PUBLICATIONS CONTENT DIGEST

December 2018

TABLE OF CONTENTS

CSS Publications Activities

Vice-President

THOMAS PARISINI Imperial College London and University of Trieste http://www.ieeecss.org/publications/css-publications

Journal Editors

IEEE Transactions on Automatic Control

ALESSANDRO ASTOLFI Imperial College London and University of Rome “Tor Vergata”

http://www.ieeecss.org/publications/tac

IEEE Transactions on Control Systems Technology

ANDREA SERRANI Ohio State University

http://www.ieeecss.org/publications/tcst

IEEE Transactions on Control of Network Systems

IOANNIS PASCHALIDIS Boston University

JEFF SHAMMA Deputy Editor-in-Chief King Abdullah University of Science and Technology

http://www.ieeecss.org/publications/transactions-control-network-systems

IEEE Control Systems Magazine

JONATHAN HOW Massachusetts Institute of Technology

http://www.ieeecss.org/publications/csm

IEEE Control Systems Letters

MARIA ELENA VALCHER University of Padua

http://ieee-cssletters.dei.unipd.it/index.php

Electronics Editor

E-letter on Systems, Control and Signal Processing

JIANGHAI HU Purdue University

http://www.ieeecss.org/publications/e-letter/e-letter

*Submission and editorial instructions can be found on each publication’s homepage

For subscription to the monthly E-Letter, please visit:

http://www.ieeecss.org/newsletter/subscriptions

December 2018

SOCIETY PERIODICALS

DECEMBER 2018 VOLUME 63 NUMBER 12 IETAA9 (ISSN 0018-9286)

Scanning the Issue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4033

REGULAR PAPERS

Numerical Methods for Stochastic Differential Equations in Matrix Lie Groups Made Simple . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . G. Marjanovic and V. Solo 4035

Probabilistic Motion Planning Under Temporal Tasks and Soft Constraints . . . . . . . . . . . . . . . M. Guo and M. M. Zavlanos 4051A General Scenario Theory for Nonconvex Optimization and Decision Making . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . M. C. Campi, S. Garatti, and F. A. Ramponi 4067On the Optimal Control of Passive or Nonexpansive Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T. H. Hughes 4079Incremental Stability of Hybrid Dynamical Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. J. B. Biemond, R. Postoyan, W. P. M. H. Heemels, and N. van de Wouw 4094A New Varying-Parameter Convergent-Differential Neural-Network for Solving Time-Varying Convex QP Problem

Constrained by Linear-Equality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Z. Zhang, Y. Lu, L. Zheng, S. Li, Z. Yu, and Y. Li 4110Tight Global Linear Convergence Rate Bounds for Operator Splitting Methods . . . . . . . . . . . . G. Banjac and P. J. Goulart 4126Affine Formation Maneuver Control of Multiagent Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S. Zhao 4140Observer Design for Triangular Systems Under Weak Observability Assumptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D. Theodosis, D. Boskos, and J. Tsinias 4156Sparse Bayesian Nonlinear System Identification Using Variational Inference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . W. R. Jacobs, T. Baldacchino, T. Dodd, and S. R. Anderson 4172Algebraic Methods for Multiobjective Optimal Design of Control Feedbacks for Linear Systems . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L. Menini, C. Possieri, and A. Tornambe 4188Optimal Event-Driven Multiagent Persistent Monitoring of a Finite Set of Data Sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .N. Zhou, X. Yu, S. B. Andersson, and C. G. Cassandras 4204Backstepping Control of Coupled Linear Parabolic PIDEs With Spatially Varying Coefficients . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Deutscher and S. Kerschbaum 4218Separable and Localized System-Level Synthesis for Large-Scale Systems . . . . . . . Y.-S. Wang, N. Matni, and J. C. Doyle 4234A Unified Stochastic Hybrid System Approach to Aggregate Modeling of Responsive Loads . . . . .L. Zhao and W. Zhang 4250

(Contents Continued on Back Cover)

(Contents Continued from Front Cover)

TECHNICAL NOTES

Bilinear Transformation for Discrete-Time Positive Real and Negative Imaginary Systems . . . . . . . . . M. Liu and J. Xiong 4264PDE Boundary Control of Multi-Input LTI Systems With Distinct and Uncertain Input Delays . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Y. Zhu, M. Krstic, and H. Su 4270Decentralized Supervisory Control of Discrete Event Systems: An Arborescent Architecture to Realize Inference-Based

Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A. Khoumsi and H. Chakib 4278Structure Preserving Truncation of Nonlinear Port Hamiltonian Systems . . . . . . . . . . . . . Y. Kawano and J. M. A. Scherpen 4286Distributed Inertial Best-Response Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . B. Swenson, C. Eksin, S. Kar, and A. Ribeiro 4294A Novel Method to Estimate the Reaching Time of the Super-Twisting Algorithm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R. Seeber, M. Horn, and L. Fridman 4301On the Finite-Time Regulation of Euler–Lagrange Systems Without Velocity Measurements . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E. Cruz-Zavala, E. Nuno, and J. A. Moreno 4309Guaranteed State Estimation for Nonlinear Discrete-Time Systems via Indirectly Implemented Polytopic Set Computation

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . J. Wan, S. Sharma, and R. Sutton 4317Mean Square Stability Analysis of Stochastic Continuous-Time Linear Networked Systems . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . S. Pushpak Nandanoori, A. Diwadkar, and U. Vaidya 4323Distributed Convex Optimization with Inequality Constraints over Time-Varying Unbalanced Digraphs . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . P. Xie, K. You, R. Tempo, S. Song, and C. Wu 4331Gradient-Based Observer for Simultaneous Localization and Mapping . . . . . . . . . . . . . . . . . . D.E. Zlotnik and J. R. Forbes 4338Composite Robust H∞ Control for Uncertain Stochastic Nonlinear Systems With State Delay via a Disturbance Observer

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Y. Liu, H. Wang, and L. Guo 4345Attack-Resilient H2 , H∞, and �1 State Estimator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Y. Nakahira and Y. Mo 4353Cooperative Control via Congestion Game Approach . . . . . . . . . . . . . . . . . . . . . . . . . . Y. Hao, S. Pan, Y. Qiao, and D. Cheng 4361A New Distributed Model Predictive Control for Unconstrained Double-Integrator Multiagent Systems . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B. Zhu, K. Guo, and L. Xie 4367A Predictor-Based Model Reference Adaptive Controller for Time-Delay Systems . . . . . . . . . . . . . . . . . . . . . .K.-D. Nguyen 4375Adaptive Cooperative Output Regulation of Discrete-Time Linear Multi-Agent Systems by a Distributed Feedback Control

Law . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T. Liu and J. Huang 4383Event-Triggered Leader-Following Consensus for Nonlinear Multiagent Systems Subject to Actuator Saturation Using

Dynamic Output Feedback Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X. You, C. Hua, and X. Guan 4391Effects of Edge Elimination on the Delay Margin of a Class of LTI Consensus Dynamics . . . . . . M. H. Koh and R. Sipahi 4397Necessary Stability Conditions for Linear Difference Equations in Continuous Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . E. R. Campos, S. Mondie, and M. Di Loreto 4405Finite-Time Consensus and Tracking Control of A Class of Nonlinear Multiagent Systems . . . . . . . . . . . . . Z. Li and H. Ji 4413Passivity-Based Distributed Optimization With Communication Delays Using PI Consensus Algorithm . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .T. Hatanaka, N. Chopra, T. Ishizaki, and N. Li 4421Event-Triggered Output Regulation of Heterogeneous Multiagent Networks . . . . . . . . . . . . X. Meng, L. Xie, and Y. C. Soh 4429Synthesis of Maximally Permissive Nonblocking Supervisors for the Lower Bound Containment Problem . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . X. Yin and S. Lafortune 4435Continuous-Time DC Kernel—A Stable Generalized First-Order Spline Kernel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T. Chen 4442

2018 INDEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Available online at http://ieeexplore.ieee.org

DECEMBER 2018 « IEEE CONTROL SYSTEMS MAGAZINE 1Digital Object Identifier 10.1109/MCS.2017.2770312

Cover credit: A CAD rendering of the Univer-sity of Texas, Dallas, powered knee-ankle orthosis, which has custom high-torque, back-drivable actuators to assist the affected side of a stroke patient; image courtesy of Hanqi Zhu and Robert Gregg.

32 Control Systems for Assistive and Rehabilitation Robotics

An introduction to the special issue WARREN DIXON

35 A Muscle Synergy-Inspired Control Design to Coordinate Functional Electrical Stimulation and a Powered Exoskeleton

Artificial generation of synergies to reduce input dimensionality

NAJI A. ALIBEJI, VAHIDREZA MOLAZADEH, FRANK MOORE-CLINGENPEEL, and NITIN SHARMA

61 Feedback Control of an Exoskeleton for Paraplegics

Toward robustly stable, hands-free dynamic walking OMAR HARIB, AYONGA HEREID, AYUSH AGRAWAL,

THOMAS GURRIET, SYLVAIN FINET, GUILHEM BOERIS, ALEXIS DUBURCQ, M. EVA MUNGAI, MATTHIEU MASSELIN, AARON D. AMES, KOUSHIL SREENATH, and JESSY W. GRIZZLE

88 On the Design and Control of Highly Backdrivable Lower-Limb Exoskeletons

A discussion of past and ongoing work GE LV, HANQI ZHU, and ROBERT D. GREGG

» f e at u r e S

3 FROM THE EDITOR End-of-Year Summary

5 ABOUT THIS ISSUE Control Systems for Assistive

and Rehabilitation Robotics

10 PRESIDENT’S MESSAGE A Year in Review

12 CSS NEWS

13 25 YEARS AGO

15 PUBLICATION ACTIVITIES Welcome New Technical Associate Editor

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88

10

December 2018 Volume 38 Number 6

WWW.IEEECSS.ORG/PUBLICATIONS/CSM

2 IEEE CONTROL SYSTEMS MAGAZINE » DECEMBER 2018

MISSION STATEMENT AND SCOPE: As the official means of communication for the IEEE Control Systems Society, IEEE Control Systems Magazine publishes interesting, useful, and informative material on all aspects of control system technology for the benefit of control educators, practitioners, and researchers. With this mission statement in mind, IEEE Control Systems Magazine encour-ages submissions, both feature articles and columns, on all aspects of control system technology. SUBMISSION OF MANUSCRIPTS: A feature article typically provides an in-depth treatment of either an application of control tech-nology, a tutorial on some area of control theory, or an innovation in control education.

IEEE Control Systems Magazine publishes a variety of columns. “Applications of Control” columns are industrially oriented sum-maries of innovations in control technology. “Focus on Education” typically describes some aspect of education such as novel control experiments. “Lecture Notes” can be theoretical in nature as long as they have clear tutorial value and intent. See recent issues for examples of these and other types of columns. Authors are encouraged to contact the editor-in-chief about the suitability of potential columns.

A detailed Author’s Guide, a sample formatted manuscript, and LATEX template can be found at http://www.ieeecss.org/publica-tions/csm/submissions. The specifications in this guide should be followed by all submissions.

All manuscripts should be submitted electronically to the IEEE Control Systems Magazine website, https://css.paperplaza.net/conferences/scripts/start.pl, with inquiries on appropriateness of content emailed to jhow@mit.edu.SPECIAL ISSUES: IEEE Control Systems Magazine encourages proposals for special issues. Proposers are encouraged to contact the editor-in-chief to discuss potential topics.BOOKS AND CONFERENCES: Submit information about recently published books to the associate editor for book reviews. Sub-mit information about past and future conferences to the corresponding editor for conferences. ADVERTISING: IEEE Control Systems Magazine accepts advertising for educational products, books, software, conferences, employ-ment, and control-related technology. For information about advertising, contact Mark David, m.david@ieee.org, +1 732 465 6473.IEEE CONTROL SySTEMS MAGAzINE—(ISSN 1066-033X) (ISMAD7) is published bimonthly by The Institute of Electrical and Electronics Engineers, Inc. Headquarters: 3 Park Avenue, 17th Floor, New York, NY 10016-5997, U.S.A. +1 212 419 7900. Responsi-bility for the contents rests upon the authors and not upon the IEEE, the Society, or its members. The is a membership benefit of the IEEE Control Systems Society, and subscriptions are US$4.00 per member per year (included in Society fee). Replacement copies for members are available for US$20.00 (one copy only). Nonmembers can purchase individual copies for US$106.00. Nonmember subscription prices are available on request. Copyright and Reprint Permissions: Abstracting is permitted with credit to the source. Libraries are permitted to photocopy beyond the limits of the U.S. Copyright law for private use of patrons: 1) those post-1977 articles that carry a code at the bottom of the first page, provided the per-copy fee indicated in the code is paid through the Copyright Clearance Center, 222 Rosewood Drive, Danvers, MA 01970, U.S.A.; and 2) pre-1978 articles without fee. For other copying, reprint, or republication permission, write to: Copyrights and Permissions Department, IEEE Service Center, 445 Hoes Lane, Piscataway NJ 08854, U.S.A. Copyright © 2018 by The Institute of Electrical and Electronics Engineers, Inc. All rights reserved. Periodicals post-age paid at New York, NY, and at additional mailing offices. Postmaster: Send address changes to IEEE Control Systems Magazine, IEEE, 445 Hoes Lane, Piscataway, NJ 08854 U.S.A. Canadian GST #125634188 Printed in U.S.A

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IEEE PERIODICALS MAGAZINES DEPARTMENT445 Hoes Lane, Piscataway, NJ 08854 USA

Promoting Sustainable Forestry

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16 TECHNICAL ACTIVITIES Technical Committee on Hybrid Systems Technical Committee on Systems with Uncertainty

19 PEOPLE IN CONTROL Bob Bitmead Jonathan P. How Sonia Martinez Saverio Mascolo

114 BOOKSHELF Decision Making Under Uncertainty: Theory and Application Formal Methods for Discrete-Time Dynamical Systems Book Announcements

121 CONFERENCE REPORTS The 2018 American Control Conference The 2018 International Conference on Unmanned

Aircraft Systems The 30th Chinese Control and Decision Conference The 2018 Workshop on Discrete Event Systems

135 CSS BUSINESS Minutes of the IEEE Control Systems Society

Board of Governors Meeting

145 CONFERENCE CALENDAR

148 ON THE LIGHTER SIDE Hamiltonian

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121

Invited Session Proposals Due:

March 10, 2018 (Passed)

Paper Submissions Due: March 20, 2018 (Passed)

Workshop Proposals Due:

May 1, 2018 (Passed)

Paper and Workshop Decision:

Notification:

Mid-July 2018

Accepted Papers Due:

September 20, 2018 (Passed)

Important Dates

DECEMBER 17-19, 2018

MIAMI, FLORIDA, USA

Conference on Decision

and Control

https://cdc2018.ieeecss.org

American Control Conference

JULY 10-12, 2019 PHILADELPHIA, PENNSYLVANIA, USA

ACC 2019

Manuscript Submission:

September 17, 2018 (Passed)

Acceptance/Rejection Notice:

January 31, 2019

Final Manuscript Submission:

March 15, 2019

http://acc2019.a2c2.org/

August 19–21, 2019, Hong Kong, China

Invited Session Proposals Due:

January 19, 2019

Contributed and Invited Papers’ Submissions Due:

January 19, 2019

Notification of Acceptance/Rejection:

April 19, 2019

Deadline for final submission of all papers:

May 19, 2019

http://ccta2019.ieeecss.org/

Conference on

Control Technology and Applications

CCTA 2019

Conference on Decision and Control

CDC 2019

December 11–13, 2019, Nice, France

Invited Session Proposals Due:

March 7, 2019

Initial Paper Submissions Due:

March 15, 2019

Workshop Proposals Due:

May 2, 2019

Paper and Workshop Decision Notification:

Mid-July, 2019

Accepted Papers Due:

September 10, 2019

http://cdc2019.ieeecss.org/