IEEE Transactions on Automatic Control

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• Monotonicity and Contraction on Polyhedral Cones AI翻译
  作者：Jafarpour, Saber; Coogan, Samuel
  作者单位：University of Colorado System; University of Colorado Boulder; University System of Georgia; Georgia Institute of Technology
  摘要：In this note, we study monotone dynamical systems with respect to polyhedral cones. Using the half-space representation and the vertex representation, we propose three equivalent conditions to certify monotonicity of a dynamical system with respect to a polyhedral cone. We then introduce the notion of gauge norm associated with a cone and provide closed-from formulas for computing gauge norms associated with polyhedral cones. A key feature of gauge norms is that contractivity of monotone syste...
• Feedback Stability Under Mixed Gain and Phase Uncertainty AI翻译
  作者：Liang, Jiajin; Zhao, Di; Qiu, Li
  作者单位：Tongji University; Tongji University; Hong Kong University of Science & Technology; The Chinese University of Hong Kong, Shenzhen
  摘要：In this study, we investigate the robust feedback stability problem for multiple-input-multiple-output linear time-invariant systems involving sectored-disk uncertainty, namely, dynamic uncertainty subject to simultaneous gain and phase constraints. This problem is thereby called a sectored-disk problem. Employing a frequency-wise analysis approach, we derive a fundamental static matrix problem that serves as a key component in addressing the feedback stability. The study of this matrix proble...
• Minimal Entropy Production in the Presence of Anisotropic Fluctuations AI翻译
  作者：Miangolarra, Olga Movilla; Taghvaei, Amirhossein; Georgiou, Tryphon T.
  作者单位：University of California System; University of California Irvine; University of Washington; University of Washington Seattle
  摘要：Anisotropy in temperature, chemical potential, or ion concentration, provides the fuel that feeds dynamical processes that sustain life. At the same time, anisotropy is a root cause of incurred losses manifested as entropy production. In this work we study how to minimize such entropic losses using the framework of stochastic optimal control. Specifically, we consider a rudimentary model of an overdamped stochastic thermodynamic system that is in contact with heat baths of different temperatur...
• Analysis of Indistinguishable Trajectories of a Nonholonomic Vehicle Subject to Range Measurements AI翻译
  作者：Riz, Francesco; Palopoli, Luigi; Fontanelli, Daniele
  作者单位：University of Trento; University of Trento
  摘要：We propose a global constructibility analysis for a vehicle moving on a planar surface. Assuming that the vehicle follows a trajectory that can be uniquely identified by the sequence of control inputs and by some intermittent ranging measurements from known points in the environment, we can model the trajectory as a rigid body subject to rotation and translation in the plane. This way, the localization problem can be reduced to finding the conditions for the existence of a unique roto-translat...
• Cooperative Global K-Exponential Tracking Control of Multiple Mobile Robots AI翻译
  作者：Xu, Liang; Su, Youfeng; Cai, He
  作者单位：Fuzhou University; Southern University of Science & Technology; South China University of Technology
  摘要：This article studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed distributed continuous feedback control law, where an explicit strict Lyapunov function is constructed. Then, by investigating the convergence rate, it is further proven that the closed-loop system is globally K-exponentially stable. Moreover, to make the prop...
• Input-Output Stochastic Stability for Markov Jump Linear Systems AI翻译
  作者：Costa, Eduardo F.
  作者单位：Universidade de Sao Paulo
  摘要：Among several stability notions for dynamical systems, input-output stability is significant in applications where one is interested in the input-output relation rather than in the internal dynamics. This article addresses a notion of input-output stability for Markov jump linear systems and presents a testable, necessary and sufficient condition. Examples show that this stability notion is weaker than stochastic stability (a usual notion of stability for the considered class of systems), and ...
• Robust Model Predictive Control for Asynchronously Switched Linear Systems With Intermittent Controller Failures AI翻译
  作者：Tan, Tianyu; Zhuang, Songlin; Shi, Yang
  作者单位：University of Victoria; Yongjiang Laboratory
  摘要：Switched systems, as an exceptional modeling tool, may face threats to unexpected variations from the environment (e.g., external disturbances) or unreliable networks (e.g., desired controllers lagged to enabled subsystems or even controller disconnection). This article aims to study the robust model predictive control problem for a class of disturbed asynchronously switched systems with occasional controller disconnection. To mitigate the adverse effect of additive disturbances, a tube-based ...
• Newton Nonholonomic Source Seeking for Distance-Dependent Maps AI翻译
  作者：Todorovski, Velimir; Krstic, Miroslav
  作者单位：Technical University of Munich; University of California System; University of California San Diego
  摘要：The topics of source seeking and Newton-based extremum seeking have flourished, independently, but never combined. We present the first Newton-based source seeking algorithm for a unicycle vehicle model. The algorithm employs forward velocity tuning, as in the very first source seeker for the unicycle, and incorporates an additional Riccati filter for inverting the Hessian and feeding it into the demodulation signal. Using second-order Lie bracket averaging, we prove convergence to the source ...
• Event-Triggered State Interval Estimation and Fault-Tolerant Control for Multiagent Systems Under Deception Attacks AI翻译
  作者：Zhou, Meng; Li, Haicheng; Xue, Tonglai; Wang, Jing; Rassi, Tarek
  作者单位：North China University of Technology; heSam Universite; Conservatoire National Arts & Metiers (CNAM)
  摘要：This article investigates the problem of interval state and attack signal estimation and fault tolerant consistent control in multiagent systems under the influence of deception attacks. First, the deception attack signal is transformed into an auxiliary state vector to generate a state-augmented multiagent system, which makes the estimation problem tractable with a state observer. In addition, an event-triggered mechanism is designed for the observer to reduce unnecessary network communicatio...
• Design of Distributed Nonlinear Observers Without Using Global Inputs AI翻译
  作者：Cao, Ganghui; Wang, Jinzhi; Polycarpou, Marios M.
  作者单位：Peking University; University of Cyprus; University of Cyprus
  摘要：This article investigates the design of distributed observers for a class of nonlinear systems. The designed distributed observers reside in a network of sensor nodes. The communication links in the network enable each sensor node to estimate all states of the nonlinear system, even though each one can only collect a small portion of the system's outputs. However, all inputs of the system are still needed at each node to carry out a correct state estimation. For this problem, the article furth...