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On algorithms verifying initial-and-final-state opacity: Complexity, special cases, and comparison
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-31 DOI: 10.1016/j.automatica.2025.112171
Tomáš Masopust, Petr Osička
{"title":"On algorithms verifying initial-and-final-state opacity: Complexity, special cases, and comparison","authors":"Tomáš Masopust,&nbsp;Petr Osička","doi":"10.1016/j.automatica.2025.112171","DOIUrl":"10.1016/j.automatica.2025.112171","url":null,"abstract":"<div><div>Opacity is a general framework modeling security properties of systems interacting with a passive attacker. Initial-and-final-state opacity (IFO) generalizes the classical notions of opacity, such as current-state opacity and initial-state opacity. In IFO, the secret is whether the system evolved from a given initial state to a given final state or not. There are two algorithms for IFO verification. One arises from a trellis-based state estimator, which builds a semigroup of binary relations generated by the events of the automaton, and the other is based on the reduction to language inclusion. The time complexity of both algorithms is bounded by a super-exponential function, and it is a challenging open problem to find a faster algorithm or to show that no faster algorithm exists. We discuss the lower-bound time complexity for both general and special cases, and use extensive benchmarks to compare the existing algorithms.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112171"},"PeriodicalIF":4.8,"publicationDate":"2025-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130708","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
Kinematics-informed neural network control on SO(3)
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-31 DOI: 10.1016/j.automatica.2025.112172
Joel Reis , Carlos Silvestre
{"title":"Kinematics-informed neural network control on SO(3)","authors":"Joel Reis ,&nbsp;Carlos Silvestre","doi":"10.1016/j.automatica.2025.112172","DOIUrl":"10.1016/j.automatica.2025.112172","url":null,"abstract":"<div><div>This paper presents an adaptive geometric control method for dynamic-model-free attitude tracking on the manifold of 3D rotations (SO(3)). Utilizing well-established definitions of attitude errors on SO(3), we develop a general control-affine linear error system. The input to this system is implicitly approximated by a kinematics-informed neural network (NN), which serves as the controller. The weights of this NN, designed to be inherently bounded, are adjusted online using a modified gradient-descent strategy that relies solely on system kinematics. We demonstrate the effectiveness and online learning capability of our proposed method through comprehensive simulation results, using a satellite attitude control system as an example. A comparative analysis is also provided to validate our approach.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112172"},"PeriodicalIF":4.8,"publicationDate":"2025-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130486","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
Recursive state estimation in relay channels with enhanced security against eavesdropping: An innovative encryption–decryption framework
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-31 DOI: 10.1016/j.automatica.2025.112159
Lei Zou , Zidong Wang , Bo Shen , Hongli Dong
{"title":"Recursive state estimation in relay channels with enhanced security against eavesdropping: An innovative encryption–decryption framework","authors":"Lei Zou ,&nbsp;Zidong Wang ,&nbsp;Bo Shen ,&nbsp;Hongli Dong","doi":"10.1016/j.automatica.2025.112159","DOIUrl":"10.1016/j.automatica.2025.112159","url":null,"abstract":"<div><div>In this paper, the problem of secure recursive state estimation is addressed for a networked linear system over a relay channel. We consider the scenario where the transmitted signals and the internal state of the relay node might be intercepted by potential eavesdroppers. To prevent the system states from being inferred by potential eavesdroppers via overheard measurement signals, an encryption–decryption mechanism is adopted to protect the transmitted measurement signals over the communication links. Furthermore, for the purpose of preserving data privacy during the relaying process, a decryption-free relaying protocol is constructed, where a matrix-inequality-based method is proposed for the design of the desired parameters for the relaying protocol. Following this, a recursive state estimator is developed to generate state estimates through a set of recursions. Sufficient conditions are then derived to ensure the ultimate boundedness of the resultant estimation error variance matrix. Finally, the effectiveness of the proposed secure recursive state estimation scheme is demonstrated through a simulation example.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112159"},"PeriodicalIF":4.8,"publicationDate":"2025-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130489","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-free H∞ control of Itô stochastic system via off-policy reinforcement learning
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-31 DOI: 10.1016/j.automatica.2025.112144
Weihai Zhang , Jing Guo , Xiushan Jiang
{"title":"Model-free H∞ control of Itô stochastic system via off-policy reinforcement learning","authors":"Weihai Zhang ,&nbsp;Jing Guo ,&nbsp;Xiushan Jiang","doi":"10.1016/j.automatica.2025.112144","DOIUrl":"10.1016/j.automatica.2025.112144","url":null,"abstract":"<div><div>The stochastic <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control is studied for a linear stochastic Itô system with an unknown system model. It is known that the linear stochastic <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control issue can be transformed into the problem of solving a so-called generalized algebraic Riccati equation (GARE), which is a nonlinear equation that is typically difficult to solve analytically. Worse, model-based techniques cannot be utilized to approximately solve a GARE when an accurate system model is unavailable or prohibitively expensive to construct in reality. To address these issues, an off-policy reinforcement learning (RL) approach is presented to learn the solution of a GARE from real system data rather than a system model; its convergence is demonstrated, and the robustness of RL to errors in the learning process is investigated. In the off-policy RL approach, the system data may be created with behavior policies rather than the target policies, which is highly significant and promising for use in actual systems. Finally, the proposed off-policy RL approach is validated on a two-mass spring system.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112144"},"PeriodicalIF":4.8,"publicationDate":"2025-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130712","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
Decentralized co-design of distributed controllers and communication topologies for vehicular platoons: A dissipativity-based approach
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112118
Shirantha Welikala , Zihao Song , Hai Lin , Panos J. Antsaklis
{"title":"Decentralized co-design of distributed controllers and communication topologies for vehicular platoons: A dissipativity-based approach","authors":"Shirantha Welikala ,&nbsp;Zihao Song ,&nbsp;Hai Lin ,&nbsp;Panos J. Antsaklis","doi":"10.1016/j.automatica.2025.112118","DOIUrl":"10.1016/j.automatica.2025.112118","url":null,"abstract":"<div><div>Vehicular platoons provide an appealing option for future transportation systems. Most of the existing work on platoons separated the design of the controller and its communication topology. However, it is advantageous to simultaneously design the platooning controller and the communication topology, especially in cases of platoon splitting and merging. Therefore, we propose a co-design framework for vehicular platoons that maintains both the compositionality of the controller and the string stability of the platoon. In order to solve the co-design problem for a platoon of vehicles, we first formulate a centralized linear matrix inequality (LMI) problem using the dissipativity properties of the vehicles. We then decompose it using Sylvester’s criterion to obtain smaller decentralized LMI problems. These smaller problems can be solved sequentially at individual vehicles in the platoon. To ensure the feasibility of the formulated centralized/decentralized LMI problems, we introduce local controllers at each vehicle, along with a specially developed local controller design scheme. In the centralized/decentralized LMI problems, a locally derived LMI condition is also encoded to ensure the finite-gain L2 stability of the closed-loop platooning system. We show that this implies L2 weak string stability of the vehicular platoon. Finally, we develop a simulation framework <span><span><sup>2</sup></span></span>\u0000 <!--> <!-->and conduct simulation studies to validate the proposed co-design method and its compositionality features.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112118"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130369","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
Robust MIMO adaptive observer-based control for a Timoshenko beam
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112155
Tingting Meng , Bao-Zhu Guo , Wei He
{"title":"Robust MIMO adaptive observer-based control for a Timoshenko beam","authors":"Tingting Meng ,&nbsp;Bao-Zhu Guo ,&nbsp;Wei He","doi":"10.1016/j.automatica.2025.112155","DOIUrl":"10.1016/j.automatica.2025.112155","url":null,"abstract":"<div><div>This paper addresses output regulation for a Timoshenko beam with unknown disturbances and references emanating from an exosystem. By transforming all uncertainties into measurable errors, we are able to estimate approximately the unknown references via a beam observer. However, this alone is insufficient to fully address the uncertainties inherent in state feedback controls. To bridge this gap, we start by estimating exosystem states through an MIMO exosystem observer. To tackle the unknown coefficients in the state feedback controls, we design adaptation laws that seamlessly integrate both the beam and exosystem observers, without the need for a persistent excitation condition. This thus gives adaptive observer-based controls. We rigorously prove the asymptotic convergence of tracking errors and the boundedness of system states. The effectiveness of the proposed controls is validated through numerical simulations.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112155"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130711","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
Probabilistic predictability of stochastic dynamical systems
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112160
Tao Xu, Yushan Li, Jianping He
{"title":"Probabilistic predictability of stochastic dynamical systems","authors":"Tao Xu,&nbsp;Yushan Li,&nbsp;Jianping He","doi":"10.1016/j.automatica.2025.112160","DOIUrl":"10.1016/j.automatica.2025.112160","url":null,"abstract":"<div><div>To assess the quality of a probabilistic prediction for stochastic dynamical systems (SDSs), scoring rules assign a numerical score based on the predictive distribution and the measured state. In this paper, we propose an <span><math><mi>ϵ</mi></math></span>-logarithm score that generalizes the celebrated logarithm score by considering a neighborhood with radius <span><math><mi>ϵ</mi></math></span>. We characterize the probabilistic predictability of an SDS by optimizing the expected score over the space of probability measures. We show how the probabilistic predictability is quantitatively determined by the neighborhood radius, the differential entropies of process noises, and the system dimension. Given any predictor, we provide approximations for the expected score with an error of scale <span><math><mrow><mi>O</mi><mrow><mo>(</mo><mi>ϵ</mi><mo>)</mo></mrow></mrow></math></span>. In addition to the expected score, we also analyze the asymptotic behaviors of the score on individual trajectories. Specifically, we prove that the score on a trajectory can converge to the expected score when the process noises are independent and identically distributed. Moreover, the convergence speed against the trajectory length <span><math><mi>T</mi></math></span> is of scale <span><math><mrow><mi>O</mi><mrow><mo>(</mo><msup><mrow><mi>T</mi></mrow><mrow><mo>−</mo><mfrac><mrow><mn>1</mn></mrow><mrow><mn>2</mn></mrow></mfrac></mrow></msup><mo>)</mo></mrow></mrow></math></span> in the sense of probability. Finally, numerical examples are given to elaborate the results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112160"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130714","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 neural network-based approach to hybrid systems identification for control
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112130
Filippo Fabiani , Bartolomeo Stellato , Daniele Masti , Paul J. Goulart
{"title":"A neural network-based approach to hybrid systems identification for control","authors":"Filippo Fabiani ,&nbsp;Bartolomeo Stellato ,&nbsp;Daniele Masti ,&nbsp;Paul J. Goulart","doi":"10.1016/j.automatica.2025.112130","DOIUrl":"10.1016/j.automatica.2025.112130","url":null,"abstract":"<div><div>We consider the problem of designing a machine learning-based model of an unknown dynamical system from a finite number of (state-input)-successor state data points, such that the model obtained is also suitable for optimal control design. We adopt a neural network (NN) architecture that, once suitably trained, yields a hybrid system with continuous piecewise-affine (PWA) dynamics that is differentiable with respect to the network’s parameters, thereby enabling the use of derivative-based training procedures. We show that a careful choice of our NN’s weights produces a hybrid system model with structural properties that are highly favorable when used as part of a finite horizon optimal control problem (OCP). Specifically, we rely on available results to establish that optimal solutions with strong local optimality guarantees can be computed via nonlinear programming (NLP), in contrast to classical OCPs for general hybrid systems which typically require mixed-integer optimization. Besides being well-suited for optimal control design, numerical simulations illustrate that our NN-based technique enjoys very similar performance to state-of-the-art system identification methods for hybrid systems and it is competitive on nonlinear benchmarks.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112130"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130593","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
Accelerated secondary frequency regulation and active power sharing for islanded microgrids with external disturbances: A fully distributed approach
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112146
Boda Ning , Qing-Long Han , Zongyu Zuo , Lei Ding
{"title":"Accelerated secondary frequency regulation and active power sharing for islanded microgrids with external disturbances: A fully distributed approach","authors":"Boda Ning ,&nbsp;Qing-Long Han ,&nbsp;Zongyu Zuo ,&nbsp;Lei Ding","doi":"10.1016/j.automatica.2025.112146","DOIUrl":"10.1016/j.automatica.2025.112146","url":null,"abstract":"<div><div>Islanded microgrids face some challenges in maintaining stable frequency and sharing proper power among distributed generators (DGs) in the presence of external disturbances. This paper develops a novel fully distributed approach to achieve accelerated secondary frequency regulation (FR) and active power sharing (APS) in islanded microgrids, which enhances system performance and robustness against external disturbances. The proposed control strategy combines advanced consensus algorithms with distributed secondary control loops, eliminating the requirement for a central control unit thereby improving the scalability. Particularly, the fully distributed feature of the proposed control strategy can be understood from two aspects. On one hand, the controller itself is not using global information of (1) communication topology, such as the second smallest eigenvalue of its Laplacian matrix; and (2) the total number of DGs in the microgrid. On the other hand, the estimated settling time is independent of the aforementioned global information. Therefore, the proposed fully distributed control scheme has the potential of becoming a promising solution for the resilient and efficient management of large-scale islanded microgrids. The effectiveness of the designed controllers is validated through numerical examples, demonstrating superior performance in terms of FR, APS, and transient response under various operating conditions.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112146"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130710","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
Strong well-posedness of the regular linear-quadratic problems: Stabilizable case
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112145
Renren Zhang
{"title":"Strong well-posedness of the regular linear-quadratic problems: Stabilizable case","authors":"Renren Zhang","doi":"10.1016/j.automatica.2025.112145","DOIUrl":"10.1016/j.automatica.2025.112145","url":null,"abstract":"<div><div>This paper delves into an open problem within the field of optimal control: the strong well-posedness of the free-endpoint regular indefinite linear quadratic optimal control (LQ). The problem is closely intertwined with the existence of a solution possessing specific properties to an algebraic Riccati equation or inequality. In this paper, some explicit necessary and/or sufficient conditions for the strong well-posedness of the stabilizable case are given, by investigating the existence of a special solution of an algebraic Riccati equation (ARE) corresponding to the LQ and the properties of the minimum solution of an ARE constructed by the controllable part of the system. Additionally, a comparison of the existing sufficient criteria in the literature is provided.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112145"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130368","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
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