Automatica最新文献

{"title":"An optimistic approach to cost-aware predictive control","authors":"Michael Enqi Cao,&nbsp;Matthieu Bloch,&nbsp;Samuel Coogan","doi":"10.1016/j.automatica.2025.112263","DOIUrl":"10.1016/j.automatica.2025.112263","url":null,"abstract":"<div><div>We consider continuous-time systems subject to a priori unknown state-dependent disturbance inputs. Given a target goal region, our first approach consists of a control scheme that avoids unsafe regions of the state space and observes the disturbance behavior until the goal is reachable with high probability. We leverage collected observations and the mixed monotonicity property of dynamical systems to efficiently obtain high-probability overapproximations of the system’s reachable sets. These overapproximations improve as more observations are collected. For our second approach, we consider the problem of minimizing cost while navigating toward the goal region and modify our previous formulation to allow for the estimated confidence bounds on the disturbance to be adjusted based on what would reduce the overall cost. We explicitly consider the additional cost incurred through exploration and develop a formulation wherein the amount of exploration performed can be directly tuned. We show theoretical results confirming that this confidence bound modification strategy outperforms the previously developed strategy on a simplified system. We demonstrate the first approach on an example of a motorboat navigating a river, then showcase a Monte Carlo simulation comparison of both approaches on a planar multirotor navigating toward a goal region through an unknown wind field.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112263"},"PeriodicalIF":4.8,"publicationDate":"2025-03-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143724530","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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":"On attack detection and identification for the cyber–physical system using lifted system model","authors":"Dawei Sun ,&nbsp;Minhyun Cho ,&nbsp;Inseok Hwang","doi":"10.1016/j.automatica.2025.112243","DOIUrl":"10.1016/j.automatica.2025.112243","url":null,"abstract":"<div><div>Motivated by the safety and security issues related to cyber–physical systems with potentially multi-rate, delayed, and nonuniformly sampled measurements, we investigate the attack detection and identification using the lifted system model in this paper. Attack detectability and identifiability based on the lifted system model are formally defined and rigorously characterized in a novel approach. The method of checking detectability is discussed, and a residual design problem for attack detection is formulated in a general way. For attack identification, we define and characterize it by generalizing the concept of mode discernibility for switched systems, and a method for identifying the attack is discussed based on the theoretical analysis. An illustrative example of an unmanned aircraft system is provided to validate the main results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112243"},"PeriodicalIF":4.8,"publicationDate":"2025-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143716040","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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":"Robust optimal control of bi-objective non-homogeneous stochastic linear quadratic system with random coefficients","authors":"Guangchen Wang ,&nbsp;Zhuangzhuang Xing","doi":"10.1016/j.automatica.2025.112234","DOIUrl":"10.1016/j.automatica.2025.112234","url":null,"abstract":"<div><div>This paper investigates a robust stochastic linear–quadratic optimal control (RSLQ) problem with non-homogeneous terms in state, where all coefficients of state and cost function are allowed to be random and the coefficients of cost function are also uncertain. The existence of a unique robust optimal control (OC) <span><math><msup><mrow><mover><mrow><mi>v</mi></mrow><mrow><mo>̄</mo></mrow></mover></mrow><mrow><msup><mrow><mi>λ</mi></mrow><mrow><mo>∗</mo></mrow></msup></mrow></msup></math></span> which depends on parameter <span><math><mrow><msup><mrow><mi>λ</mi></mrow><mrow><mo>∗</mo></mrow></msup><mo>∈</mo><mrow><mo>[</mo><mn>0</mn><mo>,</mo><mn>1</mn><mo>]</mo></mrow></mrow></math></span> is obtained, and <span><math><mrow><mo>(</mo><msup><mrow><mi>λ</mi></mrow><mrow><mo>∗</mo></mrow></msup><mo>,</mo><msup><mrow><mover><mrow><mi>v</mi></mrow><mrow><mo>̄</mo></mrow></mover></mrow><mrow><msup><mrow><mi>λ</mi></mrow><mrow><mo>∗</mo></mrow></msup></mrow></msup><mo>)</mo></mrow></math></span> is verified to be a saddle point of a game problem. Then the solving of Problem RSLQ is proven to be equivalent to the seeking of a global maximum point <span><math><msup><mrow><mi>λ</mi></mrow><mrow><mo>∗</mo></mrow></msup></math></span> of a value function <span><math><mrow><msup><mrow><mi>V</mi></mrow><mrow><mi>λ</mi></mrow></msup><mrow><mo>(</mo><mi>x</mi><mo>)</mo></mrow></mrow></math></span> w.r.t. <span><math><mrow><mi>λ</mi><mo>∈</mo><mrow><mo>[</mo><mn>0</mn><mo>,</mo><mn>1</mn><mo>]</mo></mrow></mrow></math></span>. Furthermore, for the case with one-dimensional state, we obtain the continuity of <span><math><mrow><msup><mrow><mi>V</mi></mrow><mrow><mi>λ</mi></mrow></msup><mrow><mo>(</mo><mi>x</mi><mo>)</mo></mrow></mrow></math></span> w.r.t. <span><math><mi>λ</mi></math></span>, which can also be seen as a stability property of value function of stochastic linear–quadratic (SLQ) problems w.r.t. parameter <span><math><mi>λ</mi></math></span>. The main challenge is the continuity dependency w.r.t. <span><math><mi>λ</mi></math></span> of solution of an auxiliary linear backward stochastic differential equation (BSDE), which has possibly unbounded coefficients and appears in the explicit form of <span><math><mrow><msup><mrow><mi>V</mi></mrow><mrow><mi>λ</mi></mrow></msup><mrow><mo>(</mo><mi>x</mi><mo>)</mo></mrow></mrow></math></span>. Via the estimates of bounded mean oscillation martingales (BMO martingales) and stochastic Riccati equations (SREs), along with transformation of measures, we overcome this obstacle and derive that <span><math><mrow><msup><mrow><mi>V</mi></mrow><mrow><mi>λ</mi></mrow></msup><mrow><mo>(</mo><mi>x</mi><mo>)</mo></mrow></mrow></math></span> is Lipschitz continuous w.r.t. <span><math><mi>λ</mi></math></span>. Estimates of two generalized SREs appeared in an SLQ problem with conic constraint are also obtained. Some numerical examples are given to further verify the validity of our theoretical analysis.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112234"},"PeriodicalIF":4.8,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143687600","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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":"Dominance regions of pursuit-evasion games in non-anticipative information patterns","authors":"Weiwen Huang ,&nbsp;Li Liang ,&nbsp;Ningsheng Xu ,&nbsp;Fang Deng","doi":"10.1016/j.automatica.2025.112258","DOIUrl":"10.1016/j.automatica.2025.112258","url":null,"abstract":"<div><div>The evader’s dominance region is an important concept and the foundation of geometric methods for pursuit-evasion games. This article mainly reveals the relevant properties of the evader’s dominance region, especially in non-anticipative information patterns. We can use these properties to research pursuit-evasion games in non-anticipative information patterns. The core problem is under what condition the pursuer has a non-anticipative strategy to prevent the evader leaving its initial dominance region before being captured regardless of the evader’s strategy. We first define the evader’s dominance region by the shortest path distance, and we rigorously prove for the first time that the initial dominance region of the evader is the reachable region of the evader in the open-loop sense. Subsequently, we prove that there exists a non-anticipative strategy by which the pursuer can capture the evader before the evader leaves its initial dominance region’s closure in the absence of obstacles. For cases with obstacles, we provide a counter example to illustrate that such a non-anticipative strategy does not always exist, and provide a necessary condition for the existence of such strategy. Finally, we consider a scenario with a single corner obstacle and provide a sufficient condition for the existence of such a non-anticipative strategy. At the end of this article, we discuss the application of the evader’s dominance region in target defense games. This article has important reference significance for the design of non-anticipative strategies in pursuit-evasion games with obstacles.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112258"},"PeriodicalIF":4.8,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143687599","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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":"Finite-time formation tracking for heterogeneous Euler–Lagrange systems with an uncertain leader","authors":"Qing Wang ,&nbsp;Xiwang Dong ,&nbsp;Zhiyong Chen ,&nbsp;Zhi Lian ,&nbsp;Jinhu Lü","doi":"10.1016/j.automatica.2025.112268","DOIUrl":"10.1016/j.automatica.2025.112268","url":null,"abstract":"<div><div>This paper discusses the finite-time time-varying formation tracking control problem of heterogeneous Euler–Lagrange systems with an uncertain leader. Unlike most existing works, where knowledge of the system dynamics of the leader node is required for follower agents in advance, this paper presents a distributed observer-based finite-time formation tracking control framework that operates independently of the system dynamic knowledge of the leader node. Firstly, two novel classes of finite-time adaptive distributed observers are constructed to estimate both the state and unknown dynamics of the leader system. The associated adaptation parameters can converge to the true values in finite time under an initial excitation condition, rather than the existing restrictive persistently exciting or cooperative finite-time excitation condition. Then, a finite-time formation tracking controller is developed based on the presented finite-time observers; with the help of Lyapunov stability theory, the finite-time formation tracking criterion for the considered system with an uncertain leader is derived from the constructed controller. Finally, a simulation example is provided to demonstrate the effectiveness of the presented finite-time formation tracking controller.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112268"},"PeriodicalIF":4.8,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683007","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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":"Boundary output feedback stabilization for 2-D and 3-D parabolic equations","authors":"Hugo Lhachemi ,&nbsp;Ionut Munteanu ,&nbsp;Christophe Prieur","doi":"10.1016/j.automatica.2025.112259","DOIUrl":"10.1016/j.automatica.2025.112259","url":null,"abstract":"<div><div>The present paper addresses the topic of boundary output feedback stabilization of parabolic-type equations, governed by linear differential operators which can be diagonalized by the introduction of adequate weighting functions (by means of the Sturm–Liouville method), and which evolve in bounded spatial domains that are subsets of <span><math><mrow><msup><mrow><mi>R</mi></mrow><mrow><mi>d</mi></mrow></msup><mo>,</mo><mspace></mspace><mi>d</mi><mo>=</mo><mn>2</mn><mo>,</mo><mn>3</mn></mrow></math></span>. Generalizing previous works for the boundary output feedback control of 1-D parabolic PDEs and for the state feedback control of multi-D parabolic PDEs, we report in this paper an output feedback boundary stabilizing control with internal Dirichlet measurements designed by means of a finite-dimensional observer. The reported control design procedure is shown to be systematic for 2-D and 3-D parabolic equations.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112259"},"PeriodicalIF":4.8,"publicationDate":"2025-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683005","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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":"Mean field hierarchical control for production output adjustment with noisy sticky prices","authors":"Bing-Chang Wang","doi":"10.1016/j.automatica.2025.112260","DOIUrl":"10.1016/j.automatica.2025.112260","url":null,"abstract":"<div><div>This paper is concerned with the hierarchical decentralized solution to mean field production output adjustment. We first introduce a mean field output adjustment model for many firms in a market, where the price is sticky and regulated by a government. Under a given policy of the regulator, we first tackle a centralized game problem, and obtain a system of coupled forward–backward stochastic differential equations (FBSDEs). By decoupling the high-dimensional FBSDEs, a Nash equilibrium strategy is designed for competitive firms. After applying firms’ strategies, we construct a decentralized strategy of the regulator by solving an optimal control problem driven by FBSDEs. By perturbation analysis, the proposed decentralized strategy is shown to be an <span><math><mi>ɛ</mi></math></span>-Stackelberg equilibrium.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112260"},"PeriodicalIF":4.8,"publicationDate":"2025-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683006","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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":"Hybrid formation control for heterogeneous uncertain linear two-time-scale systems","authors":"Yan Lei ,&nbsp;Zheng Wang ,&nbsp;Xin Wang ,&nbsp;Hongyi Li ,&nbsp;Irinel-Constantin Morărescu","doi":"10.1016/j.automatica.2025.112267","DOIUrl":"10.1016/j.automatica.2025.112267","url":null,"abstract":"<div><div>This paper investigates time-varying output formation of interconnected heterogeneous linear two-time-scale systems with model uncertainty. Unlike previous works on the cooperation of interconnected two-time-scale systems, we consider nonidentical dynamics for each agent that may be characterized by different dimensions and time-scaling factors. Additionally, the systems are interconnected through a switching graph with a disconnected topology, rendering more challenging the analysis and the controller design. To address these challenges, a hybrid two-layer hierarchical control protocol is proposed. The upper layer utilizes an impulsive cooperative control strategy to generate local references, enabling discrete-time interactions among agents and thereby reducing the communication burden. The lower layer implements an internal model-based controller for the two-time-scale dynamics to track the generated references, demonstrating robustness against small model uncertainties. Closed-loop analysis is based on input-to-state stability (ISS) results for hybrid systems. Furthermore, the obtained result is extended to achieve the output consensus. Finally, two examples are presented to illustrate the effectiveness of the results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112267"},"PeriodicalIF":4.8,"publicationDate":"2025-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683009","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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":"Output-feedback event-triggered boundary control of reaction–diffusion PDEs with delayed actuator","authors":"Hongpeng Yuan,&nbsp;Ji Wang,&nbsp;Jianping Zeng,&nbsp;Weiyao Lan","doi":"10.1016/j.automatica.2025.112266","DOIUrl":"10.1016/j.automatica.2025.112266","url":null,"abstract":"<div><div>We present an output-feedback event-triggered delay-compensated boundary control scheme for a class of reaction–diffusion PDEs under a delayed actuator, where an arbitrarily long time delay exists between the PDE plant and the ODE actuator. After treating the time delay as a transport PDE, the overall plant configuration becomes ODE-PDE-PDE. Combining the PDE and ODE backstepping designs, a three-step backstepping transformation is proposed to build the continuous-in-time control law. A PDE observer is designed to track the PDE states required in the control law using a boundary measurement. Then, a dynamic event-triggering mechanism is designed, based on the evaluation of the overall ODE-PDE-PDE system, to determine the updating times of the control signal. In the resulting output-feedback event-based closed-loop system, a strictly positive lower bound of the minimal dwell time is found, which is independent of initial conditions. As a result, the absence of a Zeno behavior is guaranteed. Besides, exponential convergence to zero of all signals is proved via Lyapunov analysis, including the <span><math><msup><mrow><mi>H</mi></mrow><mrow><mn>1</mn></mrow></msup></math></span> norm of the transport PDE state, the <span><math><msup><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msup></math></span> norm of the reaction–diffusion PDE and observer states, the actuator states, the internal dynamic variable in the event-triggering mechanism, as well as the control input. The effectiveness of the proposed method is illustrated by numerical simulation.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112266"},"PeriodicalIF":4.8,"publicationDate":"2025-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683004","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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":"On the contact Hamiltonian functions of conservative contact systems","authors":"N. Ha Hoang ,&nbsp;Denis Dochain","doi":"10.1016/j.automatica.2025.112251","DOIUrl":"10.1016/j.automatica.2025.112251","url":null,"abstract":"<div><div>The dynamics of irreversible thermodynamic systems have been expressed in terms of conservative contact systems where contact vector fields are generated by contact Hamiltonian functions defined on the Thermodynamic Phase Space (TPS). In this paper, we first emphasize the importance of both the Gibbs relation and the Gibbs–Duhem relation of the entropy or energy contact form in developing a first-order invariance constraint that every contact Hamiltonian function must satisfy. This novel insight is then considered together with the zero-order invariance constraint to infer solutions, thereby yielding a generalized family of contact Hamiltonian functions generating <em>non-strict</em> or <em>strict</em> contact vector fields which are equal on the associated Legendre submanifold on which the dynamics of the thermodynamic system is living. Finally, we show sufficient conditions under which the inverse images of zero by the contact Hamiltonian functions or the Legendre submanifold are <em>globally attractive</em> when lifting the system dynamics to the complete TPS. A simulated example is given to support the theoretical developments and to discuss the difference of the dynamic behaviours between the generated strict and non-strict contact vector fields.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112251"},"PeriodicalIF":4.8,"publicationDate":"2025-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683074","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}