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1. Adaptive Quasi-Static Control of Multistable Systems

   https://doi.org/10.23919/ACC45564.2020.9147394  

   Bruce, Adam L.; Mohseni, Nima; Goel, Ankit; Bernstein, Dennis S. (July 2020, Proc. American Control Conference)

   In some applications of control, the objective is to optimize the constant asymptotic response of the system by moving the state of the system from one forced equilibrium to another. Since suppression of the transient response is not the main objective, the feedback control law can operate quasistatically, that is, extremely slowly relative to the open-loop dynamics. Although integral control can be used to achieve the desired setpoint, three issues must be addressed, namely, nonlinearity, uncertainty, and multistability, where multistability refers to the fact that multiple locally stable equilibria may exist for the same constant input. In fact, multistability is the mechanism underlying hysteresis. The present paper applies an adaptive digital PID controller to achieve quasi-static control of systems that are nonlinear, uncertain, and multistable. The approach is demonstrated on multistable systems involving unmodeled cubic and backlash nonlinearities. 

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2. Perfect Conditional ε ‐Equilibria of Multi‐Stage Games With Infinite Sets of Signals and Actions

   https://doi.org/10.3982/ECTA13426  

   Myerson, Roger B.; Reny, Philip J. (January 2020, Econometrica)

   We extend Kreps and Wilson's concept of sequential equilibrium to games with infinite sets of signals and actions. A strategy profile is a conditional ε ‐equilibrium if, for any of a player's positive probability signal events, his conditional expected utility is within ε of the best that he can achieve by deviating. With topologies on action sets, a conditional ε ‐equilibrium is full if strategies give every open set of actions positive probability. Such full conditional ε ‐equilibria need not be subgame perfect, so we consider a non‐topological approach. Perfect conditional ε ‐equilibria are defined by testing conditional ε ‐rationality along nets of small perturbations of the players' strategies and of nature's probability function that, for any action and for almost any state, make this action and state eventually (in the net) always have positive probability. Every perfect conditional ε ‐equilibrium is a subgame perfect ε ‐equilibrium, and, in finite games, limits of perfect conditional ε ‐equilibria as ε  → 0 are sequential equilibrium strategy profiles. But limit strategies need not exist in infinite games so we consider instead the limit distributions over outcomes. We call such outcome distributions perfect conditional equilibrium distributions and establish their existence for a large class of regular projective games. Nature's perturbations can produce equilibria that seem unintuitive and so we augment the game with a net of permissible perturbations. 

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3. Stability of schooling patterns of a fish pair swimming against a flow

   https://doi.org/10.1017/flo.2023.25  

   Das, Rishita; Peterson, Sean D; Porfiri, Maurizio (January 2023, Flow)

   Fish often swim in crystallized group formations (schooling) and orient themselves against the incoming flow (rheotaxis). At the intersection of these two phenomena, we investigate the emergence of unique schooling patterns through passive hydrodynamic mechanisms in a fish pair, the simplest subsystem of a school. First, we develop a fluid dynamics-based mathematical model for the positions and orientations of two fish swimming against a flow in an infinite channel, modelling the effect of the self-propelling motion of each fish as a point-dipole. The resulting system of equations is studied to gain an understanding of the properties of the dynamical system, its equilibria and their stability. The system is found to have five types of equilibria, out of which only upstream swimming in in-line and staggered formations can be stable. A stable near-wall configuration is observed only in limiting cases. It is shown that the stability of these equilibria depends on the flow curvature and streamwise interfish distance, below critical values of which, the system may not have a stable equilibrium. The study reveals that simply through passive fluid dynamics, in the absence of any other feedback/sensing, we can justify rheotaxis and the existence of stable in-line and staggered schooling configurations. 

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4. A Collective Colony Migration Model with Hill Functions in Recruitment

   https://doi.org/10.1142/S0218127422502133  

   Wang, Lisha; Qiu, Zhipeng; Kang, Yun (November 2022, International Journal of Bifurcation and Chaos)

   Social insect colonies’ robust and efficient collective behaviors without any central control contribute greatly to their ecological success. Colony migration is a leading subject for studying collective decision-making in migration. In this paper, a general colony migration model with Hill functions in recruitment is proposed to investigate the underlying decision making mechanism and the related dynamical behaviors. Our analysis provides the existence and stability of equilibrium, and the global dynamical behavior of the system. To understand how piecewise functions and Hill functions in recruitment impact colony migration dynamics, the comparisons are performed in both analytic results and bifurcation analysis. Our theoretical results show that the dynamics of the migration system with Hill functions in recruitment differs from that of the migration system with piecewise functions in the following three aspects: (1) all population components in our colony migration model with Hill functions in recruitment are persistent; (2) the colony migration model with Hill functions in recruitment has saddle and saddle-node bifurcations, while the migration system with piecewise functions does not; (3) the system with Hill functions has only equilibrium dynamics, i.e. either has a global stability at one interior equilibrium or has bistablity among two locally stable interior equilibria. Bifurcation analysis shows that the geometrical shape of the Hill functions greatly impacts the dynamics: (1) the system with flatter Hill functions is less likely to exhibit bistability; (2) the system with steeper functions is prone to exhibit bistability, and the steady state of total active workers is closer to that of active workers in the system with piecewise function. 

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5. Model reference adaptive control for nonlinear time‐varying hybrid dynamical systems

   https://doi.org/10.1002/acs.3631  

   L'Afflitto, Andrea (August 2023, International Journal of Adaptive Control and Signal Processing)

   M. Grimble (Ed.)

   Summary This paper presents the first model reference adaptive control system for nonlinear, time‐varying, hybrid dynamical plants affected by matched and parametric uncertainties, whose resetting events are unknown functions of time and the plant's state. In addition to a control law and an adaptive law, which resemble those of the classical model reference adaptive control framework for continuous‐time dynamical systems, the proposed framework allows imposing instantaneous variations in the reference model's trajectory to rapidly steer the trajectory tracking error to zero, while retaining the closed‐loop system's ability to follow a user‐defined signal. These results are enabled by the first extension of the classical LaSalle–Yoshizawa theorem to time‐varying hybrid dynamical systems, which is presented in this paper as well. A numerical simulation shows the key features of the proposed adaptive control system and highlights its ability to reduce both the control effort and the trajectory tracking error over a classical model reference adaptive control system applied to the same problem. 

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