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Probabilistic control and majorisation of optimal control 概率控制和最优控制的大型化
IF 2.6 3区 计算机科学
Systems & Control Letters Pub Date : 2024-06-05 DOI: 10.1016/j.sysconle.2024.105837
Tom Lefebvre
{"title":"Probabilistic control and majorisation of optimal control","authors":"Tom Lefebvre","doi":"10.1016/j.sysconle.2024.105837","DOIUrl":"https://doi.org/10.1016/j.sysconle.2024.105837","url":null,"abstract":"<div><p>Probabilistic control design is founded on the principle that a rational agent attempts to match modelled with an arbitrary desired closed-loop system trajectory density. The framework was originally proposed as a tractable alternative to traditional optimal control design, parametrizing desired behaviour through fictitious transition and policy densities and using the information projection as a proximity measure. In this work we introduce an alternative parametrization of desired closed-loop behaviour and explore alternative proximity measures between densities. It is then illustrated how the associated probabilistic control problems solve into uncertain or probabilistic policies. Our main result is to show that the probabilistic control objectives majorize conventional, stochastic and risk sensitive, optimal control objectives. This observation allows us to identify two probabilistic fixed point iterations that converge to the deterministic optimal control policies establishing an explicit connection between either formulations. Further we demonstrate that the risk sensitive optimal control formulation is also technically equivalent to a Maximum Likelihood estimation problem on a probabilistic graph model where the notion of costs is directly encoded into the model. The associated treatment of the estimation problem is then shown to coincide with the moment projected probabilistic control formulation. That way optimal decision making can be reformulated as an iterative inference problem. Based on these insights we discuss directions for algorithmic development.</p></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"190 ","pages":"Article 105837"},"PeriodicalIF":2.6,"publicationDate":"2024-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0167691124001257/pdfft?md5=49b677f3409249fbdf087370b6e8556c&pid=1-s2.0-S0167691124001257-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141250692","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Approximate and exact controllability criteria for linear one-dimensional hyperbolic systems 线性一维双曲系统的近似和精确可控性标准
IF 2.6 3区 计算机科学
Systems & Control Letters Pub Date : 2024-06-01 DOI: 10.1016/j.sysconle.2024.105834
Yacine Chitour , Sébastien Fueyo , Guilherme Mazanti , Mario Sigalotti
{"title":"Approximate and exact controllability criteria for linear one-dimensional hyperbolic systems","authors":"Yacine Chitour ,&nbsp;Sébastien Fueyo ,&nbsp;Guilherme Mazanti ,&nbsp;Mario Sigalotti","doi":"10.1016/j.sysconle.2024.105834","DOIUrl":"https://doi.org/10.1016/j.sysconle.2024.105834","url":null,"abstract":"<div><p>This paper deals with the controllability of linear one-dimensional hyperbolic systems. Reformulating the problem in terms of linear difference equations and making use of infinite-dimensional realization theory, we obtain both necessary and sufficient conditions for approximate and exact controllability, expressed in the frequency domain. The results are applied to flows in networks.</p></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"190 ","pages":"Article 105834"},"PeriodicalIF":2.6,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141242720","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Networked stabilization of multi-input systems over MIMO communication 通过多输入多输出通信实现多输入系统的网络稳定
IF 2.6 3区 计算机科学
Systems & Control Letters Pub Date : 2024-05-31 DOI: 10.1016/j.sysconle.2024.105836
Junhui Li , Wei Chen
{"title":"Networked stabilization of multi-input systems over MIMO communication","authors":"Junhui Li ,&nbsp;Wei Chen","doi":"10.1016/j.sysconle.2024.105836","DOIUrl":"10.1016/j.sysconle.2024.105836","url":null,"abstract":"<div><p>In this paper, we study networked stabilization of a multi-input linear time-invariant (LTI) system closed over a multi-input multi-output (MIMO) communication system modeled as a MIMO transceiver. The controller and encoder/decoder pair are jointly designed subject to a total power constraint. We obtain an analytic solution to the minimum transmission power required for networked stabilization under coding/control co-design given in terms of the topological entropies of cyclic subsystems of the open-loop plant and the quality of service (QoS) of channel eigenmodes of the MIMO channel. Also, an optimal coding/control co-design procedure is proposed. The results generalize the understandings in the literature concerning parallel additive white noise (AWN) channels. A numerical example is provided to verify the results.</p></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"190 ","pages":"Article 105836"},"PeriodicalIF":2.6,"publicationDate":"2024-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141188067","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Fixed-time stabilization with dead-zone optimization 固定时间稳定与死区优化
IF 2.6 3区 计算机科学
Systems & Control Letters Pub Date : 2024-05-28 DOI: 10.1016/j.sysconle.2024.105835
Jiawei Song , Zongyu Zuo , Michael Basin
{"title":"Fixed-time stabilization with dead-zone optimization","authors":"Jiawei Song ,&nbsp;Zongyu Zuo ,&nbsp;Michael Basin","doi":"10.1016/j.sysconle.2024.105835","DOIUrl":"https://doi.org/10.1016/j.sysconle.2024.105835","url":null,"abstract":"<div><p>This paper introduces a novel dead-zone optimization technique for regulating the initial control input in a flexible manner. Both completely dead-zone optimized and partially dead-zone optimized versions of the conventional fixed-time convergent controller are developed for a single-integrator system. Furthermore, based on the same idea, the dead-zone optimization of a newly proposed nonsingular continuous fixed-time convergent controller is proposed for a double-integrator system. Finally, simulation results are provided to show efficacy of the dead-zone optimized controllers.</p></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"189 ","pages":"Article 105835"},"PeriodicalIF":2.6,"publicationDate":"2024-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141164328","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Finite-time stability and stabilization of discrete-time hybrid systems 离散时间混合系统的有限时间稳定性和稳定性
IF 2.6 3区 计算机科学
Systems & Control Letters Pub Date : 2024-05-27 DOI: 10.1016/j.sysconle.2024.105832
Qiyao Wang , Guoping Lu , Min Zhao , Jitao Sun
{"title":"Finite-time stability and stabilization of discrete-time hybrid systems","authors":"Qiyao Wang ,&nbsp;Guoping Lu ,&nbsp;Min Zhao ,&nbsp;Jitao Sun","doi":"10.1016/j.sysconle.2024.105832","DOIUrl":"https://doi.org/10.1016/j.sysconle.2024.105832","url":null,"abstract":"<div><p>This paper is concerned with the finite-time stability and stabilization problems for a class of hybrid systems, which consists of discrete-time continuous-valued and Boolean dynamics. First, we introduce the so-called systems briefly and give the algebraic form of the systems via Khatri–Rao product and semi-tensor product (STP, i.e., Cheng product). Next, we originally propose the concept of finite-time stability (FTS) for the hybrid systems. Furthermore, some criteria of FTS for the hybrid systems are provided. Via a lemma we present, the computational complexity of the condition on FTS for the logical part could be reduced to <span><math><mrow><mi>O</mi><mrow><mo>(</mo><mn>1</mn><mo>)</mo></mrow></mrow></math></span>. Based on these obtained results, two classes of controllers, state feedback controllers and logical controllers, are designed. Finally, two numerical examples are given to demonstrate the effectiveness of the theoretical results.</p></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"189 ","pages":"Article 105832"},"PeriodicalIF":2.6,"publicationDate":"2024-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141164329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Pinning synchronization of delayed neural networks via Markov switched control 通过马尔可夫开关控制实现延迟神经网络的钉扎同步
IF 2.6 3区 计算机科学
Systems & Control Letters Pub Date : 2024-05-27 DOI: 10.1016/j.sysconle.2024.105823
Lijun Pan , Jianqiang Hu , Jinde Cao
{"title":"Pinning synchronization of delayed neural networks via Markov switched control","authors":"Lijun Pan ,&nbsp;Jianqiang Hu ,&nbsp;Jinde Cao","doi":"10.1016/j.sysconle.2024.105823","DOIUrl":"https://doi.org/10.1016/j.sysconle.2024.105823","url":null,"abstract":"<div><p>This paper studies the pinning synchronization problems of delayed neural networks (DNNs) by Markov switched control, where appropriate neurons are chosen as the pinned control nodes and feedback control input is added at Markov jump time. Based on uniformly stable function (USF) and the infinitesimal generator of Markov process, some lemmas about <span><math><mi>p</mi></math></span>th moment exponential convergence for Markov switched systems are established, which are utilized to ensure that DNNs synchronize to a leader system in the mean square. Although some error subsystems may be divergent under pinning feedback input, then provided that the pinning feedback controller obeys Markov switching, the overall error system can achieve mean square convergence. Finally, numerical examples are given to illustrate the practicality of results.</p></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"189 ","pages":"Article 105823"},"PeriodicalIF":2.6,"publicationDate":"2024-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141156388","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Computation of stable convex combinations of a set of matrices through LMIs with application in H∞ control of switched linear systems 通过 LMI 计算一组矩阵的稳定凸组合，并将其应用于开关线性系统的 H∞ 控制
IF 2.6 3区 计算机科学
Systems & Control Letters Pub Date : 2024-05-27 DOI: 10.1016/j.sysconle.2024.105833
Andressa M. Souza, Ricardo C.L.F. Oliveira, Pedro L.D. Peres
{"title":"Computation of stable convex combinations of a set of matrices through LMIs with application in H∞ control of switched linear systems","authors":"Andressa M. Souza,&nbsp;Ricardo C.L.F. Oliveira,&nbsp;Pedro L.D. Peres","doi":"10.1016/j.sysconle.2024.105833","DOIUrl":"https://doi.org/10.1016/j.sysconle.2024.105833","url":null,"abstract":"<div><p>This paper proposes an LMI-based algorithm to compute a stable (Hurwitz) convex combination of a set of (unstable) matrices as primary contribution. Using stability analysis conditions based on Finsler’s lemma and a simplicial partitioning of the unit simplex, a semidecidable procedure is provided. As immediate application, the problem of <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> state- and output-feedback control of continuous-time switched linear systems is addressed. Exploring the connection between stable convex combination and the Lyapunov–Metzler inequalities, the synthesis conditions are also formulated in terms of an LMI-based algorithm, which presents advantages when compared with the existing techniques for switching control. The technical novelty in this context is a new linearization strategy to deal with the product between matrix and scalar variables. Numerical experiments illustrate the quality of the achievements.</p></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"189 ","pages":"Article 105833"},"PeriodicalIF":2.6,"publicationDate":"2024-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141164330","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Control-theoretic methods for solving linear algebraic equations: A continuous-time perspective 解决线性代数方程的控制论方法：连续时间视角
IF 2.6 3区 计算机科学
Systems & Control Letters Pub Date : 2024-05-25 DOI: 10.1016/j.sysconle.2024.105822
Yuxin Wu, Deyuan Meng
{"title":"Control-theoretic methods for solving linear algebraic equations: A continuous-time perspective","authors":"Yuxin Wu,&nbsp;Deyuan Meng","doi":"10.1016/j.sysconle.2024.105822","DOIUrl":"https://doi.org/10.1016/j.sysconle.2024.105822","url":null,"abstract":"<div><p>In the applications of control theory, how to improve the solution methods of mathematical problems with some control methods is an attractive problem. This paper aims at exploiting a class of continuous-time solvers for linear algebraic equations (LAEs) via the incorporation of the idea of “control design”. The equivalence is established between the solving problem of LAEs and two basic control problems of continuous-time systems, namely, the output tracking problem and the state observation problem, in a unified manner. Then, the equivalence between the properties of LAEs and the controllability and observability properties of continuous-time systems are disclosed from the perspective of the output tracking and the state observation, respectively. Moreover, a continuous-time solver is developed based on the feedback control design such that all (least squares) solutions to any (un)solvable LAE can be determined by the selection of different initial conditions. Particularly, the design conditions to derive the best approximate solutions to LAEs are presented for the continuous-time solver.</p></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"189 ","pages":"Article 105822"},"PeriodicalIF":2.6,"publicationDate":"2024-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141097599","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Statistical linearization for robust motion planning 稳健运动规划的统计线性化
IF 2.6 3区 计算机科学
Systems & Control Letters Pub Date : 2024-05-22 DOI: 10.1016/j.sysconle.2024.105825
Clara Leparoux , Riccardo Bonalli , Bruno Hérissé , Frédéric Jean
{"title":"Statistical linearization for robust motion planning","authors":"Clara Leparoux ,&nbsp;Riccardo Bonalli ,&nbsp;Bruno Hérissé ,&nbsp;Frédéric Jean","doi":"10.1016/j.sysconle.2024.105825","DOIUrl":"https://doi.org/10.1016/j.sysconle.2024.105825","url":null,"abstract":"<div><p>The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal control has enabled particularly accurate formulations of the problem. Nevertheless, despite interesting progresses, these problem formulations still require expensive numerical computations. In this paper, we start bridging this gap by leveraging statistical linearization. Specifically, through statistical linearization we reformulate the robust motion planning problem as a simpler deterministic optimal control problem subject to additional constraints. We rigorously justify our method by providing estimates of the approximation error, as well as some controllability results for the new constrained deterministic formulation. Finally, we apply our method to the powered descent of a space vehicle, showcasing the consistency and efficiency of our approach through numerical experiments.</p></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"189 ","pages":"Article 105825"},"PeriodicalIF":2.6,"publicationDate":"2024-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141078626","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Two-stage stochastic optimal control problem under G-expectation G 期望下的两阶段随机优化控制问题
IF 2.6 3区 计算机科学
Systems & Control Letters Pub Date : 2024-05-18 DOI: 10.1016/j.sysconle.2024.105824
Zhuangzhuang Xing
{"title":"Two-stage stochastic optimal control problem under G-expectation","authors":"Zhuangzhuang Xing","doi":"10.1016/j.sysconle.2024.105824","DOIUrl":"https://doi.org/10.1016/j.sysconle.2024.105824","url":null,"abstract":"<div><p>This paper is dedicated to a kind of stochastic two-stage optimal control problem (TSOC) under <span><math><mi>G</mi></math></span>-expectation. The system’s state switches at a given time point and the cost function involves stages on two time horizons in order to achieve two-stage management. A motivation of Problem TSOC is presented. A novel sufficient optimality condition (SOCD) is given via a sequence of adjoint processes coupled by jump boundary conditions under a maximal reference probability, which is more concise and applicable compared to previous results. Analytical results in two-stage linear-quadratic (TSLQ) case are presented, where a feedback optimal control (OC) is designed and a maximal reference probability is determined. Moreover, some interesting impacts of probability uncertainty and additional cost term to Problem TSLQ are analyzed, which are meaningful to practical risk management. Numerical simulations are presented to illustrate our theoretical results.</p></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"189 ","pages":"Article 105824"},"PeriodicalIF":2.6,"publicationDate":"2024-05-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141067800","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","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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