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arXiv 2017年

作者： Proskurnikov, Anton V. Tempo, Roberto Cao, Ming Friedkin, Noah E. Delft University of Technology Netherlands St. Petersburg Russia ITMO University St. Petersburg Russia CNR-IEIIT Politecnico di Torino Torino Italy University of Groningen Netherlands Center for Control Dynamical Systems and Computation University of California Santa Barbara Santa Barbara United States

Investigation of social influence dynamics requires mathematical models that are "simple" enough to admit rigorous analysis, and yet sufficiently "rich" to capture salient features of social groups. Thus, the mechanism of iterative opinion pooling from (DeGroot, 1974), which can explain the generation of consensus, was elaborated in (Friedkin and Johnsen, 1999) to take into account individuals’ ongoing attachments to their initial opinions, or prejudices. The "anchorage" of individuals to their prejudices may disable reaching consensus and cause disagreement in a social influence network. Further elaboration of this model may be achieved by relaxing its restrictive assumption of a time-invariant influence network. During opinion dynamics on an issue, arcs of interpersonal influence may be added or subtracted from the network, and the influence weights assigned by an individual to his/her neighbors may alter. In this paper, we establish new important properties of the (Friedkin and Johnsen, 1999) opinion formation model, and also examine its extension to time-varying social influence networks. Copyright © 2017, The Authors. All rights reserved.

关键词： Time varying networks

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Conditions for saddle-point equilibria in output-feedback MPC with MHE

Conditions for saddle-point equilibria in output-feedback MP...

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American control Conference (ACC)

作者： David A. Copp João P. Hespanha Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA

A new method for solving output-feedback model predictive control (MPC) and moving horizon estimation (MHE) problems simultaneously as a single min-max optimization problem was recently proposed. This method allows for stability analysis of the joint output-feedback control and estimation problem. In fact, under the main assumption that a saddle-point solution exists for the min-max optimization problem as well as standard observability and controllability assumptions, practical stability can be established in the presence of noise and disturbances. In this paper we derive sufficient conditions for the existence of a saddle-point solution to this min-max optimization problem. For the specialized linear-quadratic case, we show that a saddle-point solution exists if the system is observable and weights in the cost function are chosen appropriately. A numerical example is given to illustrate the effectiveness of this combined control and estimation approach.

关键词： Stability analysis Cost function Noise measurement Numerical stability Games Estimation

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On the dynamics of deterministic epidemic propagation over networks

arXiv

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arXiv 2017年

作者： Mei, Wenjun Mohagheghi, Shadi Zampieri, Sandro Bullo, Francesco Department of Mechanical Engineering and Center for Control Dynamical Systems and Computation University of California Santa Barbara Santa BarbaraCA93106 United States Department of Electrical and Computer Engineering University of California at Santa Barbara Santa BarbaraCA93106 United States Department of Information Engineering University of Padova Italy

In this work we review a class of deterministic nonlinear models for the propagation of infectious diseases over contact networks with strongly-connected topologies. We consider network models for susceptible-infected (SI), susceptible-infected-susceptible (SIS), and susceptible-infected-recovered (SIR) settings. In each setting, we provide a comprehensive nonlinear analysis of equilibria, stability properties, convergence, monotonicity, positivity, and threshold conditions. For the network SI setting, specific contributions include establishing its equilibria, stability, and positivity properties. For the network SIS setting, we review a well-known deterministic model, provide novel results on the computation and characterization of the endemic state (when the system is above the epidemic threshold), and present alternative proofs for some of its properties. Finally, for the network SIR setting, we propose novel results for transient behavior, threshold conditions, stability properties, and asymptotic convergence. These results are analogous to those well-known for the scalar case. In addition, we provide a novel iterative algorithm to compute the asymptotic state of the network SIR system. Copyright © 2017, The Authors. All rights reserved.

关键词： Nonlinear dynamical systems

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L2-gain analysis of regenerative switched linear systems with sampled-data state-feedback control

L2-gain analysis of regenerative switched linear systems wit...

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American control Conference (ACC)

作者： Masaki Ogura Masashi Wakaiki João P. Hespanha Victor M. Preciado Department of Electrical and Systems Engineering University of Pennsylvania PA USA Department of Electrical and Electronic Engineering Chiba University Chiba Japan Center for Control Dynamical-systems and Computation (CCDC) University of Carifornia Santa Barbara CA USA

In this paper, we analyze the L 2 -gain of a class of switched linear systems under sampled-data state-feedback control. We consider switched linear systems whose switching signal is a regenerative process. Using the lifting approach and piecewise-constant approximations, we derive a sequence whose limit inferior upper-bounds the L 2 -gain of the closed-loop system. Each term of the sequence can be found by solving a linear matrix inequality. We illustrate the results by the L 2 -gain analysis of a linear system with a failure-prone controller.

关键词： Linear systems Switches Markov processes Random variables Modeling

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Hitting time for doubly-weighted graphs with application to robotic surveillance

Hitting time for doubly-weighted graphs with application to ...

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European control Conference

作者： Andrea Carron Rushabh Patel Francesco Bullo Department of Information Engineering University of Padova Via Gradenigo 6/a 35131 Padova Italy Department of Mechanical Engineering Center for Control Dynamical Systems and Computation College of Engineeringm University of California at Santa Barbara USA

ISBN: (纸本)9781509025923

This article provides analysis results for the weighted hitting time and the pairwise weighted hitting time of a Markov chain. This concepts are useful in many applications from robotics to patrolling, environment monitoring and resources optimization. The aforementioned quantities are a performance indexes which measure the expected time taken by a random walker to travel from an arbitrary node of a graph to a second randomly selected node and the expected time to travel between two chosen nodes. These metrics can be used as objective function in optimization problems. In fact we propose a numerical example applied to robotic surveillance where the weighted hitting time is our cost to minimize with respect to the transition matrix of the agent.

关键词： Hitting time doubly-weighted graphs application

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L2-gain analysis of systems with clock offsets

L2-gain analysis of systems with clock offsets

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American control Conference

作者： Masashi Wakaiki Kunihisa Okano Joao P. Hespanha Department of Electrical and Electronic Engineering Chiba University 1-33 Yayoi-cho Inage-ku 263-8522 Japan Center for Control Dynamical-systems and Computation (CCDC) University of California Santa Barbara 93106-9560 USA

ISBN: (纸本)9781467386838

In this paper, we analyze the L2-gain of sampled-data systems with asynchronous sensing and control. The closed-loop system has time-varying clock offsets and sampling intervals and can be modeled as a parameter-uncertain system. We use a lifting approach and a gridding and norm-bounded approach in order to analyze intersample behavior and deal with parameter uncertainty, respectively. An upper bound on the L~2-gain is derived via linear matrix inequalities. We illustrate the proposed method by applying it to an active suspension system.

关键词： Linear matrix inequalities Clocks Closed loop systems Time-varying systems Delays Stability analysis Upper bound Closed loop systems Timing devices linear matrix inequalities time-varying systems Upper bound Stability analysis clock skew System analyses delay offsets Active Suspension systems gridding

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Multi-agent zero-sum differential graphical games for disturbance rejection in distributed control

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Automatica 2016年 69卷 24-34页

作者： Qiang Jiao Hamidreza Modares Shengyuan Xu Frank L. Lewis Kyriakos G. Vamvoudakis School of Automation Nanjing University of Science and Technology Nanjing 210094 Jiangsu PR China University of Texas at Arlington Research Institute 7300 Jack Newell Blvd. S. Ft. Worth TX 76118 USA Center for Control Dynamical-systems and Computation (CCDC) University of California Santa Barbara CA 93106-9560 USA

This paper addresses distributed optimal tracking control of multi-agent linear systems subject to external disturbances . The concept of differential game theory is utilized to formulate this distributed control problem into a multi-player zero-sum differential graphical game, which provides a new perspective on distributed tracking of multiple agents influenced by disturbances. In the presented differential graphical game, the dynamics and performance indices for each node depend on local neighbor information and disturbances. It is shown that the solution to the multi-agent differential graphical games in the presence of disturbances requires the solution to coupled Hamilton–Jacobi–Isaacs (HJI) equations. Multi-agent learning policy iteration (PI) algorithm is provided to find the solution to these coupled HJI equations and its convergence is proven. It is also shown that L 2 -bounded synchronization errors can be guaranteed using this technique. An online PI algorithm is given to solve the zero-sum game in real time. A simulation example is provided to show the effectiveness of the online approach.

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Stabilization of Networked control systems with Clock Offsets

Stabilization of Networked Control Systems with Clock Offset...

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American control Conference

作者： Masashi Wakaiki Kunihisa Okano Joao P. Hespanha Center for Control Dynamical-systems and Computation (CCDC) University of California Santa Barbara CA 93106-9560 USA

ISBN: (纸本)9781479917730

We consider the stabilization of networked control systems with time-invariant clock offsets between the sensors and the controllers. Clock offsets are modeled as parametric uncertainty and we provide necessary and sufficient conditions for the existence of a single controller that is capable of stabilizing the closed loop for every clock offset in a given range. For scalar systems, we obtain the maximum length of the offset interval for which the system can be stabilized by a single linear time-invariant controller. We compare the offset bounds that would be allowed by specific classes of controllers for scalar systems.

关键词： Networked control systems offsets Timing devices controllers clock skew maximum length control systems Signal controller time-invariant system clock

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control under Clock Offsets and Actuator Saturation

Control under Clock Offsets and Actuator Saturation

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IEEE Annual Conference on Decision and control

作者： Masashi Wakaiki Kunihisa Okano Joao P. Hespanha Center for Control Dynamical-systems and Computation (CCDC) University of California Santa Barbara CA 93106-9560 USA

ISBN: (纸本)9781479978878

This paper studies the stability analysis and the stabilization problem for systems with asynchronous sensors and controllers, and actuators subject to saturation. We consider systems with parameter uncertainties caused by clock offsets. By using a polytopic overapproximation, we investigate how large clock offsets affect stability. In addition, we employ a sector characterization approach to address actuator saturation. We see from a numerical study that the range of allowable clock offset bounds drops if the saturation limit becomes smaller than a certain value.

关键词： clock skew parameter uncertainty actuators Timing devices offsets Saturated Stability analysis Standing Orders controllers

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Robust UAV Coordination for Target Tracking using Output-Feedback Model Predictive control with Moving Horizon Estimation

Robust UAV Coordination for Target Tracking using Output-Fee...

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American control Conference

作者： Steven A. P. Quintero David A. Copp Joao P. Hespanha Center for Control Dynamical Systems and Computation University of California Santa Barbara CA 93106 U.S.A.

ISBN: (纸本)9781479917730

We consider the control of two UAVs tracking an evasive moving ground vehicle. The UAVs are small fixed-wing aircraft equipped with gimbaled cameras and must coordinate their control actions so that at least one UAV is always close to the target. The control actions of the UAVs are computed based on noisy measurements of the UAVs' current state and vision-based measurements of the target's position corrupted by state-dependent noise. We propose a novel approach for solving this problem in which the state estimate and optimal control are computed simultaneously online using model predictive control with moving horizon estimation. The efficacy of this approach is demonstrated in simulation results using realistic vision-based measurements of the target's position. These results show that while using noisy, partial information about the target state, the UAVs are able to coordinate their distances to the target in the ideal case of constant target velocity as well as perform robustly when the target becomes evasive.

关键词： Target tracking State estimation control action Model predictive control Predictive control Fixed wing aircraft Moving Horizon Moving horizon state estimation

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