This paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cas...
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ISBN:
(纸本)9798350362350;9798350362343
This paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cases. We derive conditions under which a system with given x-flat output can be transformed into the proposed triangular form. Based on the triangular form we motivate a simple algorithm for identifying candidates for flat outputs.
Seven years ago (2016), we began integrating robotics into our Computer science curriculum. This paper explores the mission, initial goals and objectives, specific choices we made along the way, and why and outcomes. ...
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ISBN:
(纸本)9783031670589;9783031670596
Seven years ago (2016), we began integrating robotics into our Computer science curriculum. This paper explores the mission, initial goals and objectives, specific choices we made along the way, and why and outcomes. Of course, we were not the first to do so. Our contribution in this paper is to describe a seven-year experience in the hope that others going down this road will benefit, perhaps avoiding some missteps and dead-ends. We offer our answers to many questions that anyone undertaking bootstrapping a new robotics program may have to deal with. At the end of the paper, we discuss a set of lessons learned, including striking the right balance between depth and breadth in syllabus design and material organization, the significance of utilizing physical robots and criteria for selecting a suitable robotics platform, insights into the scope and design of a robotics lab, the necessity of standardizing hardware and software configurations, along with implementation methods, and strategies for preparing students for the steep learning curve.
This paper is concerned with the cooperative distributed optimization problem of a specific type of double-integrator multi-agent systems affected by DoS attacks. Firstly, a structure for attack detection and topology...
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ISBN:
(纸本)9798331518509;9798331518493
This paper is concerned with the cooperative distributed optimization problem of a specific type of double-integrator multi-agent systems affected by DoS attacks. Firstly, a structure for attack detection and topology recovery is introduced to eliminate the effects of DoS attacks. Then, to estimate the state of the original system, a set of second-order homogeneous filters is designed to generate necessary state estimates. Furthermore, based on new coordinate transformations, the backstepping method is used to reconstruct the controller. According to the designed scheme, the output of each agent is able to converge to the global optimal solution. Ultimately, the feasibility of the theory is verified through simulation.
This paper explores the stability problems of discrete-time linear time-invariant (LTI) systems subject to random time delays. We first develop a general mean-square small-gain stability condition for feedback systems...
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ISBN:
(纸本)9798331518509;9798331518493
This paper explores the stability problems of discrete-time linear time-invariant (LTI) systems subject to random time delays. We first develop a general mean-square small-gain stability condition for feedback systems containing structured stochastic multiplicative uncertainties. Subsequently, we apply this mean-square small-gain condition to certain LTI random delay systems, where delays exhibit random delay lengths. Necessary and sufficient mean-square stability criteria are derived. These criteria, applicable to systems with either single or multiple sources of random delays, typically involve computing the spectral radius of a constant matrix. This computation allows us to determine whether a system's state variance matrix converges asymptotically despite the presence of random delays.
This paper advances a strategic paradigm for sensor power scheduling within Cyber-Physical systems (CPSs) under adversarial scenarios, leveraging a Markov Stackelberg game combined with a Signal-to-Interference-plus-N...
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ISBN:
(纸本)9798331518509;9798331518493
This paper advances a strategic paradigm for sensor power scheduling within Cyber-Physical systems (CPSs) under adversarial scenarios, leveraging a Markov Stackelberg game combined with a Signal-to-Interference-plus-Noise Ratio (SINR) framework. A novel approach, which introduces reinforcement learning for the adaptive optimization of power distribution, is proposed to ascertain energy efficient sensor transmission tactics in the presence of jamming. Empirical simulations are given to validate the superiority of the proposed algorithm, underscoring its effectiveness in diminishing estimation inaccuracies and alleviating the adversarial influence.
A new method for the design of linear systems with desired poles and zeros of their transfer matrices is proposed. Conditions for the existence of the solution to the problem and the procedure for computation of the d...
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ISBN:
(纸本)9798350362350;9798350362343
A new method for the design of linear systems with desired poles and zeros of their transfer matrices is proposed. Conditions for the existence of the solution to the problem and the procedure for computation of the desired matrices are given. The procedure is illustrated by numerical simple examples.
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