IEEE Transactions on Automatic Control最新文献_第7页

Synchronous Models and Fundamental Systems in Observer Design 观测器设计中的同步模型和基本系统

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.2026.3691229

Pieter van Goor;Robert Mahony

{"title":"Synchronous Models and Fundamental Systems in Observer Design","authors":"Pieter van Goor;Robert Mahony","doi":"10.1109/TAC.2026.3691229","DOIUrl":"https://doi.org/10.1109/TAC.2026.3691229","url":null,"abstract":"This article introduces the concept of a <italic>synchronous model</i> as an extension of the internal model concept used in observer design for dynamical systems. A system is said to contain a synchronous model of another if there is a suitable error function between the two systems that remains stationary for all of the trajectories of the two systems. For any given system, we provide necessary and sufficient conditions that there exists another system that contains a synchronous model of the first, and a method to construct a (there may be many) model should one exist. We characterize the class of all systems for which synchronous models can be constructed by showing that they consist of fundamental vector fields induced by a Lie group action, a class of systems we term <italic>fundamental systems</i>. For fundamental systems, we propose a simple synchronous observer design methodology, for which we show how correction terms can be discretized and combined easily, facilitating global characterization of convergence and performance. Finally, we provide three examples to demonstrate the key concepts of synchrony, symmetry construction, and observer design for a fundamental system.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6714-6727"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072267","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

An Accurate and Fast Algorithm for the Lyapunov Matrix Differential Equation Arising From Input–Output Finite-Time Stability of Linear Systems 线性系统输入-输出有限时间稳定性Lyapunov矩阵微分方程的一种精确快速算法

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-28 DOI: 10.1109/TAC.2026.3687850

Jianzhou Liu;Ze Zhang;Yan Xu

引用次数: 0

Dealing With Indistinguishability in Gluing KKL Observer Design for Hybrid Systems With Unknown Jump Times 未知跳跃时间混合系统粘接KKL观测器设计中不可分辨性的处理

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-29 DOI: 10.1109/TAC.2026.3689008

Gia Quoc Bao Tran;Valentin Alleaume;Pauline Bernard;Florent Di Meglio

{"title":"Dealing With Indistinguishability in Gluing KKL Observer Design for Hybrid Systems With Unknown Jump Times","authors":"Gia Quoc Bao Tran;Valentin Alleaume;Pauline Bernard;Florent Di Meglio","doi":"10.1109/TAC.2026.3689008","DOIUrl":"https://doi.org/10.1109/TAC.2026.3689008","url":null,"abstract":"In previous work, we presented a novel systematic observer design for hybrid systems with unknown jump times by employing the Kravaris–Kazantzis<inline-formula><tex-math>$slash$</tex-math></inline-formula>Luenberger (KKL) observer paradigm and the concept of “gluing” the jumps. Specifically, we demonstrated the existence of a transformation that converts a hybrid system with continuous output at jumps into a continuous-time stable filter of this output, for which an observer can always be designed without requiring jump detection. However, the inherent indistinguishability appearing at jumps: First, prevents the convergence of the Euclidean estimation error to zero, thus rendering the definition and analysis of convergence<inline-formula><tex-math>$slash$</tex-math></inline-formula>stability<inline-formula><tex-math>$slash$</tex-math></inline-formula>robustness nonstraightforward; Second, prevents the injectivity of the change of coordinates, thus raising issues in the implementation of the observer. In this article, we deal with those two problems by: First, showing asymptotic convergence and robust stability of the gluing KKL observer in the sense of a distance to an appropriate indistinguishability-aware set; Second, proposing a systematic implementation scheme that involves learning numerical models of two inverse maps based on neural networks that are trained on data generated by offline simulations. Our contributions are academically illustrated on a bouncing ball and then applied for state and parameter estimation in a friction oscillator exhibiting stick-slip.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6556-6569"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072289","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

Distributionally Robust Probabilistic Prediction for Stochastic Dynamical Systems 随机动力系统的分布鲁棒概率预测

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-28 DOI: 10.1109/TAC.2026.3687495

Tao Xu;Jianping He

{"title":"Distributionally Robust Probabilistic Prediction for Stochastic Dynamical Systems","authors":"Tao Xu;Jianping He","doi":"10.1109/TAC.2026.3687495","DOIUrl":"https://doi.org/10.1109/TAC.2026.3687495","url":null,"abstract":"Probabilistic prediction of stochastic dynamical systems (SDSs) aims to accurately predict the conditional probability distributions of future states. However, accurate probabilistic predictions tightly hinge on accurate distributional information from a nominal model, which is hardly available in practice. To address this issue, we propose a novel functional-maximin-based distributionally robust probabilistic prediction (DRPP) framework. In this framework, one can design probabilistic predictors that have worst case performance guarantees over a predefined ambiguity set of SDSs. Nevertheless, DRPP requires optimizing over the space of probability measures with density functions with respect to the Lebesgue measure, which is generally intractable. We develop a methodology that equivalently transforms the original maximin from function spaces to Euclidean spaces. Although it remains intractable to seek a global optimal solution, two suboptimal solutions are derived. By relaxing the constraints on the ambiguity set, we obtain a suboptimal predictor called Noise-DRPP. Relaxing the constraints on the predictor yields another suboptimal predictor, Eig-DRPP. Moreover, optimality gaps between the proposed predictors and the global optimal predictor are derived. Finally, we conduct elaborate numerical simulations to compare the performance of different predictors under different SDSs.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6385-6400"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072246","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 Distributed Primal–Dual Method for Constrained Multiagent Reinforcement Learning With General Parameterization 广义参数化约束多智能体强化学习的分布式原对偶方法

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-08 DOI: 10.1109/TAC.2026.3691607

Ali Kahe;Hamed Kebriaei

引用次数: 0

Advanced Safety Filter Based on SOS Control Barrier and Lyapunov Functions 基于SOS控制屏障和Lyapunov函数的高级安全滤波器

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.2026.3693156

Michael Schneeberger;Silvia Mastellone;Florian Dörfler

{"title":"Advanced Safety Filter Based on SOS Control Barrier and Lyapunov Functions","authors":"Michael Schneeberger;Silvia Mastellone;Florian Dörfler","doi":"10.1109/TAC.2026.3693156","DOIUrl":"https://doi.org/10.1109/TAC.2026.3693156","url":null,"abstract":"This article presents a novel safety filter framework that ensures both safety and the preservation of the legacy control action within a nominal region. This modular design allows the safety filter to be integrated into the control hierarchy without compromising the performance of the existing legacy controller during nominal operation. For a control-affine system, this is accomplished by formulating multiple control barrier functions (CBFs) and control Lyapunov-like functions (CLFs) conditions, alongside a forward invariance condition for the legacy controller, as sum-of-squares constraints. In addition, the state-dependent inequality constraints of the resulting quadratic program (QP)—encoding the CBF and CLF conditions—are designed to remain inactive within the nominal region, ensuring preservation of the legacy control action and performance. To avoid the chattering effect and guarantee the uniqueness and Lipschitz continuity of solutions, the state-dependent inequality constraints of the QP are selected to be regular. Finally, we demonstrate the method in a detailed case study involving the control of a three-phase AC/DC power converter.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6939-6946"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072315","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

Disturbance String Stability and ${mathcal H}_{infty }$-Based Robust Control for Heterogeneous Vehicle Platoons 异构车辆队列扰动串稳定性及${mathcal H}_{infty }$鲁棒控制

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-29 DOI: 10.1109/TAC.2026.3688992

Tianqun Ren;Guoxiang Gu

{"title":"Disturbance String Stability and ${mathcal H}_{infty }$-Based Robust Control for Heterogeneous Vehicle Platoons","authors":"Tianqun Ren;Guoxiang Gu","doi":"10.1109/TAC.2026.3688992","DOIUrl":"https://doi.org/10.1109/TAC.2026.3688992","url":null,"abstract":"In this article, we study disturbance string stability (DSS) under <inline-formula><tex-math>${mathcal H}_{infty }$</tex-math></inline-formula>-based robust control for linear heterogeneous vehicle platoons in the presence of energy bounded disturbances. Both predecessor-following and bidirectional network topologies are considered. Contrasting to the existing work on platoon control which models vehicle position as a state variable and controls intervehicle spacing (IVS) through position control, inducing scalability issue, we propose an innovative distributed cooperative integral control law to directly regulate the IVS between each pair of the neighboring vehicles and to control vehicles' velocities, which is truly scalable. It ensures not only synchronization of velocities and safe IVSs, but also robustness against the worst-case energy bounded disturbances. Furthermore, the theoretical analysis translates the DSS conditions over both topologies for velocity and IVS controls into a set of linear matrix inequalities which admit feasible solutions as required. Simulation results validate the viability of the proposed control law in maintaining DSS related to both velocity synchronization and safe IVSs under the worst-case energy bounded disturbances.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6849-6856"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072353","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

Distributed Control Lyapunov and Control Barrier Certificates for Reactive Formation 分布式控制Lyapunov和控制屏障证书的反应性地层

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-16 DOI: 10.1109/TAC.2026.3684796

Danfu Liu;Mengmou Li;Wentuo Fang;Lijun Zhu

引用次数: 0

$mathscr {H}_{2}$ Model Reduction for Linear Quantum Systems $mathscr {H}_{2}$线性量子系统模型约简

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-04-29 DOI: 10.1109/TAC.2026.3689010

Guangpu Wu;Shibei Xue;Guofeng Zhang;Ian R. Petersen

{"title":"$mathscr {H}_{2}$ Model Reduction for Linear Quantum Systems","authors":"Guangpu Wu;Shibei Xue;Guofeng Zhang;Ian R. Petersen","doi":"10.1109/TAC.2026.3689010","DOIUrl":"https://doi.org/10.1109/TAC.2026.3689010","url":null,"abstract":"In this article, an <inline-formula><tex-math>$mathscr {H}_{2}$</tex-math></inline-formula> model reduction method for linear quantum systems is presented, which can obtain a physically realizable model with a reduced order for closely approximating the original system. The model reduction problem is formulated as an optimization problem, which minimizes the <inline-formula><tex-math>$mathscr {H}_{2}$</tex-math></inline-formula> norm of the difference between the transfer functions of the original and reduced models. Different from classical model reduction, physical realizability conditions for guaranteeing that the reduced-order system is also a quantum system should be taken as nonconvex constraints in the optimization. Based on the special properties of quantum systems, we derive necessary conditions for <inline-formula><tex-math>$mathscr {H}_{2}$</tex-math></inline-formula> optimality. Moreover, we employ a matrix inequality approach to transform nonlinear inequality constraints into readily solvable linear matrix inequalities and nonlinear equality constraints, so that it can be solved by a lifting variables approach. We emphasize that different from existing works, which only introduce a criterion to evaluate the performance after model reduction, we guide our method to obtain an optimal reduced model with respect to the <inline-formula><tex-math>$mathscr {H}_{2}$</tex-math></inline-formula> norm. Finally, a comparison with the results in the existing works validates the efficacy of the proposed method.","PeriodicalId":13201,"journal":{"name":"IEEE Transactions on Automatic Control","volume":"71 10","pages":"6857-6864"},"PeriodicalIF":7.0,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149072308","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

Distributed Task Allocation for Multiagent Systems: A Submodular Optimization Approach 多智能体系统的分布式任务分配：一种子模块优化方法

IF 7 1区计算机科学

IEEE Transactions on Automatic Control Pub Date : 2026-10-01 Epub Date: 2026-03-13 DOI: 10.1109/TAC.2026.3693158

Jing Liu;Fangfei Li;Xin Jin;Yang Tang

引用次数: 0