IEEE Transactions on Automatic Control

最新文章

• Regret Analysis of Learning-Based MPC With Partially Unknown Cost Function AI翻译
  作者：Dogan, Ilgin; Shen, Zuo-Jun Max; Aswani, Anil
  作者单位：University of California System; University of California Berkeley; University of Hong Kong; University of Hong Kong
  摘要：The exploration-exploitation tradeoff is an inherent challenge in data-driven adaptive control. Though this tradeoff has been studied for multiarmed bandits (MABs) and reinforcement learning for linear systems, it is less well studied for learning-based control of nonlinear systems. A significant theoretical challenge in the nonlinear setting is that there is no explicit characterization of an optimal controller for a given set of cost and system parameters. We propose the use of a finite-hori...
• Stochastic Stability of Discrete-Time Phase-Coupled Oscillators Over Uncertain and Random Networks AI翻译
  作者：Jafarian, Matin; Mamduhi, Mohammad H.; Johansson, Karl H.
  作者单位：Delft University of Technology; Swiss Federal Institutes of Technology Domain; ETH Zurich; Royal Institute of Technology
  摘要：This article studies stochastic relative phase stability, i.e., stochastic phase-cohesiveness, of discrete-time phase-coupled oscillators. The stochastic phase-cohesiveness in two types of networks is studied. First, we consider oscillators coupled with $2\pi$-periodic odd functions over underlying undirected graphs subject to both multiplicative and additive stochastic uncertainties. We prove stochastic phase-cohesiveness of the network with respect to two specific, namely, in-phase and antip...
• Symmetry-Based Abstractions for Hybrid Automata AI翻译
  作者：Sibai, Hussein; Mitra, Sayan
  作者单位：Washington University (WUSTL); University of Illinois System; University of Illinois Urbana-Champaign
  摘要：A symmetry of a dynamical system is a map that transforms any trajectory to another trajectory. Abstractions have been a key building block in the theory and practice of hybrid automata analysis. We introduce a novel abstraction for hybrid automata based on the symmetries of their modes. The abstraction procedure combines different modes of a concrete automaton A , whose trajectories are related by symmetries, into a single mode of the constructed abstract automaton B . The abstraction procedu...
• Adaptive Output Synchronization for a Class of Uncertain Nonlinear Multi-Agent Systems Over Switching Networks AI翻译
  作者：Huang, Jie
  作者单位：Chinese University of Hong Kong
  摘要：In this article, we first study the leader-following output synchronization problem for a class of uncertain nonlinear multi-agent systems over jointly connected switching networks. Our approach integrates the output-based adaptive distributed observer, the conventional adaptive control technique, and the output regulation theory. Compared with the existing results, our control law only relies on the output of the leader instead of the state of the leader and allows the followers and the leade...
• Output-Feedback Multiagent Consensus With Intermittent Communication on Directed Graphs AI翻译
  作者：Li, Xianwei; Tang, Yang; Zou, Yuanyuan; Li, Shaoyuan; Zheng, Wei Xing
  作者单位：Shanghai Jiao Tong University; East China University of Science & Technology; Western Sydney University
  摘要：This note studies output-feedback consensus of linear multiagent systems (MASs) on directed graphs. In view of limited communication resources in MAS tasks, the aim of this note is to reduce interagent communication. A fully distributed dynamic output-feedback protocol is proposed, where an event-triggered strategy is designed to determine when to exchange protocol states while a time-triggered one is designed to determine when to sample relative outputs. Design conditions are first establishe...
• Adaptive Output Tracking for 1-D Wave Equations Subject to Unknown Harmonic Disturbances AI翻译
  作者：Wu, Xiao-Hui; Wang, Jun-Min
  作者单位：Beijing Institute of Technology
  摘要：In this article, we are concerned with an adaptive output tracking problem for 1-D antistable wave equations with unknown harmonic disturbance and reference signals which have both unknown frequencies and amplitudes. The output and disturbance are noncollocated to the control input. First, we construct an auxiliary system and internal model dynamic to restructure the measurable tracking error such that the error consists of these available states. Then, an adaptive method is used to estimate t...
• Motion Planning Using Reactive Circular Fields: A 2-D Analysis of Collision Avoidance and Goal Convergence AI翻译
  作者：Becker, Marvin; Kohler, Johannes; Haddadin, Sami; Mueller, Matthias A.
  作者单位：Leibniz University Hannover; Swiss Federal Institutes of Technology Domain; ETH Zurich; Technical University of Munich; Technical University of Munich
  摘要：Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpredictable environments of robotic systems. However, typically those approaches are only locally reactive without considering global path planning and no guarantees for simultaneous collision avoidance and goal convergence can be given. In this article, we study a recently developed circular field (CF)-based motion plan...
• Multiple-Pursuer Single-Evader Reach-Avoid Games in Constant Flow Fields AI翻译
  作者：Deng, Ruiliang; Zhang, Weixian; Yan, Rui; Shi, Zongying; Zhong, Yisheng
  作者单位：Tsinghua University; University of Oxford
  摘要：This article considers a planar multiple-pursuer single-evader reach-avoid game played in a constant flow field. Such a game problem arises in practical applications, such as maritime escort, aircraft confrontation in airflow fields, and defense of moving targets. The dominance boundary, which serves as an analogy to the Apollonius circle and the Cartesian oval, is investigated. The existence of semipermeable surfaces in the game is shown. Under reasonable assumptions, there exists a semiperme...
• Convergence of Nonlinear Observers on Rn With a Riemannian Metric (Part III) AI翻译
  作者：Sanfelice, Ricardo G.; Praly, Laurent
  作者单位：University of California System; University of California Santa Cruz; Universite PSL; MINES ParisTech
  摘要：This article is the third and final component of a three-part effort on observers contracting a Riemannian distance between the state of the system and its estimate. In Part I, we showed that such a contraction property holds if the system dynamics and the Riemannian metric satisfy two key conditions: a differential detectability property and a geodesic monotonicity property. With the former condition being the focus of Part II, in this Part III, we study the latter condition in relationship t...
• Observability Decomposition of Boolean Control Networks Under Several Kinds of Observability AI翻译
  作者：Li, Yiliang; Feng, Jun-E; Cheng, Daizhan; Jia, Yingzhe
  作者单位：Shandong University; Chinese Academy of Sciences; Academy of Mathematics & System Sciences, CAS; Hunan University
  摘要：In this article, a uniform method is provided to investigate the observability decomposition of Boolean control networks (BCNs) under different definitions of observability. Since the observability of BCNs is defined via the distinguishability of states, an algorithm is devised to identify and sort distinguishable states. To find the possible control sequences, a truth matrix reflecting the relationship between state pairs and control inputs is constructed. Using the truth matrix, necessary an...