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作者：Xu, Jiapeng; Chen, Xiang; Tan, Ying; Gu, Guoxiang
作者单位：University of Windsor; University of Melbourne; Louisiana State University System; Louisiana State University
摘要：This work addresses a class of robust mean-field games for large-population multiagent systems, where each agent has access only to partial observations and is subject to an unknown bounded disturbance input. Unlike the existing literature in which formulated robust mean-field games are minimax problems, this work formulates a nonworst-case game problem and proposes a complementary control strategy with a decoupled design of mean-field tracking and robustness. A neat state-space realization fo...
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作者：Dhullipalla, Mani H.; Yu, Hao; Chen, Tongwen
作者单位：University of Alberta; Beijing Institute of Technology
摘要：Networked systems, in practice, suffer from several network-induced imperfections. In this article, we consider the problem of distributed control of nonlinear multiagent systems (MASs) where the information broadcasts over a network are susceptible to one such imperfection, namely, transmission delays. The design methodology employed is such that the sampling instants (at which agents broadcast information) could be both aperiodic and asynchronous in nature. The broadcasts, upon arrival, are ...
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作者：Sawant, Mayur; Polushin, Ilia; Tayebi, Abdelhamid
作者单位：Western University (University of Western Ontario); Western University (University of Western Ontario); Lakehead University
摘要：We develop an autonomous navigation algorithm for a robot operating in 2-D environments containing obstacles, with arbitrary nonconvex shapes, which can be in close proximity with each other, as long as there exists at least one safe path connecting the initial and the target location. An instrumental transformation that modifies (virtually) the nonconvex obstacles, in a nonconservative manner, is introduced to facilitate the design of the obstacle-avoidance strategy. The proposed navigation a...
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作者：Zhang, Zhao; He, Xiao; Zhou, Donghua
作者单位：Peking University; Tsinghua University; Shandong University of Science & Technology
摘要：This article investigates the active fault diagnosis problem for linear parameter-varying systems with bounded disturbances. Constrained zonotopes (CZs) are utilized to model the range of the system disturbances, in which case, the system state and output can also be described by CZs. Different models are employed to describe different fault modes. The basic idea of the proposed method is to design proper auxiliary input and inject it into the system to ensure that the system's output is only ...
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作者：Kucera, Vladimir
作者单位：Czech Technical University Prague
摘要：The algebra of integral matrices is applied to solve the following problem of control theory: the modification of a specified list of zeros of a linear system with more inputs than outputs using nonregular state feedback while ensuring stability or, equivalently, the modification of a specified list of zeros of a stable system while maintaining stability. The zeros in question are unstable invariant zeros and the zero at infinity. These zeros are the Smith invariant of the transfer matrix of t...
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作者：Tanaka, Takashi; Zinage, Vrushabh; Ugrinovskii, Valery; Skoglund, Mikael
作者单位：University of Texas System; University of Texas Austin; University of New South Wales Sydney; Royal Institute of Technology
摘要：We consider the problem of estimating a continuous-time Gauss-Markov source process observed through a vector Gaussian channel with an adjustable channel gain matrix. Specifically, for various (generally time-varying) choices channel gain matrices, we study the tradeoff relationship between 1) the mean-square estimation error attainable by the classical Kalman-Bucy filter, and 2) the mutual information between the source process and its Kalman-Bucy estimate. We then formulate a novel optimal c...
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作者：Wu, Dongjun; Yi, Bowen; Rantzer, Anders
作者单位：Lund University; Universite de Montreal; Polytechnique Montreal
摘要：This article examines the local exponential stability (LES) of trajectories for nonlinear systems on Riemannian manifolds. We present necessary and sufficient conditions for LES of a trajectory on a Riemannian manifold by analyzing the complete lift of the system along the given trajectory. These conditions are coordinate-free, which reveal fundamental relationships between exponential stability and incremental stability in a local sense. We then apply these results to design tracking controll...
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作者：Dalin, Omri; Ovseevich, Alexander; Margaliot, Michael
作者单位：Tel Aviv University
摘要：We consider a continuous-time linear time-invariant dynamical system that admits an invariant cone. For the case of a self-dual and homogeneous cone we show that if the system is asymptotically stable then it admits a quadratic Lyapunov function with a special structure. The complexity of this Lyapunov function, in terms of the number of parameters defining it, scales linearly with the dimension of the dynamical system. In the particular case when the cone is the nonnegative orthant this reduc...
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作者：Ossareh, Hamid R.; Kolmanovsky, Ilya
作者单位：University of Vermont; University of Michigan System; University of Michigan
摘要：Given a dynamical system with constrained outputs, the maximal admissible set (MAS) is defined as the set of all initial conditions such that the output constraints are satisfied for all time. It has been previously shown that for discrete-time, linear, time-invariant, stable, observable systems with polytopic constraints, this set is a polytope described by a finite number of inequalities (i.e., has finite complexity). However, it is not possible to know the number of inequalities a priori fr...
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作者：Wang, Bohui
作者单位：Xi'an Jiaotong University
摘要：In this article, the challenging problem of distributed adaptive observer design for synchronization and formation control of heterogeneous nonlinear cyber-physical-vehicle systems is addressed. Since the heterogeneous systems contain nonidentical nonlinear dynamics and the leader has unknown dynamics composed of an unknown input bound, the error dynamics of the equilibrium point for the heterogeneous nonmonotonic nonlinear systems will be affected, which has not previously been recognized in ...
