Aperiodic Sampled-Data Control via Explicit Transmission Mapping: A Set Invariance Approach

Data-driven analysis and control of continuous-time systems under aperiodic sampling

We investigate stability analysis and controller design of unknown continuous-time systems under state-feedback with aperiodic sampling, using only noisy data but no model knowledge. We first derive a novel data-dependent parametrization of all linear time-invariant continuous-time systems which are consistent with the measured data and the assumed noise bound. Based on this parametrization and by combining tools from robust control theory and the time-delay approach to sampled-data control, we compute lower bounds on the maximum sampling interval (MSI) for closed-loop stability under a given …

Control Barrier Functions in Sampled-Data Systems

This paper presents conditions for ensuring forward invariance of safe sets under sampled-data system dynamics with piecewise-constant controllers and fixed time-steps. First, we introduce two different metrics to compare the conservativeness of sufficient conditions on forward invariance under piecewise-constant controllers. Then, we propose three approaches for guaranteeing forward invariance, two motivated by continuous-time barrier functions, and one motivated by discrete-time barrier functions. All proposed conditions are control affine, and thus can be incorporated into quadratic program…

线性脉冲系统简单区间观测器设计及其在采样数据和切换系统中的应用

Simple interval observers for linear impulsive systems with applications to sampled-data and switched systems

本文提出了一种简单区间观测器的设计方法，用于满足最小和范围驻留时间约束的线性脉冲系统，并通过三个示例展示了其在采样数据和切换系统中的应用。

带有后处理内模型的随机采样数据系统输出调节

Output Regulation of Stochastic Sampled-Data Systems with Post-processing Internal Model

本文研究了随机采样测量下LTI系统的输出调节问题，提出了一种含混合观测器和后处理内模型的调节器，利用类Lyapunov定理给出均方指数稳定的充分条件，并通过LMI实现数值可解设计。

Control Barrier Functions for Sampled-Data Systems with Input Delays

This paper considers the general problem of transitioning theoretically safe controllers to hardware. Concretely, we explore the application of control barrier functions (CBFs) to sampled-data systems: systems that evolve continuously but whose control actions are computed in discrete time-steps. While this model formulation is less commonly used than its continuous counterpart, it more accurately models the reality of most control systems in practice, making the safety guarantees more impactful. In this context, we prove robust set invariance with respect to zero-order hold controllers as wel…

Control Barrier Function Meets Interval Analysis: Safety-Critical Control with Measurement and Actuation Uncertainties

This paper presents a framework for designing provably safe feedback controllers for sampled-data control affine systems with measurement and actuation uncertainties. Based on the interval Taylor model of nonlinear functions, a sampled-data control barrier function (CBF) condition is proposed which ensures the forward invariance of a safe set for sampled-data systems. Reachable set overapproximation and Lasserre's hierarchy of polynomial optimization are used for finding the margin term in the sampled-data CBF condition. Sufficient conditions for a safe controller in the presence of measuremen…

采样数据Wasserstein分布鲁棒控制乘法系统：一种具有性能保证的凸松弛

Sampled-Data Wasserstein Distributionally Robust Control of Multiplicative Systems: A Convex Relaxation with Performance Guarantees

本文提出了一种针对乘法系统采样数据鲁棒控制的凸松弛方法，通过Wasserstein模糊集建模不确定性，提供严格的性能保证和鲁棒可行性条件。

非完整系统的事件触发源搜索控制

Event-Triggered Source Seeking Control for Nonholonomic Systems

本文提出首个事件触发源搜索控制算法，用于非完整独轮车模型，通过静态触发条件降低输入更新频率，在保证实用渐近收敛和避免Zeno行为的同时实现资源感知控制。

An Operator-Theoretic Approach to Robust Event-Triggered Control of Network Systems with Frequency-Domain Uncertainties

In this paper, we study the robustness of the event-triggered consensus algorithms against frequency-domain uncertainties. It is revealed that the sampling errors resulted by event triggering are essentially images of linear finite-gain $\mathcal{L}_2$-stable operators acting on the consensus errors of the sampled states and the event-triggered mechanism is equivalent to a negative feedback loop introduced additionally to the feedback system. In virtue of this, the robust consensus problem of the event-triggered network systems subject to additive dynamic uncertainties and network multiplicati…