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Command governor schemes for dynamical systems subject to rate-bounded disturbances
IF 2.1 3区 计算机科学
Systems & Control Letters Pub Date : 2025-02-01 DOI: 10.1016/j.sysconle.2024.106015
Francesco Tedesco, Gianfranco Gagliardi, Alessandro Casavola
{"title":"Command governor schemes for dynamical systems subject to rate-bounded disturbances","authors":"Francesco Tedesco,&nbsp;Gianfranco Gagliardi,&nbsp;Alessandro Casavola","doi":"10.1016/j.sysconle.2024.106015","DOIUrl":"10.1016/j.sysconle.2024.106015","url":null,"abstract":"<div><div>This paper extends the well-known Command Governor (CG) scheme to the case of rate-bounded persistent disturbances acting as exogenous signals on the plant. The methodology is founded on a multimodal supervisory unit that, during online operations, effectively orchestrates the switching among various CG configurations. These configurations are pre-designed offline based on the magnitude of disturbance occurrences to satisfy the prescribed constraints. To achieve this, a customized notion of <em>transition dwell-time</em> is incorporated within the proposed supervisory framework to determine the necessary duration to facilitate safe transitions among operational modes without compromising constraint satisfaction. Simulation results on two different linear systems indicate that the multimodal CG architecture is markedly less conservative when compared to the traditional single CG scheme.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106015"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183648","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
Improving discrete observers via unreliable direct state reconstruction 通过不可靠的直接状态重构改进离散观测器
IF 2.1 3区 计算机科学
Systems & Control Letters Pub Date : 2025-02-01 DOI: 10.1016/j.sysconle.2024.105991
Florian Meiners, Jürgen Adamy
{"title":"Improving discrete observers via unreliable direct state reconstruction","authors":"Florian Meiners,&nbsp;Jürgen Adamy","doi":"10.1016/j.sysconle.2024.105991","DOIUrl":"10.1016/j.sysconle.2024.105991","url":null,"abstract":"<div><div>Unknown differences between system states and observer estimates inherently result in, potentially large, initial errors. This paper deals with the mitigation of this problem in discrete LTI systems by using an approximation of the system state directly calculated from past and present values of its input and output. This information is used in a nonlinear modification of the classical linear state observer structure to reduce the transient error and deviations due to disturbances. We show the stability of this extension in the presence and absence of noise. Additionally, we prove the fulfillment of the separation principle. For the case of noisy measurement, we argue that there is a predictable ideal filter length if the noise variance is known. The ideas are subsequently illustrated in simulation.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 105991"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183245","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
Rapid stabilization of an unstable heat equation with disturbance at the flux boundary condition 流量边界条件扰动下不稳定热方程的快速稳定化
IF 2.1 3区 计算机科学
Systems & Control Letters Pub Date : 2025-02-01 DOI: 10.1016/j.sysconle.2024.105973
Patricio Guzmán, Esteban Hernández
{"title":"Rapid stabilization of an unstable heat equation with disturbance at the flux boundary condition","authors":"Patricio Guzmán,&nbsp;Esteban Hernández","doi":"10.1016/j.sysconle.2024.105973","DOIUrl":"10.1016/j.sysconle.2024.105973","url":null,"abstract":"<div><div>In this paper we prove the rapid stabilization of an unstable heat equation subjected to an unknown disturbance, which is assumed to be acting at the flux boundary condition. To that end, we design a multivalued feedback law by employing the backstepping method, Lyapunov techniques and the sign multivalued operator, which is used to handle the effects of the unknown disturbance. The well-posedness of the closed-loop system, which is a differential inclusion, is shown with the maximal monotone operator theory.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 105973"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183244","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
Adaptive state observers for a class of nonlinear systems: The non-triangular and non-state-affine case
IF 2.1 3区 计算机科学
Systems & Control Letters Pub Date : 2025-02-01 DOI: 10.1016/j.sysconle.2025.106020
Romeo Ortega , Bowen Yi , Alexey Bobtsov , Anton Pyrkin , Madina Sinetova
{"title":"Adaptive state observers for a class of nonlinear systems: The non-triangular and non-state-affine case","authors":"Romeo Ortega ,&nbsp;Bowen Yi ,&nbsp;Alexey Bobtsov ,&nbsp;Anton Pyrkin ,&nbsp;Madina Sinetova","doi":"10.1016/j.sysconle.2025.106020","DOIUrl":"10.1016/j.sysconle.2025.106020","url":null,"abstract":"<div><div>We are interested in this paper in the problem of designing a globally convergent adaptive observer for nonlinear systems that contain nonlinear terms in the <em>unmeasurable</em> part of the state. Therefore, they do not fit into the category of state-affine systems for which several adaptive observers have been reported. Furthermore, the system is not in a normal triangular form, hence it is not amenable for high-gain observer designs. To solve the problem we introduce two new technical tools, first, the construction of a <em>mixed</em> linear regression equation, dependent on the unmeasurable state and the unknown parameters. Second, the proof that the error dynamics can be <em>immersed</em> in a lower dimension target dynamics with the desired convergence characteristics. Although it is assumed that the derivative of the unmeasurable part of the state is known, it is shown in the paper that this is the case for several practical examples. Simulation results with a van der Pol-like system are used to illustrate the performance of the proposed adaptive observer.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106020"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182058","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
Parameter estimation of probabilistic Boolean control networks: An optimization-based approach
IF 2.1 3区 计算机科学
Systems & Control Letters Pub Date : 2025-02-01 DOI: 10.1016/j.sysconle.2025.106022
Lulu Li , Haodong Chen , Yuchi Guo , Jianquan Lu
{"title":"Parameter estimation of probabilistic Boolean control networks: An optimization-based approach","authors":"Lulu Li ,&nbsp;Haodong Chen ,&nbsp;Yuchi Guo ,&nbsp;Jianquan Lu","doi":"10.1016/j.sysconle.2025.106022","DOIUrl":"10.1016/j.sysconle.2025.106022","url":null,"abstract":"<div><div>This paper addresses the parameter estimation of probabilistic Boolean control networks (PBCNs) that exhibit unknown and time-varying switching probability distributions (SPDs). We begin by transforming PBCNs with time-varying SPDs into an algebraic form within the framework of algebraic state-space representation (ASSR). In contrast to traditional PBCNs, our investigation incorporates uncertainty through variable switching probabilities. We propose an optimization-based approach for estimating the unknown and time-varying SPD of PBCNs. While existing methods typically focus on estimating Boolean networks (BNs) states, our approach targets the more challenging task of estimating time-varying SPDs. We validate the effectiveness of the proposed method using a simplified apoptosis network model.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106022"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182439","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
Solving linear algebraic equations with limited computational power and network bandwidth
IF 2.1 3区 计算机科学
Systems & Control Letters Pub Date : 2025-02-01 DOI: 10.1016/j.sysconle.2024.106008
Shenyu Liu , Sonia Martinez
{"title":"Solving linear algebraic equations with limited computational power and network bandwidth","authors":"Shenyu Liu ,&nbsp;Sonia Martinez","doi":"10.1016/j.sysconle.2024.106008","DOIUrl":"10.1016/j.sysconle.2024.106008","url":null,"abstract":"<div><div>This work introduces a distributed algorithm for finding least squares (LS) solutions of linear algebraic equations (LAEs). Unlike the methods studied in the literature, we assume that our distributed algorithm has limited computation power and network bandwidth, in the sense that each agent can only solve small-scale LAEs and the group of agents can only exchange messages of small size at a time. Our algorithm contains two layers of nested loops. A part of the solution is updated by a consensus algorithm in the inner loop, while an scheduling sequence in the outer loop decides which part of the solution to be updated. By appealing to the alternating projection theorem, we prove convergence of the proposed algorithm when the scheduling sequence is both spanning and periodic. The accuracy of our algorithm is verified through a numerical example.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106008"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182992","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
Robust responsibility-sensitive safety: Noise disturbed adaptive cruise control
IF 2.1 3区 计算机科学
Systems & Control Letters Pub Date : 2025-02-01 DOI: 10.1016/j.sysconle.2025.106021
HongSheng QI
{"title":"Robust responsibility-sensitive safety: Noise disturbed adaptive cruise control","authors":"HongSheng QI","doi":"10.1016/j.sysconle.2025.106021","DOIUrl":"10.1016/j.sysconle.2025.106021","url":null,"abstract":"<div><div>Vehicle safety is crucial for the development of autonomous vehicles. The concept of RSS (responsibility sensitive safety) is proposed as a formal method to guarantee safety, and several longitudinal RSS formulations are proposed. However, even for highly accurate autonomous vehicles, its dynamics is stochastic, and may lead to the RSS violation due to disturbances. This research investigates the stochasticity of the adaptive cruise control empirically, and proposes a robust RSS regarding longitudinal driving. We firstly show that there exists certain time-variant stochasticity in the ACC controlled vehicle using real world dataset, and numerically calculated the probability that the RSS may be violated when the noise is considered, which reveals that RSS violation is inevitable under certain scenarios. Then, an explicit solution of the noise disturbed ACC is derived. Next, a robust RSS framework is established, by employing the Markov chain derived from the Euler-Maruyama scheme of the stochastic ACC system. The research extends the conventional RSS framework.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106021"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183651","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
Dynamic programming principle for stochastic optimal control problem under degenerate G-expectation
IF 2.1 3区 计算机科学
Systems & Control Letters Pub Date : 2025-02-01 DOI: 10.1016/j.sysconle.2024.105988
Xiaojuan Li
{"title":"Dynamic programming principle for stochastic optimal control problem under degenerate G-expectation","authors":"Xiaojuan Li","doi":"10.1016/j.sysconle.2024.105988","DOIUrl":"10.1016/j.sysconle.2024.105988","url":null,"abstract":"<div><div>In this paper, we study a stochastic optimal control problem under degenerate <span><math><mi>G</mi></math></span>-expectation. By using implied partition method, we show that the approximation result for admissible controls still hold. Based on this result, we obtain the dynamic programming principle, and prove that the value function is the unique viscosity solution to the related HJB equation under degenerate case.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 105988"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183240","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
Optimal tracking performance of networked control systems with time delay under multiplicative false data injection attacks
IF 2.1 3区 计算机科学
Systems & Control Letters Pub Date : 2025-02-01 DOI: 10.1016/j.sysconle.2024.105985
Bin Zhang , Yingying Ren , Cuijuan An , Da-Wei Ding
{"title":"Optimal tracking performance of networked control systems with time delay under multiplicative false data injection attacks","authors":"Bin Zhang ,&nbsp;Yingying Ren ,&nbsp;Cuijuan An ,&nbsp;Da-Wei Ding","doi":"10.1016/j.sysconle.2024.105985","DOIUrl":"10.1016/j.sysconle.2024.105985","url":null,"abstract":"<div><div>This paper investigates the optimal tracking performance (OTP) of networked control systems (NCSs) with time delay subjected to multiplicative false data injection (FDI) attacks. An auxiliary model is proposed to preserve the influences of the first and second moments of the attacked channel output through a supplementary additive process. By employing a two-degree-of-freedom control (TDOF) scheme and a frequency-domain analysis approach, a display expression for the OTP of NCSs is derived. It is shown that the OTP has a close relation with the intrinsic characteristic of the plant, time delay, and statistical characteristics of multiplicative false data. Finally, a numerical example is provided to validate the results.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 105985"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183239","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
Robust direct data-driven control for probabilistic systems
IF 2.1 3区 计算机科学
Systems & Control Letters Pub Date : 2025-02-01 DOI: 10.1016/j.sysconle.2024.106011
Alexander von Rohr, Dmitrii Likhachev, Sebastian Trimpe
{"title":"Robust direct data-driven control for probabilistic systems","authors":"Alexander von Rohr,&nbsp;Dmitrii Likhachev,&nbsp;Sebastian Trimpe","doi":"10.1016/j.sysconle.2024.106011","DOIUrl":"10.1016/j.sysconle.2024.106011","url":null,"abstract":"<div><div>We propose a data-driven control method for systems with aleatoric uncertainty, such as robot fleets with variations between agents. Our method leverages shared trajectory data to increase the robustness of the designed controller and thus facilitate transfer to new variations without the need for prior parameter and uncertainty estimation. In contrast to existing work on experience transfer for performance, our approach focuses on robustness and uses data collected from multiple realizations to guarantee generalization to unseen ones. Our method is based on scenario optimization combined with recent formulations for direct data-driven control. We derive upper bounds on the minimal amount of data required to provably achieve quadratic stability for probabilistic systems with aleatoric uncertainty and demonstrate the benefits of our data-driven method through a numerical example. We find that the learned controllers generalize well to high variations in the dynamics even when based on only a few short open-loop trajectories. Robust experience transfer enables the design of safe and robust controllers that work “out of the box” without additional learning during deployment.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106011"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183650","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
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