In this paper, a linear hyperbolic system of balance laws with boundary disturbances in one dimension is considered. An explicit candidate Input-to-State Stability (ISS)-Lyapunov function in $ L^2- $norm is considered and discretised to investigate conditions for ISS of the discrete system as well. Finally, experimental results on test examples including the Saint-Venant equations with boundary disturbances are presented. The numerical results demonstrate the expected theoretical decay of the Lyapunov function.
A boundary feedback stabilisation problem of non-uniform linear hyperbolic systems of balance laws with additive disturbance is discussed. A continuous and a corresponding discrete Lyapunov function is defined. Using an input-to-state-stability (ISS) $ L^2- $Lyapunov function, the decay of solutions of linear systems of balance laws is proved. In the discrete framework, a first-order finite volume scheme is employed. In such cases, the decay rates can be explicitly derived. The main objective is to prove the Lyapunov stability for the $L^2$-norm for linear hyperbolic systems of balance laws wi…
This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state trajectories to an ultimate bound around the origin with size increasing with the magnitude of the disturbances. Performing a suitable change of coordinates, the latter result can be used to design a controller that is able to track reference trajectories that are solutions of the unperturbed fractional-order system. To overcome the challenges associated wi…
In this paper, an optimal output consensus problem is studied for discrete-time linear multiagent systems subject to external disturbances. Each agent is assigned with a local cost function which is known only to itself. Distributed protocols are to be designed to guarantee an output consensus for these high-order agents and meanwhile minimize the aggregate cost as the sum of these local costs. To overcome the difficulties brought by high-order dynamics and external disturbances, we develop an embedded design and constructively present a distributed rule to solve this problem. The proposed con…
Arizona State University（亚利桑那州立大学）；University of Colorado Boulder（科罗拉多大学博尔德分校）；CIDSE（CIDSE（可译为“科罗拉多独立研究与教育中心”或保留原缩写））
Control Barrier Functions (CBF) have been recently utilized in the design of provably safe feedback control laws for nonlinear systems. These feedback control methods typically compute the next control input by solving an online Quadratic Program (QP). Solving QP in real-time can be a computationally expensive process for resource constraint systems. In this work, we propose to use imitation learning to learn Neural Network-based feedback controllers which will satisfy the CBF constraints. In the process, we also develop a new class of High Order CBF for systems under external disturbances. We…
In this paper input-to-state practically stabilizing control laws for retarded, control-affine, nonlinear systems with actuator disturbance are investigated. The developed methodology is based on the Arstein's theory of control Liapunov functions and related Sontag's formula, extended to retarded systems. If the actuator disturbance is bounded, then the controller yields the solution of the closed-loop system to achieve an arbitrarily fixed neighborhood of the origin, by increasing a control tuning parameter. The considered systems can present an arbitrary number of discrete as well as distrib…
Stability analysis tools are essential to understanding and controlling any engineering system. Recently sum-of-squares (SOS) based methods have been used to compute Lyapunov based estimates for the region-of-attraction (ROA) of polynomial dynamical systems. But for a real-life large scale dynamical system this method becomes inapplicable because of growing computational burden. In such a case, it is important to develop a subsystem based stability analysis approach which is the focus of the work presented here. A parallel and scalable algorithm is used to infer stability of an interconnected …
Recently sum-of-squares (SOS) based methods have been used for the stability analysis and control synthesis of polynomial dynamical systems. This analysis framework was also extended to non-polynomial dynamical systems, including power systems, using an algebraic reformulation technique that recasts the system's dynamics into a set of polynomial differential algebraic equations. Nevertheless, for large scale dynamical systems this method becomes inapplicable due to its computational complexity. For this reason we develop a subsystem based stability analysis approach using vector Lyapunov funct…
We provide a thorough study of stability of the 1-D continuity equation, which models many physical conservation laws. In our system-theoretic perspective, the velocity is considered to be an input. An additional input appears in the boundary condition (boundary disturbance). Stability estimates are provided in all Lp state norms with p>1, as well as in the sup norm. However, in our Input-to-State Stability estimates, the gain and overshoot coefficients depend on the velocity. Moreover, the logarithmic norm of the state appears instead of the usual norm. The obtained results can be used in the…
Anisotropic Norm Bounded Real Lemma for Linear Discrete Time Varying Systems
Bauman Moscow State Technical University（鲍曼莫斯科国立技术大学）；Institute of Control Sciences（控制科学研究所）；University of New South Wales at the Australian Defence Force Academy（澳大利亚国防军学院新南威尔士大学）
