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Verification of Stochastic Systems Under Signal Temporal Logic Specifications 信号时序逻辑规范下随机系统的验证
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-06 DOI: 10.1109/LCSYS.2025.3567554
Liqian Ma;Zishun Liu;Hongzhe Yu;Yongxin Chen
{"title":"Verification of Stochastic Systems Under Signal Temporal Logic Specifications","authors":"Liqian Ma;Zishun Liu;Hongzhe Yu;Yongxin Chen","doi":"10.1109/LCSYS.2025.3567554","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3567554","url":null,"abstract":"We study the verification problem of stochastic systems under signal temporal logic (STL) specifications. We propose a novel approach that enables the verification of the probabilistic satisfaction of STL specifications for nonlinear systems subject to both bounded deterministic disturbances and stochastic disturbances. Our method, referred to as the STL erosion strategy, reduces the probabilistic verification problem into a deterministic verification problem with a tighter STL specification. The degree of tightening is determined by leveraging recent results on bounding the deviation between the stochastic trajectory and the deterministic trajectory. Our approach can be seamlessly integrated with any existing deterministic STL verification algorithm. Numerical experiments are conducted to showcase the efficacy of our method.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"150-155"},"PeriodicalIF":2.4,"publicationDate":"2025-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144073079","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
Gain-Scheduled Consensus of Multi-Agent Systems Over Graphs Described by Parameter-Varying Laplacians 多智能体系统在变参数拉普拉斯图上的增益调度一致性
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-06 DOI: 10.1109/LCSYS.2025.3547864
Damiano Rotondo;Didier Theilliol;Jean-Christophe Ponsart
{"title":"Gain-Scheduled Consensus of Multi-Agent Systems Over Graphs Described by Parameter-Varying Laplacians","authors":"Damiano Rotondo;Didier Theilliol;Jean-Christophe Ponsart","doi":"10.1109/LCSYS.2025.3547864","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3547864","url":null,"abstract":"This paper addresses the design of a gain-scheduled consensus protocol for multi-agent systems (MASs). Unlike conventional approaches that restrict the graph Laplacian to be fixed or switching matrices representing distinct topologies, we propose allowing it to vary as a function of a time-varying parameter vector available in real-time. For this situation, we derive design conditions that ensure convergence of the synchronization errors to zero in the form of a linear matrix inequality (LMI)-based feasibility problem, which can be efficiently solved using available tools. We illustrate the flexibility offered by a parameter-varying graph Laplacian formulation through two numerical examples that show the ability of the corresponding gain-scheduled consensus protocol to modulate various collective behaviors.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3482-3487"},"PeriodicalIF":2.4,"publicationDate":"2025-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143655067","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
Noncooperative Games With Prospect Theoretic Preferences 具有前景理论偏好的非合作博弈
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-06 DOI: 10.1109/LCSYS.2025.3548956
Marta Fochesato;Frédy Pokou;Hélène Le Cadre;John Lygeros
{"title":"Noncooperative Games With Prospect Theoretic Preferences","authors":"Marta Fochesato;Frédy Pokou;Hélène Le Cadre;John Lygeros","doi":"10.1109/LCSYS.2025.3548956","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3548956","url":null,"abstract":"We study noncooperative games with uncertain payoffs, where agents display irrational behaviors in response to underlying risk factors. Our formulation incorporates prospect theory, a behavioral model used to describe agents’ risk attitude, into the equilibrium theory of noncooperative <inline-formula> <tex-math>$N-$ </tex-math></inline-formula>agent games. We show that the resulting nonconvex nonsmooth game admits equilibria and provide convergence guarantees for their computation. Further, the concept of “Price of Irrationality” is introduced to quantify the suboptimality induced by irrational behaviors. Finally, we provide bounds on the performance of a class of prospect theoretic aggregative games and illustrate our results on an electricity market game.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"27-32"},"PeriodicalIF":2.4,"publicationDate":"2025-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143706763","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
Dynamic Tube-MPC for Underactuated Mechanical Systems With Matched and Unmatched Disturbances 具有匹配和不匹配扰动的欠驱动机械系统的动态管- mpc
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-05 DOI: 10.1109/LCSYS.2025.3567184
Guaraci Bastos;Enrico Franco
{"title":"Dynamic Tube-MPC for Underactuated Mechanical Systems With Matched and Unmatched Disturbances","authors":"Guaraci Bastos;Enrico Franco","doi":"10.1109/LCSYS.2025.3567184","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3567184","url":null,"abstract":"This letter investigates the trajectory tracking problem for a class of underactuated mechanical systems subject to matched and unmatched time-varying disturbances. To this end, a new dynamic tube-Model Predictive Control is proposed which includes a new tube dynamics and a new ancillary control constructed with an energy-shaping approach. Simulation results on a two-links model representative of a soft manipulator with disturbances demonstrate the effectiveness of the new controller.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"156-161"},"PeriodicalIF":2.4,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144073263","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
Multi-Stable Monotone Networks 多稳定单调网络
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-05 DOI: 10.1109/LCSYS.2025.3566945
Rintaro Watanabe;Yu Kawano;Nobutaka Wada
{"title":"Multi-Stable Monotone Networks","authors":"Rintaro Watanabe;Yu Kawano;Nobutaka Wada","doi":"10.1109/LCSYS.2025.3566945","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3566945","url":null,"abstract":"Almost every bounded trajectory of a strongly monotone system converges to an equilibrium. Relying on this, we derive a component-wise sufficient condition for multi-stability of monotone networks. We first show that a network is strongly monotone if each monotone subsystem is excitable and transparent, and every interconnection preserves monotonicity in a strong sense. Next, all trajectories of a network are bounded if each subsystem is input-to-state stable (ISS), and every interconnection function is bounded; we derive a sufficient condition for ISS tailored to monotone systems. Finally, we present a component-wise instability condition of an equilibrium for a network based on linearization, where instability guarantees the existence of multiple attracting equilibria.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"144-149"},"PeriodicalIF":2.4,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10985866","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144073078","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
Distributed and Localized Covariance Control of Coupled Systems: A System Level Approach 耦合系统的分布和局部协方差控制：一种系统级方法
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-05 DOI: 10.1109/LCSYS.2025.3566703
Ahmed Khalil;Yoonjae Lee;Efstathios Bakolas
{"title":"Distributed and Localized Covariance Control of Coupled Systems: A System Level Approach","authors":"Ahmed Khalil;Yoonjae Lee;Efstathios Bakolas","doi":"10.1109/LCSYS.2025.3566703","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3566703","url":null,"abstract":"This work is concerned with finiteâĂŚhorizon covariance steering for networked, discreteâĂŚtime stochastic linear systems with dynamically coupled subsystems, extending beyond existing work limited to decoupled ‘agents.’ We formulate a localized covariance-steering problem and, using the systemâĂŚlevel synthesis (SLS) framework, recast it as a convex optimization over system responses. After analyzing separability and applying a transformation for nonseparable objectives, we derive a distributed consensus-ADMM algorithm that respects each subsystem’s local information and communication constraints. We validate our approach on a power network with 36 interconnected subsystems.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"180-185"},"PeriodicalIF":2.4,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144090734","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
Anti-Windup for Internal Model Control With Asymmetric Input Saturation
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-05 DOI: 10.1109/LCSYS.2025.3566943
Ambrose A. Adegbege;Opeyemi S. Owolabi;Kolawole S. Ogunba;Abimbola M. Jubril
{"title":"Anti-Windup for Internal Model Control With Asymmetric Input Saturation","authors":"Ambrose A. Adegbege;Opeyemi S. Owolabi;Kolawole S. Ogunba;Abimbola M. Jubril","doi":"10.1109/LCSYS.2025.3566943","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3566943","url":null,"abstract":"In this letter, we introduce a novel anti-windup design approach for internal model control (IMC) that addresses the issue of asymmetric input saturation. To enhance closed-loop performance during periods of saturation, we utilize information about the asymmetrical limits of input saturation in the anti-windup design. This is achieved through a combination of static matrix scaling, a constant offset term, and a generalized sector condition that guarantees both global and regional stability of the closed loop. Our approach generalizes existing techniques for incorporating directionality compensation into anti-windup designs and can be interpreted as a search over a class of left-coprime factorization of the linear internal model controller. We demonstrate the effectiveness of this design approach on a well-known and widely used anti-windup example.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"126-131"},"PeriodicalIF":2.4,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143943985","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
The Impact of Social Value Orientation on Nash Equilibria of Two Player Quadratic Games 社会价值取向对二人二次博弈纳什均衡的影响
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-05 DOI: 10.1109/LCSYS.2025.3566936
Daniel J. Calderone;Meeko Oishi
{"title":"The Impact of Social Value Orientation on Nash Equilibria of Two Player Quadratic Games","authors":"Daniel J. Calderone;Meeko Oishi","doi":"10.1109/LCSYS.2025.3566936","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3566936","url":null,"abstract":"We consider two player quadratic games in a cooperative framework based in social value orientation, motivated by the need to account for complex interactions between humans and autonomous agents in dynamical systems. Social value orientation posits that each player incorporates the other player’s cost into their own objective. Each player’s “orientation” determines how the player weights their own cost relative to the other player’s cost. We derive explicit formulas for the Nash equilibria as a function of social value orientation. We characterize conditions under which equilibria become unbounded and the asymptotes that these unbounded solutions follow. We analyze linear quadratic games with open-loop control, with application to trajectory planning with integrator dynamics.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"138-143"},"PeriodicalIF":2.4,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144073077","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
Off-Policy Temporal Difference Learning for Perturbed Markov Decision Processes 扰动马尔可夫决策过程的非策略时间差分学习
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-04 DOI: 10.1109/LCSYS.2025.3547629
Ali Forootani;Raffaele Iervolino;Massimo Tipaldi;Mohammad Khosravi
{"title":"Off-Policy Temporal Difference Learning for Perturbed Markov Decision Processes","authors":"Ali Forootani;Raffaele Iervolino;Massimo Tipaldi;Mohammad Khosravi","doi":"10.1109/LCSYS.2025.3547629","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3547629","url":null,"abstract":"Dynamic Programming suffers from the curse of dimensionality due to large state and action spaces, a challenge further compounded by uncertainties in the environment. To mitigate these issue, we explore an off-policy based Temporal Difference Approximate Dynamic Programming approach that preserves contraction mapping when projecting the problem into a subspace of selected features, accounting for the probability distribution of the perturbed transition probability matrix. We further demonstrate how this Approximate Dynamic Programming approach can be implemented as a particular variant of the Temporal Difference learning algorithm, adapted for handling perturbations. To validate our theoretical findings, we provide a numerical example using a Markov Decision Process corresponding to a resource allocation problem.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3488-3493"},"PeriodicalIF":2.4,"publicationDate":"2025-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143667277","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
Duality of Stochastic Observability and Constructability and Links to Fisher Information 随机可观测性和可构造性的对偶性及其与Fisher信息的联系
IF 2.4
IEEE Control Systems Letters Pub Date : 2025-03-03 DOI: 10.1109/LCSYS.2025.3547297
Burak Boyacıoğlu;Floris van Breugel
{"title":"Duality of Stochastic Observability and Constructability and Links to Fisher Information","authors":"Burak Boyacıoğlu;Floris van Breugel","doi":"10.1109/LCSYS.2025.3547297","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3547297","url":null,"abstract":"Given a set of measurements, observability characterizes the distinguishability of a system’s initial state, whereas constructability focuses on the final state in a trajectory. In the presence of process and/or measurement noise, the Fisher information matrices with respect to the initial and final states—equivalent to the stochastic observability and constructability Gramians—bound the performance of corresponding estimators through the Cramér-Rao inequality. This letter establishes a connection between stochastic observability and constructability of discrete-time linear systems and provides a more numerically robust way for calculating the stochastic observability Gramian. We define a dual system and show that the dual system’s stochastic constructability is equivalent to the original system’s stochastic observability, and vice versa. This duality enables the interchange of theorems and tools for observability and constructability. For example, we use this result to translate an existing recursive formula for the stochastic constructability Gramian into a formula for recursively calculating the stochastic observability Gramian for both time-varying and time-invariant systems, where this sequence converges for the latter. Finally, we illustrate the robustness of our formula compared to existing (non-recursive) formulas through a numerical example.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3458-3463"},"PeriodicalIF":2.4,"publicationDate":"2025-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143655085","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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