IEEE Robotics Autom. Mag.最新文献_第7页

Time-delay systems with delayed impulses: A unified criterion on asymptotic stability 具有延迟脉冲的时滞系统:渐近稳定性的一个统一准则

IEEE Robotics Autom. Mag. Pub Date : 2022-06-08 DOI: 10.1016/j.automatica.2020.109470

Kexue Zhang, Eric P. Braverman

引用次数: 14

Reaffirming Our Values as a Global Community [President's Message] 重申我们作为全球共同体的价值观[总统致辞]

IEEE Robotics Autom. Mag. Pub Date : 2022-06-01 DOI: 10.1109/mra.2022.3169045

F. Park

引用次数: 0

New Ideas, Old Tricks [From the Editor's Desk] 新想法，老把戏[来自编辑的办公桌]

IEEE Robotics Autom. Mag. Pub Date : 2022-06-01 DOI: 10.1109/mra.2022.3165906

Yi Guo

引用次数: 0

Mean square stability conditions for platoons with lossy inter-vehicle communication channels 具有有耗车辆间通信信道的排的均方稳定性条件

IEEE Robotics Autom. Mag. Pub Date : 2022-05-29 DOI: 10.48550/arXiv.2205.14582

Marco A. Gordon, Francisco J. Vargas, A. Peters

引用次数: 2

Limit Cycles Analysis and Control of Evolutionary Game Dynamics with Environmental Feedback 具有环境反馈的演化博弈动力学的极限环分析与控制

IEEE Robotics Autom. Mag. Pub Date : 2022-05-22 DOI: 10.48550/arXiv.2205.10734

Lulu Gong, Weijia Yao, Jian Gao, M. Cao

{"title":"Limit Cycles Analysis and Control of Evolutionary Game Dynamics with Environmental Feedback","authors":"Lulu Gong, Weijia Yao, Jian Gao, M. Cao","doi":"10.48550/arXiv.2205.10734","DOIUrl":"https://doi.org/10.48550/arXiv.2205.10734","url":null,"abstract":"Recently, an evolutionary game dynamics model taking into account the environmental feedback has been proposed to describe the co-evolution of strategic actions of a population of individuals and the state of the surrounding environment; correspondingly a range of interesting dynamic behaviors have been reported. In this paper, we provide new theoretical insight into such behaviors and discuss control options. Instead of the standard replicator dynamics, we use a more realistic and comprehensive model of replicator-mutator dynamics, to describe the strategic evolution of the population. After integrating the environment feedback, we study the effect of mutations on the resulting closed-loop system dynamics. We prove the conditions for two types of bifurcations, Hopf bifurcation and Heteroclinic bifurcation, both of which result in stable limit cycles. These limit cycles have not been identified in existing works, and we further prove that such limit cycles are in fact persistent in a large parameter space and are almost globally stable. In the end, an intuitive control policy based on incentives is applied, and the effectiveness of this control policy is examined by analysis and simulations.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74080109","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Proximal ADMM for Nonconvex and Nonsmooth Optimization 非凸非光滑优化的近端ADMM

IEEE Robotics Autom. Mag. Pub Date : 2022-05-04 DOI: 10.48550/arXiv.2205.01951

Yu Yang, Q. Jia, Zhanbo Xu, X. Guan, C. Spanos

{"title":"Proximal ADMM for Nonconvex and Nonsmooth Optimization","authors":"Yu Yang, Q. Jia, Zhanbo Xu, X. Guan, C. Spanos","doi":"10.48550/arXiv.2205.01951","DOIUrl":"https://doi.org/10.48550/arXiv.2205.01951","url":null,"abstract":"By enabling the nodes or agents to solve small-sized subproblems to achieve coordination, distributed algorithms are favored by many networked systems for efficient and scalable computation. While for convex problems, substantial distributed algorithms are available, the results for the more broad nonconvex counterparts are extremely lacking. This paper develops a distributed algorithm for a class of nonconvex and nonsmooth problems featured by i) a nonconvex objective formed by both separate and composite objective components regarding the decision components of interconnected agents, ii) local bounded convex constraints, and iii) coupled linear constraints. This problem is directly originated from smart buildings and is also broad in other domains. To provide a distributed algorithm with convergence guarantee, we revise the powerful tool of alternating direction method of multiplier (ADMM) and proposed a proximal ADMM. Specifically, noting that the main difficulty to establish the convergence for the nonconvex and nonsmooth optimization within the ADMM framework is to assume the boundness of dual updates, we propose to update the dual variables in a discounted manner. This leads to the establishment of a so-called sufficiently decreasing and lower bounded Lyapunov function, which is critical to establish the convergence. We prove that the method converges to some approximate stationary points. We besides showcase the efficacy and performance of the method by a numerical example and the concrete application to multi-zone heating, ventilation, and air-conditioning (HVAC) control in smart buildings.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90931970","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 8

Razumikhin and Krasovskii Approaches for Safe Stabilization Razumikhin和Krasovskii安全稳定方法

IEEE Robotics Autom. Mag. Pub Date : 2022-04-26 DOI: 10.48550/arXiv.2204.12106

W. Ren, R. Jungers, Dimos V. Dimarogonas

{"title":"Razumikhin and Krasovskii Approaches for Safe Stabilization","authors":"W. Ren, R. Jungers, Dimos V. Dimarogonas","doi":"10.48550/arXiv.2204.12106","DOIUrl":"https://doi.org/10.48550/arXiv.2204.12106","url":null,"abstract":"This paper studies the stabilization and safety problems of nonlinear time-delay systems. Following both Razumikhin and Krasovskii approaches, we propose novel control Lyapunov functions/functionals for the stabilization problem and novel control barrier functions/functionals for the safety problem. The proposed control Lyapunov and barrier functions/functionals extend the existing ones from the delay-free case to the time-delay case, and allow for designing the stabilizing and safety controllers in closed-form. Since analytical solutions to time-delay optimal control problems are hard to be achieved, a sliding mode control based approach is developed to merge the proposed control Lyapunov and barrier functions/functionals. Based on the sliding surface functional, a feedback control law is established to investigate the stabilization and safety objectives simultaneously. In particular, the properties of the sliding surface functional are analyzed, and further how to construct the sliding surface functional is discussed. Finally, the proposed approaches are illustrated via two numerical examples from the connected cruise control problem of automotive systems and the synchronization problem of multi-agent systems.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79253808","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

On the Herdability of Linear Time-Invariant Systems with Special Topological Structures 特殊拓扑结构线性定常系统的可遗传性

IEEE Robotics Autom. Mag. Pub Date : 2022-04-18 DOI: 10.48550/arXiv.2204.08536

G. Pasquale, M. E. Valcher

引用次数: 1

The Existence and Uniqueness of Solutions for Kernel-Based System Identification 基于核的系统辨识解的存在唯一性

IEEE Robotics Autom. Mag. Pub Date : 2022-04-17 DOI: 10.48550/arXiv.2204.08092

M. Khosravi, Roy S. Smith

{"title":"The Existence and Uniqueness of Solutions for Kernel-Based System Identification","authors":"M. Khosravi, Roy S. Smith","doi":"10.48550/arXiv.2204.08092","DOIUrl":"https://doi.org/10.48550/arXiv.2204.08092","url":null,"abstract":"The notion of reproducing kernel Hilbert space (RKHS) has emerged in system identification during the past decade. In the resulting framework, the impulse response estimation problem is formulated as a regularized optimization defined on an infinite-dimensional RKHS consisting of stable impulse responses. The consequent estimation problem is well-defined under the central assumption that the convolution operators restricted to the RKHS are continuous linear functionals. Moreover, according to this assumption, the representer theorem hold, and therefore, the impulse response can be estimated by solving a finite-dimensional program. Thus, the continuity feature plays a significant role in kernel-based system identification. This paper shows that this central assumption is guaranteed to be satisfied in considerably general situations, namely when the kernel is an integrable function and the input signal is bounded. Furthermore, the strong convexity of the optimization problem and the continuity property of the convolution operators imply that the kernel-based system identification admits a unique solution. Consequently, it follows that kernel-based system identification is a well-defined approach.","PeriodicalId":13196,"journal":{"name":"IEEE Robotics Autom. Mag.","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85525541","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6

Stabilization of rank-deficient continuous-time switched affine systems 无秩连续时间切换仿射系统的镇定

IEEE Robotics Autom. Mag. Pub Date : 2022-04-14 DOI: 10.48550/arXiv.2204.06912

Lucas N. Egidio, G. S. Deaecto, R. Jungers

引用次数: 5