Automatica最新文献

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-05-19 DOI: 10.1016/j.automatica.2025.112383

Xusheng Yang, Wen-An Zhang, Li Yu

{"title":"Fractional Kalman filters","authors":"Xusheng Yang, Wen-An Zhang, Li Yu","doi":"10.1016/j.automatica.2025.112383","DOIUrl":"10.1016/j.automatica.2025.112383","url":null,"abstract":"<div><div>The nonlinear Kalman filters usually suffer from degradation when the measurements appear in the tail of prior distribution. This article presents a new nonlinear filter named the fractional Kalman filter (FKF) for high robustness against linearization errors of both the time and the measurement updates. Based on the Bayesian theory and Gaussian assumption, an optimal fractional Gaussian filter (OFGF) is developed by maximizing the posterior PDFs, which consists of three basic steps namely time update, fractional measurement update and fractional state fusion. Specifically, the prior probability density function (PDF) and the likelihood function are factored into <span><math><mi>N</mi></math></span> parts with fractional exponents, which increases the <em>overlapping area</em> of the prior and the likelihood distributions for linearization improvement. With the OFGF and the Kullback–Leibler divergence (KLD) analysis, the FKF is developed by a deterministic sampling-based linearization for approximation of means and covariances. From the performance analysis, it reveals that the risk of destroying the stabilities of both the time update and the measurement update is reduced by introducing the fractional exponents. Finally, the effectiveness and superiority of the proposed FKF method are verified by simulations of a target tracking example.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"178 ","pages":"Article 112383"},"PeriodicalIF":4.8,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084300","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

Position estimation and formation control using distance and partial state measurements 利用距离和局部状态测量进行位置估计和编队控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-05-19 DOI: 10.1016/j.automatica.2025.112374

Jianjun Sun , Defu Lin , Irfan Hussain , Lakmal Seneviratne , Shaoming He

{"title":"Position estimation and formation control using distance and partial state measurements","authors":"Jianjun Sun , Defu Lin , Irfan Hussain , Lakmal Seneviratne , Shaoming He","doi":"10.1016/j.automatica.2025.112374","DOIUrl":"10.1016/j.automatica.2025.112374","url":null,"abstract":"<div><div>This paper presents a distributed formation control strategy for multi-agent systems (MASs) and explores a position observer using distance measurements and partial state measurements. By leveraging infinitesimally rigid framework and matrix decomposition techniques, we pinpoint the position states that require direct measurements for satisfying local weak observability of MASs. Subsequently, by utilizing distance and partial position state measurements, we construct distributed observers to estimate positions in a global coordinate system encompassing all agents. The controller employs the gradient laws to preserve formation rigidity, facilitate collision avoidance, and ensure network connectivity. Additionally, proportional feedback is utilized to guide the agents toward desired global reference positions. Our analysis, based on the Lyapunov method, establishes the local asymptotic convergence of formation control and estimate errors, and derives lower bounds for control and observation feedback gains. To validate the effectiveness of our control method, we conduct some numerical simulations in a 3D space.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"178 ","pages":"Article 112374"},"PeriodicalIF":4.8,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084302","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

A data-driven practical stabilization approach for solving stochastic dynamic programming problems 随机动态规划问题的数据驱动实用镇定方法

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-05-17 DOI: 10.1016/j.automatica.2025.112372

Massimo Tipaldi , Raffaele Iervolino , Paolo Roberto Massenio , Ali Forootani

{"title":"A data-driven practical stabilization approach for solving stochastic dynamic programming problems","authors":"Massimo Tipaldi , Raffaele Iervolino , Paolo Roberto Massenio , Ali Forootani","doi":"10.1016/j.automatica.2025.112372","DOIUrl":"10.1016/j.automatica.2025.112372","url":null,"abstract":"<div><div>This paper presents a data-driven practical stabilization approach for solving stochastic Dynamic Programming problems with unknown Markov Decision Process models over an infinite time horizon. The Bellman operator is modeled as a discrete-time switched affine system, with each mode representing a specific stationary stochastic policy and an external bounded disturbance term to account for such modeling issue. A two-step approach is followed. First, a model-based robust practical stabilization problem is solved to derive stabilization conditions which enable the practical convergence of the resulting closed-loop system trajectories towards a chosen reference value function. Then, by exploiting recent model-to-data Linear Matrix Inequality transformation tools, these results are further developed to obtain data-driven robust stabilization conditions for addressing the case of model-free problems. Such data-driven stabilization conditions are deployed into the Value Iteration algorithm, and finally tested on the recycling robot and the parking lot management problems to demonstrate the effectiveness of the proposed method.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"178 ","pages":"Article 112372"},"PeriodicalIF":4.8,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144071329","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

Almost sure stabilization of hybrid systems by intermittent stochastic noise with jumps 带跳跃的间歇随机噪声混合系统的几乎肯定镇定

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-05-16 DOI: 10.1016/j.automatica.2025.112373

Wei Mao , Xuerong Mao , Fuke Wu

引用次数: 0

Distributed Nash equilibrium solution for multi-agent game in adversarial environment: A reinforcement learning method 对抗环境下多智能体博弈的分布式纳什均衡解：一种强化学习方法

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-05-15 DOI: 10.1016/j.automatica.2025.112342

Qiwei Liu , Huaicheng Yan , Kaitian Chen , Meng Wang , Zhichen Li

引用次数: 0

On comparison lemmas and criteria for KL practical stability and input-to-state practical stability: the discrete-time case KL实际稳定性与输入-状态实际稳定性的比较引理与判据：离散时间情况

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-05-15 DOI: 10.1016/j.automatica.2025.112362

Pierdomenico Pepe

引用次数: 0

On the reachability of 3-dimensional paths with a prescribed curvature bound 具有规定曲率界的三维路径的可达性

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-05-10 DOI: 10.1016/j.automatica.2025.112359

Juho Bae , Ji Hoon Bai , Byung-Yoon Lee , Jun-Yong Lee , Chang-Hun Lee

{"title":"On the reachability of 3-dimensional paths with a prescribed curvature bound","authors":"Juho Bae , Ji Hoon Bai , Byung-Yoon Lee , Jun-Yong Lee , Chang-Hun Lee","doi":"10.1016/j.automatica.2025.112359","DOIUrl":"10.1016/j.automatica.2025.112359","url":null,"abstract":"<div><div>This paper presents the reachability analysis of curves in <span><math><msup><mrow><mi>R</mi></mrow><mrow><mn>3</mn></mrow></msup></math></span> with a prescribed curvature bound. Based on Pontryagin Maximum Principle, we leverage the existing knowledge on the structure of solutions to minimum-time problems, or Markov–Dubins problem, to reachability considerations. Based on this development, two types of reachability are discussed. First, we prove that any boundary point of the reachability set, with the directional component taken into account as well as geometric coordinates, can be reached via curves of H, CSC, CCC, or their respective subsegments, where H denotes a helicoidal arc, C a circular arc with maximum curvature, and S a straight segment. Second, we show that the reachability set when directional component is not considered—the position reachability set—is simply a solid of revolution of its two-dimensional counterpart, the Dubins car. These findings extend the developments presented in literature on Dubins car into spatial curves in <span><math><msup><mrow><mi>R</mi></mrow><mrow><mn>3</mn></mrow></msup></math></span>.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"178 ","pages":"Article 112359"},"PeriodicalIF":4.8,"publicationDate":"2025-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143929435","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

Proxy control barrier functions: Integrating barrier-based and Lyapunov-based safety-critical control design 代理控制屏障功能：集成基于屏障和基于lyapunov的安全关键控制设计

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-05-10 DOI: 10.1016/j.automatica.2025.112364

Yujie Wang, Xiangru Xu

引用次数: 0

Synchronization of high-dimensional linear networks over finite fields 有限域上高维线性网络的同步

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-05-10 DOI: 10.1016/j.automatica.2025.112361

Siyu Zou, Ting Li, Jiandong Zhu

引用次数: 0

Bipartite consensus tracking of heterogeneous multi-agent systems: A smooth output-feedback control approach 异构多智能体系统的二部一致性跟踪：平滑输出反馈控制方法