Automatica最新文献

{"title":"A port-Hamiltonian framework for displacement-based and rigid formation tracking","authors":"Ningbo Li ,&nbsp;Zhiyong Sun ,&nbsp;Arjan van der Schaft ,&nbsp;Jacquelien M.A. Scherpen","doi":"10.1016/j.automatica.2025.112350","DOIUrl":"10.1016/j.automatica.2025.112350","url":null,"abstract":"<div><div>This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the velocity and the external feedback is to achieve formation stabilization by steering variables of neighboring agents that prescribe the desired geometric shape. Regarding the external feedback, a general framework is proposed for stabilizing different kinds of formations (including displacement-based, distance-based, angle-based, bearing-based and heterogeneous formations) by means of the advantage that the pH model is energy-based and coordinate-free. To solve the issue that the incidence matrix is not of full column rank over cyclic graphs, the graph matrix property is used to prove the convergence to the target sets for the displacement-based formation, while for rigid formations, the algebraic conditions of infinitesimal rigidity are investigated to achieve local asymptotic stability. Furthermore, the rigid formation with heterogeneous constraints is further investigated under this framework and the local asymptotic stability is proved under a mild assumption. Simulations are performed to illustrate the effectiveness of the framework.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112350"},"PeriodicalIF":4.8,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143886251","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":"Geometric sliding mode control of mechanical systems on Lie groups","authors":"Eduardo Espindola ,&nbsp;Yu Tang","doi":"10.1016/j.automatica.2025.112346","DOIUrl":"10.1016/j.automatica.2025.112346","url":null,"abstract":"<div><div>This manuscript presents a sliding-mode control design on a general Lie group for fully-actuated simple mechanical systems. By equipping the state space with the structure of a Lie group and building a sliding subgroup immersed in the state space, the sliding mode is guaranteed to exist and therefore allows the proposed sliding-mode control on Lie groups to leverage the salient features of the sliding-mode controls in the Euclidean space. The tracking of attitude in the special orthogonal group <span><math><mrow><mi>S</mi><mi>O</mi><mrow><mo>(</mo><mn>3</mn><mo>)</mo></mrow></mrow></math></span> is included to illustrate the proposed design.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112346"},"PeriodicalIF":4.8,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143891010","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":"Decentralized linear–quadratic control and stabilization for networked control systems with d-step delay","authors":"Na Wang ,&nbsp;Hongdan Li ,&nbsp;Xiao Lu ,&nbsp;Xun Li ,&nbsp;Huanshui Zhang","doi":"10.1016/j.automatica.2025.112348","DOIUrl":"10.1016/j.automatica.2025.112348","url":null,"abstract":"<div><div>This technical communique studies decentralized state feedback control and stabilization for networked control systems with time delay. Unlike previous studies with conservative conditions — such as lower block triangular systems, uncorrelated process noises, and classical information structures — we investigate a more general coupled system with a non-classical <em>d</em>-step delayed state sharing pattern and correlated process noises. The main challenge lies in that variable measurability of controllers caused by time delay complicates solving forward–backward stochastic difference equations which can be addressed using linear controller forms and the projection theorem. The key contributions are: (1) deriving an explicit form of the optimal linear controllers via Riccati equations, and (2) providing a sufficient condition for mean-square boundedness. A dual-motor drive system is used to validate the theoretical results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112348"},"PeriodicalIF":4.8,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143881526","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":"Input-to-state stability of discrete-time, linear time-varying systems","authors":"Sneha Sanjeevini ,&nbsp;Brian Lai ,&nbsp;Omran Kouba ,&nbsp;Yuan Wang ,&nbsp;Dennis S. Bernstein","doi":"10.1016/j.automatica.2025.112331","DOIUrl":"10.1016/j.automatica.2025.112331","url":null,"abstract":"<div><div>This paper develops equivalent characterizations for input-to-state stability of discrete-time linear, time-varying (DTLTV) systems. Unlike prior results on input-to-state stability for discrete-time nonlinear time-varying systems, the characterizations provided in the present paper do not use Lyapunov methods. Furthermore, this paper develops necessary and sufficient conditions for input-to-state stability of DTLTV systems in the case where the time-varying state matrix of the system converges.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112331"},"PeriodicalIF":4.8,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143886252","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-triggered sliding mode control via digital redesign","authors":"Abhisek K. Behera","doi":"10.1016/j.automatica.2025.112349","DOIUrl":"10.1016/j.automatica.2025.112349","url":null,"abstract":"<div><div>This paper presents the digital redesign of the event-triggered sliding mode control, which emulates the analog (control) signal for a sampled data system. The proposed controller consists of a sensor module and an actuator module, communicating with each other intermittently on the occurrence of events at the sensor. Both of these modules comprise a signal generator that mimics the plant model exactly in the absence of disturbance, thereby achieving analog performance. By using this proposed methodology, we achieve two major outcomes over the existing approaches. The first one is that the triggering mechanism achieves a larger inter-event time compared to that of zero-order hold-based design, leading to a <em>sparser</em> sampling sequence. As a result, the communication burden in the feedback loop is reduced significantly due to the reduction in the transmission cost. The second outcome is that the triggering sequence admits a uniform lower bound <em>globally</em>, i.e., Zeno behavior is avoided globally. This guarantees that the trajectories of the closed-loop system starting from anywhere can be bounded within any arbitrary bound by using the proposed event-triggered controller. Finally, we demonstrate our design methodology with the help of a numerical example.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112349"},"PeriodicalIF":4.8,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143881525","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 distributed gain-scheduled observer-based approach for the practical consensus of LPV multi-agent systems","authors":"Paulo Sergio Pereira Pessim ,&nbsp;Pedro Henrique Silva Coutinho ,&nbsp;Márcio J. Lacerda ,&nbsp;Vicenç Puig ,&nbsp;Reinaldo Martinez Palhares","doi":"10.1016/j.automatica.2025.112353","DOIUrl":"10.1016/j.automatica.2025.112353","url":null,"abstract":"<div><div>This paper proposes a distributed gain-scheduled observer-based technique for the practical state consensus of linear parameter-varying (LPV) multi-agent systems (MAS). In the proposed approach, the effects of considering different scheduling parameters for each agent are modeled as an internal disturbance. By applying the concepts of the Lyapunov theory, sufficient conditions are obtained for the design of a gain-scheduled observer-based consensus protocol ensuring that the trajectories of the consensus error converge exponentially to a bounded region, achieving a practical consensus. Numerical experiments illustrate the advantages of the proposed practical consensus over the non-synchronization-based scenario usually obtained when the LPV MAS is subjected to different scheduling parameters.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112353"},"PeriodicalIF":4.8,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143881527","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":"Mean-shift-based robust distributed set-membership fusion filtering for sensor network systems with outliers","authors":"Hongbo Zhu ,&nbsp;Minane Joel Villier Amuri ,&nbsp;Jinzhong Shen ,&nbsp;Xueyang Li","doi":"10.1016/j.automatica.2025.112345","DOIUrl":"10.1016/j.automatica.2025.112345","url":null,"abstract":"<div><div>Outliers can contaminate the communication and measurement processes of many sensor network systems, which may be induced by environmental disturbances, model uncertainties, sensor faults or errors, subnetwork faults or malicious cyberattacks. Once the distributed set-membership filter (DSMF) is used into such sensor network systems with outliers for distributed state estimation, the estimation performance can be seriously degraded in each sensor node. To address this problem, this article proposes a mean-shift-based trust set and zonotope extraction mechanism to modify the zonotopic DSMF toward building resilience and robustness against outliers. The proposed mechanism is capable of sifting out the outlier-contaminated local corrected zonotopes, and a sufficient condition for the full effectiveness of it is given and proved. Based on the proposed mechanism, the mean-shift-based outliers-robust zonotopic DSMF (MSRDSMF) is derived for estimating the state of a sensor network system in a distributed way. Simulation experiment results demonstrate the practical validity and superiority of the MSRDSMF in effectively suppressing the effects of outliers.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112345"},"PeriodicalIF":4.8,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143874523","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":"Energy-based control approaches for weakly coupled electromechanical systems","authors":"Najmeh Javanmardi ,&nbsp;Pablo Borja ,&nbsp;Mohammad Javad Yazdanpanah ,&nbsp;Jacquelien M.A. Scherpen","doi":"10.1016/j.automatica.2025.112336","DOIUrl":"10.1016/j.automatica.2025.112336","url":null,"abstract":"<div><div>This paper addresses the stabilization and trajectory-tracking problems for two classes of weakly coupled electromechanical systems. To this end, we formulate an energy-based model for these systems within the port-Hamiltonian framework. Then, we employ Lyapunov theory and the notion of contractive systems to develop control approaches in the port-Hamiltonian framework. Remarkably, these control methods eliminate the need to solve partial differential equations or implement any change of coordinates and are endowed with a physical interpretation. We also investigate the effect of coupled damping on the transient performance and convergence rate of the closed-loop system. Finally, the applicability of the proposed approaches is illustrated in two applications of electromechanical systems through simulations.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112336"},"PeriodicalIF":4.8,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143874687","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":"Longitudinal and lateral control of vehicle platoons: A unifying framework to prevent corner cutting","authors":"Paul Wijnbergen ,&nbsp;Mark Jeeninga ,&nbsp;Redmer de Haan ,&nbsp;Erjen Lefeber","doi":"10.1016/j.automatica.2025.112340","DOIUrl":"10.1016/j.automatica.2025.112340","url":null,"abstract":"<div><div>The formation of platoons, where groups of vehicles follow each other at close distances, has the potential to increase road capacity. In this paper, a decentralized control approach is presented that extends the well-known constant headway vehicle following approach to the two-dimensional case, <em>i.e.</em>, lateral control is included in addition to the longitudinal control. The presented control scheme employs a direct vehicle-following approach where each vehicle in the platoon is responsible for following the directly preceding vehicle according to a nonlinear spacing policy. The proposed spacing policy is motivated by an approximation of a delay-based spacing policy and results in a generalization of the constant-headway spacing policy to the two-dimensional case. By input–output linearization, necessary and sufficient conditions for the tracking of the nonlinear spacing policy are obtained, which motivate the synthesis of the lateral and longitudinal controllers of each vehicle in the platoon. By deriving an internal state representation of the follower vehicle and showing input-to-state stability, the internal dynamics for each leader–follower subsystem are shown to be well-behaved. Furthermore, the spacing policy results in string-stable behavior of the platoon when driving in the longitudinal direction. The results are illustrated by a simulation.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112340"},"PeriodicalIF":4.8,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143874521","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":"Krein space-based approach to dynamic event-triggered H∞ filtering for a class of nonlinear discrete time systems","authors":"Maiying Zhong ,&nbsp;Xiaoqiang Zhu ,&nbsp;Shuai Liu ,&nbsp;Qing-Long Han ,&nbsp;Donghua Zhou","doi":"10.1016/j.automatica.2025.112343","DOIUrl":"10.1016/j.automatica.2025.112343","url":null,"abstract":"<div><div>This paper investigates the problem of <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> filtering for a class of nonlinear discrete time systems under a dynamic event-triggered scheme. First, a new general form of event-triggered filters is considered so that the filtering error system achieves full decoupling from the so-called event-triggered transmission error, which is the major concern of <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> filtering performance degradation caused by an event-triggering mechanism. Moreover, the design of the event-triggered <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> filter and event-triggering mechanism can be carried out independently. Second, the event-triggered <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> nonlinear filtering is formulated as a problem of indefinite quadratic form minimum, and a Krein space-based approach is proposed for the design of the event-triggered <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> filter. Based on the first-order Taylor approximation, sufficient and necessary conditions for the existence of a dynamic event-triggered <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> filter are derived by employing Krein space projection, and a feasible solution is given in terms of Riccati recursions for guaranteeing the prescribed <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance. Third, an algorithm with time-update and event-update recursions is also provided to perform the dynamic event-triggered <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> nonlinear filtering. It is shown that the proposed Krein space-based approach is computational attractive and easy to implement. Finally, a three-tank system is considered as an illustrative example to demonstrate the effectiveness of the proposed approach.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112343"},"PeriodicalIF":4.8,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143874524","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}