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Stabilization of nonlinear nonholonomic systems with multiplicative stochastic state sensing noise 具有乘性随机状态感知噪声的非线性非完整系统的镇定
IF 2.5 3区 计算机科学
Systems & Control Letters Pub Date : 2025-08-29 DOI: 10.1016/j.sysconle.2025.106227
Jiabao Gu, Wei Meng
{"title":"Stabilization of nonlinear nonholonomic systems with multiplicative stochastic state sensing noise","authors":"Jiabao Gu,&nbsp;Wei Meng","doi":"10.1016/j.sysconle.2025.106227","DOIUrl":"10.1016/j.sysconle.2025.106227","url":null,"abstract":"<div><div>This paper studies the stabilization of nonlinear nonholonomic systems with multiplicative stochastic sensor uncertainty. Compared with existing results on nonlinear nonholonomic systems, this paper considers the influence of stochastic noise on sensors. Specifically, by applying the backstepping method and the input-to-state scaling technique, a new control design scheme is developed in which the control gain is appropriately designed to deal with sensor noise and the nonlinear functions simultaneously. By employing tools from stochastic analysis, it is verified that the closed-loop system almost surely has a unique global solution, that its origin is mean square stable, and that the state can almost surely be adjusted to zero. Finally, two examples are presented to verify the proposed control scheme.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"204 ","pages":"Article 106227"},"PeriodicalIF":2.5,"publicationDate":"2025-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144912868","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 prescribed performance control of affine parameter-varying systems with an application in aero engines 仿射变参数系统的定时预定性能控制及其在航空发动机中的应用
IF 2.5 3区 计算机科学
Systems & Control Letters Pub Date : 2025-08-26 DOI: 10.1016/j.sysconle.2025.106221
Jiaxi Zhang, Ji Wang, Jianping Zeng
{"title":"Fixed-time prescribed performance control of affine parameter-varying systems with an application in aero engines","authors":"Jiaxi Zhang,&nbsp;Ji Wang,&nbsp;Jianping Zeng","doi":"10.1016/j.sysconle.2025.106221","DOIUrl":"10.1016/j.sysconle.2025.106221","url":null,"abstract":"<div><div>This paper considers the prescribed performance problem for a class of affine parameter-varying systems. First, a novel performance function with a fixed convergence time is used to limit the system’s tracking error so that the system satisfies the steady-state and transient performance constraints. Notably, the performance function proposed in this paper converges within a fixed time, and its initial value can be automatically adjusted according to the initial tracking error. Subsequently, we transform the multi-performance constraint problem into an equivalent stabilization problem through error transformation. Finally, a method called “feedback negative definitization” is developed to design the controller, and the Lyapunov theorem is used to demonstrate the closed-loop system’s stability. Simulation examples on a numerical affine parameter-varying system and a turbofan engine system are provided to show the effectiveness of the proposed method.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"204 ","pages":"Article 106221"},"PeriodicalIF":2.5,"publicationDate":"2025-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144895176","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
Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming 基于Lie-代数微分动态规划的矩阵李群约束轨迹优化
IF 2.5 3区 计算机科学
Systems & Control Letters Pub Date : 2025-08-23 DOI: 10.1016/j.sysconle.2025.106220
Gokhan Alcan , Fares J. Abu-Dakka , Ville Kyrki
{"title":"Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming","authors":"Gokhan Alcan ,&nbsp;Fares J. Abu-Dakka ,&nbsp;Ville Kyrki","doi":"10.1016/j.sysconle.2025.106220","DOIUrl":"10.1016/j.sysconle.2025.106220","url":null,"abstract":"<div><div>Matrix Lie groups are an important class of manifolds commonly used in control and robotics, and optimizing control policies on these manifolds is a fundamental problem. In this work, we propose a novel augmented Lagrangian-based constrained Differential Dynamic Programming (DDP) approach specifically designed for trajectory optimization on matrix Lie groups. Our method formulates the optimization problem in the error-state space, employs automatic differentiation during the backward pass, and ensures manifold consistency through discrete-time Lie-group integration during the forward pass. Unlike previous methods limited to specific manifold classes, our approach robustly handles generic nonlinear constraints across arbitrary matrix Lie groups and exhibits resilience to constraint violations during training. We evaluate the proposed DDP algorithm through extensive experiments, demonstrating its efficacy in managing constraints within a rigid-body mechanical system on SE(3), its computational superiority compared to existing optimization solvers, robustness under external disturbances as a Lie-algebraic feedback controller, and effectiveness in trajectory optimization tasks including realistic quadrotor scenarios as underactuated systems and deformable objects whose deformation dynamics are represented in SL(2). The experimental results validate the generality, stability, and computational efficiency of our proposed method.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"204 ","pages":"Article 106220"},"PeriodicalIF":2.5,"publicationDate":"2025-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144892044","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
Results for the omega limit sets of dynamical systems 动力系统极限集的若干结果
IF 2.5 3区 计算机科学
Systems & Control Letters Pub Date : 2025-08-23 DOI: 10.1016/j.sysconle.2025.106223
Iasson Karafyllis
{"title":"Results for the omega limit sets of dynamical systems","authors":"Iasson Karafyllis","doi":"10.1016/j.sysconle.2025.106223","DOIUrl":"10.1016/j.sysconle.2025.106223","url":null,"abstract":"<div><div>This paper provides two new results for the omega limit sets of a dynamical system. We show that omega limit sets can be estimated by using functions that satisfy different -and in some cases less demanding- assumptions than the usual assumptions in Lyapunov theorems and LaSalle’s theorem. An additional novel result is provided that contains as special cases the nested Matrosov theorem and the well-known Barbashin-Krasovskii-LaSalle theorem.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"204 ","pages":"Article 106223"},"PeriodicalIF":2.5,"publicationDate":"2025-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144888904","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
Non-asymptotic error analysis of subspace identification for deterministic systems 确定性系统子空间辨识的非渐近误差分析
IF 2.5 3区 计算机科学
Systems & Control Letters Pub Date : 2025-08-23 DOI: 10.1016/j.sysconle.2025.106219
Shuai Sun
{"title":"Non-asymptotic error analysis of subspace identification for deterministic systems","authors":"Shuai Sun","doi":"10.1016/j.sysconle.2025.106219","DOIUrl":"10.1016/j.sysconle.2025.106219","url":null,"abstract":"<div><div>The subspace identification method (SIM) has been extensively employed in the identification of discrete-time multiple-input multiple-output (MIMO) linear time-invariant (LTI) systems. This paper focuses on the analysis of perturbation errors for the system matrices in state-space models and the corresponding system poles, under two unified SIMs, based on a single finite-length input/output sample trajectory. Specifically, we derive non-asymptotic upper bounds on these errors, providing a unified perspective across various SIM variants. Furthermore, we prove that SIMs become ill-conditioned for MIMO systems when the state-to-output dimensionality ratio <span><math><mrow><mi>n</mi><mo>/</mo><mi>m</mi></mrow></math></span> is large, regardless of system parameters. Finally, numerical experiments are conducted to validate the non-asymptotic results and the ill-conditionedness of SIMs.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"204 ","pages":"Article 106219"},"PeriodicalIF":2.5,"publicationDate":"2025-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144888905","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
Differentially private distributed nash equilibrium seeking based on gradient tracking and communication compression 基于梯度跟踪和通信压缩的差分私有分布式纳什均衡寻优
IF 2.5 3区 计算机科学
Systems & Control Letters Pub Date : 2025-08-20 DOI: 10.1016/j.sysconle.2025.106217
Zhen Zhang, Qingsheng Li, Yuan-Hua Ni
{"title":"Differentially private distributed nash equilibrium seeking based on gradient tracking and communication compression","authors":"Zhen Zhang,&nbsp;Qingsheng Li,&nbsp;Yuan-Hua Ni","doi":"10.1016/j.sysconle.2025.106217","DOIUrl":"10.1016/j.sysconle.2025.106217","url":null,"abstract":"<div><div>Communication efficiency and privacy preservation are two critical challenges in distributed Nash equilibrium (NE) seeking for multi-agent systems. In this paper, we propose a novel algorithm, CGT-DPA, which integrates gradient tracking to enhance information aggregation and ensure convergence, while incorporating communication compression to significantly reduce communication overhead. Additionally, the algorithm enforces differential privacy, providing strong privacy guarantees in distributed settings. We rigorously prove that CGT-DPA achieves linear convergence to a neighborhood of the NE under strongly monotone mappings. Both theoretical analysis and numerical simulations validate the effectiveness of CGT-DPA in balancing communication efficiency, privacy preservation and convergence.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"204 ","pages":"Article 106217"},"PeriodicalIF":2.5,"publicationDate":"2025-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144864656","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
Steady state analysis for Kalman filters with Poisson-sampled observations 泊松采样卡尔曼滤波器的稳态分析
IF 2.5 3区 计算机科学
Systems & Control Letters Pub Date : 2025-08-19 DOI: 10.1016/j.sysconle.2025.106209
Anubhab Dasgupta , Aneel Tanwani
{"title":"Steady state analysis for Kalman filters with Poisson-sampled observations","authors":"Anubhab Dasgupta ,&nbsp;Aneel Tanwani","doi":"10.1016/j.sysconle.2025.106209","DOIUrl":"10.1016/j.sysconle.2025.106209","url":null,"abstract":"<div><div>We study optimal filtering for continuous-time linear stochastic systems with Poisson-sampled observation processes. For each realization of the sampled observation process, the posterior distribution is a Gaussian process whose mean and covariance are described by continuous-discrete process. We are particularly interested in analyzing the expectation of the first and second moment of the estimation error with respect to the sampling process. Using the system-theoretic properties like observability and controllability, our results provide tractable conditions on the mean sampling rate for convergence of the expected error covariance, its boundedness and convergence of expected estimation error to zero. Some comparisons are also drawn with the solution of Riccati differential equation associated with the continuous-observation process.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"204 ","pages":"Article 106209"},"PeriodicalIF":2.5,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144864655","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 event-triggered and periodic event-triggered containment control for heterogeneous multi-agent systems under DoS attacks DoS攻击下异构多代理系统的固定时间事件触发和周期性事件触发遏制控制
IF 2.5 3区 计算机科学
Systems & Control Letters Pub Date : 2025-08-18 DOI: 10.1016/j.sysconle.2025.106208
Ji Han , He Jiang , Yan Zhao , Jiaqi Shi
{"title":"Fixed-time event-triggered and periodic event-triggered containment control for heterogeneous multi-agent systems under DoS attacks","authors":"Ji Han ,&nbsp;He Jiang ,&nbsp;Yan Zhao ,&nbsp;Jiaqi Shi","doi":"10.1016/j.sysconle.2025.106208","DOIUrl":"10.1016/j.sysconle.2025.106208","url":null,"abstract":"<div><div>This study explores the fixed-time containment control problem for heterogeneous multi-agent systems (HMASs) under denial-of-service (DoS) attacks. A continuous control scheme is provided to enable HMASs to solve fixed-time containment control problems with unknown DoS attacks and arbitrary initial conditions. To reduce the frequency of controller updates, a novel control strategy based on event-triggered conditions has been designed, which can settle the fixed-time containment control issue without requiring continuous controller updates. In the scenario where the initial states of the systems are bound, an improved event-triggered control scheme with periodic event-triggered conditions is designed, which can avoid continuous controller updates and does not need continuous system messages. Compared with many existing results, all the designed control schemes can settle fixed-time containment issues even when the DoS attacks and initial conditions are unknown. Moreover, the given event-based control schemes can avoid Zeno-behavior. Numerical examples are provided to support the results.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"204 ","pages":"Article 106208"},"PeriodicalIF":2.5,"publicationDate":"2025-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144861264","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
Fully distributed constrained optimization algorithm over unbalanced network and its application to smart grids 不平衡网络的全分布约束优化算法及其在智能电网中的应用
IF 2.5 3区 计算机科学
Systems & Control Letters Pub Date : 2025-08-16 DOI: 10.1016/j.sysconle.2025.106211
Xiasheng Shi , Lei Xu
{"title":"Fully distributed constrained optimization algorithm over unbalanced network and its application to smart grids","authors":"Xiasheng Shi ,&nbsp;Lei Xu","doi":"10.1016/j.sysconle.2025.106211","DOIUrl":"10.1016/j.sysconle.2025.106211","url":null,"abstract":"<div><div>In practical engineering, due to the limited bandwidth and other physical constraints, directed network communication topology among agents is more common. This paper studies the distributed constrained optimization problem over the weight-unbalanced directed network, considering local inequality and coupled equality constraints. First, a distributed consensus scheme with a time-based generator is provided to estimate the left eigenvector of the Laplacian matrix. Building on this estimator, an adaptive proportional–integral-based gradient flow scheme is designed to solve the coupled constraint, introducing a time-varying control parameter to remove the requirement of the Laplacian matrix’s eigenvalues. Subsequently, a fully distributed primal–dual optimization method is proposed based on KKT conditions for the constrained optimization problem with a nonsmooth objective function. The optimality and convergence analysis are conducted through Lyapunov theory under the strongly connected and weight-unbalanced directed network. Finally, the established method is applied to the economic dispatch problem in smart grids.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"204 ","pages":"Article 106211"},"PeriodicalIF":2.5,"publicationDate":"2025-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144858208","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
Event-triggered control for uncertain singular switched positive systems with actuator saturation under persistent dwell-time constraint 持续驻留时间约束下具有执行器饱和的不确定奇异开关正系统的事件触发控制
IF 2.5 3区 计算机科学
Systems & Control Letters Pub Date : 2025-08-16 DOI: 10.1016/j.sysconle.2025.106215
Ang Gao, Jinling Wang, Cheng-Tang Zhang, Yangang Yao, Qiang Li
{"title":"Event-triggered control for uncertain singular switched positive systems with actuator saturation under persistent dwell-time constraint","authors":"Ang Gao,&nbsp;Jinling Wang,&nbsp;Cheng-Tang Zhang,&nbsp;Yangang Yao,&nbsp;Qiang Li","doi":"10.1016/j.sysconle.2025.106215","DOIUrl":"10.1016/j.sysconle.2025.106215","url":null,"abstract":"<div><div>This paper explores the event-triggered (E-T) control problem for a class of singular switched positive systems with actuator saturation and parameter uncertainties, subject to persistent dwell-time (PDT) constraints. Generally, the introduction of an E-T mechanism can enhance resource utilization and prevent data congestion. Subsequently, both state feedback control strategies and observer-based control schemes are applied. Sufficient conditions, derived through linear programming (LP), are presented to ensure the positivity, causality, regularity, and exponential stability of the corresponding closed-loop systems. Furthermore, the controller gain matrices and the auxiliary gain matrices are constructed by employing matrix decomposition techniques. Finally, the effectiveness of the theoretical results is validated through an illustrative example.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"204 ","pages":"Article 106215"},"PeriodicalIF":2.5,"publicationDate":"2025-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144851780","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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