• arXiv.cs.SY Pub Date : 2020-04-06
Simon Muntwiler*; Kim P. Wabersich*; Lukas Hewing; Melanie N. Zeilinger

Distributed model predictive control methods for uncertain systems often suffer from considerable conservatism and can tolerate only small uncertainties, due to the use of robust formulations that are amenable to distributed design and computational methods. In this work, we propose a distributed stochastic model predictive control (DSMPC) scheme for dynamically coupled linear discrete-time systems

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-06
Mees Al; Alessandro Fontanella; Daan van der Hoek; Yichao Liu; Marco Belloli; Jan-Willem van Wingerden

Floating offshore wind turbines allow wind energy to be harvested in deep waters. However, additional dynamics and structural loads may result when the floating platform is being excited by wind and waves. In this work, the conventional wind turbine controller is complemented with a novel linear feedforward controller based on wave measurements. The objective of the feedforward controller is to attenuate

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-06
Ana Fernández-Guillamón; Emilio Gómez-Lázaro; Eduard Muljadi; Angel Molina-García

Traditionally, inertia in power systems has been determined by considering all the rotating masses directly connected to the grid. During the last decade, the integration of renewable energy sources, mainly photovoltaic installations and wind power plants, has led to a significant dynamic characteristic change in power systems. This change is mainly due to the fact that most renewables have power electronics

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-06
Alexander Span; Vahid Aref; Henning Buelow; Stephan ten Brink

Optical nonlinear Fourier transform-based communication systems require an accurate estimation of a signal's nonlinear spectrum, computed usually by piecewise approximation methods on the signal samples. We propose an algorithm, named successive eigenvalue removal, to improve the spectrum estimation of a multi-soliton pulse. It exploits a property of the Darboux transform that allows removing eigenvalues

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-06
Dimitris Papadimitriou; Ugo Rosolia; Francesco Borrelli

We present a Model Predictive Control (MPC) strategy for unknown input-affine nonlinear dynamical systems. A non-parametric method is used to estimate the nonlinear dynamics from observed data. The estimated nonlinear dynamics are then linearized over time varying regions of the state space to construct an Affine Time Varying (ATV) model. Error bounds arising from the estimation and linearization procedure

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-07
David Grimsman; Matthew R. Kirchner; João P. Hespanha; Jason R. Marden

Submodular maximization problems are a relevant model set for many real-world applications. Since these problems are generally NP-Hard, many methods have been developed to approximate the optimal solution in polynomial time. One such approach uses an agent-based greedy algorithm, where the goal is for each agent to choose an action from its action set such that the union of all actions chosen is as

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-07
Yuntao Zou; Lei Zhang; Jiangchao Qin

This paper proposes a computational method to efficiently and quickly estimate stability regions of droop control slopes for modular multilevel converter (MMC)-based multiterminal dc (MTDC) systems. The proposed method is based on a general small-signal model consisting of a dc grid with arbitrary topology and MMCs with dq controllers. The general small-signal model developed by a systematic way can

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-07
Bingyun Liang; Shiqi Zheng; Choon Ki Ahn; Feng Liu

This paper concentrates on the study of the decentralized fuzzy control method for a class of fractional-order interconnected systems with unknown control directions. To overcome the difficulties caused by the multiple unknown control directions in fractional-order systems, a novel fractional-order Nussbaum function technique is proposed. This technique is much more general than those of existing works

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-07

The integration of cyber technologies (computing and communication) with the physical world gives rise to complex systems referred to as Cyber Physical Systems (CPS), for example, manufacturing, transportation, smart grid, and water treatment. Many of those systems are part of the critical infrastructure and need to perform safely, reliably, and securely in real-time. CPS security is challenging as

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-07
Hazem A. Abdelghany; Simon H. Tindemans; Mathijs M. de Weerdt; Han la Poutré

Increased uptake of variable renewable generation and further electrification of energy demand necessitate efficient coordination of flexible demand resources to make most efficient use of power system assets. Flexible electrical loads are typically small, numerous, heterogeneous and owned by self-interested agents. Considering the multi-temporal nature of flexibility and the uncertainty involved,

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-07
Andreas B. Martinsen; Anastasios M. Lekkas; Sebastien Gros

In this paper we propose and compare methods for combining system identification (SYSID) and reinforcement learning (RL) in the context of data-driven model predictive control (MPC). Assuming a known model structure of the controlled system, and considering a parametric MPC, the proposed approach simultaneously: a) Learns the parameters of the MPC using RL in order to optimize performance, and b) fits

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-07
Alexander Robey; Haimin Hu; Lars Lindemann; Hanwen Zhang; Dimos V. Dimarogonas; Stephen Tu; Nikolai Matni

Inspired by the success of imitation and inverse reinforcement learning in replicating expert behavior through optimal control, we propose a learning based approach to safe controller synthesis based on control barrier functions (CBFs). We consider the setting of a known nonlinear control affine dynamical system and assume that we have access to safe trajectories generated by an expert - a practical

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-03
Mutaz Melhem; Laszlo Kish

This study addresses a new question regarding the security of the Kirchhoff-Law-Johnson-Noise (KLJN) scheme compromised by DC sources at Alice and Bob: What is the impact of these parasitic sources on active attacks, such as the man-in-the-middle (MITM) attack, or the current injection attack? The surprising answer is that the parasitic DC sources actually increase the security of the system because

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-03
Ioannis D. Apostolopoulos; Peter P. Groumpos; Dimitris I. Apostolopoulos

Purpose: In this study, the recently emerged advances in Fuzzy Cognitive Maps (FCM) are investigated and employed, for achieving the automatic and non-invasive diagnosis of Coronary Artery Disease (CAD). Methods: A Computer-Aided Diagnostic model for the acceptable and non-invasive prediction of CAD using the State Space Advanced FCM (AFCM) approach is proposed. Also, a rule-based mechanism is incorporated

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-07
Nima Karbasizadeh; Ali Ahmadi Dastjerdi; Niranjan Saikumar; Duarte Valerio; S. Hassan HosseinNia

This paper addresses a phenomenon caused by resetting only one of the two states of a so-called second order "Constant in gain Lead in phase" (CgLp) element. CgLp is a recently introduced reset-based nonlinear element, bound to circumvent the well-known linear control limitation -- the waterbed effect. The ideal behaviour of such a filter in the frequency domain is unity gain while providing a phase

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-04-03
Kaijie Xu; Witold Pedrycz; Zhiwu Li; Mengdao Xing

As an important technology in artificial intelligence Granular Computing (GrC) has emerged as a new multi-disciplinary paradigm and received much attention in recent years. Information granules forming an abstract and efficient characterization of large volumes of numeric data have been considered as the fundamental constructs of GrC. By generating prototypes and partition matrix, fuzzy clustering

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2016-02-14
Felix Berkenkamp; Andreas Krause; Angela P. Schoellig

Robotic algorithms typically depend on various parameters, the choice of which significantly affects the robot's performance. While an initial guess for the parameters may be obtained from dynamic models of the robot, parameters are usually tuned manually on the real system to achieve the best performance. Optimization algorithms, such as Bayesian optimization, have been used to automate this process

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-03-14
Tim Brüdigam; Johannes Teutsch; Dirk Wollherr; Marion Leibold

Long prediction horizons in Model Predictive Control (MPC) often prove to be efficient, however, this comes with increased computational cost. Recently, a Robust Model Predictive Control (RMPC) method has been proposed which exploits models of different granularity. The prediction over the control horizon is split into short-term predictions with a detailed model using MPC and long-term predictions

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2018-02-26
Ashish R. Hota; Shreyas Sundaram

We consider a game-theoretic model where individuals compete over a shared failure-prone system or resource. We investigate the effectiveness of a taxation mechanism in controlling the utilization of the resource at the Nash equilibrium when the decision-makers have behavioral risk preferences, captured by prospect theory. We first observe that heterogeneous prospect-theoretic risk preferences can

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2018-08-13
Ke Sun; Iñaki Esnaola; Samir M. Perlaza; H. Vincent Poor

Random attacks that jointly minimize the amount of information acquired by the operator about the state of the grid and the probability of attack detection are presented. The attacks minimize the information acquired by the operator by minimizing the mutual information between the observations and the state variables describing the grid. Simultaneously, the attacker aims to minimize the probability

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-02-27
R. A. Bindu; A. A. Neloy; S. Alam; N. J Moni; S. Siddique

This paper introduces a rescue robot named Sigma 3 which is developed for potential applications such as helping hands for humans where a human can not reach to have an assessment of the hazardous environment. Also, these kinds of robot can be controlled remotely with an adequate control system. The proposed methodology forces on two issues : 1. Novel mechanism design for measuring rotation, joints

更新日期：2020-04-08
• arXiv.cs.SY Pub Date : 2020-01-02
Ahmed M. El-Mahalawy; Kareem H. El-Safty

Due to the pivotal role of UV photodiodes in many technological applications in tandem with the high efficiency achieved by machine learning techniques in regression and classification problems, different artificial intelligence (AI) techniques are adopted to simulate and model the performance of organic/inorganic heterojunction UV photodiode. Herein, the performance of a fabricated Au/NTCDA/p-Si/Al

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-02
Edward L. Zhu; Yvonne R. Stürz; Ugo Rosolia; Francesco Borrelli

We present a decentralized trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics under separable cost and coupled state constraints. By performing the same task iteratively, data from previous task executions is used to construct and improve local time-varying safe sets and an approximate value function. These are used in

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-02
Aritra Mitra; Saurabh Bagchi; Shreyas Sundaram

We study a setting where each agent in a network receives certain private signals generated by an unknown static state that belongs to a finite set of hypotheses. The agents are tasked with collectively identifying the true state. To solve this problem in a communication-efficient manner, we propose an event-triggered distributed learning algorithm that is based on the principle of diffusing low beliefs

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-03
Rong Yan; Guangchao Geng; Quanyuan Jiang

Transient stability boundary (TSB) is an important tool in power system online security monitoring, but practically it suffers from high computational burden using state-of-the-art methods, such as time-domain simulation (TDS), with numerous scenarios taken into account (e.g., operating points (OPs) and N-1 contingencies). The purpose of this work is to establish a data-driven framework to generate

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-03
Ming Liang; Yao Meng; Jiyu Wang; David Lubkeman; Ning Lu

This paper presents a novel, automated, generative adversarial networks (GAN) based synthetic feeder generation mechanism, abbreviated as FeederGAN. FeederGAN digests real feeder models represented by directed graphs via a deep learning framework powered by GAN and graph convolutional networks (GCN). From power system feeder model input files, device connectivity is mapped to the adjacency matrix while

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-03
Syed M. Hassaan; Mohammad Khajenejad; Spencer Jensen; Qiang Shen; Sze Zheng Yong

In this paper, we propose an incremental abstraction method for dynamically over-approximating nonlinear systems in a bounded domain by solving a sequence of linear programs, resulting in a sequence of affine upper and lower hyperplanes with expanding operating regions. Although the affine abstraction problem can be solved offline using a single linear program, existing approaches suffer from a computation

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-03
Sebastien Gros; Mario Zanon

Model Predictive Control has been recently proposed as policy approximation for Reinforcement Learning, offering a path towards safe and explainable Reinforcement Learning. This approach has been investigated for Q-learning and actor-critic methods, both in the context of nominal Economic MPC and Robust (N)MPC, showing very promising results. In that context, actor-critic methods seem to be the most

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-03

The extended state observer (ESO) plays an important role in the design of feedback control for nonlinear systems. It is also the key component in any active disturbance rejection control (ADRC) scheme. However, its high-gain nature creates a challenge in engineering practice in cases where the output measurement is corrupted by non-negligible, high-frequency noise. The presence of measurement noise

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-03
Yuning Jiang; Philipp Sauerteig; Boris Houska; Karl Worthmann

This paper presents a distributed optimization algorithm tailored to solve optimization problems arising in smart grids. In detail, we propose a variant of the Augmented Lagrangian based Alternating Direction Inexact Newton (ALADIN) method, which comes along with global convergence guarantees for the considered class of linear-quadratic optimization problems. We establish local quadratic convergence

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-02
Kunal Garg; Dimitra Panagou

In this paper, we study the effect of control input constraints and of the upper bound on the time of convergence on the domain of attraction for systems that exhibit fixed-time stability (FxTS). We first present a new result on FxTS, where we allow a positive term in the time derivative of the Lyapunov function. We provide analytical expressions for the domain of attraction and the time of convergence

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-03
James Anderson; Fengyu Zhou; Steven H. Low

In this paper we consider the problem of analyzing the effect a change in the load vector can have on the optimal power generation in a DC power flow model. The methodology is based upon the recently introduced concept of the $\mathcal{OPF}$ operator. It is shown that for general network topologies computing the worst-case sensitivities is computationally intractable. However, we show that certain

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-03
Stefan Wildhagen; Frank Allgöwer

Rollout control is an MPC-based control method, in which a controller is periodically activated to schedule the transmission of sensor or actuator data. Therein, a preassigned traffic specification acts as a constraint on the scheduled transmissions, ensuring that they are triggered at an admissible rate for the underlying communication network. In this paper, we extend the theory of rollout control

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-03

This work deals with the problem of simultaneous regulation and model parameter estimation in adaptive model predictive control. We propose an adaptive model predictive control and conditions which guarantee a persistently exciting closed loop sequence by only looking forward in time into the receding prediction horizon. Earlier works needed to look backwards and preserve prior regressor data. Instead

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-03

This paper deals with solving distributed optimization problems with equality constraints by a class of uncertain nonlinear heterogeneous dynamic multi-agent systems. It is assumed that each agent with an uncertain dynamic model has limited information about the main problem and limited access to the information of the other agents' states. A distributed algorithm that guarantees cooperative solving

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2019-09-10
Daron Anderson; Douglas Leith

We show that the Subgradient algorithm is universal for online learning on the simplex in the sense that it simultaneously achieves $O(\sqrt N)$ regret for adversarial costs and $O(1)$ pseudo-regret for i.i.d costs. To the best of our knowledge this is the first demonstration of a universal algorithm on the simplex that is not a variant of Hedge. Since Subgradient is a popular and widely used algorithm

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-03-14
Juan-Andrés Pérez-Rúa; Sara Lumbreras; Andrés Ramos; Nicolaos A. Cutululis

A two-stage stochastic optimization model for the design of the closed-loop cable layout of an Offshore Wind Farm (OWF) is presented. The model consists on a Mixed Integer Linear Program (MILP) with scenario numeration incorporation to account for both wind power and cable failure stochasticity. The objective function supports simultaneous optimization of: (i) Initial investment (network topology and

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-02-10
Geethu Joseph

This paper studies controllability of a discrete-time linear dynamical system using nonnegative and sparse inputs. These constraints on the control input arise naturally in many real-life systems where the external influence on the system is unidirectional, and activating each input node adds to the cost of control. We derive algebraic necessary and sufficient conditions to determine controllability

更新日期：2020-04-06
• arXiv.cs.SY Pub Date : 2020-04-01
Alex Devonport; He Yin; Murat Arcak

We propose an iterative method to safely learn the unmodeled dynamics of a nonlinear system using Bayesian Gaussian process (GP) models with polynomial kernel functions. The method maintains safety by ensuring that the system state stays within the region of attraction (ROA) of a stabilizing control policy while collecting data. A quadratic programming based exploration control policy is computed to

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-01
Shuang Gao; Peter E. Caines

Graphon control has been proposed and developed in [Gao and Caines CDC 2017, 2018, 2019, TAC 2020) to approximately solve control problems for very large-scale networks of linear dynamical systems. In this paper, linear quadratic regulation (LQR) problems for graphon dynamical systems are studied. Graphon couplings appear in states, controls and cost, and these couplings may be represented by different

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-01
Shuang Gao; Peter E. Caines; Minyi Huang

This paper formulates infinite dimensional graphon dynamical systems to study the limit problem of linear quadratic Gaussian graphon mean field game (LQG-GMFG). The limit problem is characterized by forward and backward graphon dynamical system equations. Based on this representation, sufficient conditions on the existence of a unique fixed point are established. Furthermore, under the finite rank

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02
Aaron Kandel; Scott J. Moura

This paper explores distributionally robust zero-shot model-based learning and control using Wasserstein ambiguity sets. Conventional model-based reinforcement learning algorithms struggle to guarantee feasibility throughout the online learning process. We address this open challenge with the following approach. Using a stochastic model-predictive control (MPC) strategy, we augment safety constraints

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02

This paper develops a community resilience optimization method subject to power flow constraints in the Cyber-Physical-Social Systems in Power Engineering, which is solved using a multi-agent-based algorithm. The tool that makes the nexus between electricity generation on the physical side and the consumers and the critical loads on the social side is the power flow algorithm. Specifically, the levels

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02
Shahab Afshar; Pablo Macedo; Farog Mohamed; Vahid Disfani

While Electric vehicles (EVs) adoption is accelerating in an unprecedented way, lacking EV charging infrastructure hinders the development of the EV market. To compensate for these shortcomings, Mobile Charging Stations (MCS) could play a prominent role to accelerate EV penetration by providing charging services with no restrictions on the location and time of the charging process. This paper disseminates

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02
Zike Lei; Xi Chen; Xiang Chen; Li Chai

In this paper, a new concept, radial coverage strength, is first proposed to characterize the visual sensing performance when the orientation of the target pose is considered. In particular, the elevation angle of the optical pose of the visual sensor is taken to decompose the visual coverage strength into effective and ineffective components, motivated by the imaging intuition. An optimization problem

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02
Andrey Gorbunov; Petr Vorobev; Jimmy Chih-Hsien Peng

In this paper, we investigate the stability properties of inverter-based microgrids by establishing the possible presence of the so-called critical clusters - groups of inverters with their control settings being close to the stability boundary. For this, we consider the spectrum of the weighted admittance matrix of the network and show that its distinct eigenvalues correspond to inverter clusters

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02
C. Arturo Martínez-Fuentes; Ulises Pérez Ventura; Leonid Fridman

Lipschitz continuous sliding-mode controllers (LCSMC) are developed as the integral of discontinuous SMC, producing control signals of finite slope. Nevertheless, LCSMC still generate chattering in the presence of fast parasitic dynamics. In this paper, an analysis of chattering in systems driven by LCSMC is performed using the Harmonic Balance (HB) approach. Two kinds of LCSMC are considered: the

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02
Robert Mahony; Jochen Trumpf

It is known that invariance and equivariance properties for systems on Lie groups can be exploited in the design of high performance and robust observers and filters for real-world robotic systems. This paper proposes an analysis framework that allows any kinematic system on a Lie group to be embedded in a natural manner into an equivariant kinematic system. This framework allows us to characterise

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02
Meichen Guo; Claudio De Persis; Pietro Tesi

This paper considers the problem of learning control laws for nonlinear polynomial systems directly from data, which are input-output measurements collected in an experiment over a finite time period. Without explicitly identifying the system dynamics, stabilizing laws are directly designed for nonlinear polynomial systems by solving sum of square problems that depend on the experimental data alone

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02
Xinyao Li; Changyun Wen; Xiao-Kang Liu

In this paper, we investigate consensus control of fractional-order multi-agent systems with order in (0,1) via sampled-data control. A new scheme to design distributed controllers with rigorous analysis is presented by utilizing the unique properties of fractional-order calculus, namely hereditary and infinite memory. It is established that global boundedness of all closed-loop signals is ensured

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02
Sebastien Gros; Mario Zanon; Alberto Bemporad

For all its successes, Reinforcement Learning (RL) still struggles to deliver formal guarantees on the closed-loop behavior of the learned policy. Among other things, guaranteeing the safety of RL with respect to safety-critical systems is a very active research topic. Some recent contributions propose to rely on projections of the inputs delivered by the learned policy into a safe set, ensuring that

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-01
Mohamed Naveed Gul Mohamed; Suman Chakravorty

We consider the problem of nonlinear stochastic optimal control. This is fundamentally intractable owing to Bellman's infamous "curse of dimensionality". We present a "decoupling principle" for the tractable feedback design for such problems, wherein, first, a nominal open-loop problem is solved, followed by a suitable linear feedback design around the open-loop. The performance of the resulting feedback

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02
Kunal Garg; Dimitra Panagou

This paper presents a control synthesis approach for multi-agent systems modeled as a general class of nonlinear, control-affine dynamics under spatiotemporal constraints. We consider the problem of designing distributed controllers such that each agent reaches their respective goal set within a given fixed time, while always remaining in their respective safe set, which also encodes the maintenance

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-03-31
M. Seminara; T. Nawaz; S. Caputo; L. Mucchi; J. Catani

This paper reports a detailed experimental characterization of optical performances of Visible Light Communication (VLC) system using a real traffic light for ultra-low latency, infrastructure-to-vehicle (I2V) communications for intelligent transportation systems (ITS) protocols. Despite the implementation of long sought ITS protocols poses the crucial need to detail how the features of optical stages

更新日期：2020-04-03
• arXiv.cs.SY Pub Date : 2020-04-02
Arun Lakshmanan; Aditya Gahlawat; Naira Hovakimyan

Autonomous robots that are capable of operating safely in the presence of imperfect model knowledge or external disturbances are vital in safety-critical applications. In this paper, we present a planner-agnostic framework to design and certify safe tubes around desired trajectories that the robot is always guaranteed to remain inside of. By leveraging recent results in contraction analysis and $\ 更新日期：2020-04-03 • arXiv.cs.SY Pub Date : 2020-03-30 Qiyuan Fu; Sean W. Gart; Thomas W. Mitchel; Jin Seob Kim; Gregory S. Chirikjian; Chen Li Snakes can move through almost any terrain. Similarly, snake robots hold the promise as a versatile platform to traverse complex environments like earthquake rubble. Unlike snake locomotion on flat surfaces which is inherently stable, when snakes traverse complex terrain by deforming their body out of plane, it becomes challenging to maintain stability. Here, we review our recent progress in understanding 更新日期：2020-04-01 • arXiv.cs.SY Pub Date : 2020-03-30 Vivek Khatana; Murti V. Salapaka We focus on the problem of minimizing a finite sum$f(x) = \sum_{i=1}^n f_i(x)$of functions of$n$functions$f_i$, where$f_i$are convex and available only locally to an agent$i$. The$n$agents are connected in a directed network$\mathcal{G}(\mathbf{V},\mathbf{E})$, where each agent$i$can only communicate with agents in its neighborhood determined by$\mathcal{G}(V,E)\$. In this article, we

更新日期：2020-04-01
• arXiv.cs.SY Pub Date : 2020-03-30
Luca Bascetta; Marcello Farina; Alessandro Gabrielli; Matteo Matteucci

This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its independence from any vehicle model parameter, apart from the position of the center of mass, and its robustness. In particular, a numerical bifurcation analysis demonstrates

更新日期：2020-04-01
• arXiv.cs.SY Pub Date : 2020-03-30
Sunsoo Kim; Vedang Deshpande; Raktim Bhattacharya

Proportional-Integral-Derivative (PID) scheme is the most commonly used algorithm for designing the controllers for unmanned aerial vehicles (UAVs). However, tuning PID gains is a non trivial task. A number of methods have been developed for tuning the PID gains for UAV systems. However, these methods do not handle wind disturbances, which is a major concern for small UAVs. In this paper, we propose

更新日期：2020-04-01
• arXiv.cs.SY Pub Date : 2020-03-30
Sunsoo Kim; Vaishnav Tadiparthi; Raktim Bhattacharya

Among algorithms used for sensor fusion for attitude estimation in unmanned aerial vehicles, the Extended Kalman Filter (EKF) is the most commonly used for estimation. In this paper, we propose a new version of H2 estimation called extended H2 estimation that can overcome the limitations of the extended Kalman Filter, specifically with respect to computational speed, memory usage, and root mean squared

更新日期：2020-04-01
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