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Stochastic Recursive Inclusions With Biased Perturbations: An ISS Perspective 带有偏置扰动的随机递归内含物：ISS视角
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-01 Epub Date: 2026-04-21 DOI: 10.1109/LCSYS.2026.3686243
Anik Kumar Paul;Karthik Shenoy;Arun D. Mahindrakar
{"title":"Stochastic Recursive Inclusions With Biased Perturbations: An ISS Perspective","authors":"Anik Kumar Paul;Karthik Shenoy;Arun D. Mahindrakar","doi":"10.1109/LCSYS.2026.3686243","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3686243","url":null,"abstract":"This letter investigates the asymptotic behavior of stochastic recursive inclusions (SRI) in the presence of non-zero, non-diminishing bias, a setting that frequently arises in zeroth-order optimization, stochastic approximation with iterate-dependent noise, and distributed learning with adversarial agents. Using input-to-state stability (ISS) of the differential inclusion that arises as the continuous-time limit of the SRI, we show that if the limiting differential inclusion is ISS and the iterates are almost surely bounded, then the iterates converge a.s. to a neighborhood of the equilibrium. We provide a simple, verifiable sufficient condition for almost sure boundedness when the operator is single-valued and globally Lipschitz, and show that several zeroth-order stochastic-gradient variants fit into this SRI/ISS framework under standard assumptions. The results offer a unified theoretical foundation for proving almost sure convergence of biased stochastic approximation schemes via ISS of differential inclusions.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"313-318"},"PeriodicalIF":2.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147828892","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Certification of Linear Inclusions for Nonlinear Systems 非线性系统的线性内含物的证明
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-01 Epub Date: 2026-04-17 DOI: 10.1109/LCSYS.2026.3685037
Yehia Abdelsalam;Sebastian Engell
{"title":"Certification of Linear Inclusions for Nonlinear Systems","authors":"Yehia Abdelsalam;Sebastian Engell","doi":"10.1109/LCSYS.2026.3685037","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3685037","url":null,"abstract":"In this letter, we propose a novel method to certify whether a given set of vertex linear systems constitutes a linear difference inclusion for a nonlinear system. The method relies on formulating the verification of the inclusion as an optimization problem in a novel way. The sign of the optimal value of the proposed optimization problem determines whether the candidate set of vertices is a linear difference inclusion for the nonlinear dynamics or not. The result is a Yes/No certificate. Our method can be useful for reducing the conservatism of linear difference inclusions obtained by other conservative methods, or for providing a rigorous certification procedure for any possibly non-rigorous method that aims at finding a linear difference inclusion for a nonlinear system. We illustrate how the method can be useful in obtaining less conservative linear enclosures for nonlinear systems by using small numerical examples. We further demonstrate the applicability of our method to larger systems using an industry-relevant chemical reactor example.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"253-258"},"PeriodicalIF":2.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147737053","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Geometric Perspectives on Preference Alignment: From Replicator Dynamics to Mirror Descent 偏好排列的几何视角：从复制动力学到镜像下降
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-01 Epub Date: 2026-03-04 DOI: 10.1109/LCSYS.2026.3689885
Bowen Su
{"title":"Geometric Perspectives on Preference Alignment: From Replicator Dynamics to Mirror Descent","authors":"Bowen Su","doi":"10.1109/LCSYS.2026.3689885","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3689885","url":null,"abstract":"Direct Preference Optimization (DPO) has revolutionized the alignment of large language models by implicitly optimizing a reward function via pairwise comparisons. While its empirical efficacy is well-documented, its theoretical convergence properties remain under-explored from a control-theoretic perspective. This letter casts DPO as a Riemannian gradient flow on the probability simplex equipped with the Fisher–Rao metric. Within this finite-dimensional policy-space model, we analyze the continuous-time dynamics through the Fisher–Rao Riemannian geometry of the probability simplex and the discrete-time update through the entropic mirror geometry induced by the Kullback–Leibler divergence. In particular, we prove that the associated continuous-time gradient flow coincides with a generalized replicator dynamics. We then establish a local geometric characterization of the objective by proving local strong geodesic convexity near a critical point under suitable structural assumptions, which in turn yields a local exponential stability result for the corresponding gradient flow. On the discrete-time side, we show that the induced policy-space update is exactly a KL-Mirror Descent step in the tabular setting and derive a descent guarantee under a relative smoothness assumption. These results provide a geometric interpretation of DPO in an idealized finite-outcome model and clarify the role of information geometry in preference-based optimization.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"367-372"},"PeriodicalIF":2.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148003570","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
PID-Compatible Compensation for Containerized Wireless Industrial Control Under Timing Uncertainty 时序不确定下集装箱无线工业控制的pid兼容补偿
IF 1.9
IEEE Control Systems Letters Pub Date : 2026-01-01 Epub Date: 2026-08-26 DOI: 10.1109/LCSYS.2026.3727663
Luyiyang Gong;Rui Wang
{"title":"PID-Compatible Compensation for Containerized Wireless Industrial Control Under Timing Uncertainty","authors":"Luyiyang Gong;Rui Wang","doi":"10.1109/LCSYS.2026.3727663","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3727663","url":null,"abstract":"Timing uncertainty in containerized wireless industrial control arises from the combined effects of wireless communication, protocol processing, and container virtualization. This letter proposes a reinforcement learning (RL)-assisted proportional–integral–derivative (PID)-compatible compensation framework for such uncertainty. A nonlinear controller-level model represents bounded delay and correlated read/write losses while distinguishing candidate from plant-applied inputs. A closed-form, safety-projected additive compensator retains the PID structure, while a cloud-trained RL policy schedules the controller parameters. Sufficient conditions are derived for uniform ultimate boundedness of the tracking error on a compact validation region under intermittent communication failures. Quadruple-tank results show that the proposed method achieves the lowest mean squared error, integral absolute error, and worst-case settling time among all evaluated methods, including fixed and robust controllers.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"2287-2292"},"PeriodicalIF":1.9,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148925225","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Agent Utilities Over Generalized Voronoi Regions and Their Gradients 广义Voronoi区域上的Agent效用及其梯度
IF 1.9
IEEE Control Systems Letters Pub Date : 2026-01-01 Epub Date: 2026-08-31 DOI: 10.1109/LCSYS.2026.3729004
Andre N. Costa;Petter Ögren;Carlos H. C. Ribeiro
{"title":"Agent Utilities Over Generalized Voronoi Regions and Their Gradients","authors":"Andre N. Costa;Petter Ögren;Carlos H. C. Ribeiro","doi":"10.1109/LCSYS.2026.3729004","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3729004","url":null,"abstract":"Voronoi partitions are widely used to model spatial dominance in multi-agent systems, but Euclidean distance can be a limited proxy when agents differ in initial velocity or dynamics (e.g., drag). This letter studies Cost-Induced Voronoi (CIV) regions, where spatial partitions are induced by transfer costs depending on the full agent state and dynamics. As a closed-form special case, we consider infinite-horizon Linear Quadratic Regulator costs for second-order agents with linear drag, yielding LQR-CIV regions. When a scalar utility is defined over a space, we can define agent utility as the integral over their CIV regions. To enable agents to maximize their spatial utility, we derive a closed-form boundary-integral expression for the utility gradient using the Reynolds Transport Theorem. This closed-form gradient bypasses the need for computationally expensive finite-difference approximations. In a soccer-inspired case study, we demonstrate that our analytical gradient reduces computational cost by a factor of 25 compared to finite-difference alternatives.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"2341-2346"},"PeriodicalIF":1.9,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148925379","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Exact and Approximate Convex Reformulation of Linear Stochastic Optimal Control With Chance Constraints 具有机会约束的线性随机最优控制的精确和近似凸重构
IF 1.9
IEEE Control Systems Letters Pub Date : 2026-01-01 Epub Date: 2026-06-08 DOI: 10.1109/LCSYS.2026.3701076
Tanmay Dokania;Yashwanth Kumar Nakka
{"title":"Exact and Approximate Convex Reformulation of Linear Stochastic Optimal Control With Chance Constraints","authors":"Tanmay Dokania;Yashwanth Kumar Nakka","doi":"10.1109/LCSYS.2026.3701076","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3701076","url":null,"abstract":"In this letter, we present an equivalent convex optimization formulation for discrete-time stochastic linear systems subject to linear chance constraints, alongside two tight convex relaxations for quadratic chance constraints. By lifting the state vector to explicitly encode moment information, the formulation captures linear chance constraints on states and controls across multiple time steps exactly, without conservatism, yielding strict improvements in both feasibility and optimality. For quadratic chance constraints, we derive convex approximations that are provably less conservative than existing methods. We validate the framework for minimum-snap trajectory generation in a quadrotor, demonstrating that the proposed approach achieves cost reductions of <inline-formula> <tex-math>${41}%$ </tex-math></inline-formula>-<inline-formula> <tex-math>${67}%$ </tex-math></inline-formula> and remains feasible at noise levels an order of magnitude beyond the operating range of prior formulations.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"787-792"},"PeriodicalIF":1.9,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148442363","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Combinatorial Admissibility in Control-Affine Networks 控制-仿射网络中的组合容许性
IF 1.9
IEEE Control Systems Letters Pub Date : 2026-01-01 Epub Date: 2026-06-09 DOI: 10.1109/LCSYS.2026.3702047
Daniel Zelazo;Louis Theran
{"title":"Combinatorial Admissibility in Control-Affine Networks","authors":"Daniel Zelazo;Louis Theran","doi":"10.1109/LCSYS.2026.3702047","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3702047","url":null,"abstract":"We study synchronization of heterogeneous control-affine nonlinear agents interconnected through diffusive (relative-output) measurements. We separate the design into an edge-space step—specifying a stabilizing model evolution for relative outputs—and a lift step—realizing the prescribed edge motion using the agents’ allowable input directions, constrained by the control-affine geometry of the agents. We introduce an admissibility notion that characterizes when an edge-driven diffusive design is feasible. We derive checkable combinatorial certificates that connect graph topology and actuation limits directly to admissibility, so that feasible edge dynamics can be verified in a practical and transparent way. The results are illustrated on synchronization of nonlinear oscillators.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"757-762"},"PeriodicalIF":1.9,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148442740","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Bearing Invariance and Robust Disturbance Thresholds for Hybrid Camera-Based Unicycle Stabilization 基于混合摄像机的独轮车稳定的轴承不变性和鲁棒干扰阈值
IF 1.9
IEEE Control Systems Letters Pub Date : 2026-01-01 Epub Date: 2026-09-09 DOI: 10.1109/LCSYS.2026.3732181
Labid Bin Bashar
{"title":"Bearing Invariance and Robust Disturbance Thresholds for Hybrid Camera-Based Unicycle Stabilization","authors":"Labid Bin Bashar","doi":"10.1109/LCSYS.2026.3732181","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3732181","url":null,"abstract":"A recent hybrid camera-based stabilizer regulates a unicycle robot by switching between front and rear onboard camera-coordinate representations. We analyze whether the active-camera bearing can reach the field-of-view (FOV) boundary under nominal closed-loop dynamics and additive yaw-rate disturbances. Using a range-independent two-state bearing model, we first recover the known result that the bearing remains within <inline-formula> <tex-math>$|theta |le pi /2$ </tex-math></inline-formula>. We then derive a gain condition that keeps the bearing strictly inside the FOV, an initial-condition safe set valid for every initial range, and the largest persistent yaw-rate disturbance bound that preserves <inline-formula> <tex-math>$|theta |le pi /2$ </tex-math></inline-formula>. We also show that any larger bound can violate this property and give explicit error and sampling-age limits that prevent false camera switching. Numerical sweeps support the analytical results and illustrate their disturbance limits.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"2383-2388"},"PeriodicalIF":1.9,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148985665","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Robust Gaussian Process-Based Sliding Mode Predictive Control for Autonomous Underwater Vehicles: A Short-Horizon Approach 基于鲁棒高斯过程的自主水下航行器滑模预测控制：一种短视界方法
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-01 Epub Date: 2026-03-25 DOI: 10.1109/LCSYS.2026.3696356
Run-Zhi Wang;Li-Ying Hao
{"title":"Robust Gaussian Process-Based Sliding Mode Predictive Control for Autonomous Underwater Vehicles: A Short-Horizon Approach","authors":"Run-Zhi Wang;Li-Ying Hao","doi":"10.1109/LCSYS.2026.3696356","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3696356","url":null,"abstract":"Considering that the computational burden of model predictive control (MPC) mainly arises from the prediction horizon, this letter proposes a short-horizon sliding mode predictive control (SMPC) method for autonomous underwater vehicles (AUVs). A key innovation lies in the incorporation of a saturation-based sliding mode formulation into both the cost function and the constraints of the optimization problem, which ensures the convergence of sliding mode variables even under a short prediction horizon. To enhance robustness against model uncertainties and external disturbances, a prediction model based on Gaussian process regression (GPR) is incorporated into the SMPC framework, thereby reducing the dependence on highly accurate prior model knowledge through online learning of lumped uncertainty. Furthermore, a tailored terminal weight design is developed to support theoretical stability analysis. Rigorous proof is provided to establish the feasibility and global stability of the closed-loop system. Simulation results demonstrate that the proposed controller achieves trajectory tracking with reduced computational complexity.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"463-468"},"PeriodicalIF":2.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148171555","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
An Application of the Mean Motion Problem to Time-Optimal Control 平均运动问题在时间最优控制中的应用
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-01 Epub Date: 2026-04-20 DOI: 10.1109/LCSYS.2026.3685715
Omri Dalin;Alexander Ovseevich;Michael Margaliot
{"title":"An Application of the Mean Motion Problem to Time-Optimal Control","authors":"Omri Dalin;Alexander Ovseevich;Michael Margaliot","doi":"10.1109/LCSYS.2026.3685715","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3685715","url":null,"abstract":"We consider time-optimal controls of a controllable linear system. It is well-known that if all the eigenvalues of the matrix describing the linear system dynamics are real then any time-optimal control has a bounded number of switching points, where the bound does not depend on the length of the time interval. Here, we consider the case where the governing matrix has purely imaginary eigenvalues, and show that then, in the generic case, the number of switching points is bounded from below by a linear function of the length of the time interval. The proof is based on relating the switching function in the optimal control problem to the mean motion problem that dates back to Lagrange and was solved by Herman Weyl.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"307-312"},"PeriodicalIF":2.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147828811","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","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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