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  • 251.
    Wallin, Ragnar
    et al.
    Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
    Hansson, Anders
    Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
    Harju Johansson, Janne
    Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
    A Structure Exploiting Preprocessor for Semidefinite Programs Derived From the Kalman-Yakubovich-Popov Lemma2009Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 54, nr 4, s. 697-704Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Semidefinite programs derived from the Kalman-Yakubovich-Popov (KYP) lemma are quite common in control and signal processing applications. The programs are often of high dimension which makes them hard or impossible to solve with general-purpose solvers. Here we present a customized preprocessor, KYPD, that utilizes the inherent structure of this particular optimization problem. The key to an efficient implementation is to transform the optimization problem into an equivalent semidefinite program. This equivalent problem has much fewer variables and the matrices in the linear matrix inequality constraints are of low rank. KYPD can use any primal-dual solver for semidefinite programs as an underlying solver.

  • 252.
    Weeraddana, Pradeep Chathuranga
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
    Athanasiou, Georgios
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
    Jakobsson, Martin
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
    Fischione, Carlo
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
    Baras, John S.
    University of Maryland.
    Per-se Privacy Preserving Distributed OptimizationInngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523Artikkel i tidsskrift (Annet vitenskapelig)
    Abstract [en]

    Ensuring privacy in distributed optimization is essential in many contexts, such as healthcare data,banks, e-commerce, government services, and social networks. In these contexts, it is common thatdifferent parties coordinate to solve a specific optimization problem whose data is dispersed amongthe parties, where no entity wants to publish its data during the solution procedure. Addressing theseproblems falls under the umbrella of well-knownsecured multiparty computation(SMC). Existingapproaches for SMC are mostly based on cryptography. Surprisingly, little attention has been devotedthus far to develop non-cryptographic approaches, that can be much more efficient. In this paper,we investigate alternative non-cryptographic methods based onmathematical optimization techniques.First, aunified frameworkto encapsulate existing non-cryptographic methods, which rely algebraictransformations to disguise sensitive problem data, is developed. The proposed framework capitalizes onkey optimization techniques, such aschange of variablesandtransformation of objective and constraintfunctions, for equivalent problem formation. Moreover, the privacy preserving properties that are inherentin the mathematical optimization techniques, including classical decomposition methods (e.g., primal anddual decomposition), and state-of-the-art methods, such as alternating direction method of multipliersare investigated. A general definition for quantifying the privacy in the context of non-cryptographicapproaches is proposed. A number of examples are provided to illustrate the importance of our proposedalgorithms. It is concluded that the theory is in its infancy and that huge benefits can be achieved by asubstantial development.

  • 253.
    Wei, Jieqiang
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Zhang, Silun
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
    Adaldo, Antonio
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Johan, Thunberg
    Hu, Xiaoming
    KTH, Skolan för teknikvetenskap (SCI), Matematik (Inst.), Optimeringslära och systemteori.
    Johansson, Karl H.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Finite-time attitude synchronization with distributed discontinuous protocols2018Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, nr 10, s. 3608-3615Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and non-smooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper.

  • 254.
    Wei, Jieqiang
    et al.
    ACCESS Linnaeus Centre School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden.
    Zhang, Silun
    School of Engineering Sciences, KTH Royal Institute of Technology, Stockholm, Sweden..
    Adaldo, Antonio
    ACCESS Linnaeus Centre School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden.
    Thunberg, Johan
    Högskolan i Halmstad, Akademin för informationsteknologi. Luxembourg Centre for Systems Biomedicine, University of Luxembourg, Luxembourg.
    Hu, Xiaoming
    Division of Optimization and Systems Theory Department of Mathematics, KTH Royal Institute of Technology, Stockholm, Sweden.
    Johansson, Karl Henrik
    ACCESS Linnaeus Centre School of Electrical Engineering, KTH Royal Institute of Technology, Stockholm, Sweden.
    Finite-Time Attitude Synchronization With Distributed Discontinuous Protocols2018Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, nr 10, s. 3608-3615Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The finite-time attitude synchronization problem is considered in this paper, where the rotation of each rigid body is expressed using the axis-angle representation. Two discontinuous and distributed controllers using the vectorized signum function are proposed, which guarantee almost global and local convergence, respectively. Filippov solutions and nonsmooth analysis techniques are adopted to handle the discontinuities. Sufficient conditions are provided to guarantee finite-time convergence and boundedness of the solutions. Simulation examples are provided to verify the performances of the control protocols designed in this paper. 

  • 255.
    Wiese, Moritz
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS).
    Oechtering, Tobias J.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Teknisk informationsvetenskap.
    Johansson, Karl H.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Papadimitratos, Panagiotis
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Nätverk och systemteknik.
    Sandberg, Henrik
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Skoglund, Mikael
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Teknisk informationsvetenskap.
    Secure Estimation and Zero-Error Secrecy Capacity2019Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 64, nr 3, s. 1047-1062Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    We study the problem of securely estimating the states of an unstable dynamical system subject to non-stochastic disturbances. The estimator obtains all its information through an uncertain channel, which is subject to nonstochastic disturbances as well, and an eavesdropper obtains a disturbed version of the channel inputs through a second uncertain channel. An encoder observes and block encodes the states in such a way that, upon sending the generated codeword, the estimator's error is bounded and a security criterion is satisfied, thereby ensuring that the eavesdropper obtains as little state information as possible. Two security criteria are considered and discussed with the help of a numerical example. A sufficient condition on the uncertain wiretap channel, i.e., the pair formed by the uncertain channel from the encoder to the estimator and the uncertain channel from the encoder to the eavesdropper is derived, which ensures that a bounded estimation error and security are achieved. This condition is also shown to be necessary for a subclass of uncertain wiretap channels. To formulate the condition, the zero-error secrecy capacity of uncertain wiretap channels is introduced, i.e., the maximal rate at which data can be transmitted from the encoder to the estimator in such a way that the eavesdropper is unable to reconstruct the transmitted data. Finally, the zero-error secrecy capacity of uncertain wiretap channels is studied.

  • 256.
    Wigren, Torbjörn
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Reglerteknik.
    Circle criteria in recursive identification1997Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 42, nr 7, s. 975-979Artikkel i tidsskrift (Fagfellevurdert)
  • 257.
    Wigren, Torbjörn
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Reglerteknik.
    Convergence analysis of recursive identification algorithms based on the nonlinear Wiener model1994Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 39, nr 11, s. 2191-2206Artikkel i tidsskrift (Fagfellevurdert)
  • 258.
    Wigren, Torbjörn
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Reglerteknik.
    ODE analysis and redesign in blind adaptation1997Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 42, nr 12, s. 1742-1747Artikkel i tidsskrift (Fagfellevurdert)
  • 259.
    Wigren, Torbjörn
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Reglerteknik.
    Output error convergence of adaptive filters with compensation for output nonlinearities1998Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 43, nr 7, s. 975-978Artikkel i tidsskrift (Fagfellevurdert)
  • 260.
    Wigren, Torbjörn
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Avdelningen för systemteknik. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Reglerteknik.
    Nordsjö, Anders E.
    Compensation of the RLS algorithm for output nonlinearities1999Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 44, nr 10, s. 1913-1918Artikkel i tidsskrift (Fagfellevurdert)
  • 261.
    Witrant, Emmanuel
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik.
    Canudas-de-Wit, Carlos
    Georges, Didier
    Alamir, Mazen
    Remote stabilization via communication networks with a distributed control law2007Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 52, nr 8, s. 1480-1485Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In this note, we investigate the problem of remote stabilization via communication networks involving some time-varying delays of Known average dynamics. This problem arises when the control law is remotely implemented and leads to the problem of stabilizing an open-loop unstable system with time-varying delay. We use a time-varying horizon predictor to design a stabilizing control law that sets the poles of the closed-loop system. The computation of the horizon of the predictor is investigated and the proposed control law explicitly takes into account an estimation of the average delay dynamics. The resulting closed loop system robustness with respect to some uncertainties on the delay estimation is also considered. Simulation results are finally presented.

  • 262. Wu, Junfeng
    et al.
    Jia, Qing-Shan
    Johansson, Karl Henrik
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Shi, Ling
    Event-Based Sensor Data Scheduling: Trade-Off Between Communication Rate and Estimation Quality2013Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 58, nr 4, s. 1041-1046Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    We consider sensor data scheduling for remote state estimation. Due to constrained communication energy and bandwidth, a sensor needs to decide whether it should send the measurement to a remote estimator for further processing. We propose an event-based sensor data scheduler for linear systems and derive the corresponding minimum squared error estimator. By selecting an appropriate eventtriggering threshold, we illustrate how to achieve a desired balance between the sensor-to-estimator communication rate and the estimation quality. Simulation examples are provided to demonstrate the theory.

  • 263. Wu, Junfeng
    et al.
    Johansson, Karl Henrik
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Shi, Ling
    A Stochastic Online Sensor Scheduler for Remote State Estimation With Time-Out Condition2014Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 59, nr 11, s. 3110-3116Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This technical note considers remote state estimation subject to limited sensor-estimator communication rate. We propose a stochastic online sensor scheduler for remote state estimation with time-out condition. The decision rule under which the sensor sends data is based on its measurements and a finite-state holding time between the present and the most recent sensor-to-estimator communication instance. This decision process is formulated as an optimization problem, relaxed and solved using generalized geometric programming optimization techniques with a low computational complexity. Moreover, the proposed scheduler is easy to execute, and provides a guaranteed performance which is shown to outperform the optimal offline scheduler. Numerical examples are provided to illustrate the proposed scheduler.

  • 264.
    Wu, Junfeng
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    Shi, Guodong
    Australian Natl Univ, Res Sch Engn, Canberra, ACT 0200, Australia..
    Anderson, Brian D. O.
    Australian Natl Univ, Res Sch Engn, Canberra, ACT 0200, Australia..
    Johansson, Karl Henrik
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    Kalman Filtering Over Gilbert-Elliott Channels: Stability Conditions and Critical Curve2018Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, nr 4, s. 1003-1017Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper investigates the stability of Kalman filtering over Gilbert-Elliott channels where random packet drops follow a time-homogeneous two-state Markov chain whose state transition is determined by a pair of failure and recovery rates. First of all, we establish a relaxed condition guaranteeing peak-covariance stability described by an inequality in terms of the spectral radius of the system matrix and transition probabilities of the Markov chain. We further show that the condition can be interpreted using a linear matrix inequality feasibility problem. Next, we prove that the peak-covariance stability implies mean-square stability, if the system matrix has no defective eigenvalues on the unit circle. This connection between the two stability notions holds for any random packet drop process. We prove that there exists a critical curve in the failure-recovery rate plane, below which the Kalman filter is mean-square stable and no longer mean-square stable above. Finally, a lower bound for this critical failure rate is obtained making use of the relationship we establish between the two stability criteria, based on an approximate relaxation of the system matrix.

  • 265.
    Xia, Weiguo
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Cao, Ming
    Sarymsakov Matrices and Asynchronous Implementation of Distributed Coordination Algorithms2014Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 59, nr 8, s. 2228-2233Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    We provide new insight into the somewhat obscure definition of the Sarymsakov class of stochastic matrices and use it to construct a new necessary and sufficient condition for the convergence of products of stochastic matrices. Such convergence result is critical in establishing the effectiveness of distributed coordination algorithms for multi-agent systems and enables us to investigate a specific coordination task with asynchronous update events. The set of scrambling stochastic matrices, a subclass of the Sarymsakov class, is utilized to establish the convergence of the agents' states even when there is no common clock for the agents to synchronize their update actions.

  • 266.
    Xia, Weiguo
    et al.
    Dalian Univ Technol, Sch Control Sci & Engn, Dalian 116023, Peoples R China..
    Shi, Guodong
    Univ Sydney, Sch Aerosp Mech & Mechatron Engn, Australian Ctr Field Robot, Sydney, NSW 2008, Australia.;Australian Natl Univ, Res Sch Engin, Canberra, ACT 0200, Australia..
    Meng, Ziyang
    Tsinghua Univ, Dept Precis Instrument, State Key Lab Precis Measurement Technol & Instru, Beijing 100084, Peoples R China..
    Cao, Ming
    Univ Groningen, Engn & Technol Inst Groningen, Fac Sci & Engn, NL-9712 Groningen, Netherlands..
    Johansson, Karl H.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    Persis en Flows in Deterministic Chains2019Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 64, nr 7, s. 2766-2781Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper studies, the role of persistent flows in the convergence of infinite backward products of stochastic matrices of deterministic chains over networks with nonreciprocal interactions between agents. An arc describing the interaction strength between two agents is said to be persistent if its weight function has an infinite l(1) norm; convergence of the infinite backward products to a rank-one matrix of a deterministic chain of stochastic matrices is equivalent to achieving consensus at the node states. We discuss two balance conditions on the interactions between agents, which generalize the arc-balance and cut-balance conditions in the literature, respectively. The proposed conditions require that such a balance should be satisfied over each time window of a fixed length instead of at each time instant. We prove that in both cases global consensus is reached if and only if the persistent graph, which consists of all the persistent arcs, contains a directed spanning tree. The convergence rates of the system to consensus are also provided in terms of the interactions between agents having taken place. The results are obtained under a weak condition without assuming the existence of a positive lower bound of all the nonzero weights of arcs and are compared with the existing results. Illustrative examples are provided to validate the results and show the critical importance of the nontrivial lower boundedness of the self-confidence of the agents.

  • 267.
    Xie, Liang-Liang
    et al.
    Chinese Academy of Sciences, China.
    Ljung, Lennart
    Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
    Asymptotic Variance Expressions for Estimated Frequency Functions2001Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 46, nr 12, s. 1887-1899Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Expressions for the variance of an estimated frequency function are necessary for many issues in model validation and experiment design. A general result is that a simple expression for this variance can be obtained asymptotically as the model order tends to infinity. This expression shows that the variance is inversely proportional to the signal-to-noise ratio frequency by frequency. Still, for low order models the actual variance may be quite different. This has also been pointed out in several recent publications. In this contribution we derive an exact expression for the variance, which is not asymptotic in the model order. This expression applies to a restricted class of models: AR-models, as well as fixed pole models with a polynomial noise model. It brings out the character of the simple approximation and the convergence rate to the limit as the model order increases. It also provides nonasymptotic lower bounds for the general case. The calculations are illustrated by numerical examples.

  • 268. Yang, T.
    et al.
    Meng, Z.
    Shi, G.
    Hong, Y.
    Johansson, Karl H.
    KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Network synchronization with nonlinear dynamics and switching interactions2016Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 61, nr 10, s. 3103-3108, artikkel-id 7317753Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This technical note considers the synchronization problem for networks of coupled nonlinear dynamical systems under switching communication topologies. Two types of nonlinear agent dynamics are considered. The first one is non-expansive dynamics [stable dynamics with a convex Lyapunov function φ(·)] and the second one is dynamics that satisfies a global Lipschitz condition. For the non-expansive case, we show that various forms of joint connectivity for communication graphs are sufficient for networks to achieve global asymptotic φ-synchronization. We also show that φ-synchronization leads to state synchronization provided that certain additional conditions are satisfied. For the globally Lipschitz case, unlike the non-expansive case, joint connectivity alone is not sufficient for achieving synchronization. A sufficient condition for reaching global exponential synchronization is established in terms of the relationship between the global Lipschitz constant and the network parameters. © 2015 IEEE.

  • 269.
    Yasini, Sholeh
    et al.
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Avdelningen för systemteknik. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Reglerteknik.
    Pelckmans, Kristiaan
    Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Avdelningen för systemteknik. Uppsala universitet, Teknisk-naturvetenskapliga vetenskapsområdet, Matematisk-datavetenskapliga sektionen, Institutionen för informationsteknologi, Reglerteknik.
    Worst-case prediction performance analysis of the Kalman filter2018Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, nr 6, s. 1768-1775Artikkel i tidsskrift (Fagfellevurdert)
  • 270.
    Yi, Xinlei
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Liu, Kun
    Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China..
    Dimarogonas, Dimos V.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, Centrum för autonoma system, CAS. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    Johansson, Karl H.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik. KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    Dynamic Event-Triggered and Self-Triggered Control for Multi-agent Systems2019Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 64, nr 8, s. 3300-3307Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    We propose two novel dynamic event-triggered control laws to solve the average consensus problem for first-order continuous-time multiagent systems over undirected graphs. Compared with the most existing triggering laws, the proposed laws involve internal dynamic variables, which play an essential role in guaranteeing that the triggering time sequence does not exhibit Zeno behavior. Moreover, some existing triggering laws are special cases of ours. For the proposed self-triggered algorithm, continuous agent listening is avoided as each agent predicts its next triggering time and broadcasts it to its neighbors at the current triggering time. Thus, each agent only needs to sense and broadcast at its triggering times, and to listen to and receive incoming information from its neighbors at their triggering times. It is proved that the proposed triggering laws make the state of each agent converge exponentially to the average of the agents' initial states if and only if the underlying graph is connected. Numerical simulations are provided to illustrate the effectiveness of the theoretical results.

  • 271.
    Yu, Chengpu
    et al.
    Beijing Inst Technol, Peoples R China; Delft Univ Technol, Netherlands.
    Verhaegen, Michel
    Delft Univ Technol, Netherlands.
    Hansson, Anders
    Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska fakulteten.
    Subspace Identification of Local Systems in One-Dimensional Homogeneous Networks2018Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, nr 4, s. 1126-1131Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This note considers the identification of large-scale one-dimensional networks consisting of identical LTI dynamical systems. A subspace identification method is developed that only uses local input-output information and does not rely on knowledge about the local state interaction. The proposed identification method estimates the Markov parameters of a locally lifted system, following the state-space realization of a single subsystem. The Markov-parameter estimation is formulated as a rank minimization problem by exploiting the low-rank property and the two-layer Toeplitz structural property in the data equation, whereas the state-space realization of a single subsystem is formulated as a structured low-rank matrix-factorization problem. The effectiveness of the proposed identification method is demonstrated by simulation examples.

  • 272.
    Yu, Pian
    et al.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Fischione, Carlo
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Nätverk och systemteknik.
    Dimarogonas, Dimos V.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Reglerteknik.
    Distributed Event-Triggered Communication and Control of Linear Multiagent Systems Under Tactile Communication2018Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, nr 11, s. 3979-3985Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This note is concerned with the consensus of linear multiagent systems under tactile communication. Motivated by the emerging tactile communication technology where extremely low latency has to be supported, a distributed event-triggered communication and control scheme is proposed for the data reduction of each agent. First, an event-triggered data reduction scheme is designed for the communication between neighbors. Under such a communication scheme, a distributed event-triggered output feedback controller is further implemented for each agent, which is updated asynchronously with the communication action. It is proven that the consensus of the underlying multiagent systems is achieved asymptotically. Furthermore, it is shown that the proposed communication and control strategy fulfils the reduction of both the frequency of communication and controller updates as well as excluding Zeno behavior. A numerical example is given to illustrate the effectiveness of the proposed control strategy.

  • 273.
    Zaidi, Ali Abbas
    et al.
    KTH, Skolan för elektro- och systemteknik (EES), Kommunikationsteori.
    Oechtering, Tobias J.
    KTH, Skolan för elektro- och systemteknik (EES), Kommunikationsteori.
    Serdar, Yuksel
    Mathematics and Statistics, Queen's University, Canada.
    Skoglund, Mikael
    KTH, Skolan för elektro- och systemteknik (EES), Kommunikationsteori.
    Stabilization of Linear Systems Over Gaussian Networks2014Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 59, nr 9, s. 2369-2384Artikkel i tidsskrift (Fagfellevurdert)
  • 274. Zamani, Mohsen
    et al.
    Bottegal, Giulio
    KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
    Anderson, Brian D. O.
    On the Zero-Freeness of Tall Multirate Linear Systems2016Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 61, nr 11, s. 3606-3611Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In this technical note, tall discrete-time linear systems with multirate outputs are studied. In particular, we focus on their zeros. In systems and control literature zeros of multirate systems are defined as those of their corresponding time-invariant systems obtained through blocking of the original multirate systems. We assume that blocked systems are tall, i.e., have more outputs than inputs. It is demonstrated that, for generic choice of the parameter matrices, linear systems with multirate outputs generically have no finite nonzero zeros. However, they may have zeros at the origin or at infinity depending on the choice of blocking delay and the input, state and output dimensions.

  • 275.
    Zhang, Huimin
    et al.
    School of Electro-Mechanical Engineering, Xidian University, Xi'an China.
    Feng, Lei
    KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.), Mekatronik.
    Li, Zhiwu
    School of Electro-Mechnical Engineering, Xidian University, Xi'an China.
    A learning-based synthesis approach to the supremal nonblocking supervisor of discrete-event systems2018Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, nr 10, s. 3345-3360Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The paper presents a novel approach to synthesize supremal nonblocking supervisors of discrete-event systems (DES), when the automaton models of specifications are not available. Extending the L* learning algorithm, an S* algorithm is developed to infer a tentatively correct supervisor. If the tentatively correct supervisor is nonblocking, it is indeed the supremal nonblocking supervisor with respect to the plant and specifications. Otherwise, the blocking automaton is regarded as a new plant, and the specification is the nonblocking property. Then, the supremal nonblocking supervisor with respect to the new problem is computed using supervisory control theory of DES. Two simplification rules are introduced to the S* algorithm to decrease the computational cost. Finally, the S* algorithm is implemented based on the LearnLib framework, and experiments are performed to verify the proposed approach.

  • 276.
    Zhao, Shiyu
    et al.
    Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield S10 2TN, S Yorkshire, England..
    Dimarogonas, Dimos V.
    KTH, Skolan för elektroteknik och datavetenskap (EECS), Centra, ACCESS Linnaeus Centre.
    Sun, Zhiyong
    Australian Natl Univ, Res Sch Engn, Canberra, ACT 0200, Australia..
    Bauso, Dario
    Univ Sheffield, Dept Automat Control & Syst Engn, Sheffield S10 2TN, S Yorkshire, England..
    A General Approach to Coordination Control of Mobile Agents With Motion Constraints2018Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 63, nr 5, s. 1509-1516Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper proposes a general approach to design convergent coordination control laws for multiagent systems subject to motion constraints. The main contribution of this paper is to prove in a constructive way that a gradient-descent coordination control law designed for single integrators can be easily modified to adapt for various motion constraints such as nonholonomic dynamics, linear/angular velocity saturation, and other path constraints while preserving the convergence of the entire multiagent system. The proposed approach is applicable to a wide range of coordination tasks such as rendezvous and formation control in two and three dimensions. As a special application, the proposed approach solves the problem of distance-based formation control subject to nonholonomic and velocity saturation constraints.

  • 277.
    Ögren, Petter
    et al.
    Swedish Defense Research Agency.
    Fiorelli, Eddie
    Princeton University.
    Leonard, Naomi
    Princeton University.
    Cooperative Control of Mobile Sensor Networks: Adaptive Gradient Climbing in a Distributed Environment2004Inngår i: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 49, nr 8, s. 1292-1302Artikkel i tidsskrift (Fagfellevurdert)
3456 251 - 277 of 277
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