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Multi-Sensor Fusion Estimation Using Adaptive Zonotopic Kalman Filters With Binary Measurements 基于二值测量的自适应分区卡尔曼滤波的多传感器融合估计
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-26 DOI: 10.1109/LCSYS.2025.3554721
Shuiqiang Xu;Zhongyao Hu;Zheming Wang;Yuchen Zhang;Bo Chen
{"title":"Multi-Sensor Fusion Estimation Using Adaptive Zonotopic Kalman Filters With Binary Measurements","authors":"Shuiqiang Xu;Zhongyao Hu;Zheming Wang;Yuchen Zhang;Bo Chen","doi":"10.1109/LCSYS.2025.3554721","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3554721","url":null,"abstract":"This letter investigates the state estimation problem under binary sensors with inaccurate thresholds. A method for extracting zonotopic data from an inaccurate threshold model is proposed. The output of this method serves as measurements to construct a centralized zonotopic Kalman Filter (ZKF). By analyzing the characteristics of binary sensors, we further propose a threshold estimation technique to encapsulate the actual threshold within a zonotope. We demonstrate that the captured zonotope becomes increasingly tighter, thereby reducing the uncertainty of the threshold estimation. Additionally, through comparisons of estimation error bounds, we extend the proposed method to the sensor arrangement problem, addressing how to select the number of sensors and their thresholds. Circuit simulations validate the effectiveness of the proposed approach.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"50-55"},"PeriodicalIF":2.4,"publicationDate":"2025-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143769471","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
Resilient Consensus of Second-Order Multi-Agent Systems Under Mobile Malicious Faults 移动恶意故障下二阶多智能体系统的弹性一致性
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-24 DOI: 10.1109/LCSYS.2025.3554435
Ke Chen;Ran Tian;Xiangzheng Meng;Jie Mei;Guangfu Ma
{"title":"Resilient Consensus of Second-Order Multi-Agent Systems Under Mobile Malicious Faults","authors":"Ke Chen;Ran Tian;Xiangzheng Meng;Jie Mei;Guangfu Ma","doi":"10.1109/LCSYS.2025.3554435","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3554435","url":null,"abstract":"This letter focuses on the resilient consensus problem of second-order sampled-data multi-agent systems (MASs) in the presence of mobile malicious agents under a directed graph. Unlike static attacks, mobile adversaries have the capability to move within the network, causing the state values of attacked agents to remain compromised for a certain period. To this end, we propose a modified version of the double-integrator position-based mean sub-sequence reduced (DP-MSR) algorithm, and develop conditions on the network structure to guarantee the resilient consensus of the considered system. In the above scheme, the extreme values from both neighbors and the agent itself are ignored to better compensate the impact of mobile malicious agents. It is demonstrated that the system can achieve resilient consensus under sufficient network connectivity, even in the presence of a limited number of mobile malicious agents. Numerical simulations are performed to verify the effectiveness of the proposed algorithm.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"44-49"},"PeriodicalIF":2.4,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143769470","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
Data-Driven Finite-Time Platooning Control for Heterogeneous Nonlinear Vehicle Systems 非均质非线性车辆系统的数据驱动有限时间队列控制
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-18 DOI: 10.1109/LCSYS.2025.3552676
Qiaoni Han;Jianguo Ma;Zhiqiang Zuo;Xiaocheng Wang;Xinping Guan
{"title":"Data-Driven Finite-Time Platooning Control for Heterogeneous Nonlinear Vehicle Systems","authors":"Qiaoni Han;Jianguo Ma;Zhiqiang Zuo;Xiaocheng Wang;Xinping Guan","doi":"10.1109/LCSYS.2025.3552676","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3552676","url":null,"abstract":"This letter studies the issue of finite-time model-free adaptive control (FT-MFAC) applied to heterogeneous nonlinear vehicular platooning systems, focusing on a data-driven approach for design and analysis. Initially, the nonlinear vehicular platooning system is transformed into an equivalent data-relationship model through the use of pseudo partial derivatives. Subsequently, an output tuning factor is employed to facilitate the concurrent tracking of both position and velocity. Then, an adaptive controller without introducing additional constraints and shifting functions is developed to ensure model-free and finite-time control of the vehicle platoon. Ultimately, the proposed method’s effectiveness and advantages are validated through theoretical analysis and simulation results.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"33-37"},"PeriodicalIF":2.4,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143726468","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
Designing Control Barrier Functions for Underactuated Euler–Lagrange Systems Using Dynamic Safety Margins 利用动态安全裕度设计欠驱动欧拉-拉格朗日系统的控制障碍函数
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-16 DOI: 10.1109/LCSYS.2025.3570934
Victor Freire;Sauranil Debarshi;Marco M. Nicotra
{"title":"Designing Control Barrier Functions for Underactuated Euler–Lagrange Systems Using Dynamic Safety Margins","authors":"Victor Freire;Sauranil Debarshi;Marco M. Nicotra","doi":"10.1109/LCSYS.2025.3570934","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3570934","url":null,"abstract":"This letter shows how to design control barrier functions for underactuated and fully-actuated Euler-Lagrange systems subject to state and input constraints. The proposed method uses passivity-based considerations to limit the total energy available to the system and ensure constraint satisfaction. The approach can handle multiple state and input constraints regardless of relative degree.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"234-239"},"PeriodicalIF":2.4,"publicationDate":"2025-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144139843","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
Distributed Prescribed-Time Observer for Nonlinear Systems in Block-Triangular Form 块三角形非线性系统的分布规定时间观测器
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-15 DOI: 10.1109/LCSYS.2025.3570577
Vincent de Heij;M. Umar B. Niazi;Karl H. Johansson;Saeed Ahmed
{"title":"Distributed Prescribed-Time Observer for Nonlinear Systems in Block-Triangular Form","authors":"Vincent de Heij;M. Umar B. Niazi;Karl H. Johansson;Saeed Ahmed","doi":"10.1109/LCSYS.2025.3570577","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3570577","url":null,"abstract":"This letter proposes a design of a distributed prescribed-time observer for nonlinear systems representable in a block-triangular observable canonical form. Using a weighted average of neighbor estimates exchanged over a strongly connected digraph, each observer estimates the system state despite the limited observability of local sensor measurements. The proposed design guarantees that distributed state estimation errors converge to zero at a user-specified convergence time, irrespective of observers’ initial conditions. To achieve this prescribed-time convergence, distributed observers implement time-varying local output injection gains that monotonically increase and approach infinity at the prescribed time. The theoretical convergence is rigorously proven and validated through numerical simulations, where some implementation issues due to increasing gains have also been clarified.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"222-227"},"PeriodicalIF":2.4,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144125462","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
Distributed Label-Free Fencing of Second-Order Multi-Agent Systems for a Moving Target With an Unknown Time-Varying Acceleration 具有未知时变加速度运动目标的二阶多智能体系统的分布式无标签隔离
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-14 DOI: 10.1109/LCSYS.2025.3551269
Song Jiang;Jiang Zhao;Pei Chi;Yingxun Wang
{"title":"Distributed Label-Free Fencing of Second-Order Multi-Agent Systems for a Moving Target With an Unknown Time-Varying Acceleration","authors":"Song Jiang;Jiang Zhao;Pei Chi;Yingxun Wang","doi":"10.1109/LCSYS.2025.3551269","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3551269","url":null,"abstract":"This letter investigates the moving target fencing problem for second-order multi-agent systems, where an unknown time-varying acceleration actuates the target. Without predefined distances, we propose a distributed label-free target-fencing strategy comprising a finite-time target motion estimator and a label-free target fencing controller. Relying solely on the target position, the estimator ensures the finite-time convergence of the estimation errors regarding target velocity and acceleration. The controller is designed with an attractive term that propels agents towards the target and an inter-agent repulsion term. The target is asymptotically fenced under the proposed fencing strategy, ensuring no inter-agent collisions and achieving velocity convergence, even with unexpected misbehaving agents. The results are proved by rigorous theoretical analysis and verified by numerical simulations.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"38-43"},"PeriodicalIF":2.4,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143748739","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
A Weighted Smooth Q-Learning Algorithm 一种加权平滑q -学习算法
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-13 DOI: 10.1109/LCSYS.2025.3551265
V. Antony Vijesh;S. R. Shreyas
{"title":"A Weighted Smooth Q-Learning Algorithm","authors":"V. Antony Vijesh;S. R. Shreyas","doi":"10.1109/LCSYS.2025.3551265","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3551265","url":null,"abstract":"Q-learning and double Q-learning are well-known sample-based, off-policy reinforcement learning algorithms. However, Q-learning suffers from overestimation bias, while double Q-learning suffers from underestimation bias. To address these issues, this letter proposes a weighted smooth Q-learning (WSQL) algorithm. The proposed algorithm employs a weighted combination of the mellowmax operator and the log-sum-exp operator in place of the maximum operator. Firstly, a new stochastic approximation based result is derived and as a consequence the almost sure convergence of the proposed WSQL is presented. Further, a sufficient condition for the boundedness of WSQL algorithm is obtained. Numerical experiments are conducted on benchmark examples to validate the effectiveness of the proposed weighted smooth Q-learning algorithm.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"21-26"},"PeriodicalIF":2.4,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143706776","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
Data-Driven Input-Output Control Barrier Functions 数据驱动的输入输出控制屏障函数
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-13 DOI: 10.1109/LCSYS.2025.3569701
Mohammad Bajelani;Klaske van Heusden
{"title":"Data-Driven Input-Output Control Barrier Functions","authors":"Mohammad Bajelani;Klaske van Heusden","doi":"10.1109/LCSYS.2025.3569701","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3569701","url":null,"abstract":"Control Barrier Functions (CBFs) offer a framework for ensuring set invariance and designing constrained control laws. However, crafting a valid CBF relies on system-specific assumptions and the availability of an accurate system model, underscoring the need for systematic data-driven synthesis methods. This letter introduces a data-driven approach to synthesizing a CBF for discrete-time LTI systems using only input-output measurements. The method begins by computing the maximal control invariant set using an input-output data-driven representation, eliminating the need for precise knowledge of the system’s order and explicit state estimation. The proposed CBF is then systematically derived from this set, which can accommodate multiple input-output constraints. Furthermore, the proposed CBF is leveraged to develop a minimally invasive safety filter that ensures recursive feasibility with an adaptive decay rate. To improve clarity, we assume a noise-free dataset, though the method can be extended using data-driven reachability to capture noise effects and handle uncertainty. Finally, the effectiveness of the proposed method is demonstrated on an unknown time-delay system.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"216-221"},"PeriodicalIF":2.4,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144125461","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
On the Convergence of Re-Centered Chen-Fliess Series 论重心陈-飞级数的收敛性
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-12 DOI: 10.1109/LCSYS.2025.3569197
F. Boudaghi;W. S. Gray;L. A. Duffaut Espinosa
{"title":"On the Convergence of Re-Centered Chen-Fliess Series","authors":"F. Boudaghi;W. S. Gray;L. A. Duffaut Espinosa","doi":"10.1109/LCSYS.2025.3569197","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3569197","url":null,"abstract":"Chen-Fliess functional series provide a representation for a large class of nonlinear input-output systems. Like any infinite series, however, their applicability is limited by their radii of convergence. The goal of this letter is to present a computationally feasible method to re-center a Chen-Fliess series in order to expand its time horizon. It extends existing results in two ways. First, it takes a simpler combinatorial approach to the re-centering formula that draws directly on the analogous re-centering problem for Taylor series. Second, a convergence analysis is presented for the re-centered series. This information can be used to compute a lower bound on the radius of convergence for the output function and an estimate of the series truncation error. The method is demonstrated by simulation on a steering problem for a car-trailer system.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"204-209"},"PeriodicalIF":2.4,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144125473","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
Distributed Kalman Filtering With Adaptive Communication 基于自适应通信的分布式卡尔曼滤波
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-11 DOI: 10.1109/LCSYS.2025.3550401
Daniela Selvi;Giorgio Battistelli
{"title":"Distributed Kalman Filtering With Adaptive Communication","authors":"Daniela Selvi;Giorgio Battistelli","doi":"10.1109/LCSYS.2025.3550401","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3550401","url":null,"abstract":"This letter proposes an adaptive event-triggered communication framework for distributed state estimation in sensor networks, enabling each node to self-adapt its transmission rule while maintaining a desired average rate and complying with an upper bound on individual transmission rates. Unlike existing approaches that require manual tuning, the proposed method dynamically tunes transmission thresholds, achieving uniform energy and bandwidth consumption across nodes. We analyze the theoretical properties of the proposed transmission strategy, and verify its effectiveness through simulations in a target-tracking scenario.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"15-20"},"PeriodicalIF":2.4,"publicationDate":"2025-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143706774","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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