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Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Kenji Hirata Joo P.Hespanha Department of Mechanical Engineering Nagaoka University of Technology Center for Control Dynamical Systemsand Computationand the Department of Electrical and Computer EngineeringUniversity of California

This paper addresses the computation of the L-induced gain for a class of switched *** main contribution of the paper is to completely characterize the induced gain of the switched system through a system of differential inequalities on a common storage function,one for each system being *** motivation for computing the induced gain of a switched system is the application of robust stability tools to the analysis of hybrid systems.

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Formation control of autonomous robots based on cooperative behavior 10

Formation control of autonomous robots based on cooperative ...

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2009 10th European control Conference, ECC 2009

作者： Dorfler, Florian Francis, Bruce Center for Control Dynamical Systems and Computation University of California at Santa Barbara Santa BarbaraCA93106 United States Electrical and Computer Engineering Department University of Toronto TorontoM5S3G4 Canada

ISBN: (纸本)9783952417393

This paper considers the formation control problem for autonomous robots, where the target formation is specified as a minimally rigid formation. A distributed control law based on potential functions is derived from a directed sensor graph and relies on the graph matrices only. By methods of inverse optimality a certain class of sensor graphs is identified that is related to a cooperative behavior among the robots. These graphs are referred to as cooperative graphs, and undirected graphs, directed cycles, and directed open chain graphs can be identified as such graphs. Cooperative graphs admit a local stability result of the target formation together with a guaranteed region of attraction, that depends on the rigidity properties of the formation. © 2009 EUCA.

关键词： Robots

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Uniting local and global output feedback controllers

Uniting local and global output feedback controllers

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作者： Prieur, Christophe Teel, Andrew R. LAAS-CNRS 7 Avenue du Colonel Roche 31077 Toulouse Cedex 4 France Center for Control Dynamical Systems and Computation Department of Electrical and Computer Engineering University of California Santa Barbara CA 93106-9560 United States

ISBN: (纸本)9783902661289

We consider control systems for which we know two stabilizing output feedback controllers. One is globally asymptotically stabilizing, while the other one is only locally asymptotically stabilizing. We look for a composite output feedback control law that is equal to the local feedback on a neighborhood of the origin and that is globally asymptotically stabilizing. We insist on using only output feedback controllers to solve this uniting problem. Since we want some robustness with respect to measurement noise, actuator errors and external disturbances, we consider hybrid output feedback controllers, following recent developments in the literature on robustness in hybrid systems. Under an input-output-to-state stability assumption, we exhibit a solution of this uniting problem by means of a dynamic hybrid output feedback controller. Copyright © 2007 IFAC.

关键词： Hybrid systems

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Hide-and-Seek with Directional Sensing *

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IFAC Proceedings Volumes 2011年第1期44卷 9343-9348页

作者： Alessandro Borri Shaunak D. Bopardikar Joao P. Hespanha Maria D. Di Benedetto Department of Electrical Engineering University of L'Aquila Italy Center for Control Dynamical Systems and Computation University of California at Santa Barbara CA 93106 USA

Abstract We consider a game played between a hider, who hides a static object in one of several possible positions in a bounded planar region, and a searcher, who wishes to reach the object by querying sensors placed in the plane. The searcher is a mobile agent, and whenever it physically visits a sensor, the sensor returns a random direction, corresponding to a half-plane in which the hidden object is located. We first present a novel search heuristic and characterize bounds on the expected distance covered before reaching the object. Next, we model this game as a large-dimensional zero-sum dynamic game and we apply a recently introduced randomized sampling technique that provides a probabilistic level of security to the hider. We observe that, when the randomized sampling approach is only allowed to select a very small number of samples, the cost of the heuristic is comparable to the security level provided by the randomized procedure. However, as we allow the number of samples to increase, the randomized procedure provides a higher probabilistic security level.

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Target assignment for robotic networks: Asymptotic performance under limited communication

Target assignment for robotic networks: Asymptotic performan...

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American control Conference (ACC)

作者： Stephen L. Smith Francesco Bullo Department of Mechanical Engineering Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA

We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of designing a distributed algorithm that allows the group of agents to divide the targets among themselves and, simultaneously, leads each agent to reach its unique target. We do not require connectivity of the communication graph at any time. We introduce a novel assignment-based algorithm with the following features: initial assignments and robot motions follow a greedy rule, and distributed refinements of the assignment exploit an implicit circular ordering of the targets. We prove correctness of the algorithm, and give worst-case asymptotic bounds on the time to complete the assignment as the environment grows with the number of agents. We show that among a certain class of distributed algorithms, our algorithm is asymptotically optimal. The analysis utilizes results on the Euclidean traveling salesperson problem.

关键词： Mobile communication Distributed algorithms Mobile robots Communication system control Algorithm design and analysis Polynomials Concurrent computing Approximation algorithms Robot kinematics Cost function

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Results on solution sets to hybrid systems with applications to stability theory

Results on solution sets to hybrid systems with applications...

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American control Conference (ACC)

作者： R. Goebel A.R. Teel Seattle WA USA Center for Control Engineering and Computation Department of Electrical and Computer Engineering University of California Santa Barbara USA

Motivated by questions in stability theory for hybrid dynamical systems, we establish some fundamental properties of the set of solutions to such systems. Using the notion of a hybrid time domain and general results on set and graphical convergence, we establish under weak regularity and local boundedness assumptions that the set of solutions is sequentially compact and "upper semicontinuous" with respect to initial conditions and system perturbations. The latter means that each solution to the system under perturbations is close to some solution of the unperturbed system on a compact hybrid time domain. The general facts are then used to establish several results for the behavior of hybrid systems that have asymptotically stable compact sets. For example, it is shown that the basin of attraction for a compact attractor is (relatively) open, the attractivity is uniform from compact subsets of the basin of attraction, and asymptotic stability is robust with respect to small perturbations.

关键词： Robust stability Asymptotic stability control engineering control engineering computing Military computing Nonlinear control systems control systems Robust control Nonlinear systems Differential equations

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OUTPUT MANEUVERING FOR A CLASS OF NONLINEAR SYSTEMS

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IFAC Proceedings Volumes 2002年第1期35卷 501-506页

作者： Roger Skjetne Thor I. Fossen Petar Kokotović Department of Engineering Cybernetics Norwegian University of Science and Technology N-7491 Trondheim Norway Center for Control Engineering and Computation University of California Santa Barbara CA 93106 USA

The output maneuvering problem involves two tasks. The first, which is the geometric task, is to force the output to converge to a desired path parametrized by a continuous scalar variable θ. The second task is to satisfy a desired speed assignment along the path. The main concern is to satisfy the geometric task. However, the speed assignment will ensure that the output follows the path with sufficient speed. A recursive control design technique is developed for nonlinear plants in vectorial strict feedback form of any relative degree. First the geometric part of the problem is solved. Then an update law is constructed that bridges the geometric design with the speed assignment. An extra degree of freedom is provided for an operator to specify the speed θ. A computer simulation with a marine vessel is performed to illustrate the design.

关键词： Output maneuvering Path following Backstepping Nonlinear control Marine vessels

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When showing your hand pays off: Announcing strategic intentions in Colonel Blotto games

arXiv

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arXiv 2020年

作者： Chandan, Rahul Paarporn, Keith Marden, Jason R. Department of Electrical and Computer Engineering Center of Control Dynamical Systems and Computation UC SantaBarbara United States

— In competitive adversarial environments, it is often advantageous to obfuscate one’s strategies or capabilities. However, revealing one’s strategic intentions may shift the dynamics of the competition in complex ways. Can it ever be advantageous to reveal strategic intentions to an opponent? In this paper, we consider three-stage Colonel Blotto games in which one player can choose whether or not to pre-commit resources to a single battlefield before play begins. This pre-commitment is public knowledge. In response, the opponent can either secure the battlefield by matching the pre-commitment with its own forces, or withdraw. In a two-player setting, we show that a weaker player never has an incentive to pre-commit any amount of resources to a battlefield regardless of how valuable it is. We then consider a three-player setting in which two players fight against a common adversary on separate fronts. Only one of the two players facing the adversary has the option of pre-committing. We find there are instances where this player benefits from pre-committing. The analysis indicates that under non-cooperative team settings and no possibility of forming alliances, there can be incentives to publicly announce one’s strategic intentions to an adversary. Copyright © 2020, The Authors. All rights reserved.

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Sampling-based roadmap methods for a visual reconnaissance UAV

Sampling-based roadmap methods for a visual reconnaissance U...

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AIAA Guidance, Navigation, and control Conference

作者： Obermeyer, Karl J. Oberlin, Paul Darbha, Swaroop University of California at Santa Barbara Santa Barbara CA 93106 United States Texas A and M University College Station TX 77843 United States Center for Control Dynamical Systems and Computation United States Department of Mechanical Engineering United States

ISBN: (纸本)9781600869624

This article considers a path planning problem for a single fixed-wing aircraft performing a reconnaissance mission using EO (Electro-Optical) camera(s). A mathematical formulation of the general aircraft visual reconnaissance problem for static ground targets in terrain is given and it is shown, under simplifying assumptions, that it can be reduced to what we call the PVDTSP (Polygon-Visiting Dubins Traveling Salesman Problem), a variation of the famous TSP (Traveling Salesman Problem). Two algorithms are developed to solve the PVDTSP. They fall into the class of algorithms known as sampling-based roadmap methods because they operate by sampling a finite set of points from a continuous state space in order to reduce a continuous motion planning problem to planning on a finite discrete graph. The first method is resolution complete, which means it provably converges to a nonisolated global optimum as the number of samples grows. The second method achieves slightly shorter computation times by using approximate dynamic programming, but consequently is only guaranteed to converge to a nonisolated global optimum modulo target order. Numerical experiments indicate that, for up to about 20 targets, both methods deliver good solutions suitably quickly for online purposes. Additionally, both algorithms allow trade-off of computation time for solution quality and are shown extensible to handle wind, airspace constraints, any vehicle dynamics, and open-path (vs. closed-tour) problems. Copyright © 2010 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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Social power evolution in influence networks with stubborn individuals

arXiv

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arXiv 2019年

作者： Tian, Ye Jia, Peng Mirtabatabaei, Anahita Wang, Long Friedkin, Noah E. Bullo, Francesco Center for Complex Systems School of Mechanoelectronic Engineering Xidian University Xi’an710071 China Mechanical Engineering Department Center of Control Dynamical Systems and Computation UC Santa BarbaraCA93106 United States Mechanical Engineering Department Center of Control Dynamical Systems and Computation UC Santa BarbaraCA93106 United States Center for Systems and Control College of Engineering Peking University Beijing100871 China Department of Sociology Center for Control Dynamical Systems and Computation UC Santa BarbaraCA93106 United States

—This paper studies the evolution of social power in influence networks with stubborn individuals. Based on the Friedkin-Johnsen opinion dynamics and the reflected appraisal mechanism, two models are proposed over issue sequences and over a single issue, respectively. These models generalize the original DeGroot-Friedkin (DF) model by including stubbornness. To the best of our knowledge, this paper is the first attempt to investigate the social power evolution of stubborn individuals basing on the reflected appraisal mechanism. Properties of equilibria and convergence are provided. We show that the models have same equilibrium social power and convergence property, where the equilibrium social power depends only upon interpersonal influence and individuals’ stubbornness. Roughly speaking, more stubborn individual has more equilibrium social power. Moreover, unlike the DF model without stubbornness, we prove that for the models with stubbornness, autocracy can never be achieved, while democracy can be achieved under any network topology. Copyright © 2019, The Authors. All rights reserved.

关键词： Dynamical systems

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