Automatica最新文献

{"title":"Aerial target encirclement and interception with noisy range observations","authors":"Fen Liu ,&nbsp;Shenghai Yuan ,&nbsp;Thien-Minh Nguyen ,&nbsp;Wei Meng ,&nbsp;Lihua Xie","doi":"10.1016/j.automatica.2025.112600","DOIUrl":"10.1016/j.automatica.2025.112600","url":null,"abstract":"<div><div>This paper proposes a strategy to encircle and intercept a non-cooperative aerial point-mass moving target by leveraging noisy range measurements for state estimation. In this approach, the guardians actively ensure the observability of the target by using an anti-synchronization (AS), 3D “vibrating string” trajectory, which enables rapid position and velocity estimation based on the Kalman filter. Additionally, a novel anti-target controller is designed for the guardians to enable adaptive transitions from encircling a protected target to encircling, intercepting, and neutralizing a hostile target, taking into consideration the input constraints of the guardians. Based on the guaranteed uniform observability, the exponentially bounded stability of the state estimation error and the convergence of the encirclement error are rigorously analyzed. Simulation results and real-world UAV experiments are presented to further validate the effectiveness of the system design.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112600"},"PeriodicalIF":5.9,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145121039","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":"Stochastic gradient Hamiltonian sequential Monte Carlo filter with Earth Mover’s Distance sampling for target tracking","authors":"Chang Ho Kang ,&nbsp;Sun Young Kim","doi":"10.1016/j.automatica.2025.112599","DOIUrl":"10.1016/j.automatica.2025.112599","url":null,"abstract":"<div><div>High-speed missile tracking requires advanced filtering algorithms to overcome the limitations of traditional nonlinear methods. This study presents the stochastic gradient Hamiltonian sequential Monte Carlo filter, combining stochastic gradient Hamilton Monte Carlo with sequential Monte Carlo (SMC) for enhanced sampling performance and reduced computational burden. The method incorporates Earth Mover’s Distance based adaptive resampling with theoretical bounds for optimal particle count. Validation through univariate nonstationary growth model simulation and bearing-only tracking experiments demonstrates superior performance over conventional methods, achieving 15 % root mean square error improvement compared to conventional SMC and 30 % over extended Kalman filter/unscented Kalman filter approaches.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112599"},"PeriodicalIF":5.9,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158673","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 compensation-oriented algorithm for difference-driven identification under binary-valued observations and data packet dropout","authors":"Tianning Han ,&nbsp;Ying Wang ,&nbsp;Jin Guo ,&nbsp;Yanlong Zhao","doi":"10.1016/j.automatica.2025.112604","DOIUrl":"10.1016/j.automatica.2025.112604","url":null,"abstract":"<div><div>This paper investigates the identification problem for finite impulse response (FIR) systems with binary-valued observations under event-triggered communication mechanism and data packet dropout. The challenge lies in the inability to distinguish between untriggered events and packet loss when no information is received, which prevents us from obtaining the statistical properties of the binary-valued sequence. A compensation-oriented difference-driven identification (CODD) algorithm is proposed to estimate the parameter by recovering the mean of the original binary-valued sequence, where different values for the observation estimates are assigned when receiving 0, 1 or nothing. Even though, the convergence analysis of the parameter estimate is still challenging since the assigned values are dependent. To tackle this difficulty, the estimate error is divided into two parts: an initial assigned value related part, which is demonstrated to be convergent through the construction of an auxiliary set, and the remaining component, which happens to be a convergent martingale-difference sequence. As a result, the almost sure convergence and the asymptotic normality of the CODD algorithm are established when data packet loss probability is less than <span><math><mfrac><mrow><mn>1</mn></mrow><mrow><mn>2</mn></mrow></mfrac></math></span>. By calculating the communication rate, it is proven that the difference-driven mechanism can save 50% of the communication cost compared to original binary-valued systems. Furthermore, when data packet loss probability is high, an <span><math><mi>m</mi></math></span>-channel compensation-oriented identification (<span><math><mi>m</mi></math></span>-CODD) algorithm is constructed by utilizing retransmission of the each observation for <span><math><mi>m</mi></math></span> times, which is designed based on the packet loss probability. The properties of <span><math><mi>m</mi></math></span>-CODD algorithm including convergence, asymptotic normality and communication rate are established. Numerical simulations are illustrated to show the theoretical results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112604"},"PeriodicalIF":5.9,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145121032","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":"Cooperative dynamic surrounding coverage control for multi-autonomous surface vehicle fleets with limited sensing ranges","authors":"Jiayu Zou ,&nbsp;Hai-Tao Zhang ,&nbsp;Bin Liu ,&nbsp;Xiaohua Liu ,&nbsp;Jianing Ding ,&nbsp;Ning Xing ,&nbsp;Shiqi Fu ,&nbsp;Lijun Zhu","doi":"10.1016/j.automatica.2025.112620","DOIUrl":"10.1016/j.automatica.2025.112620","url":null,"abstract":"<div><div>Cooperative surrounding coverage by a multi-autonomous surface vehicle (ASV) fleet involves dynamic coverage with concentric moving trajectories. This low-cost form of coverage, which operates with limited perceptual ranges, has long presented a significant challenge in real-world collective marine detection applications. To this end, the paper establishes a surrounding coverage control framework that minimizes the required number of ASVs by covering a designated region across multiple consecutive periods. A distributed randomized gradient-free (DRGF) protocol is thereby proposed to identify the optimal central point of the coverage region. Accordingly, a distributed control law is designed to regulate the ASV dynamic surrounding coverage operation around the optimal concentric point. Significantly, sufficient conditions are derived to guarantee the asymptotical convergence of the closed-loop multi-ASV fleet governed by the present DGRF. Finally, experiments are conducted on a self-established lake-based multi-ASV fleet platform to verify the effectiveness of the present surrounding coverage scheme.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112620"},"PeriodicalIF":5.9,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145121042","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":"Signal temporal logic control synthesis among uncontrollable dynamic agents with conformal prediction","authors":"Xinyi Yu ,&nbsp;Yiqi Zhao ,&nbsp;Xiang Yin ,&nbsp;Lars Lindemann","doi":"10.1016/j.automatica.2025.112616","DOIUrl":"10.1016/j.automatica.2025.112616","url":null,"abstract":"<div><div>The control of dynamical systems under temporal logic specifications among uncontrollable dynamic agents is challenging due to the agents’ a-priori unknown behavior. Existing works have considered the problem where either all agents are controllable, the agent models are deterministic and known, or no safety guarantees are provided. We propose a predictive control synthesis framework that guarantees, with high probability, the satisfaction of signal temporal logic (STL) tasks that are defined over a controllable system in the presence of uncontrollable stochastic agents. We use trajectory predictors and conformal prediction to construct probabilistic prediction regions for each uncontrollable agent that are valid over multiple future time steps. Specifically, we construct a normalized prediction region over all agents and time steps to reduce conservatism and increase data efficiency. We then formulate a worst-case bilevel mixed integer program (MIP) that accounts for all agent realizations within the prediction region to obtain an open-loop controller that provably guarantee task satisfaction with high probability. To efficiently solve this bilevel MIP, we propose an equivalent MIP program based on KKT conditions of the original bilevel formulation. Building upon this, we design a closed-loop controller, where both recursive feasibility and task satisfaction can be guaranteed with high probability. We illustrate our control synthesis framework on two case studies.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112616"},"PeriodicalIF":5.9,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145121030","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":"Non-parametric IQC multipliers in data-driven robust controller synthesis","authors":"Vaibhav Gupta ,&nbsp;Elias Klauser ,&nbsp;Alireza Karimi","doi":"10.1016/j.automatica.2025.112608","DOIUrl":"10.1016/j.automatica.2025.112608","url":null,"abstract":"<div><div>The paper presents a robust data-driven controller synthesis method for generalised multi-input multi-output (MIMO) systems. Using the frequency response of a linear time-invariant (LTI) MIMO system and characterising perturbations through Integral Quadratic Constraint (IQC), the method provides a convex set of controllers robust to perturbations. This facilitates the design of controllers with either robust stability or robust performance criteria. Notably, the proposed method is versatile, as it is also applicable for non-parametric IQC multipliers. An example of a non-parametric IQC multiplier for elliptical uncertainty quantification is demonstrated and subsequently employed in designing a robust controller for a hybrid active-passive micro-vibration platform. Experimental results show that the synthesised controller effectively achieves the desired levels of both robustness and performance.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112608"},"PeriodicalIF":5.9,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145121040","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":"Sampled-data primal–dual gradient dynamics in model predictive control","authors":"Ryuta Moriyasu ,&nbsp;Sho Kawaguchi ,&nbsp;Kenji Kashima","doi":"10.1016/j.automatica.2025.112621","DOIUrl":"10.1016/j.automatica.2025.112621","url":null,"abstract":"<div><div>Model predictive control (MPC) can incur computational burden that exceeds what the application warrants, sometimes even for linear systems. Recently, a rapid computation method that guides the input toward convergence with the optimal control problem solution by employing primal–dual gradient (PDG) dynamics has been proposed for linear MPCs. However, stability has been ensured under the assumption that the controller is a continuous-time system, leading to potential instability when the controller undergoes discretization and is implemented as a sampled-data system. In this paper, we propose a discrete-time dynamical controller incorporating specific modifications to the PDG approach and present stability conditions. Additionally, we introduce an extension to enhance control performance that was traded off in the original. Numerical examples substantiate that our proposed method, which can be executed in only <span><math><mrow><mn>1</mn><mspace></mspace><mi>μ</mi><mi>s</mi></mrow></math></span> on a commodity laptop, not only ensures stability considering sampled-data implementation but also substantially enhances the control performance.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112621"},"PeriodicalIF":5.9,"publicationDate":"2025-09-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145121038","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":"Asynchronous resilient collision-free formation control for nonlinear MASs under DoS attacks","authors":"Jun Zhang ,&nbsp;Jun Ning ,&nbsp;Shaocheng Tong","doi":"10.1016/j.automatica.2025.112619","DOIUrl":"10.1016/j.automatica.2025.112619","url":null,"abstract":"<div><div>The multi-agent systems (MASs) exchange the communication information by the communication network, which is vulnerable to denial-of-service (DoS) attacks. DoS attacks can disrupt the communication channels and result in the collisions between agents, thus it is an important and challenging topic to study the collision avoidance formation control issue under DoS attacks. This paper investigates the asynchronous resilient collision-free formation control issue for nonlinear MASs with DoS attacks. An asynchronous resilient distributed observer is proposed to estimate the output information of leader under DoS attacks. Based on the designed distributed observer and by constructing two high-order filters, an asynchronous resilient collision-free formation control method is presented by backstepping control design theory. The presented formation control method can ensure that the formation tracking errors asymptotically converge to zero, and the collision avoidance objective is realized. Moreover, the non-differentiable problem of virtual controllers is solved. Finally, we apply the developed formation control method to multiple Euler-Lagrangian (EL) systems, the simulation and comparison results verify its effectiveness.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112619"},"PeriodicalIF":5.9,"publicationDate":"2025-09-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145121041","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 boundary estimation for 2 × 2 hyperbolic PDEs with disturbance","authors":"Yan Zhao ,&nbsp;Rafael Vazquez","doi":"10.1016/j.automatica.2025.112615","DOIUrl":"10.1016/j.automatica.2025.112615","url":null,"abstract":"<div><div>This paper addresses the event-triggered boundary estimation problem for 2 × 2 linear hyperbolic partial differential equations (PDEs) subject to disturbances. These disturbances enter the PDEs through the boundary and are represented as an ordinary differential equation (ODE). The scenario considered involves transmitting boundary measurements to the observer only when necessary, as determined by a dynamic event-triggering condition. This approach aims to conserve communication and computational resources. The event-triggered observer is designed using the backstepping method, and an event-triggering condition is proposed to determine the time instants when sampled measurements should be transmitted. Under this event-triggered estimation mechanism, a minimal dwell-time between consecutive triggering time instants is guaranteed. Furthermore, the well-posedness of the solutions and the exponential convergence of the estimation error are ensured. Finally, the obtained results are applied to the Saint-Venant equations to demonstrate the effectiveness of the event-triggered estimation method.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112615"},"PeriodicalIF":5.9,"publicationDate":"2025-09-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145120936","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 distributed optimal coordination of heterogeneous linear MASs over weight-unbalanced digraphs","authors":"Dandan Wang ,&nbsp;Jialing Zhou ,&nbsp;Guanghui Wen","doi":"10.1016/j.automatica.2025.112593","DOIUrl":"10.1016/j.automatica.2025.112593","url":null,"abstract":"<div><div>In this paper, the distributed optimal coordination problem of heterogeneous linear multi-agent systems is studied, in which the actual information of the left eigenvector and out-degree cannot be obtained in advance. The underlying communication network among agents is assumed to be a weight-unbalanced and strongly connected digraph. The global objective function of the whole system is the sum of privately-known local objective functions, which are assumed to be strongly convex with Lipschitz continuous gradients. To achieve the distributed optimal coordination with low communication and computational resource consumption, and to efficiently reduce the frequency of control signal updates, a new distributed event-triggered control scheme is proposed. In this scheme, an auxiliary system with adaptive edge weights is established to generate the optimal trajectories and the tracking control inputs are designed for agents to track the given optimal trajectories. It is privacy-preserving to some extent as no actual state or output information of agents is communicated with neighbors. Sufficient conditions are derived, under which the distributed optimal coordination under consideration can be exponentially achieved. Moreover, the Zeno-behavior is shown to be excluded. Additionally, for cases where agent states are unmeasurable, a new distributed event-triggered observer-based control input is designed for each agent to achieve optimal coordination. Finally, numerical simulations are carried out to show the good performance of the proposed control scheme.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112593"},"PeriodicalIF":5.9,"publicationDate":"2025-09-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145121037","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}