknown analytical expressions and, moreover, are affected by external additive disturbances. The proposed robust control protocol is distributed and of low ...
• Distributed Network of Coupled Oscillators With Multiple Limit Cycles AI翻译
  作者：Ren, Kewei; Iwasaki, Tetsuya
  作者单位：University of California System; University of California Los Angeles
  摘要：When designing feedback controllers to achieve periodic movements, a reference trajectory generator for oscillations is an important component. Using autonomous oscillators to this effect, rather than directly crafting periodic signals, may allow for systematic coordination in a distributed manner and storage of multiple motion patterns within the nonlinear dynamics, with potential extensions to adaptive mode switching through sensory feedback. This article proposes a method for designing a di...
• Can Competition Outperform Collaboration? The Role of Misbehaving Agents AI翻译
  作者：Ballotta, Luca; Como, Giacomo; Shamma, Jeff S.; Schenato, Luca
  作者单位：University of Padua; Polytechnic University of Turin; University of Illinois System; University of Illinois Urbana-Champaign
  摘要：We investigate a novel approach to resilient distributed optimization with quadratic costs in a multiagent system prone to unexpected events that make some agents misbehave. In contrast to commonly adopted filtering strategies, we draw inspiration from phenomena modeled through the Friedkin-Johnsen dynamics and argue that adding competition to the mix can improve resilience in the presence of misbehaving agents. Our intuition is corroborated by analytical and numerical results showing that 1) ...
• Consensus Analysis of Random Subgraphs for Distributed Filtering With Link Failures AI翻译
  作者：Battilotti, Stefano; Cacace, Filippo; d'Angelo, Massimiliano
  作者单位：Sapienza University Rome; University Campus Bio-Medico - Rome Italy
  摘要：In this article, we carry out a stability analysis of a distributed consensus algorithm in the presence of link failures. The algorithm combines a new broadcast version of a Push-Sum algorithm, specifically designed for handling link failures, with a new recursive consensus filter. The analysis is based on the properties of random Laplacian matrices and random subgraphs, and it may also be relevant for other distributed estimation problems. We characterize the convergence speed, the minimum nu...
• Prescribed-Time Safety Design for Strict-Feedback Nonlinear Systems AI翻译
  作者：Abel, Imoleayo; Steeves, Drew; Krstic, Miroslav; Jankovic, Mrdjan
  作者单位：University of California System; University of California San Diego; Ford Motor Company
  摘要：Safety in dynamical systems is commonly pursued using control barrier functions (CBFs) which enforce safety-constraints over the entire duration of a system's evolution. We propose a prescribed-time safety (PTSf) design which enforces safety only for a finite time of interest to the user. While traditional CBF designs would keep the system away from the safe set longer than necessary, our PTSf design lets the system reach the boundary of the safe set by the prescribed time and obey the operato...
• Angle-Based Distributed Node Localizability and Localization AI翻译
  作者：Chen, Liangming; Lin, Zhiyun; Xie, Lihua
  作者单位：Southern University of Science & Technology; Nanyang Technological University
  摘要：To determine the positions of free nodes in a wireless sensor network, angle-based localization approaches have been recently proposed. However, the existing angle-only localizability conditions are for the whole network, for which the existence of only one unlocalizable node implies that the whole network is unlocalizable. To efficiently obtain specific information on the free nodes' localizability, this article proposes to check each node's localizability in a distributed manner. First, we p...