Systems & Control Letters最新文献

{"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}

{"title":"Induced attack on synchronization trajectory against a wide-area network with hybrid event-triggered communication","authors":"Thiem V. Pham,&nbsp;Quynh T. Thanh Nguyen","doi":"10.1016/j.sysconle.2024.106001","DOIUrl":"10.1016/j.sysconle.2024.106001","url":null,"abstract":"<div><div>This article addresses the attacker’s perspective on an induced attack strategy against wide-area networks of clustered multi-agent systems. In contrast to most existing attacks, our suggested approach may force the wide-area network to follow a specified coordination trajectory. A hybrid ecosystem is first introduced for the induced attack model, which allows us to generate a particular synchronization trajectory. Next, an induced attack protocol is proposed that utilizes the induced attack model among partial agents and a dynamic event-triggered technique. It shows that the induced attack protocol is fully distributed, with each agent using only local information and that of its neighbors. An explicit expression is derived for the specified synchronization trajectory, which characterizes the movement trajectory of the wide-area network of clustered multi-agent systems under the induced attack. The resilient <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> approach is used to provide design criteria for the induced attack generation ecosystem. Finally, simulation examples are provided to illustrate the practical implementation of the proposed methodology.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106001"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183643","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}

{"title":"Distributed target tracking based on localization with linear time-difference-of-arrival measurements: A delay-tolerant networked estimation approach","authors":"Mohammadreza Doostmohammadian ,&nbsp;Themistoklis Charalambous","doi":"10.1016/j.sysconle.2024.106009","DOIUrl":"10.1016/j.sysconle.2024.106009","url":null,"abstract":"<div><div>This paper considers target tracking based on a beacon signal’s time-difference-of-arrival (TDOA) to a group of cooperating sensors. The sensors receive a reflected signal from the target where the time-of-arrival (TOA) renders the distance information. The existing approaches include: (i) classic centralized solutions which gather and process the target data at a central unit, (ii) distributed solutions which assume that the target data is observable in the dense neighborhood of each sensor (to be filtered locally), and (iii) double time-scale distributed methods with high rates of communication/consensus over the network. This work, in order to reduce the network connectivity in (i)-(ii) and communication rate in (iii), proposes a distributed single time-scale technique, which can also handle heterogeneous constant data-exchange delays over the static sensor network. This work assumes only <em>distributed observability</em> (in contrast to local observability in some existing works categorized in (ii)), i.e., the target is observable globally over a (strongly) connected network. The (strong) connectivity further allows for <em>survivable network</em> and <span><math><mi>q</mi></math></span><em>-redundant observer design</em>. Each sensor locally shares information and processes the received data in its immediate neighborhood via local linear-matrix-inequalities (LMI) feedback gains to ensure tracking error stability. The same gain matrix works in the presence of heterogeneous delays with no need of redesigning algorithms. Since most existing distributed estimation scenarios are linear (based on consensus), many works use <em>linearization</em> of the existing <em>nonlinear TDOA measurement models</em> where the output matrix is a function of the target position. As the exact target position is unknown, the existing works use <em>estimated</em> position in the output matrix (and for the gain design) at every time step. This makes their algorithm more complex and less accurate. Instead, this work provides a <em>modified</em> linear TDOA measurement model with a <em>constant</em> output matrix that is independent of target position and more practical in distributed linear setups.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106009"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182991","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}

{"title":"Dynamic event-triggered predictive control strategy for networked semi-Markov jump systems","authors":"Li Qiu,&nbsp;Lingtao Dong,&nbsp;Zhixing Shao,&nbsp;Shuyou Zhou","doi":"10.1016/j.sysconle.2024.105986","DOIUrl":"10.1016/j.sysconle.2024.105986","url":null,"abstract":"<div><div>The coexistence of network denial of service (DoS) attacks and trigger transmission mechanism poses a challenge to the stability and control accuracy of semi-Markov jump systems (S-MJSs). DoS attacks with random characteristics and event-triggered mechanisms with dynamic parameters are studied in this paper. The communication topology jump process between multiple sub-actuators is modeled as a semi-Markov chain, and a S-MJSs with dual-channel DoS attacks and dynamic event-triggered mechanism (DETM) of sensor-to-controller (S-C) channel is obtained. In order to match the predictive compensation sequence with the trigger time of the S-C channel, a dynamic event-triggered predictive control (ETPC) strategy is designed by combining the controller with the trigger. In addition, the dynamic ETPC strategy proposed in this paper is applied to the tracking control of multi-motor, which effectively guarantees the tracking performance of multi-motor. Finally, the feasibility and superiority of the control strategy are verified by comparing with the network predictive control (NPC) strategy and the static ETPC strategy.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 105986"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182997","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}

{"title":"Data-driven moving-horizon control with adaptive disturbance attenuation for constrained systems","authors":"Nan Li ,&nbsp;Ilya Kolmanovsky ,&nbsp;Hong Chen","doi":"10.1016/j.sysconle.2024.106005","DOIUrl":"10.1016/j.sysconle.2024.106005","url":null,"abstract":"<div><div>In this paper, we propose a novel data-driven moving-horizon control approach for systems subject to time-domain constraints. The approach combines the strengths of <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control for rejecting disturbances and MPC for handling constraints. In particular, the approach can dynamically adapt <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> disturbance attenuation performance depending on measured system state and forecasted disturbance level to satisfy constraints. We establish theoretical properties of the approach including robust guarantees of closed-loop stability, disturbance attenuation, constraint satisfaction under noisy data, as well as sufficient conditions for recursive feasibility, and illustrate the approach with a numerical example.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106005"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182989","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}

{"title":"New inequalities for comparing ordinary differential equations arising in global dynamic optimization","authors":"Yingkai Song,&nbsp;Kamil A. Khan","doi":"10.1016/j.sysconle.2024.106004","DOIUrl":"10.1016/j.sysconle.2024.106004","url":null,"abstract":"<div><div>Deterministic methods for global optimization typically rely on convex relaxations to infer crucial bounding information. In global dynamic optimization, comparing convex relaxation approaches can be challenging due to limitations in established differential inequality theory. In this article, we provide new comparison results for the Carathéodory solutions of related ordinary differential equations (ODEs). Our results are applicable to certain ODEs whose right-hand side functions need not be quasimonotonic or continuous with respect to state variables; they require only a weakened variant of the standard Lipschitz continuity assumption, along with mild differential inequality requirements motivated by interval analysis. Using our new comparison results, we reveal an intuitive monotonicity result for global dynamic optimization that was previously unknown: when constructing convex relaxations of parametric ODE solutions within a relaxation framework by Scott and Barton (J. Glob. Optim. 57:143–176, 2013), supplying tighter relaxations of the ODE right-hand sides will always translate into relaxations of the ODE solutions that are at least as tight.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106004"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182993","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}

{"title":"Some big issues with small noise limits in Markov decision processes","authors":"Vivek S. Borkar","doi":"10.1016/j.sysconle.2024.105972","DOIUrl":"10.1016/j.sysconle.2024.105972","url":null,"abstract":"<div><div>Using the framework of Markov decision processes (equivalently, controlled Markov chains) as a test case, we point out some non-robustness issues that arise in small noise limits in stochastic control. This is used to motivate a novel formulation of multi-chain Markov decision processes.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 105972"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182996","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}

{"title":"Aperiodic sampled-data-based control for switched linear systems: An improved sampling-dependent event-triggered mechanism","authors":"Lijun Gao,&nbsp;Suo Yang","doi":"10.1016/j.sysconle.2024.105990","DOIUrl":"10.1016/j.sysconle.2024.105990","url":null,"abstract":"<div><div>This paper is contributing to designing a novel event-triggered control (ETC) policy for switched linear systems, where control systems obtain sampling information only at sampling instants. First, by allowing the length of any sampling interval to exceed the minimum DT of all system modes, an innovative aperiodic sampling programme is presented to avoid the high-frequency sampling. Then, based on the proposed aperiodic sampling method, three improvements are presented: (1) a novel aperiodic sampled-data-based event-triggered mechanism (ASETM) is developed, which is more flexible in scheduling communication resources than periodic sampled-data-based event-triggered mechanism (PSETM); (2) a multiple discontinuous Lyapunov function (MDLF) with adjustable sampling-dependent parameters is constructed, which covers the multiple Lyapunov function (MLF) as a special case and further increases the design flexibility; (3) the state-feedback controller gains and event-triggering parameters are sampling-dependent, which broadens the feasible solution range of matrix inequalities. It is shown that by choosing an appropriate aperiodic sampling intervals sequence and sampling-dependent parameters, a tighter bound on the mode-dependent average dwell time (MDADT) and larger sampling intervals can be achieved. Finally, an example is adopted to illustrate the effectiveness of the proposed approach.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 105990"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183243","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}

{"title":"Optimal control problem with nonregular mixed constraints via penalty functions","authors":"M.d.R. de Pinho ,&nbsp;M. Margarida A. Ferreira ,&nbsp;Georgi Smirnov","doi":"10.1016/j.sysconle.2024.106010","DOIUrl":"10.1016/j.sysconle.2024.106010","url":null,"abstract":"<div><div>Below we deduce necessary conditions of optimality for problems with nonregular mixed constraints (see Dmitruk(2009), Dmitruk and Osmolovskii(2022)) using the method of penalty functions similar to the one we previously used to solve optimization problems for control sweeping processes (see, e.g., de Pinho et al. (2022)), with pure state constraints de Pinho et al.,2024 and with regular mixed constraints (de Pinho et al.,2024).</div><div>We intentionally consider a global minimum and the simplest boundary conditions.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106010"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183645","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}

{"title":"Recursive identification of nonlinear nonparametric systems under event-triggered observations","authors":"Xiaotao Ren ,&nbsp;Wenxiao Zhao ,&nbsp;Han Zhang","doi":"10.1016/j.sysconle.2024.106013","DOIUrl":"10.1016/j.sysconle.2024.106013","url":null,"abstract":"<div><div>In the paper, recursive identification of the nonlinear nonparametric system is considered, where measurements for identification are subject to an event-triggered scheme and the system itself is of a finite impulse response (FIR) type. First, an adaptive event detector is designed and the measurements for identification are transmitted depending whether the value of the detector is 1 or 0. Second, a recursive identification algorithm is proposed with the help of a kernel-based stochastic approximation algorithm with expanding truncations (SAAWET). Third, under some reasonable assumptions, the estimates are proved to be strongly consistent, i.e., converging almost surely to the values of the unknown function in the system at any fixed points, and the transmission rate of the detector is analyzed as well. Finally, numerical examples are given to justify the theoretical results.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106013"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183647","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}