IEEE Transactions on Automatic Control最新文献_第4页

Observers for Timed DESs With Observation Delays and Losses 具有观测延迟和损失的定时dss的观测者

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-27 DOI: 10.1109/TAC.2026.3687823

Dimitri Lefebvre

引用次数: 0

Sampling-Based Planning Under STL Specifications: A Forward Invariance Approach STL规范下基于抽样的规划：一种前向不变性方法

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-04 DOI: 10.1109/TAC.2026.3690342

Gregorio Marchesini;Siyuan Liu;Lars Lindemann;Dimos V. Dimarogonas

{"title":"Sampling-Based Planning Under STL Specifications: A Forward Invariance Approach","authors":"Gregorio Marchesini;Siyuan Liu;Lars Lindemann;Dimos V. Dimarogonas","doi":"10.1109/TAC.2026.3690342","DOIUrl":"https://doi.org/10.1109/TAC.2026.3690342","url":null,"abstract":"In this article, we propose a variant of the Rapidly Exploring Random Tree Star (RRT<inline-formula><tex-math>$^{star }$</tex-math></inline-formula>) algorithm for planning trajectories of linear systems under input constraints subject to spatiotemporal specifications expressed in a fragment of signal temporal logic (STL). Compared to existing sampling-based approaches that rely on mixed-integer or nonsmooth optimization, which suffer from poor scalability, we adopt a control-theoretic framework based on set forward invariance. First, STL specifications with polyhedral predicates are encoded as a time-varying set computed via linear programming, such that all trajectories evolving within the set satisfy the specification. Forward invariance of the set for linear systems under input constraints is guaranteed using nonsmooth analysis. Second, a modified RRT<inline-formula><tex-math>$^{star }$</tex-math></inline-formula> algorithm is proposed to efficiently sample dynamically feasible and minimum cost trajectories within this time-varying set, in order to satisfy the given specifications. The effectiveness of the approach is demonstrated on an autonomous inspection mission of the International Space Station and a timed room-servicing task.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6728-6743"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11505760","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Simple Proof of Nehari’s Theorem Based on Duality 基于对偶的Nehari定理的简单证明

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-07 DOI: 10.1109/TAC.2026.3691281

Cristian R. Rojas

引用次数: 0

A Transfer Learning Method for Safety Control of Linear Systems Under Input Saturation 输入饱和下线性系统安全控制的迁移学习方法

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-11 DOI: 10.1109/TAC.2026.3692001

Quanqi Zhang;Chengwei Wu;Ligang Wu

{"title":"A Transfer Learning Method for Safety Control of Linear Systems Under Input Saturation","authors":"Quanqi Zhang;Chengwei Wu;Ligang Wu","doi":"10.1109/TAC.2026.3692001","DOIUrl":"https://doi.org/10.1109/TAC.2026.3692001","url":null,"abstract":"While the safe reinforcement learning (RL) control has been addressed in several studies, achieving safety during the training phase remains a significant challenge. Training directly in hazardous environments through trial and error inherently leads to unsafe behaviors. To address this, we propose a novel safety-certified transfer learning method for linear systems, where an RL controller is first trained to stabilize the system in a risk-free environment and then transferred to the hazardous environment. The primary challenge is to ensure that, after the transfer, the learning-based controller can guarantee safety while preserving stability. To this end, differential geometry tools are employed to analyze the geometric relationship between the systems before and after transfer and design the transferred controller accordingly. Theoretical analysis proves that the transferred controller can stabilize the system and enforce its safety, as long as the original RL controller stabilizes the system. Moreover, the proposed transfer method imposes saturation constraints on the transferred controller to prevent invalid control inputs that may arise from controller modification after transfer. The conditions for the existence of the transferred controller are derived. Finally, the effectiveness of the proposed method is demonstrated by a vehicle control case study.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6962-6969"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Secure Filtering Against Spatio-Temporal False Data Attacks Under Asynchronous Sampling 异步采样下时空假数据攻击的安全过滤

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-23 DOI: 10.1109/TAC.2026.3687465

Zishuo Li;Anh Tung Nguyen;André M. H. Teixeira;Yilin Mo;Karl H. Johansson

{"title":"Secure Filtering Against Spatio-Temporal False Data Attacks Under Asynchronous Sampling","authors":"Zishuo Li;Anh Tung Nguyen;André M. H. Teixeira;Yilin Mo;Karl H. Johansson","doi":"10.1109/TAC.2026.3687465","DOIUrl":"10.1109/TAC.2026.3687465","url":null,"abstract":"This article addresses the secure state estimation problem for continuous linear time-invariant systems with non-periodic and asynchronous sampled measurements, where the sensors need to transmit not only measurements but also sampling time-stamps to the fusion center. This measurement and communication setup is well-suited for operating large-scale control systems and, at the same time, introduces new vulnerabilities that can be exploited by adversaries through (i) manipulation of measurements, (ii) manipulation of time-stamps, (iii) elimination of measurements, and (iv) generation of completely new false measurements, or a combination of these attacks. To mitigate these attacks, we propose a decentralized estimation algorithm in which each sensor maintains its local state estimate asynchronously based on its measurements. The local estimates are synchronized through time prediction and fused after time-stamp alignment. In the absence of attacks, state estimates are proven to recover the optimal Kalman estimates by solving a weighted least squares problem. In the presence of attacks, solving this weighted least squares problem with <inline-formula><tex-math>$ell _{1}$</tex-math></inline-formula> regularization provides secure state estimates with a uniformly bounded error under an observability redundancy assumption. The effectiveness of the proposed algorithm is demonstrated using a benchmark example of the IEEE 14-bus system.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6833-6840"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147735587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

IEEE Control Systems Society Information IEEE控制系统学会信息

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-09-29 DOI: 10.1109/TAC.2026.3729138

引用次数: 0

Error-Aware Nonlinear Gain-Based PID Tracking Control: A Constructive and Self-Tuning Approach 基于误差感知非线性增益的PID跟踪控制：一种建设性自整定方法

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-27 DOI: 10.1109/TAC.2026.3687815

Kaili Xiang;Yongduan Song;Changyun Wen;Petros Ioannou

{"title":"Error-Aware Nonlinear Gain-Based PID Tracking Control: A Constructive and Self-Tuning Approach","authors":"Kaili Xiang;Yongduan Song;Changyun Wen;Petros Ioannou","doi":"10.1109/TAC.2026.3687815","DOIUrl":"10.1109/TAC.2026.3687815","url":null,"abstract":"Conventional proportional–integral–derivative (PID) controllers face fundamental limitations in handling unknown nonlinearities and coupling effects, often requiring manual tuning or complex adaptation mechanisms. This article introduces a novel nonlinear PID tracking control architecture while incorporating three innovative features: first, analytically constructed error-aware gains with self-tuning capability, utilizing current, past, and predicted error information; second, inherent antiwindup properties through nonlinear integral design; and third, fully autonomous operation without the need for precise a priori knowledge of system dynamics or manual intervention. Unlike prior works mainly restricted to single-input-single-output systems and only achieving uniformly ultimately bounded stability, our approach handles higher order multiple-input–multiple-output systems with unknown coupled dynamics, achieving asymptotic tracking. The controller maintains structural PID simplicity while providing enhanced nonlinear compensation and robust adaptive performance. Comprehensive Lyapunov analysis rigorously validates stability for general normal form nonlinear systems, with superior performance in both regulation and time-varying reference tracking scenarios.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6865-6871"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147752701","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fundamental Limitations of Monotonic Tracking Systems 单调跟踪系统的基本限制

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-13 DOI: 10.1109/TAC.2026.3693191

Hamed Taghavian

引用次数: 0

Adaptive Deep Neural Network-Based Control Barrier Functions 基于自适应深度神经网络的控制障碍函数

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-24 DOI: 10.1109/TAC.2026.3687496

Hannah M. Sweatland;Omkar Sudhir Patil;Warren E. Dixon

{"title":"Adaptive Deep Neural Network-Based Control Barrier Functions","authors":"Hannah M. Sweatland;Omkar Sudhir Patil;Warren E. Dixon","doi":"10.1109/TAC.2026.3687496","DOIUrl":"10.1109/TAC.2026.3687496","url":null,"abstract":"Safety constraints of nonlinear control systems are commonly enforced through the use of control barrier functions (CBFs). Uncertainties in the dynamic model can disrupt forward invariance guarantees or cause the state to be restricted to an overly conservative subset of the safe set. In this article, adaptive deep neural networks (DNNs) are combined with CBFs to produce a family of controllers that ensure safety while learning the system's dynamics in real-time without the requirement for pretraining. By basing the least squares adaptation law on a state derivative estimator-based identification error, the DNN parameter estimation error is shown to be uniformly ultimately bounded. The convergent bound on the parameter estimation error is then used to formulate CBF-constraints in an optimization-based controller to guarantee safety despite model uncertainty. Furthermore, the developed method is extended for use under intermittent loss of state-feedback. A switched systems analysis for CBFs is provided with a maximum dwell-time condition during which the feedback can be unavailable. Comparative simulation results demonstrate the ability of the developed method to ensure safety when feedback is lost, unlike the baseline method. Results show improved performance compared to baseline methods and demonstrate the ability of the developed method to ensure safety in feedback-denied environments.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6818-6824"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147739637","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Remote State Estimation Over a Wearing Channel: Information Freshness Versus Channel Aging 磨损信道上的远程状态估计：信息新鲜度与信道老化

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-18 DOI: 10.1109/TAC.2026.3694625

Jiping Luo;George Stamatakis;Osvaldo Simeone;Nikolaos Pappas

引用次数: 0