IEEE Control Systems Letters最新文献_第3页

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

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

引用次数: 0

Unified Feedback Linearization for Nonlinear Systems With Dexterous and Energy-Saving Modes 具有灵巧节能模式的非线性系统的统一反馈线性化

IF 2.4

IEEE Control Systems Letters Pub Date : 2025-03-10 DOI: 10.1109/LCSYS.2025.3549999

Mirko Mizzoni;Pieter van Goor;Antonio Franchi

{"title":"Unified Feedback Linearization for Nonlinear Systems With Dexterous and Energy-Saving Modes","authors":"Mirko Mizzoni;Pieter van Goor;Antonio Franchi","doi":"10.1109/LCSYS.2025.3549999","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3549999","url":null,"abstract":"Systems with a high number of inputs compared to the degrees of freedom (e.g., a mobile robot with Mecanum wheels) often have a minimal set of energy-efficient inputs needed to achieve a main task (e.g., position tracking) and a set of energy-intense inputs needed to achieve an additional auxiliary task (e.g., orientation tracking). This letter presents a unified control scheme, derived through feedback linearization, that can switch between two modes: an energy-saving mode, which tracks the main task using only the energy-efficient inputs while forcing the energy-intense inputs to zero, and a dexterous mode, which also uses the energy-intense inputs to track the auxiliary task as needed. The proposed control guarantees the exponential tracking of the main task and that the dynamics associated with the main task evolve independently of the a priori unknown switching signal. When the control is operating in dexterous mode, the exponential tracking of the auxiliary task is also guaranteed. Numerical simulations on an omnidirectional Mecanum wheel robot validate the effectiveness of the proposed approach and demonstrate the effect of the switching signal on the exponential tracking behavior of the main and auxiliary tasks.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3494-3499"},"PeriodicalIF":2.4,"publicationDate":"2025-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143667719","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

Mean-Field-Based Density Control for Swarm Robotics Passing-Through a Virtual Tube 基于均值场的蜂群机器人通过虚拟管道的密度控制

IF 2.4

IEEE Control Systems Letters Pub Date : 2025-03-10 DOI: 10.1109/LCSYS.2025.3550036

Yangqi Lei;Quan Quan;Zhikun She

引用次数: 0

ISC-POMDPs: Partially Observed Markov Decision Processes With Initial-State Dependent Costs 具有初始状态依赖成本的部分观察马尔可夫决策过程

IF 2.4

IEEE Control Systems Letters Pub Date : 2025-03-10 DOI: 10.1109/LCSYS.2025.3549684

Timothy L. Molloy

引用次数: 0

Static Output Feedback Control of Heat Equations With Small Reaction Terms 小反应项热方程的静态输出反馈控制

IF 2.4

IEEE Control Systems Letters Pub Date : 2025-03-09 DOI: 10.1109/LCSYS.2025.3568759

Hugo Lhachemi;Christophe Prieur

引用次数: 0

PAC Learnability of Scenario Decision-Making Algorithms: Necessary Conditions and Sufficient Conditions 情景决策算法的PAC可学习性：必要条件与充分条件

IF 2.4

IEEE Control Systems Letters Pub Date : 2025-03-09 DOI: 10.1109/LCSYS.2025.3568760

Guillaume O. Berger;Raphaël M. Jungers

{"title":"PAC Learnability of Scenario Decision-Making Algorithms: Necessary Conditions and Sufficient Conditions","authors":"Guillaume O. Berger;Raphaël M. Jungers","doi":"10.1109/LCSYS.2025.3568760","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3568760","url":null,"abstract":"We investigate the Probably Approximately Correct (PAC) property of scenario decision algorithms, which refers to their ability to produce decisions with an arbitrarily low risk of violating unknown safety constraints, provided a sufficient number of realizations of these constraints are sampled. While several PAC sufficient conditions for such algorithms exist in the literature—such as the finiteness of the VC dimension of their associated classifiers, or the existence of a compression scheme—it remains unclear whether these conditions are also necessary. In this letter, we demonstrate through counterexamples that these conditions are not necessary in general. These findings stand in contrast to binary classification learning, where analogous conditions are both sufficient and necessary for a family of classifiers to be PAC. Furthermore, we extend our analysis to stable scenario decision algorithms, a broad class that includes practical methods like scenario optimization. Even under this additional assumption, we show that the aforementioned conditions remain unnecessary. Furthermore, we introduce a novel quantity, called the dVC dimension, which serves as an analogue to the VC dimension for scenario decision algorithms. We prove that the finiteness of this dimension is a PAC necessary condition for scenario decision algorithms. This allows to (i) guide algorithm users and designers to recognize algorithms that are not PAC, and (ii) contribute to a comprehensive characterization of PAC scenario decision algorithms.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"186-191"},"PeriodicalIF":2.4,"publicationDate":"2025-03-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144108323","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

Parameterized Feedback Linearization of Nonlinear Discrete-Time Control Systems 非线性离散控制系统的参数化反馈线性化

IF 2.4

IEEE Control Systems Letters Pub Date : 2025-03-09 DOI: 10.1109/LCSYS.2025.3568672

Arvo Kaldmäe;Ülle Kotta

引用次数: 0

Set-Based and Dynamical Feedback-Augmented Hands-Off Control 基于集合的动态反馈增强不干涉控制

IF 2.4

IEEE Control Systems Letters Pub Date : 2025-03-08 DOI: 10.1109/LCSYS.2025.3568341

Andrei Sperilă;Sorin Olaru;Stéphane Drobot

引用次数: 0