IEEE Transactions on Automatic Control

最新文章

• Composite Error Learning Robot Control Using Discontinuous Lyapunov Analysis AI翻译
  作者：Pan, Yongping; Guo, Kai; Bobtsov, Alexey; Yang, Chenguang; Yu, Haoyong
  作者单位：Sun Yat Sen University; Shandong University; ITMO University; South China University of Technology; National University of Singapore
  摘要：A feedback-error learning (FEL) framework, which is characterized by internal dynamics modeling and hybrid feedback-feedforward (HFF) control, provides a computational model for motor learning control in the cerebellum. For FEL-based adaptive robot control, closed-loop stability and parameter convergence involve in stringent conditions, such as high-gain feedback and persistent excitation. This article proposes a composite error learning framework for adaptive robot control under discontinuous...
• Reach-Avoid Analysis for Polynomial Stochastic Differential Equations AI翻译
  作者：Xue, Bai; Zhan, Naijun; Fraenzle, Martin
  作者单位：Chinese Academy of Sciences; Institute of Software, CAS; Chinese Academy of Sciences; University of Chinese Academy of Sciences, CAS; Carl von Ossietzky Universitat Oldenburg
  摘要：In this article, we propose a novel semidefinite programming approach that solves reach-avoid problems over open (i.e., not bounded a priori) time horizons for dynamical systems modeled by polynomial stochastic differential equations. The reach-avoid problem in this article is a probabilistic guarantee: we approximate from the inner a p-reach-avoid set, i.e., the set of initial states guaranteeing with probability larger than p that the system eventually enters a given target set while remaini...
• Event-Based Average Consensus of Disturbed MASs via Fully Distributed Sliding Mode Control AI翻译
  作者：Yao, Deyin; Li, Hongyi; Shi, Yang
  作者单位：Guangdong University of Technology; Guangdong University of Technology; University of Victoria
  摘要：Under undirected graph, we design the fully distributed static and dynamic event-triggered sliding mode controllers concerning the average consensus issues for single- and double-integrator multiagent systems (MASs) with perturbations. To guarantee the consensus convergence of disturbed first- and second-order MASs, two distributed sliding manifolds with respect to an odd function are first devised in this article. Second, two types of event-triggered mechanisms, i.e., a static event-triggerin...
• Duality for Nonlinear Filtering II: Optimal Control AI翻译
  作者：Kim, Jin Won; Mehta, Prashant G.
  作者单位：University of Illinois System; University of Illinois Urbana-Champaign; University of Potsdam; University of Illinois System; University of Illinois Urbana-Champaign; University of Illinois System; University of Illinois Urbana-Champaign
  摘要：This article is concerned with the development and use of duality theory for a nonlinear filtering model with white noise observations. The main contribution of this article is to introduce a stochastic optimal control problem as a dual to the nonlinear filtering problem. The mathematical statement of the dual relationship between the two problems is given in the form of a duality principle. The constraint for the optimal control problem is the backward stochastic differential equation introdu...
• Equivalence of Optimality Criteria for Markov Decision Process and Model Predictive Control AI翻译
  作者：Kordabad, Arash Bahari; Zanon, Mario; Gros, Sebastien
  作者单位：Norwegian University of Science & Technology (NTNU); IMT School for Advanced Studies Lucca
  摘要：This article shows that the optimal policy and value functions of a Markov decision process (MDP), either discounted or not, can be captured by a finite-horizon undiscounted optimal control problem (OCP), even if based on an inexact model. This can be achieved by selecting a proper stage cost and terminal cost for the OCP. A very useful particular case of OCP is a model predictive control (MPC) scheme where a deterministic (possibly nonlinear) model is used to reduce the computational complexi...
• Tailoring Gradient Methods for Differentially Private Distributed Optimization AI翻译
  作者：Wang, Yongqiang; Nedic, Angelia
  作者单位：Clemson University; Arizona State University; Arizona State University-Tempe
  摘要：Decentralized optimization is gaining increased traction due to its widespread applications in large-scale machine learning and multiagent systems. The same mechanism that enables its success, i.e., information sharing among participating agents, however, also leads to the disclosure of individual agents' private information, which is unacceptable when sensitive data are involved. As differential privacy is becoming a de facto standard for privacy preservation, recently results have emerged in...
• On Contractive Port-Hamiltonian Systems With State-Modulated Interconnection and Damping Matrices AI翻译
  作者：Yaghmaei, Abolfazl; Yazdanpanah, Mohammad Javad
  作者单位：University of Tehran; University of Tehran
  摘要：In this article, for the input-state-output class of port-Hamiltonian systems, the contraction property is characterized. Recently, some results on contraction of port-Hamiltonian systems with constant interconnection and damping matrices have been published. This article extends these results for state-modulated interconnection and damping matrices. In this regard, the powerful method of interconnection and damping assignment passivity-based control is extended for tracking designs. Controlle...
• Data-Driven Feedback Linearization Using the Koopman Generator AI翻译
  作者：Gadginmath, Darshan; Krishnan, Vishaal; Pasqualetti, Fabio
  作者单位：University of California System; University of California Riverside; Harvard University
  摘要：This article contributes a theoretical framework for data-driven feedback linearization of nonlinear control-affine systems. We unify the traditional geometric perspective on feedback linearization with an operator-theoretic perspective involving the Koopman operator. We first show that if the distribution of the control vector field and its repeated Lie brackets with the drift vector field is involutive, then there exists an output and a feedback control law for which the Koopman generator is...
• Data-Driven Polytopic Output Synchronization From Noisy Data AI翻译
  作者：Li, Yifei; Liu, Wenjie; Wang, Gang; Sun, Jian; Xie, Lihua; Chen, Jie
  作者单位：Beijing Institute of Technology; Nanyang Technological University; Tongji University
  摘要：This article proposes a novel approach to address the output synchronization problem for unknown heterogeneous multiagent systems (MASs) using noisy data. Unlike existing studies that focus on noiseless data, we introduce a distributed data-driven controller that enables all heterogeneous followers to synchronize with a leader's output trajectory. To handle the noise in the state-input-output data, we develop a data-based polytopic representation for the MAS. We tackle the issue of infeasibili...
• Incorporation of Likely Future Actions of Agents Into Pseudo-Gradient Dynamics of Noncooperative Games AI翻译
  作者：Yan, Yuyue; Hayakawa, Tomohisa
  作者单位：Institute of Science Tokyo; Tokyo Institute of Technology
  摘要：In this article, we connect cognitive hierarchy theory with the pseudo-gradient dynamics in noncooperative systems to extend the pseudo-gradient dynamics with some prediction behaviors under level-k thinking. In this framework, each agent believes that he is the most sophisticated person in the noncooperative system and makes the proactive decision according to some strategic reasoning of the other agents' likely actions. Depending on a knowledge network of payoff functions, the modified pseud...