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IEEE Transactions on Automatic Control最新文献

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Equivalence of Left- and Right-Invariant Extended Kalman Filters on Matrix Lie Groups 矩阵李群上左右不变扩展卡尔曼滤波器的等价性
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.2026.3690028
Finn G. Maurer;Henrik M. Schmidt-Didlaukies;Erlend A. Basso;Torleiv H. Bryne
{"title":"Equivalence of Left- and Right-Invariant Extended Kalman Filters on Matrix Lie Groups","authors":"Finn G. Maurer;Henrik M. Schmidt-Didlaukies;Erlend A. Basso;Torleiv H. Bryne","doi":"10.1109/TAC.2026.3690028","DOIUrl":"https://doi.org/10.1109/TAC.2026.3690028","url":null,"abstract":"While previous literature has discussed implications of choosing a left- or right-invariant error formulation, we show that the extended Kalman filter (EKF) on matrix Lie groups produces the same state estimate under both choices when a covariance reset is applied after each measurement update. To establish this result, we derive the continuous-discrete EKF for systems evolving on matrix Lie groups, modeling process noise on the Lie algebra and using a Stratonovich interpretation for the stochastic differential equation. Building on the classical EKF formulation, our approach includes a reparameterization step after each correction, which induces a covariance reset. Monte Carlo simulations on an aided inertial navigation problem confirm the invariance property and demonstrate its failure when the covariance reset is neglected.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6895-6902"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072282","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
Uniformly Exponentially Stable Summation-By-Parts Approximations of Port-Hamiltonian Systems 一致指数稳定的port - hamilton系统的分部求和近似
IF 7 1区 计算机科学
IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-08 DOI: 10.1109/TAC.2026.3691620
Luis A. Mora;Anita Gjesteland;Kirsten Morris;David C. Del Rey Fernández
{"title":"Uniformly Exponentially Stable Summation-By-Parts Approximations of Port-Hamiltonian Systems","authors":"Luis A. Mora;Anita Gjesteland;Kirsten Morris;David C. Del Rey Fernández","doi":"10.1109/TAC.2026.3691620","DOIUrl":"https://doi.org/10.1109/TAC.2026.3691620","url":null,"abstract":"For distributed parameter systems that are exponentially stable, it is desirable that an approximation scheme is not only dissipative but also preserve exponential stability independently of approximation order. This will lead to realistic simulations and is also needed for early lumped-controller design. In this article, this issue is addressed for networked port-Hamiltonian systems. It is shown that summation-by-parts (SBP) approximation schemes lead to such a property, provided that the boundary conditions are also handled appropriately. The theoretical framework developed in this article results in schemes with spectral convergence and provable uniform exponential stability for higher order approximations of port-Hamiltonian systems. A final section illustrates the efficacy of a higher order polynomial scheme over a mixed finite-element method for approximating a piezoelectric beam with magnetic effects. The characteristics of the proposed discretization, high accuracy with low-order approximation models and uniform conservation of the exponential stability properties, are suitable for controller synthesis.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6655-6668"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072283","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
Nonparametric Control Koopman Operators 非参数控制Koopman算子
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.2026.3693027
Petar Bevanda;Bas Driessen;Lucian Cristian Iacob;Stefan Sosnowski;Roland Tóth;Sandra Hirche
{"title":"Nonparametric Control Koopman Operators","authors":"Petar Bevanda;Bas Driessen;Lucian Cristian Iacob;Stefan Sosnowski;Roland Tóth;Sandra Hirche","doi":"10.1109/TAC.2026.3693027","DOIUrl":"https://doi.org/10.1109/TAC.2026.3693027","url":null,"abstract":"This article presents a novel Koopman composition operator representation framework for control systems in reproducing kernel Hilbert spaces (RKHSs) that is free of explicit dictionary or input parameterizations. By establishing fundamental equivalences between different model representations, we are able to close the gap of control system operator learning and infinite-dimensional regression, enabling various empirical estimators and the connection to the well-understood learning theory in RKHSs under one unified framework. Consequently, our proposed framework allows for arbitrarily accurate finite-rank approximations in infinite-dimensional spaces and leads to finite-dimensional predictors without a priori restrictions to a finite span of functions or inputs. To enable applications to high-dimensional control systems, we improve the scalability of our proposed control Koopman operator estimates by utilizing sketching techniques. Numerical experiments demonstrate superior prediction accuracy compared to bilinear EDMD, especially in high dimensions. Finally, we show that our learned models are readily interfaced with linear-parameter-varying techniques for model predictive control.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6624-6639"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072249","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
Seeking Nash Equilibrium in Noncooperative Quadratic Games Under Delayed Information Exchange 延迟信息交换条件下非合作二次对策的纳什均衡求解
IF 7 1区 计算机科学
IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-01 DOI: 10.1109/TAC.2026.3689807
Kaichen Jiang;Yuyue Yan;Mingda Yue;Yuhu Wu
{"title":"Seeking Nash Equilibrium in Noncooperative Quadratic Games Under Delayed Information Exchange","authors":"Kaichen Jiang;Yuyue Yan;Mingda Yue;Yuhu Wu","doi":"10.1109/TAC.2026.3689807","DOIUrl":"https://doi.org/10.1109/TAC.2026.3689807","url":null,"abstract":"In this article, we study the seeking of Nash equilibrium (NE) in a noncooperative quadratic game where all agents exchange their delayed strategy information with their neighbors. To extend best response algorithms to the delayed information setting, an estimation mechanism for each agent to estimate the current strategy profile is designed. Based on the best response strategy to the estimations, the strategy profile dynamics of all agents is established, which is revealed to converge asymptotically to the NE when agents exchange multistep-delay information via the Lyapunov–Krasovskii functional approach. In the scenario, where agents exchange one-step-delay information, the exponential convergence of the strategy profile dynamics to the NE can be guaranteed by restricting the learning rate to less than an upper bound. Moreover, a lower bound on the learning rate for instability of the NE is proposed. Numerical simulations are provided for verifying the developed results.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6908-6915"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072302","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
A Routh Zero-Location Testing Method for Integer Polynomials With Any Singularity Profile 具有任意奇异轮廓的整数多项式的生长零点检验方法
IF 7 1区 计算机科学
IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-06 DOI: 10.1109/TAC.2026.3691034
Yuval Bistritz;Ruth Weinberg
{"title":"A Routh Zero-Location Testing Method for Integer Polynomials With Any Singularity Profile","authors":"Yuval Bistritz;Ruth Weinberg","doi":"10.1109/TAC.2026.3691034","DOIUrl":"https://doi.org/10.1109/TAC.2026.3691034","url":null,"abstract":"This article presents an integer-preserving algorithm to determine the zero location (ZL) with respect to the imaginary axis for any polynomial with Gaussian-integer coefficients. It extends the so-called optimal integer Routh stability test, previously limited to normal conditions, to integer polynomials with any singularity profile. The primary advantage of integer arithmetic lies in its inherent error-free quality. This characteristic is particularly crucial for the general ZL case because it involves workarounds for abnormal and singular cases that are triggered by correct identification of the value 0—an occurrence that can be obscured by rounding errors in floating-point arithmetic. Running the algorithm with integers, prevents the risk of false acceptance or rejection of these workarounds. Since, in practice, any noninteger polynomial can be scaled into an integer polynomial, the new algorithm paves the way for an error-free solution to the classical Routh–Hurwitz problem in its most general possible setting.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6789-6801"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072303","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
Gray-Box Nonlinear Feedback Optimization 灰盒非线性反馈优化
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.2026.3693174
Zhiyu He;Saverio Bolognani;Michael Muehlebach;Florian Dörfler
{"title":"Gray-Box Nonlinear Feedback Optimization","authors":"Zhiyu He;Saverio Bolognani;Michael Muehlebach;Florian Dörfler","doi":"10.1109/TAC.2026.3693174","DOIUrl":"https://doi.org/10.1109/TAC.2026.3693174","url":null,"abstract":"Feedback optimization enables autonomous optimality seeking of a dynamical system through its closed-loop interconnection with iterative optimization algorithms. Among various iteration structures, model-based approaches require the input–output sensitivity matrix of the system to construct gradients, whereas model-free approaches eliminate this need by estimating gradients from real-time objective evaluations. These approaches offer complementary benefits in sample efficiency and accuracy against model mismatch, i.e., sensitivity errors. To achieve balanced closed-loop performance, we propose a gray-box feedback optimization controller, featuring systematic incorporation of approximate sensitivities into model-free updates via a tunable convex combination. We provide unified performance characterizations covering different approaches. We elucidate how cumulative sensitivity errors (model-based) and variances due to stochastic exploration (model-free) shape the closed-loop behavior and induce a tradeoff between iteration and dimensional dependence. The proposed controller retains sample efficiency and provable (local) optimality for nonconvex problems despite inaccurate sensitivities. We further develop and characterize a running gray-box controller that handles constrained time-varying problems with changing objectives and steady-state input–output maps.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6880-6887"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072333","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
Soft and Hard Scaled Relative Graphs for Nonlinear Feedback Stability 非线性反馈稳定性的软硬比例相对图
IF 7 1区 计算机科学
IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-15 DOI: 10.1109/TAC.2026.3693988
Chao Chen;Sei Zhen Khong;Rodolphe Sepulchre
{"title":"Soft and Hard Scaled Relative Graphs for Nonlinear Feedback Stability","authors":"Chao Chen;Sei Zhen Khong;Rodolphe Sepulchre","doi":"10.1109/TAC.2026.3693988","DOIUrl":"https://doi.org/10.1109/TAC.2026.3693988","url":null,"abstract":"This article presents input–output stability analysis of nonlinear feedback systems based on the notion of soft and hard scaled relative graphs (SRGs). The soft and hard SRGs acknowledge the distinction between incremental positivity and incremental passivity and reconcile them from a graphical perspective. The essence of our proposed analysis is that the separation of soft SRGs or hard SRGs of two open-loop systems on the complex plane guarantees closed-loop stability. The main results generalize an existing soft SRG separation theorem for bounded open-loop systems, which was proved based on interconnection properties of soft SRGs under a chordal assumption. By comparison, our analysis does not require this chordal assumption and applies to possibly unbounded open-loop systems based on their hard SRGs.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6974-6981"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072354","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
Attitude Estimation on SO(3) Under Biased, Scaled, and Misaligned Rate Gyro Measurements 有偏、比例和不对准速率陀螺测量下SO(3)的姿态估计
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.2026.3690053
Joel Reis;Carlos Silvestre
{"title":"Attitude Estimation on SO(3) Under Biased, Scaled, and Misaligned Rate Gyro Measurements","authors":"Joel Reis;Carlos Silvestre","doi":"10.1109/TAC.2026.3690053","DOIUrl":"https://doi.org/10.1109/TAC.2026.3690053","url":null,"abstract":"This technical note presents a nonlinear attitude observer formulated directly on the special orthogonal group (<inline-formula><tex-math>$mathsf {SO}(3)$</tex-math></inline-formula>). The observer uses body-fixed measurements from at least two noncollinear inertial reference directions, along with readings from a triaxial rate gyro. The rate gyro outputs are subject to nonidealities modeled as an affine transformation of the input. Under standard and mild assumptions, such as the requirement for persistent excitation of the true angular velocity and its derivative, the proposed estimator ensures almost global asymptotic stability, while simultaneously estimating attitude and intrinsic parameters of the rate gyro, including scaling factors, installation misalignment, and offset. The observer’s performance and effectiveness are demonstrated through extensive and realistic numerical simulations.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6888-6894"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072365","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
Hyperexponential Synchronization of Directed Higher-Order Networks 有向高阶网络的超指数同步
IF 7 1区 计算机科学
IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-10 DOI: 10.1109/TAC.2026.3682581
Linlong Xu;Xiwei Liu
{"title":"Hyperexponential Synchronization of Directed Higher-Order Networks","authors":"Linlong Xu;Xiwei Liu","doi":"10.1109/TAC.2026.3682581","DOIUrl":"10.1109/TAC.2026.3682581","url":null,"abstract":"This article considers the hyperexponential and practical prescribed-time synchronization of directed higher-order networks (DHONs) with or without external disturbances. First, a time-varying regulatory function for hyperexponential stability is proposed via a recursive formula. In virtue of it, we establish several new lemmas and theorems, extending the existing hyperexponential stability theory and connecting it with the practical prescribed-time synchronization. Through rigorous mathematic proofs, the sufficient conditions for achieving the practical prescribed-time synchronization hyperexponentially are derived. Next, on the basis of hyperexponential stability, we raise a class of generalized multiphase functions for multiphase synchronization, which encompasses the hyperexponential, hyperpolynomial, and hyperlogarithmic stability. Then, we apply the stability theory on the synchronization and control problems for DHONs. By defining two new transformation vectors, we convert the general hypergraph-based DHON model into a multiweighted network. With the help of the rearranging variables’ order technique, all coupling matrices are combined, the corresponding normalized left eigenvectors of the sum matrices are determined for constructing the Lyapunov function, resulting in synchronization criteria. Finally, four numerical simulations are presented to validate the theoretical findings.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6416-6431"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147664022","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
Optimal Control of Markov Decision Processes for Efficiency With Linear Temporal Logic Tasks 线性时间逻辑任务下马尔可夫决策过程效率的最优控制
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.2026.3688200
Yu Chen;Xunyuan Yin;Shaoyuan Li;Xiang Yin
{"title":"Optimal Control of Markov Decision Processes for Efficiency With Linear Temporal Logic Tasks","authors":"Yu Chen;Xunyuan Yin;Shaoyuan Li;Xiang Yin","doi":"10.1109/TAC.2026.3688200","DOIUrl":"10.1109/TAC.2026.3688200","url":null,"abstract":"In this article, we revisit the problem of optimal control synthesis for Markov decision processes (MDPs) with both qualitative and quantitative objectives. The qualitative task is defined by a linear temporal logic (LTL) formula, while the quantitative metric is captured by the notion of <italic>efficiency</i>, which is the <italic>ratio</i> between rewards and costs. The overall objective is to synthesize a control policy that not only ensures the LTL task is satisfied with probability one but also maximizes efficiency. We present an effective approach for synthesizing a stationary control policy that achieves <inline-formula><tex-math>$epsilon$</tex-math></inline-formula>-optimality by integrating state classifications of MDPs with perturbation analysis in a novel manner. Our results extend existing work on efficiency-optimal control synthesis for MDPs by incorporating qualitative LTL tasks. Case studies in robot task planning are provided to illustrate the proposed algorithm.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6463-6478"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147752651","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
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