Automatica最新文献

{"title":"Congealed neural network design for uncertain nonlinear spatiotemporal control systems","authors":"Tianrun Liu ,&nbsp;Yang-Yang Chen ,&nbsp;Xiaohua Ge","doi":"10.1016/j.automatica.2025.112636","DOIUrl":"10.1016/j.automatica.2025.112636","url":null,"abstract":"<div><div>This note is concerned with the approximation-based adaptive control problem for a class of uncertain nonlinear spatiotemporal systems. A congealed neural network (ConNN) is first proposed to approximate nonlinear spatiotemporal uncertainties arising from system states and time-varying parameters. Unlike conventional NN approximation structures, the ConNN explicitly decomposes the time-varying coupling weight into a congealed weight and a time-dependent perturbation. The congealed weight is estimated using a standard adaptive law for constant parameters, while the residual perturbation is handled within the network structure. To enhance robustness, smooth sliding-mode-like functions are then embedded into the control architecture, effectively attenuating bias terms, particularly in reference tracking scenarios. It is shown that the resulting ConNN-based adaptive controller guarantees adjustable, bounded-error tracking performance, thereby extending the applicability of robust adaptive control to complex spatiotemporal systems and outperforming existing NN-based approaches.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112636"},"PeriodicalIF":5.9,"publicationDate":"2025-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158530","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":"A novel switching rule to observer-based control for switched systems","authors":"Jun Cheng ,&nbsp;Tianfeng Tang ,&nbsp;Huaicheng Yan ,&nbsp;Zheng-Guang Wu ,&nbsp;Dan Zhang","doi":"10.1016/j.automatica.2025.112622","DOIUrl":"10.1016/j.automatica.2025.112622","url":null,"abstract":"<div><div>This study explores observer-based control for switched systems subject to partially unknown sojourn probability information. To more accurately capture the dynamic nature of switched systems, a novel switching rule related to duration time is devised, in which the system switching is governed by a joint distribution function. This function uniquely integrates both the current system mode and its duration, effectively addressing the challenges of incompleteness in probability information. Distinct from the conventional semi-Markov kernel technique, the sojourn probabilities involve fewer parameters and can be more readily measured using statistical techniques, thereby lessening computational burden. Additionally, a non-monotonic Lyapunov function is constructed, leading to less conservative conditions that ensure the mean-square stability of the switched systems. Eventually, the effectiveness and superiority of the devised methodology are verified through a practical example.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112622"},"PeriodicalIF":5.9,"publicationDate":"2025-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158531","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":"Fully coupled nonlinear FBS△Es: Solvability and LQ control insights","authors":"Zhipeng Niu ,&nbsp;Qingxin Meng ,&nbsp;Xun Li ,&nbsp;Maoning Tang","doi":"10.1016/j.automatica.2025.112601","DOIUrl":"10.1016/j.automatica.2025.112601","url":null,"abstract":"<div><div>In this paper, a class of fully coupled nonlinear forward–backward stochastic difference equations (FBS<span><math><mo>△</mo></math></span>Es) is proposed and the existence of solutions is proved based on a linear-quadratic (LQ) optimal control problem. Inspired from the solvability studies of various forward–backward stochastic differential equations (FBSDEs), the dominant-monotone framework is discretized and a continuum approach is used to prove the unique solvability of the fully coupled FBS<span><math><mo>△</mo></math></span>Es and to obtain a pair of estimates on the solutions, and finally, the conclusions are applied to the related LQ problem.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112601"},"PeriodicalIF":5.9,"publicationDate":"2025-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158534","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":"Adaptive distributed observer design for nonlinear multiagent systems","authors":"Jixing Lv ,&nbsp;Changhong Wang ,&nbsp;Lihua Xie","doi":"10.1016/j.automatica.2025.112625","DOIUrl":"10.1016/j.automatica.2025.112625","url":null,"abstract":"<div><div>Distributed state estimation is crucial for the leader-following control problem of multiagent systems (MASs). In this paper, adaptive distributed observers (DOs) are designed for a nonlinear autonomous leader system using only its output. Via system transformation, the DO design problem of the origin system is converted to that of a canonical system with lumped dynamics. When the lumped dynamics is parametric, an adaptive DO is developed to reconstruct the state and the unknown parameters under an undirected topology, which also addresses the distributed state/parameter estimation problem of an uncertain autonomous system with its dynamics in a parametric form. Then, the DO framework is extended to the case of non-parametric uncertainties, and a neural network (NN) DO is designed for reconstructing the state/lumped dynamics over a strongly connected digraph Finally, the effectiveness of the proposed DOs is demonstrated via numerical simulations.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112625"},"PeriodicalIF":5.9,"publicationDate":"2025-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158536","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":"Distributed Nash equilibrium seeking for aggregative games of linear systems subject to unknown disturbances","authors":"Lupeng Liu ,&nbsp;Fang Deng ,&nbsp;Jie Chen ,&nbsp;Maobin Lu","doi":"10.1016/j.automatica.2025.112603","DOIUrl":"10.1016/j.automatica.2025.112603","url":null,"abstract":"<div><div>In this paper, we address the distributed Nash equilibrium seeking problem for aggregative games of <span><math><mi>N</mi></math></span> players subject to unknown disturbances over strongly connected networks. Compared with existing works, the general linear dynamics, general directed and strongly connected networks, as well as unknown disturbances are tackled simultaneously in the aggregative games. First, by introducing certain coordinate transformation and feedback linearization method, we develop a distributed gradient-based Nash equilibrium seeking law. A dynamic average consensus dynamics is designed to deal with the challenge by unbalance of general strongly connected networks. By the graph-related property and converse Lyapunov theorem, we establish the global exponential stability of a linear system and a class of nonlinear systems, respectively. Then, we propose a gain design method to obtain the stability of the nonlinear closed-loop system, which is not in the lower triangular form. Inspired by the output regulation theory, we design an internal model and an adaptive dynamics to tackle the unknown disturbances. Resorting to the perturbation theory and the internal model principle, we demonstrate that distributed Nash equilibrium seeking for aggregative games of <span><math><mi>N</mi></math></span> players with general linear systems subject to unknown disturbances over strongly connected networks can be achieved. Finally, the effectiveness of the proposed distributed Nash equilibrium seeking approaches are verified by their applications to some simulation examples.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112603"},"PeriodicalIF":5.9,"publicationDate":"2025-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158672","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":"Simple sufficient conditions for integer stabilizability of discrete-time systems with relative degree one","authors":"Mohammad Saleh Tavazoei","doi":"10.1016/j.automatica.2025.112624","DOIUrl":"10.1016/j.automatica.2025.112624","url":null,"abstract":"<div><div>In this paper, firstly the concept of integer stabilizability is defined. It is discussed that the main motivation for introducing this concept is its helpfulness in achieving homomorphic encrypted control systems involving no computational overflow. Then, some simple sufficient conditions to ensure integer stabilizability of discrete-time systems described by transfer functions with relative degree one are derived. The usefulness of achievements of the paper is verified by a numerical example.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112624"},"PeriodicalIF":5.9,"publicationDate":"2025-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158535","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":"Local practically safe extremum seeking with assignable rate of attractivity to the safe set","authors":"Alan Williams ,&nbsp;Miroslav Krstic ,&nbsp;Alexander Scheinker","doi":"10.1016/j.automatica.2025.112611","DOIUrl":"10.1016/j.automatica.2025.112611","url":null,"abstract":"<div><div>We present Assignably Safe Extremum Seeking (ASfES), an algorithm designed to minimize a measured, static objective function while maintaining a measured, static metric of safety (a control barrier function or CBF) to be positive in a practical sense. We ensure that for trajectories with safe initial conditions, the violation of safety can be made arbitrarily small through appropriately chosen design constants. We also guarantee an assignable “attractivity” rate: from unsafe initial conditions, the trajectories approach the safe set, in the sense of the measured CBF, at a rate no slower than a user-assigned rate. Similarly, from safe initial conditions, the trajectories approach the unsafe set, in the sense of the CBF, no faster than the assigned attractivity rate. The feature of assignable attractivity is not present in the semiglobal version of safe extremum seeking, where the semiglobality of convergence is achieved by slowing the adaptation. We also demonstrate local convergence of the parameter to a neighborhood of the minimum of a quadratic objective function constrained to the safe set with a linear CBF. The ASfES algorithm and analysis are multivariable, but we also extend the algorithm to a Newton-Based ASfES scheme which we show is only useful in the scalar case. The proven properties of the designs are illustrated through simulation examples.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112611"},"PeriodicalIF":5.9,"publicationDate":"2025-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158674","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":"Global exponential stabilization of 2 × 2 linear hyperbolic PDEs via dynamic event-triggered backstepping control","authors":"Bhathiya Rathnayake ,&nbsp;Mamadou Diagne","doi":"10.1016/j.automatica.2025.112617","DOIUrl":"10.1016/j.automatica.2025.112617","url":null,"abstract":"<div><div>This paper introduces novel dynamic event-triggered control (ETC) mechanisms for 2 × 2 linear hyperbolic PDEs in three configurations: continuous-time event-triggered control (CETC), periodic event-triggered control (PETC), and self-triggered control (STC). These mechanisms ensure global exponential stability (GES) under ETC using PDE backstepping, with stability estimates provided in the spatial <span><math><msup><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msup></math></span> norm of the states. The proposed CETC and PETC designs are observer-based and require continuous boundary measurements collocated with the actuation. In contrast, the STC design requires full-state measurements; however, unlike CETC and PETC, it does not require continuous measurements for the triggering mechanism—only measurements taken at event times. In the CETC design, a lower bound on the time between two consecutive events is enforced, and a dynamic variable with appropriately designed switching dynamics is introduced. By employing a novel Lyapunov functional, GES of the closed-loop system is established under zero-order hold implementation of the backstepping control between events. Events are triggered when the dynamic variable crosses zero from the positive side, after which it is immediately reset to an appropriate nonnegative value. Detecting events, therefore, necessitates continuous monitoring of this dynamic variable. To address this limitation, PETC and STC strategies are proposed. The PETC design identifies a suitable triggering condition that requires only periodic checks and derives an upper bound on the allowable sampling period. This PETC approach preserves the GES guaranteed by CETC without requiring continuous monitoring of a triggering condition, although it still relies on continuous measurements. Unlike CETC and PETC, STC requires neither continuous measurements nor monitoring of a triggering condition. Instead, at each event, STC computes the time to the next event — beyond a suitably enforced minimal dwell-time — using only measurements taken at events. Despite relying solely on event-triggered measurements, STC is capable of guaranteeing GES of the closed-loop system. The well-posedness of the closed-loop systems under all three strategies is established. A simulation study is provided to illustrate the theoretical results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112617"},"PeriodicalIF":5.9,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145121031","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":"Data-driven min–max MPC for linear systems: Robustness and adaptation","authors":"Yifan Xie,&nbsp;Julian Berberich,&nbsp;Frank Allgöwer","doi":"10.1016/j.automatica.2025.112612","DOIUrl":"10.1016/j.automatica.2025.112612","url":null,"abstract":"<div><div>Data-driven controllers design is an important research problem, in particular when data is corrupted by the noise. In this paper, we propose a data-driven min–max model predictive control (MPC) scheme using noisy input-state data for unknown linear time-invariant (LTI) system. The unknown system matrices are characterized by a set-membership representation using the noisy input-state data. Leveraging this representation, we derive an upper bound on the worst-case cost and determine the corresponding optimal state-feedback control law through a semidefinite program (SDP). We prove that the resulting closed-loop system is robustly stabilized and satisfies the input and state constraints. Further, we propose an adaptive data-driven min–max MPC scheme which exploits additional online input-state data to improve closed-loop performance. Numerical examples show the effectiveness of the proposed methods.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112612"},"PeriodicalIF":5.9,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145121034","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":"Event/self-triggered cooperative control via reinforcement learning for a quadrotor team under multiple faults and denial-of-service attacks","authors":"Ziming Ren ,&nbsp;Hao Liu ,&nbsp;Hongwei Zhang ,&nbsp;Ci Chen ,&nbsp;Frank L. Lewis","doi":"10.1016/j.automatica.2025.112628","DOIUrl":"10.1016/j.automatica.2025.112628","url":null,"abstract":"<div><div>The cooperative fault-tolerant control problem of a quadrotor team, subject to multiple faults and denial-of-service (DoS) attacks, is addressed via event/self-triggered strategies and reinforcement learning. Multiple under-actuated quadrotors with nonlinearities, couplings, and unknown dynamical parameters are introduced to achieve distributed cooperation. Event-triggered observers are developed to estimate position references under uncertain cyber faults and DoS attacks. Observer-based optimal controllers for the nominal position and attitude subsystems are learned by off-policy reinforcement learning without dynamical information. Fault-tolerant controllers are constructed by integrating the learned controllers and adaptive actuator fault compensators. A self-triggered strategy is further proposed to avoid continuous communication. The relationship among the time-varying topology coupled with cyber faults, the features of DoS attacks, and the closed-loop control system stability is analyzed, and the exclusion of Zeno behavior is proved. Simulation results illustrate the effectiveness of the proposed methods.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112628"},"PeriodicalIF":5.9,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158532","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}