Automatica最新文献_第2页

Refining parameter mismatch handling in LPV sampled-data controller design 改进LPV采样数据控制器设计中的参数不匹配处理

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-26 DOI: 10.1016/j.automatica.2025.112470

Lucas A.L. Oliveira , Kevin Guelton , Koffi M.D. Motchon , Valter J.S. Leite

引用次数: 0

Optimal stochastic event-triggered attack on remote state estimation 远程状态估计的最优随机事件触发攻击

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-26 DOI: 10.1016/j.automatica.2025.112463

Ziyi Guo , Jing Zhou , Tongwen Chen

引用次数: 0

Port-Hamiltonian representations of positive real descriptor systems 正实描述系统的port - hamilton表示

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-26 DOI: 10.1016/j.automatica.2025.112456

Delin Chu , Volker Mehrmann

引用次数: 0

The identification of parameter in a finite set under one-bit quantized observations 位量化观测下有限集合参数的辨识

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-26 DOI: 10.1016/j.automatica.2025.112467

Xin Li, Yanlong Zhao

{"title":"The identification of parameter in a finite set under one-bit quantized observations","authors":"Xin Li, Yanlong Zhao","doi":"10.1016/j.automatica.2025.112467","DOIUrl":"10.1016/j.automatica.2025.112467","url":null,"abstract":"<div><div>This paper studies the identification of finite impulse response models whose parameters belong to a finite set under only one-bit quantized observations. Distinct from traditional parameter identification, the target parameter in some practical tasks belongs to a known finite set, rather than a continuous interval. Although the prior set of the parameter carries more information, the identification problem becomes more complicated due to it transforming into a discrete optimization problem, and existing identification methods based on continuous optimization cannot be used directly. To overcome this difficulty, an empirical measures based discrete projection algorithm is proposed. The algorithm first constructs a parameter estimation in a continuous set that includes the prior parameter set, and then maps the estimation to the known discrete set. The proposed algorithm is proved to be convergent in the almost sure sense, and to achieve an exponential convergence rate in the mean square sense under some mild conditions. Compared to the Cramér–Rao lower bound where the unknown parameter resides in a continuous interval, the conclusions reveal a significant improvement in parameter identification performance. Finally, simulations are presented to demonstrate the feasibility of the proposed algorithm.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"180 ","pages":"Article 112467"},"PeriodicalIF":4.8,"publicationDate":"2025-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144490001","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

Control of multi-array cross-directional systems using the generalised singular value decomposition 基于广义奇异值分解的多阵交叉系统控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-26 DOI: 10.1016/j.automatica.2025.112431

Idris Kempf , Glenn B. Christian , Michael Abbott , Lorraine Bobb , Paul J. Goulart , Stephen R. Duncan

{"title":"Control of multi-array cross-directional systems using the generalised singular value decomposition","authors":"Idris Kempf , Glenn B. Christian , Michael Abbott , Lorraine Bobb , Paul J. Goulart , Stephen R. Duncan","doi":"10.1016/j.automatica.2025.112431","DOIUrl":"10.1016/j.automatica.2025.112431","url":null,"abstract":"<div><div>Diamond Light Source produces synchrotron radiation by accelerating electrons to relativistic speeds. In order to maximise the intensity of the radiation, vibrations of the electron beam are attenuated by a multi-input multi-output (MIMO) control system actuating hundreds of magnets at rates exceeding 10kHz. For future accelerator configurations, in which two separate arrays of magnets with different bandwidths and constraints are used in combination, standard accelerator control design methods are not suitable. To address this, we develop a transformation based on the generalised singular value decomposition (GSVD) to decouple the two-array cross-directional (CD) dynamics into sets of two-input single-output (TISO) and single-input single-output (SISO) systems. This transformation allows the controller to be designed in modal space using SISO and TISO methods and to be tuned to each actuator array separately. The non-orthogonality of the GSVD and potentially ill-conditioned response matrices are compensated for by incorporating static compensator matrices. This approach results in a simple controller structure that can be implemented to meet the 100kHz sampling frequency of the Diamond’s future configuration with 252 outputs and 396 inputs. The GSVD-based design is implemented and validated through real-world experiments at Diamond. Our approach provides a natural extension of the modal decomposition for single-array systems and has potential application in other CD systems, including paper making, steel rolling, or battery manufacturing processes.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112431"},"PeriodicalIF":4.8,"publicationDate":"2025-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144480662","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

Output feedback periodic event-triggered and self-triggered boundary control of coupled 2 × 2 linear hyperbolic PDEs 耦合2 × 2线性双曲偏微分方程的输出反馈周期事件触发和自触发边界控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-21 DOI: 10.1016/j.automatica.2025.112433

Eranda Somathilake , Bhathiya Rathnayake , Mamadou Diagne

{"title":"Output feedback periodic event-triggered and self-triggered boundary control of coupled 2 × 2 linear hyperbolic PDEs","authors":"Eranda Somathilake , Bhathiya Rathnayake , Mamadou Diagne","doi":"10.1016/j.automatica.2025.112433","DOIUrl":"10.1016/j.automatica.2025.112433","url":null,"abstract":"<div><div>In this paper, we expand recently introduced observer-based periodic event-triggered control (PETC) and self-triggered control (STC) schemes for reaction–diffusion PDEs to boundary control of 2 × 2 coupled hyperbolic PDEs in canonical form and with anti-collocated measurement and actuation processes. The class of problem under study governs transport phenomena arising in water management systems, oil drilling, and traffic flow, to name a few. Relative to the state of the art of observer-based event-triggered control of hyperbolic PDEs, our contribution goes two steps further by proposing observer-based PETC and STC for the considered class of systems. These designs arise from a non-trivial redesign of an existing continuous-time event-triggered control (CETC) scheme. PETC and STC eliminate the need for constant monitoring of an event-triggering function as in CETC; PETC requires only periodic evaluations of the triggering function for event detection, whereas STC is a “predictor-feedback” that anticipates the next event time at the current event exploiting continuously accessible output measurements. The introduced resource-aware designs act as input holding mechanisms allowing for the update of the input signal only at events. Subject to the designed boundary output feedback PETC and STC control laws characterized by a set of event-trigger design parameters, the resulting closed-loop systems, which are inherently Zeno-free by design, achieve exponential convergence to zero in the spatial <span><math><msup><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msup></math></span> norm. We illustrate the feasibility of the approach by applying the control laws to the linearized Saint-Venant model, which describes the dynamics of shallow water waves in a canal and is used to design flow stabilizers via gate actuation. The provided simulation results illustrate the proposed theory.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112433"},"PeriodicalIF":4.8,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144331419","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

Switching function-based optimal active fault-tolerant bipartite consensus control for UAV swarm 基于切换函数的无人机群最优主动容错二部共识控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-21 DOI: 10.1016/j.automatica.2025.112440

Pei-Ming Liu , Xiang-Gui Guo , Jian-Liang Wang , Hao Lu , Zheng-Guang Wu

{"title":"Switching function-based optimal active fault-tolerant bipartite consensus control for UAV swarm","authors":"Pei-Ming Liu , Xiang-Gui Guo , Jian-Liang Wang , Hao Lu , Zheng-Guang Wu","doi":"10.1016/j.automatica.2025.112440","DOIUrl":"10.1016/j.automatica.2025.112440","url":null,"abstract":"<div><div>This paper studies the problem of optimal active fault-tolerant bipartite consensus control for flying wing unmanned aerial vehicle (UAV) swarm with nonidentical and unknown direction faults (NUDFs) and disturbances by integrating switching and saturation functions. An observer–controller framework is employed to prevent error propagation among follower UAVs. Based on this framework, an active fault-tolerant control strategy is proposed to improve the system’s transient performance. This strategy prevents sudden shocks from excessive reverse inputs on the system and avoids state chattering caused by excessive adjustment inputs, which often occur in the Nussbaum function-based fault-tolerant control method. Additionally, the newly proposed switching criterion directly matches the desired operating mode, even in the presence of disturbances and multiple fault direction changes, thus avoiding ineffective switching and enhancing the robustness of the designed controller. To further improve the UAVs’ transient performance, a reinforcement learning (RL)-based preset performance backstepping control method is introduced. This method optimizes output regulation, saves energy consumption, and reduces the impact of soft saturation on system performance. Finally, simulation results validate the effectiveness and superiority of the proposed scheme.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112440"},"PeriodicalIF":4.8,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144335556","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

Distributed end-effector formation control for networked 2-DoF flexible-joint manipulators with partially underactuated agents 部分欠驱动网络化2自由度柔性关节机械臂的分布式末端执行器编队控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-20 DOI: 10.1016/j.automatica.2025.112453

Zhiyu Peng , Bayu Jayawardhana , Xin Xin

{"title":"Distributed end-effector formation control for networked 2-DoF flexible-joint manipulators with partially underactuated agents","authors":"Zhiyu Peng , Bayu Jayawardhana , Xin Xin","doi":"10.1016/j.automatica.2025.112453","DOIUrl":"10.1016/j.automatica.2025.112453","url":null,"abstract":"<div><div>The presence of faulty or underactuated manipulators can disrupt the end-effector formation keeping of a team of manipulators. This paper investigates the distributed end-effector formation control of networked planar two-link manipulators with flexible joints, emphasizing cases where some agents are underactuated. The underactuated agents can be active–passive (AP) manipulators, where only the first joint is actuated; passive–active (PA) manipulators, where only the second joint is actuated; or a combination thereof. First, we establish an equilibrium property for the discussed underactuated manipulators with flexible joints. Building upon this property, we introduce the novel concept of virtual end-effectors for manipulators, whose positions serve as intermediate variables in the controller design. Then, we extend the distance-based and displacement-based formation controllers to accommodate this group of manipulators by coupling virtual end-effectors, rather than actual end-effectors used in existing works. Finally, we investigate the set of desired and reachable shapes for the networked end-effectors to highlight how the presence of underactuated manipulators affects the applicability of the proposed controllers. This analysis demonstrates that the distance-based method accommodates more underactuated manipulators in the group than the displacement-based method. We validate both our analysis and the proposed distributed controllers through numerical simulations.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112453"},"PeriodicalIF":4.8,"publicationDate":"2025-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144322957","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

Lagrangian-based online safe reinforcement learning for state-constrained systems 基于拉格朗日的状态约束系统在线安全强化学习

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-20 DOI: 10.1016/j.automatica.2025.112458

Soutrik Bandyopadhyay, Shubhendu Bhasin

引用次数: 0

Event-triggered boundary control of the linearized FitzHugh–Nagumo equation 线性化FitzHugh-Nagumo方程的事件触发边界控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-20 DOI: 10.1016/j.automatica.2025.112447

Víctor Hernández-Santamaría , Subrata Majumdar , Luz de Teresa

引用次数: 0