Automatica最新文献_第10页

Trajectory elongation strategies with minimum curvature discontinuities for a Dubins vehicle 杜宾飞行器曲率不连续最小的轨迹延伸策略

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-27 DOI: 10.1016/j.automatica.2025.112550

Aditya Krishna Rao, Twinkle Tripathy

{"title":"Trajectory elongation strategies with minimum curvature discontinuities for a Dubins vehicle","authors":"Aditya Krishna Rao, Twinkle Tripathy","doi":"10.1016/j.automatica.2025.112550","DOIUrl":"10.1016/j.automatica.2025.112550","url":null,"abstract":"<div><div>In this paper, we present strategies for designing curvature-bounded trajectories of any desired length between any two given oriented points. The proposed trajectory is constructed by the concatenation of three circular arcs of varying radii. Such a trajectory guarantees a complete coverage of the maximum set of reachable lengths while minimising the number of changeover points in the trajectory to a maximum of two under all scenarios. Additionally by using the notion of internally tangent circles, we expand the set of Circle-Circle-Circle trajectories to eight kinds, consisting of <span><math><mrow><mo>{</mo><mi>L</mi><mi>L</mi><mi>L</mi><mo>,</mo><mi>L</mi><mi>L</mi><mi>R</mi><mo>,</mo><mi>L</mi><mi>R</mi><mi>R</mi><mo>,</mo><mi>L</mi><mi>R</mi><mi>L</mi><mo>,</mo><mi>R</mi><mi>R</mi><mi>L</mi><mo>,</mo><mi>R</mi><mi>L</mi><mi>L</mi><mo>,</mo><mi>R</mi><mi>L</mi><mi>R</mi><mo>,</mo><mi>R</mi><mi>R</mi><mi>R</mi><mo>}</mo></mrow></math></span> paths. The paper presents a mathematical formulation of the proposed trajectory and the conditions for the existence and classification of each kind of trajectory. We also analyse the variation of the length of the trajectory using suitable elongation strategies and derive the set of reachable lengths for all pairs of oriented points. Moreover, we highlight the conditions required for the existence of multiple trajectories of any feasible desired length Finally, the results of this paper are illustrated using numerical simulations.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"182 ","pages":"Article 112550"},"PeriodicalIF":5.9,"publicationDate":"2025-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144902488","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

Multivalued Hamiltonian systems with sliding motions: Analysis of the backward-Euler discretisation 具有滑动运动的多值哈密顿系统：后向欧拉离散化分析

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-27 DOI: 10.1016/j.automatica.2025.112567

Fernando Castaños , Félix Miranda-Villatoro , Bernard Brogliato

引用次数: 0

A time-domain estimation of the ν-gap metric and stability margin with its application to attack defense in cyber-physical systems 空间间隔度量和稳定裕度的时域估计及其在网络物理系统攻击防御中的应用

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-27 DOI: 10.1016/j.automatica.2025.112549

Hao Luo , Shimeng Wu , Linlin Li

引用次数: 0

On the existence and neural network representation of separable control Lyapunov functions 可分控制李雅普诺夫函数的存在性及其神经网络表示

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-27 DOI: 10.1016/j.automatica.2025.112517

Mario Sperl, Jonas Mysliwitz, Lars Grüne

引用次数: 0

Differentially private dual gradient tracking for distributed resource allocation 分布式资源分配的差分私有对偶梯度跟踪

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-26 DOI: 10.1016/j.automatica.2025.112521

Wei Huo , Xiaomeng Chen , Lingying Huang , Karl Henrik Johansson , Ling Shi

{"title":"Differentially private dual gradient tracking for distributed resource allocation","authors":"Wei Huo , Xiaomeng Chen , Lingying Huang , Karl Henrik Johansson , Ling Shi","doi":"10.1016/j.automatica.2025.112521","DOIUrl":"10.1016/j.automatica.2025.112521","url":null,"abstract":"<div><div>This paper investigates privacy issues in distributed resource allocation over directed networks, where each agent holds a private cost function and optimizes its decision subject to a global coupling constraint through local interaction with other agents. Conventional methods for resource allocation over directed networks require all agents to transmit their original data to neighbors, which poses the risk of disclosing sensitive and private information. To address this issue, we propose an algorithm called differentially private dual gradient tracking (DP-DGT) for distributed resource allocation, which obfuscates the exchanged messages using independent Laplacian noise. Our algorithm ensures that the agents’ decisions converge to a neighborhood of the optimal solution almost surely. Furthermore, without the assumption of bounded gradients, we prove that the cumulative differential privacy loss under the proposed algorithm is finite even when the number of iterations goes to infinity. To the best of our knowledge, we are the first to simultaneously achieve these two goals in distributed resource allocation problems over directed networks. Finally, numerical simulations on economic dispatch problems within the IEEE 14-bus system illustrate the effectiveness of our proposed algorithm.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"182 ","pages":"Article 112521"},"PeriodicalIF":5.9,"publicationDate":"2025-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144896006","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

Convergence analysis of gradient flow for overparameterized LQR formulations 过参数化LQR公式梯度流的收敛性分析

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-25 DOI: 10.1016/j.automatica.2025.112504

Arthur Castello B. de Oliveira , Milad Siami , Eduardo D. Sontag

{"title":"Convergence analysis of gradient flow for overparameterized LQR formulations","authors":"Arthur Castello B. de Oliveira , Milad Siami , Eduardo D. Sontag","doi":"10.1016/j.automatica.2025.112504","DOIUrl":"10.1016/j.automatica.2025.112504","url":null,"abstract":"<div><div>This paper analyzes the intersection between results from gradient methods for the model-free linear quadratic regulator (LQR) problem, and linear feedforward neural networks (LFFNNs). More specifically, it looks into the case where one wants to find an LFFNN feedback that minimizes an LQR cost. It starts by deriving a key conservation law of the system, which is then leveraged to generalize existing results on boundedness and global convergence of solutions, and invariance of the set of stabilizing LFFNNs under the training dynamics (gradient flow). For the single hidden layer LFFNN, the paper proves that the solution converges to the optimal feedback control law for all but a set of Lebesgue measure zero of the initializations. These results are followed by an analysis of a simple version of the problem – the “vector case” – proving the theoretical properties of accelerated convergence and a type of input-to-state stability (ISS) result for this simpler example. Finally, the paper presents numerical evidence of faster convergence of the gradient flow of general LFFNNs when compared to non-overparameterized formulations, showing that the acceleration of the solution is observable even when the gradient is not explicitly computed, but estimated from evaluations of the cost function.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"182 ","pages":"Article 112504"},"PeriodicalIF":5.9,"publicationDate":"2025-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144893836","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

Partially cooperative robust distributed model predictive control for tracking 跟踪的部分协作鲁棒分布式模型预测控制

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-23 DOI: 10.1016/j.automatica.2025.112547

Ana Sánchez-Amores , Antonio Ferramosca , José M. Maestre , Eduardo F. Camacho

引用次数: 0

Observer-based detection and isolation of permanent sensor faults in a class of uncertain switched affine systems 一类不确定切换仿射系统中传感器永久故障的观测器检测与隔离

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-23 DOI: 10.1016/j.automatica.2025.112526

Diego dos Santos Carneiro , Flávio Andrade Faria , Vilma Alves de Oliveira , Michele Cucuzzella , Antonella Ferrara

{"title":"Observer-based detection and isolation of permanent sensor faults in a class of uncertain switched affine systems","authors":"Diego dos Santos Carneiro , Flávio Andrade Faria , Vilma Alves de Oliveira , Michele Cucuzzella , Antonella Ferrara","doi":"10.1016/j.automatica.2025.112526","DOIUrl":"10.1016/j.automatica.2025.112526","url":null,"abstract":"<div><div>This paper develops a robust fault detection and isolation (FDI) strategy for a class of uncertain continuous-time switched affine systems when the system state is not fully available for measurement, and all system sensors are prone to permanent abrupt bounded faults. The FDI strategy is obtained by designing a number of FDI devices equal to the number of sensors. First, we give linear matrix inequalities conditions to design a bank of full-state Luenberger observers in a pseudo-dedicated scheme with guaranteed <span><math><msub><mrow><mi>S</mi></mrow><mrow><mo>−</mo></mrow></msub></math></span> and <span><math><msub><mrow><mi>L</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performances to work as residual error generators (REGs). In the sequence, considering an extension of the concepts of weak and strong detectability and novel concepts of weak and strong isolation, residual evaluation functions are defined, and threshold functions are designed considering the gains and parameters obtained in the REG design, taking into consideration the smallest fault magnitude to be detected to achieve a mixed <span><math><mrow><msub><mrow><mi>S</mi></mrow><mrow><mo>−</mo></mrow></msub><mo>/</mo><msub><mrow><mi>L</mi></mrow><mrow><mi>∞</mi></mrow></msub></mrow></math></span> performance. An Algorithm to determine a piecewise constant threshold function is proposed to obtain less conservative constraints in the optimization problem. Furthermore, parameter-tuning algorithms are proposed to obtain local optima thresholds and REGs to satisfy weak isolation conditions over a range of uncertainties. Finally, a Cuk DC–DC converter is considered to demonstrate the effectiveness of the proposed approach.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"182 ","pages":"Article 112526"},"PeriodicalIF":5.9,"publicationDate":"2025-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144888924","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

Lifting-based PWA control: A global solution to handle disturbances in the state space partitions 基于提升的PWA控制：处理状态空间分区中干扰的全局解决方案

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-23 DOI: 10.1016/j.automatica.2025.112529

Songlin Yang, Sorin Olaru, Pedro Rodriguez-Ayerbe

引用次数: 0

Adaptive prescribed-time control for nonlinear cascade systems with FxT-ISS inverse dynamics 具有FxT-ISS逆动力学的非线性串级系统的自适应规定时间控制

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-23 DOI: 10.1016/j.automatica.2025.112527

Jiangbo Yu , Chengdong Li , Zhengtao Ding , Yuqiang Wu

引用次数: 0