Automatica最新文献_第2页

Synchronous observer design for Inertial Navigation Systems with almost-global convergence

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-04-23 DOI: 10.1016/j.automatica.2025.112328

Pieter van Goor , Tarek Hamel , Robert Mahony

{"title":"Synchronous observer design for Inertial Navigation Systems with almost-global convergence","authors":"Pieter van Goor , Tarek Hamel , Robert Mahony","doi":"10.1016/j.automatica.2025.112328","DOIUrl":"10.1016/j.automatica.2025.112328","url":null,"abstract":"<div><div>An Inertial Navigation System (INS) is a system that integrates acceleration and angular velocity readings from an Inertial Measurement Unit (IMU), along with other sensors such as Global Navigation Satellite Systems (GNSS) position, GNSS velocity, and magnetometer, to estimate the attitude, velocity, and position of a vehicle. This paper shows that the INS problem can be analysed using the automorphism group of the extended special Euclidean group <span><math><mrow><msub><mrow><mi>SE</mi></mrow><mrow><mn>2</mn></mrow></msub><mrow><mo>(</mo><mn>3</mn><mo>)</mo></mrow></mrow></math></span>: a group we term the <em>extended similarity group</em> <span><math><mrow><msub><mrow><mi>SIM</mi></mrow><mrow><mn>2</mn></mrow></msub><mrow><mo>(</mo><mn>3</mn><mo>)</mo></mrow></mrow></math></span>. By exploiting this novel geometric framework, we propose a synchronous observer architecture; that is, an observer architecture for which the observer error is stationary if the correction terms are set to zero In turn, this enables us to derive a modular, or plug-and-play, observer design for INS that allows different sensors to be added or removed depending on what is available in the vehicle sensor suite. We prove both almost-global asymptotic and local exponential stability of the error dynamics for the common scenario of at least IMU and GNSS position. To the authors’ knowledge, this is the first non-linear observer design with almost global convergence guarantees or with plug-and-play modular capability. A simulation with extreme initial error demonstrates the almost-global robustness of the system. Real-world capability is demonstrated on data from a fixed-wing UAV, and the solution is compared to the state-of-the-art ArduPilot INS.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112328"},"PeriodicalIF":4.8,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143859454","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

Leader–follower consensus control with hierarchical prescribed performance for nonlinear multi-agent systems under reversing actuator faults

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-04-23 DOI: 10.1016/j.automatica.2025.112332

Jinyu Ni , Yongduan Song , Xiucai Huang , Yulin Wang

{"title":"Leader–follower consensus control with hierarchical prescribed performance for nonlinear multi-agent systems under reversing actuator faults","authors":"Jinyu Ni , Yongduan Song , Xiucai Huang , Yulin Wang","doi":"10.1016/j.automatica.2025.112332","DOIUrl":"10.1016/j.automatica.2025.112332","url":null,"abstract":"<div><div>This paper explores the distributed tracking control problem for networked multi-input multi-output (MIMO) strict-feedback nonlinear systems under the influence of unpredictable reversed control direction faults. Based on an intentionally imposed and more lenient controllability condition, we establish a novel hierarchical prescribed performance control (PPC) design framework, comprising two layers: (1) a first-order reference estimator design layer that addresses the distributed control problem by generating the reference signal for each agent; and (2) a reference tracking controller design layer that tracks the reference signals produced by the estimator. Both designs are implemented within a low complexity prescribed performance architecture, thereby enhancing the design flexibility and practical applicability. Notably, several Nussbaum functions are introduced into the reference tracking controller design and a novel recursive method is employed to tackle the challenges posed by reversing faults in stability analysis. Additionally, all closed-loop signals are proven to be globally uniformly ultimately bounded (GUUB). A simulation study demonstrates the efficacy of this method.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112332"},"PeriodicalIF":4.8,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143864612","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

Closed-form adaptive tracking control of heat equations aided by Fourier regularization and bi-orthogonal series 傅立叶正则化和双正交序列辅助热方程的闭式自适应跟踪控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-04-23 DOI: 10.1016/j.automatica.2025.112335

Tong Ma , Xuwen Zhu

{"title":"Closed-form adaptive tracking control of heat equations aided by Fourier regularization and bi-orthogonal series","authors":"Tong Ma , Xuwen Zhu","doi":"10.1016/j.automatica.2025.112335","DOIUrl":"10.1016/j.automatica.2025.112335","url":null,"abstract":"<div><div>This article proposes a closed-form adaptive tracking control approach for linear heat equations with unknown parameters to achieve full temperature profile tracking by leveraging Fourier regularization and bi-orthogonal series. A state predictor which copies the plant with state partial derivatives and unknown parameters replaced by their estimates is built and an adaptive law is designed to estimate the unknown parameters. The state predictor is decomposed into two subsystems for tracking control synthesis: the first subsystem involves terms from the original heat equation, while the second subsystem is simpler and can be reformulated as a standard heat equation. Specifically, the first subsystem is regarded as an unforced PDE whose terminal states always follow the desired temperature profile such that its initial condition can be calculated by solving the backward heat equation at every time step. To address the blow-up issue in backward calculation, a Fourier regularization scheme is explored to cut off the higher-order Fourier modes and an appropriate tradeoff between approximation accuracy and robustness is achieved. Given the solutions from the first subsystem, the initial condition for the second subsystem can be subsequently calculated. We propose a numerical algorithm to calculate a set of bi-orthogonal series online and employ them to compute the boundary control function that drives the second subsystem to zero at every time step. Combining these two subsystems, it guarantees that the overall system follows the desired temperature profile. We demonstrate that the proposed closed-form adaptive tracking control algorithm achieves full temperature profile tracking with around 5% error averaged over the entire space, that is, <span><math><msub><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> norm over time.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112335"},"PeriodicalIF":4.8,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143859457","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 computationally efficient primal–dual solver for linear-quadratic optimal control problems 线性二次优化控制问题的高效计算原始求解器

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-04-23 DOI: 10.1016/j.automatica.2025.112341

Yannick J.J. Heuts, M.C.F. (Tijs) Donkers

引用次数: 0

Anytime solvers for variational inequalities: The (recursive) safe monotone flows

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-04-23 DOI: 10.1016/j.automatica.2025.112287

Ahmed Allibhoy , Jorge Cortés

{"title":"Anytime solvers for variational inequalities: The (recursive) safe monotone flows","authors":"Ahmed Allibhoy , Jorge Cortés","doi":"10.1016/j.automatica.2025.112287","DOIUrl":"10.1016/j.automatica.2025.112287","url":null,"abstract":"<div><div>This paper synthesizes anytime algorithms, in the form of continuous-time dynamical systems, to solve monotone variational inequalities. We introduce three algorithms that solve this problem: the projected monotone flow, the safe monotone flow, and the recursive safe monotone flow. The first two systems admit dual interpretations: either as projected dynamical systems or as dynamical systems controlled with a feedback controller specified by a quadratic program derived using techniques from safety-critical control. The third flow bypasses the need to solve quadratic programs along the trajectories by incorporating a dynamics whose equilibria precisely correspond to such solutions, and interconnecting the dynamical systems on different time scales. We perform a thorough analysis of the dynamical properties of all three systems. For the safe monotone flow, we show that equilibria correspond exactly with critical points of the original problem, and the constraint set is forward invariant and asymptotically stable. The additional assumption of convexity and monotonicity allows us to derive global stability guarantees, as well as establish the system is contracting when the constraint set is polyhedral. For the recursive safe monotone flow, we use tools from singular perturbation theory for contracting systems to show KKT points are locally exponentially stable and globally attracting, and obtain practical safety guarantees. We illustrate the performance of the flows on a two-player game example and also demonstrate the versatility for interconnection and regulation of dynamical processes of the safe monotone flow in an example of a receding horizon linear quadratic dynamic game.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112287"},"PeriodicalIF":4.8,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143859403","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

Adaptive neural-operator backstepping control of a benchmark hyperbolic PDE 基准双曲 PDE 的自适应神经操作器反步控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-04-23 DOI: 10.1016/j.automatica.2025.112329

Maxence Lamarque , Luke Bhan , Yuanyuan Shi , Miroslav Krstic

{"title":"Adaptive neural-operator backstepping control of a benchmark hyperbolic PDE","authors":"Maxence Lamarque , Luke Bhan , Yuanyuan Shi , Miroslav Krstic","doi":"10.1016/j.automatica.2025.112329","DOIUrl":"10.1016/j.automatica.2025.112329","url":null,"abstract":"<div><div>In this paper, we develop the first result employing neural operators in adaptive PDE control, presented for a benchmark 1-D hyperbolic PDE with recirculation. Particularly, we introduce neural operators for approximating the mapping from the adaptive estimation of the plants’ functional coefficients to the corresponding controller gain kernel. This nonlinear mapping is computationally prohibitive in adaptive control when the resulting gain kernel needs to be continuously resolved as the estimation of the plant functional coefficient is updated. Thus, by introducing a neural operator approximation of this mapping, we absolve the computational barrier for implementing real-time adaptive control of PDEs. We establish global stabilization via Lyapunov analysis, in the plant and parameter error states, and also present an alternative approach, via passive identifiers, which avoids the strong assumptions on kernel differentiability. We then present numerical simulations demonstrating stability and observe speedups up to three orders of magnitude, highlighting the real-time efficacy of neural operators in adaptive control. Our code (<span><span>Github</span><svg><path></path></svg></span>) is made publicly available for future researchers.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112329"},"PeriodicalIF":4.8,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143859455","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

Estimation and prediction for large models with saturated output observation and general input condition 具有饱和输出观测和一般输入条件的大型模型的估计和预测

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-04-22 DOI: 10.1016/j.automatica.2025.112321

Ruifen Dai , Lei Guo

{"title":"Estimation and prediction for large models with saturated output observation and general input condition","authors":"Ruifen Dai , Lei Guo","doi":"10.1016/j.automatica.2025.112321","DOIUrl":"10.1016/j.automatica.2025.112321","url":null,"abstract":"<div><div>This paper considers the estimation and prediction problems for large models with saturated output observations. Here large models are referred to models with a large or infinite number of unknown parameters. The investigation of such models appears to be necessary even for finite dimensional linear stochastic systems when the output observations are saturated or binary-valued, since the regressors used in the traditional parameter estimation algorithms are not available due to partial observations of the output signals. We will propose a two-step projected recursive estimation algorithm and analyze the global convergence and the convergence rate under quite weak excitation conditions on the input signals, which do not exclude strongly correlated feedback signals. Moreover, the accuracy of prediction is also established by analyzing the asymptotic upper bound of the accumulated regret without resorting to any excitation conditions. This paper can be regarded as an extension of the recent results established for finite dimensional stochastic regression models with saturated output observations, but the new results can also be used to solve finite dimensional estimation problems that can hardly be solved without using large models. One of the key techniques used in the theoretical analysis for large models in the current paper is the theory of double array martingales developed by one of the authors. A case study based on judicial empirical data is also provided.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112321"},"PeriodicalIF":4.8,"publicationDate":"2025-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143859456","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

An SIS diffusion process with direct and indirect spreading on a hypergraph

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-04-21 DOI: 10.1016/j.automatica.2025.112319

Shaoxuan Cui , Fangzhou Liu , Lidan Liang , Hildeberto Jardón-Kojakhmetov , Ming Cao

{"title":"An SIS diffusion process with direct and indirect spreading on a hypergraph","authors":"Shaoxuan Cui , Fangzhou Liu , Lidan Liang , Hildeberto Jardón-Kojakhmetov , Ming Cao","doi":"10.1016/j.automatica.2025.112319","DOIUrl":"10.1016/j.automatica.2025.112319","url":null,"abstract":"<div><div>Conventional graphs capture pairwise interactions; by contrast, higher-order networks (hypergraphs, simplicial complexes) describe the interactions involving more parties, which have been rapidly applied to characterize a growing number of complex real-world systems. However, such dynamics evolving on higher-order networks modeled by hypergraphs require new mathematical tools to carry out rigorous analysis. In this paper, we study a Susceptible–Infected–Susceptible-type (SIS-type) diffusion process with both indirect and direct pathways on a directed hypergraph. We choose a polynomial interaction function to describe how several agents influence one another over a hyperedge. Then, we further extend the system and propose a bi-virus competing model on a directed hypergraph. For the single-virus case, we provide a comprehensive characterization of the healthy state and endemic equilibrium. For the bi-virus setting, we further give the analysis of the existence and stability of the healthy state, dominant endemic equilibria, and coexisting equilibria. All theoretical results are supported additionally by some numerical examples.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112319"},"PeriodicalIF":4.8,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852066","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

Optimized geometric pooling of probabilities for information fusion and forgetting 信息融合与遗忘的优化几何概率集合

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-04-19 DOI: 10.1016/j.automatica.2025.112337

Miroslav Kárný

引用次数: 0

Prescribed performance tracking of uncertain high-order MIMO time-dependent impulsive pure-feedback systems 不确定高阶 MIMO 时变脉冲纯反馈系统的规定性能跟踪

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-04-15 DOI: 10.1016/j.automatica.2025.112317

Andreas P. Kechagias, George A. Rovithakis

引用次数: 0