Automatica最新文献

Distributed optimal coverage control in multi-agent systems: Known and unknown environments

IF 6.4 2区计算机科学

Automatica Pub Date : 2024-12-12 DOI: 10.1016/j.automatica.2024.112031

Mohammadhasan Faghihi, Meysam Yadegar, Mohammadhosein Bakhtiaridoust, Nader Meskin, Javad Sharifi, Peng Shi

{"title":"Distributed optimal coverage control in multi-agent systems: Known and unknown environments","authors":"Mohammadhasan Faghihi, Meysam Yadegar, Mohammadhosein Bakhtiaridoust, Nader Meskin, Javad Sharifi, Peng Shi","doi":"10.1016/j.automatica.2024.112031","DOIUrl":"https://doi.org/10.1016/j.automatica.2024.112031","url":null,"abstract":"This paper introduces a novel approach to solve the coverage optimization problem in multi-agent systems. The proposed technique offers an optimal solution with a lower cost with respect to conventional Voronoi-based techniques by effectively handling the issue of agents remaining stationary in regions void of information using a ranking function. The proposed approach leverages a novel cost function for optimizing the agents’ coverage and the cost function eventually aligns with the conventional Voronoi-based cost function. Theoretical analyses are conducted to assure the asymptotic convergence of agents toward an optimal configuration. A distinguishing feature of this approach lies in its departure from the reliance on geometric methods that are characteristic of Voronoi-based approaches; hence it can be implemented more simply. Remarkably, the technique is adaptive and applicable to various environments with both known and unknown information distributions. Lastly, the efficacy of the proposed method is demonstrated through simulations, and the obtained results are compared with those of Voronoi-based algorithms.","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"13 1","pages":""},"PeriodicalIF":6.4,"publicationDate":"2024-12-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142816496","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}

引用次数: 0

Generalized Lyapunov functionals for the input-to-state stability of infinite-dimensional systems

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-12-03 DOI: 10.1016/j.automatica.2024.112005

Jun Zheng , Guchuan Zhu

{"title":"Generalized Lyapunov functionals for the input-to-state stability of infinite-dimensional systems","authors":"Jun Zheng , Guchuan Zhu","doi":"10.1016/j.automatica.2024.112005","DOIUrl":"10.1016/j.automatica.2024.112005","url":null,"abstract":"<div><div>This paper addresses the input-to-state stability (ISS) of infinite-dimensional systems by introducing a novel notion named <em>generalized ISS-Lyapunov functional</em> (GISS-LF) and the corresponding ISS Lyapunov theorem. Unlike the classical ISS-Lyapunov functional (ISS-LF) that must be positive definite, a GISS-LF can be positive semidefinite. Moreover, such a functional considers not only the relationship with elements in the state space but also takes into account the elements in the input space via a family of certain functionals. Consequently, this notion provides more options in constructing Lyapunov functionals for the ISS assessment of infinite-dimensional systems. In particular, we provide a positive answer to the open question raised by A. Mironchenko and C. Prieur, “Input-to-state stability of infinite-dimensional systems: recent results and open questions”, (Mironchenko and Prieur, 2020), regarding the existence of a coercive ISS-LF for the heat equation with Dirichlet boundary disturbances. To demonstrate the application of the proposed method, which we refer to as the generalized Lyapunov method, we present two examples, showing how to construct GISS-LFs by using positive semidefinite and non-coercive functionals for nonlinear parabolic equations defined over higher dimensional domains with Dirichlet boundary disturbances, and to derive small-gain conditions for guaranteeing the ISS with respect to distributed in-domain disturbances for coupled nonlinear degenerate parabolic equations, which contain ordinary differential equations as special cases.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"172 ","pages":"Article 112005"},"PeriodicalIF":4.8,"publicationDate":"2024-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142759491","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}

引用次数: 0

Fully distributed and attack-immune protocols for linear multiagent systems by linear time-varying feedback

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-12-03 DOI: 10.1016/j.automatica.2024.112009

Kai Zhang, Bin Zhou

{"title":"Fully distributed and attack-immune protocols for linear multiagent systems by linear time-varying feedback","authors":"Kai Zhang, Bin Zhou","doi":"10.1016/j.automatica.2024.112009","DOIUrl":"10.1016/j.automatica.2024.112009","url":null,"abstract":"<div><div>This paper addresses the leader-following consensus problem for general linear multiagent systems under general directed topology, with a focus on the scenarios where only relative output information is available. To solve such problem, most existing observer-based protocols rely on relative observer information among neighboring agents, which is obtained through the communication network and can be susceptible to network attacks. To overcome this limitation, this paper proposes a novel class of distributed observer-based linear time-varying protocols, in which the feedback gain is designed with two time-varying terms, one of which tends towards infinity as time increases, while the other tends towards zero. Compared to existing protocols, the proposed protocols offer significant advantages. Notably, they do not require information exchange through the communication network, making them immune to network attacks. Furthermore, the protocols operate in a fully distributed manner, which makes them resilient to changes in the topology graph. Simulation results demonstrate the effectiveness of the proposed approach.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"172 ","pages":"Article 112009"},"PeriodicalIF":4.8,"publicationDate":"2024-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142759728","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}

引用次数: 0

Prescribed-time observer for descriptor systems with unknown input

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-12-02 DOI: 10.1016/j.automatica.2024.111999

Jiancheng Zhang , Yongduan Song , Gang Zheng

引用次数: 0

Meta-learning for model-reference data-driven control

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-12-02 DOI: 10.1016/j.automatica.2024.112006

Riccardo Busetto , Valentina Breschi , Simone Formentin

{"title":"Meta-learning for model-reference data-driven control","authors":"Riccardo Busetto , Valentina Breschi , Simone Formentin","doi":"10.1016/j.automatica.2024.112006","DOIUrl":"10.1016/j.automatica.2024.112006","url":null,"abstract":"<div><div>One-shot direct model-reference control design techniques, like the Virtual Reference Feedback Tuning (VRFT) approach, offer time-saving solutions for calibrating fixed-structure controllers. Nonetheless, such methods are known to be highly sensitive to the quality of data, often requiring long and costly experiments to attain acceptable closed-loop performance. These features might prevent the widespread adoption of such techniques, especially in low-data regimes. In this paper, we argue that the inherent similarity of many industrially relevant systems may come at hand, offering additional information from plants that are similar (yet not equal) to the system one aims to control. Assuming that this supplementary information is available, we propose a novel, direct design approach that leverages data from similar plants, the knowledge of controllers calibrated on them, and the corresponding closed-loop performance to enhance model-reference control design. By constructing the new controller as a combination of the available ones, our approach exploits all the available priors following a <em>meta-learning</em> philosophy, ensuring non-decreasing performance. An extensive numerical analysis supports our claims, highlighting the effectiveness of the proposed method in achieving performance comparable to iterative approaches, while retaining the efficiency of one-shot direct data-driven methods like VRFT.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"172 ","pages":"Article 112006"},"PeriodicalIF":4.8,"publicationDate":"2024-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142759488","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}

引用次数: 0

Feedback stability analysis via dissipativity with dynamic supply rates

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-12-02 DOI: 10.1016/j.automatica.2024.112000

Sei Zhen Khong , Chao Chen , Alexander Lanzon

{"title":"Feedback stability analysis via dissipativity with dynamic supply rates","authors":"Sei Zhen Khong , Chao Chen , Alexander Lanzon","doi":"10.1016/j.automatica.2024.112000","DOIUrl":"10.1016/j.automatica.2024.112000","url":null,"abstract":"<div><div>We propose a general notion of dissipativity with dynamic supply rates for nonlinear systems. This extends classical dissipativity with static supply rates and dynamic supply rates of miscellaneous quadratic forms. The main results of this paper concern Lyapunov and asymptotic stability analysis for nonlinear feedback dissipative systems that are characterised by dissipation inequalities with respect to compatible dynamic supply rates but involving possibly different and independent auxiliary systems. Importantly, dissipativity conditions guaranteeing stability of the state of the feedback systems, without concerns on the stability of the state of the auxiliary systems, are provided. The key results also specialise to a simple coupling test for the interconnection of two nonlinear systems described by dynamic <span><math><mrow><mo>(</mo><mi>Ψ</mi><mo>,</mo><mi>Π</mi><mo>,</mo><mi>Υ</mi><mo>,</mo><mi>Ω</mi><mo>)</mo></mrow></math></span>-dissipativity, and are shown to recover several existing results in the literature, including small-gain, passivity indices, static <span><math><mrow><mo>(</mo><mi>Q</mi><mo>,</mo><mi>S</mi><mo>,</mo><mi>R</mi><mo>)</mo></mrow></math></span>-dissipativity, dissipativity with terminal costs, etc. Comparison with the input–output approach to feedback stability analysis based on integral quadratic constraints is also made.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"172 ","pages":"Article 112000"},"PeriodicalIF":4.8,"publicationDate":"2024-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142759489","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}

引用次数: 0

Model-based state estimation for Euler–Lagrange systems and rigid-body robot control

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-11-30 DOI: 10.1016/j.automatica.2024.112003

Rolf Johansson

引用次数: 0

On converse zeroing barrier functions

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-11-29 DOI: 10.1016/j.automatica.2024.112011

Ziliang Lyu , Xiangru Xu , Yiguang Hong , Lihua Xie

引用次数: 0

Identification of FIR Systems with binary-valued observations under replay attacks