发布求助
文献互助 智能选刊 最新文献

IEEE Control Systems Letters最新文献

筛选
英文 中文
Spatially-Invariant Opinion Dynamics on the Circle 圆上的空间不变意见动态
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-27 DOI: 10.1109/LCSYS.2024.3523466
Giovanna Amorim;Anastasia Bizyaeva;Alessio Franci;Naomi Ehrich Leonard
{"title":"Spatially-Invariant Opinion Dynamics on the Circle","authors":"Giovanna Amorim;Anastasia Bizyaeva;Alessio Franci;Naomi Ehrich Leonard","doi":"10.1109/LCSYS.2024.3523466","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3523466","url":null,"abstract":"We propose and analyze a nonlinear opinion dynamics model for an agent making decisions about a continuous distribution of options in the presence of input. Inspired by perceptual decision-making, we develop new theory for opinion formation in response to inputs about options distributed on the circle. Options on the circle can represent, e.g., the possible directions of perceived objects and resulting heading directions in planar robotic navigation problems. Interactions among options are encoded through a spatially invariant kernel, which we design to ensure that only a small (finite) subset of options can be favored over the continuum. We leverage the spatial invariance of the model linearization to design flexible, distributed opinion-forming behaviors using spatiotemporal frequency domain and bifurcation analysis. We illustrate our model’s versatility with an application to robotic navigation in crowded spaces.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3231-3236"},"PeriodicalIF":2.4,"publicationDate":"2024-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142938065","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
Contraction Analysis of Continuation Method for Suboptimal Model Predictive Control 次优模型预测控制延拓方法的收缩分析
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-27 DOI: 10.1109/LCSYS.2024.3523584
Ryotaro Shima;Yuji Ito;Tatsuya Miyano
{"title":"Contraction Analysis of Continuation Method for Suboptimal Model Predictive Control","authors":"Ryotaro Shima;Yuji Ito;Tatsuya Miyano","doi":"10.1109/LCSYS.2024.3523584","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3523584","url":null,"abstract":"This letter analyzes the contraction property of the nonlinear systems controlled by suboptimal model predictive control (MPC) using the continuation method. We propose a contraction metric that reflects the hierarchical dynamics inherent in the continuation method. We derive a pair of matrix inequalities that elucidate the impact of suboptimality on the contraction of the optimally controlled closed-loop system. A numerical example is presented to verify our contraction analysis. Our results are applicable to other MPCs than stabilization, including economic MPC.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3261-3266"},"PeriodicalIF":2.4,"publicationDate":"2024-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10817557","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142938062","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Safe Vehicle Motion Planning Using Constraint Admissible Positive Invariant Sets on SE(3) SE(3)上约束允许正不变量集的安全车辆运动规划
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-27 DOI: 10.1109/LCSYS.2024.3523385
Teo Brandt;Rafael Fierro;Claus Danielson
{"title":"Safe Vehicle Motion Planning Using Constraint Admissible Positive Invariant Sets on SE(3)","authors":"Teo Brandt;Rafael Fierro;Claus Danielson","doi":"10.1109/LCSYS.2024.3523385","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3523385","url":null,"abstract":"This letter extends the application of the invariant set motion planner (ISMP) to space vehicles operating in <inline-formula> <tex-math>$mathbb {SE}text {(}3text {)} = mathbb {SO}text {(}3text {)} rtimes {mathbb {R}}^{3}$ </tex-math></inline-formula>, considering the quaternion representation of <inline-formula> <tex-math>$mathbb {SO}text {(}3text {)}$ </tex-math></inline-formula>. We provide a proof for a collision-free set by extending the concepts of configuration-space bubbles from robotics literature. We derive a constraint admissible positive invariant (CAPI) subset within the configuration-space bubble for a robust linearization of the nonlinear vehicle dynamics. The motion planner constructs a directed graph of position and orientation equilibria covering <inline-formula> <tex-math>$mathbb {SE}text {(}3text {)}$ </tex-math></inline-formula>. CAPI sets are constructed to verify that equilibria are connected by a feasible trajectory. Graph search is applied to determine a sequence of reference configurations, starting at an initial position-orientation and terminating at a goal position-orientation. Simulation results are included that demonstrate the safe navigation of a vehicle in the presence of an obstacle. The trajectory is shown to maintain the CAPI conditions and is therefore safe under the nonlinear translational and rotational closed-loop vehicle dynamics.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3255-3260"},"PeriodicalIF":2.4,"publicationDate":"2024-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142975928","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
Cooperative Target Defense Under Communication and Sensing Constraints
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-27 DOI: 10.1109/LCSYS.2024.3523843
Dipankar Maity;Arman Pourghorban
{"title":"Cooperative Target Defense Under Communication and Sensing Constraints","authors":"Dipankar Maity;Arman Pourghorban","doi":"10.1109/LCSYS.2024.3523843","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3523843","url":null,"abstract":"We consider a variant of the target defense problems where a group of defenders are tasked to simultaneously capture an intruder. The intruder’s objective is to reach a target without being simultaneously captured by the defender team. Some of the defenders are sensing-limited and do not have any information regarding the intruder’s position or velocity at any time. The defenders may communicate with each other using a connected communication graph. We propose a decentralized feedback strategy for the defenders, which transforms the simultaneous capture problem into a nonlinear consensus problem. We derive a sufficient condition for simultaneous capture in terms of the agents’ speeds, sensing, and communication capabilities. The proposed decentralized controller is evaluated through extensive numerical simulations.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3321-3326"},"PeriodicalIF":2.4,"publicationDate":"2024-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143184231","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
Willems’ Fundamental Lemma for Nonlinear Systems With Koopman Linear Embedding 具有Koopman线性嵌入的非线性系统的Willems基本引理
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-26 DOI: 10.1109/LCSYS.2024.3522594
Xu Shang;Jorge Cortés;Yang Zheng
{"title":"Willems’ Fundamental Lemma for Nonlinear Systems With Koopman Linear Embedding","authors":"Xu Shang;Jorge Cortés;Yang Zheng","doi":"10.1109/LCSYS.2024.3522594","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3522594","url":null,"abstract":"Koopman operator theory and Willems’ fundamental lemma both can provide (approximated) data-driven linear representation for nonlinear systems. However, choosing lifting functions for the Koopman operator is challenging, and the quality of the data-driven model from Willems’ fundamental lemma has no guarantee for general nonlinear systems. In this letter, we extend Willems’ fundamental lemma for a class of nonlinear systems that admit a Koopman linear embedding. We first characterize the relationship between the trajectory space of a nonlinear system and that of its Koopman linear embedding. We then prove that the trajectory space of Koopman linear embedding can be formed by a linear combination of rich-enough trajectories from the nonlinear system. Combining these two results leads to a data-driven representation of the nonlinear system, which bypasses the need for the lifting functions and thus eliminates the associated bias errors. Our results illustrate that both the width (more trajectories) and depth (longer trajectories) of the trajectory library are important to ensure the accuracy of the data-driven model.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3135-3140"},"PeriodicalIF":2.4,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962894","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 Composite Nonlinear Feedback Control for Semi-Global Output Regulation of Unknown Linear Systems With Input Saturation 输入饱和未知线性系统半全局输出调节的数据驱动复合非线性反馈控制
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-26 DOI: 10.1109/LCSYS.2024.3523244
Hanwen Cai;Weiyao Lan;Xiao Yu
{"title":"Data-Driven Composite Nonlinear Feedback Control for Semi-Global Output Regulation of Unknown Linear Systems With Input Saturation","authors":"Hanwen Cai;Weiyao Lan;Xiao Yu","doi":"10.1109/LCSYS.2024.3523244","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3523244","url":null,"abstract":"This letter addresses the semi-global output regulation problem for continuous-time linear systems with input saturation and unknown dynamics. First, we employ a low-gain technique to design a state-feedback linear control law such that the control input operates within the linear region of the actuator. Then, taking it as the linear part, we construct a composite nonlinear feedback (CNF) control law, consisting of both linear and nonlinear parts, to improve the transient performance of the closed-loop system. Without requiring prior knowledge of the system dynamics or an initial stabilizing control policy, we propose a novel adaptive dynamic programming (ADP) learning algorithm. This algorithm learns both the linear part and the nonlinear part of the CNF control law using the same set of data. In addition, the algorithm uses single-layer filters, eliminating the need for integral operations during the learning process. Finally, the effectiveness of the proposed algorithm is demonstrated by an illustrative example.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3225-3230"},"PeriodicalIF":2.4,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142938061","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
Orthogonal Modal Representation in Long-Term Risk Quantification for Dynamic Multi-Agent Systems 动态多智能体系统长期风险量化中的正交模态表示
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-26 DOI: 10.1109/LCSYS.2024.3522949
Ryoma Yasunaga;Yorie Nakahira;Yutaka Hori
{"title":"Orthogonal Modal Representation in Long-Term Risk Quantification for Dynamic Multi-Agent Systems","authors":"Ryoma Yasunaga;Yorie Nakahira;Yutaka Hori","doi":"10.1109/LCSYS.2024.3522949","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3522949","url":null,"abstract":"Quantifying long-term risk in large-scale multi-agent systems is critical for ensuring safe operation. However, the high dimensionality of these systems and the rarity of risk events can make the required computations prohibitively expensive. To overcome this challenge, we introduce a graph-based representation and efficient risk quantification techniques tailored for stochastic multi-agent systems. A key technical innovation is a systematic approach to decompose the estimation problem of system-wide safety probabilities into smaller, lower-dimensional sub-systems with sub-safe sets. This decomposition leverages the graph Fourier basis of the agent interaction network, providing a natural and scalable representation. The safety probabilities for these sub-systems are derived as solutions to a set of low-dimensional partial differential equations (PDEs). The proposed decomposition enables existing risk quantification approaches but does so without an exponential increase in computational complexity with respect to the number of agents.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3177-3182"},"PeriodicalIF":2.4,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10816487","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142938118","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Active Learning-Based Control for Resiliency of Uncertain Systems Under DoS Attacks 基于主动学习的不确定系统DoS攻击弹性控制
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-26 DOI: 10.1109/LCSYS.2024.3522953
Sayan Chakraborty;Weinan Gao;Kyriakos G. Vamvoudakis;Zhong-Ping Jiang
{"title":"Active Learning-Based Control for Resiliency of Uncertain Systems Under DoS Attacks","authors":"Sayan Chakraborty;Weinan Gao;Kyriakos G. Vamvoudakis;Zhong-Ping Jiang","doi":"10.1109/LCSYS.2024.3522953","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3522953","url":null,"abstract":"In this letter, we present an active learning-based control method for discrete-time linear systems with unknown parameters under denial-of-service (DoS) attacks. For any DoS duration parameter, using switching systems theory and adaptive dynamic programming, an active learning-based control technique is developed. A critical DoS average dwell-time is learned from online input-state data, guaranteeing stability of the equilibrium point of the closed-loop system in the presence of DoS attacks with average dwell-time greater than or equal to the critical DoS average dwell-time. The effectiveness of the proposed methodology is illustrated via a numerical example.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3297-3302"},"PeriodicalIF":2.4,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142975936","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
Projected Forward Gradient-Guided Frank-Wolfe Algorithm via Variance Reduction 基于方差缩减的投影前向梯度引导Frank-Wolfe算法
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-26 DOI: 10.1109/LCSYS.2024.3523243
Mohammadreza Rostami;Solmaz S. Kia
{"title":"Projected Forward Gradient-Guided Frank-Wolfe Algorithm via Variance Reduction","authors":"Mohammadreza Rostami;Solmaz S. Kia","doi":"10.1109/LCSYS.2024.3523243","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3523243","url":null,"abstract":"This letter aims to enhance the use of the Frank-Wolfe (FW) algorithm for training deep neural networks. Similar to any gradient-based optimization algorithm, FW suffers from high computational and memory costs when computing gradients for DNNs. This letter introduces the application of the recently proposed projected forward gradient (Projected-FG) method to the FW framework, offering reduced computational cost similar to backpropagation and low memory utilization akin to forward propagation. Our results show that trivial application of the Projected-FG introduces non-vanishing convergence error due to the stochastic noise that the Projected-FG method introduces in the process. This noise results in an non-vanishing variance in the Projected-FG estimated gradient. To address this, we propose a variance reduction approach by aggregating historical Projected-FG directions. We demonstrate rigorously that this approach ensures convergence to the optimal solution for convex functions and to a stationary point for non-convex functions. Simulations demonstrate our results.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3153-3158"},"PeriodicalIF":2.4,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142938114","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
Control of a Noncooperative Positive Nonlinear System by Augmented Positive Linear System Regulation
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-26 DOI: 10.1109/LCSYS.2024.3522944
Guanyun Liu;Amor A. Menezes
{"title":"Control of a Noncooperative Positive Nonlinear System by Augmented Positive Linear System Regulation","authors":"Guanyun Liu;Amor A. Menezes","doi":"10.1109/LCSYS.2024.3522944","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3522944","url":null,"abstract":"Positive systems, which are systems whose states are always non-negative, can have both positive linear and positive nonlinear approximations that are valid dynamical models in a prescribed domain. When a linearization of a nonlinear system in a domain near an operating point is equivalent to another linear system representation, a reference-tracking controller for that linear system should also achieve reference-tracking control of the nonlinear system in that domain. Here, we show that only if a linearized positive nonlinear system (PNS) is a positive system (i.e., the PNS is cooperative) will a reference-tracking controller for an equivalent positive linear system realization achieve similar results on the nonlinear system. For an example noncooperative PNS of human blood coagulation, where a published reference-tracking controller assumed a positive linear plant, we develop feedforward and feedback controllers that augment the prior controller to overcome noncooperativity and similarly control the positive nonlinear model.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3303-3308"},"PeriodicalIF":2.4,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143184227","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
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信