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Vibrational control of position-input and force-input mechanical systems 位置输入和力输入机械系统的振动控制
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-06-20 DOI: 10.1016/j.automatica.2025.112450
Sevak Tahmasian
{"title":"Vibrational control of position-input and force-input mechanical systems","authors":"Sevak Tahmasian","doi":"10.1016/j.automatica.2025.112450","DOIUrl":"10.1016/j.automatica.2025.112450","url":null,"abstract":"<div><div>This paper discusses vibrational control of a class of underactuated mechanical systems. Two cases of position-input and force-input systems are considered. The vibrational equilibrium set and vibrationally stabilizable set of the position-input and force-input systems are defined, determined, and compared. Analyses show that for this class of mechanical systems, though the position- and force-input systems have identical vibrational equilibrium sets, the vibrationally stabilizable set of the position-input system is a subset of the vibrationally stabilizable set of the force-input system. The dynamic and stability analyses are based on averaging techniques and the concept of averaged potential. As an example, vibrational control of the position- and force-input inclined Kapitza pendulum, a two-degree-of-freedom pendulum with its pivot moving along a fixed direction in a vertical plane, is presented.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112450"},"PeriodicalIF":4.8,"publicationDate":"2025-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144331418","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
Robust variable-horizon MPC with adaptive terminal constraints 具有自适应终端约束的鲁棒变视界MPC
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-06-20 DOI: 10.1016/j.automatica.2025.112465
Renato Quartullo, Gianni Bianchini, Andrea Garulli, Antonio Giannitrapani
{"title":"Robust variable-horizon MPC with adaptive terminal constraints","authors":"Renato Quartullo,&nbsp;Gianni Bianchini,&nbsp;Andrea Garulli,&nbsp;Antonio Giannitrapani","doi":"10.1016/j.automatica.2025.112465","DOIUrl":"10.1016/j.automatica.2025.112465","url":null,"abstract":"<div><div>This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are considered and a tube-based MPC approach is adopted. The main contribution is an adaptive mechanism for choosing the terminal constraint set sequence in the MPC optimization problem. This mechanism is designed to ensure recursive feasibility while promoting minimization of the final distance to the target. Finite-time convergence of the proposed control scheme is proven. In order to evaluate its effectiveness, the designed control law is tested through numerical simulations, including a case study involving orbital rendezvous of a satellite with a tumbling object. The results indicate a significant reduction in conservatism compared to existing state-of-the-art methods using a fixed terminal set sequence.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112465"},"PeriodicalIF":4.8,"publicationDate":"2025-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144331417","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
Results on sparsity and estimation accuracy in Orthogonal Matching Pursuit with application to optimal input design 正交匹配追踪的稀疏性和估计精度及其在最优输入设计中的应用
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-06-20 DOI: 10.1016/j.automatica.2025.112461
Javad Parsa , Cristian R. Rojas , Håkan Hjalmarsson
{"title":"Results on sparsity and estimation accuracy in Orthogonal Matching Pursuit with application to optimal input design","authors":"Javad Parsa ,&nbsp;Cristian R. Rojas ,&nbsp;Håkan Hjalmarsson","doi":"10.1016/j.automatica.2025.112461","DOIUrl":"10.1016/j.automatica.2025.112461","url":null,"abstract":"<div><div>Appropriate excitation conditions are essential for reliably identifying sparse models. In regression problems, these conditions are often characterized by properties of the regressor matrix, with mutual coherence, the maximum correlation between regressors, playing a central role in enabling sparse recovery. However, obtaining sparse estimates is rarely the sole objective, as estimation accuracy is also important. When a model is used in an application, e.g. control design, acceptable performance with high probability can be (approximately) ensured by requiring the confidence ellipsoid to be contained in a certain ellipsoid which depends on the performance specifications in the application. However, it is well known that experiments fulfilling such requirements using minimal excitation energy (least-costly experiments) tend to generate highly correlated regressors, in conflict with the requirements for sparsity. Adhering to this setting and focusing on the popular orthogonal matching pursuit algorithm (OMP), we derive conditions for simultaneously ensuring sparsity and having the confidence ellipsoid contained in a pre-specified ellipsoid. We extend this result to a recently proposed two stage sparse estimation method where a linear transformation is used in a pre-processing step before OMP to reduce mutual coherence. A final contribution is to show that our theoretical results are of importance in optimal input design for sparse models. Specifically, we show that the choice of hyperparameters in a recently proposed input design method can be guided by our contributions and we show explicitly how this can be done in this two-stage method.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112461"},"PeriodicalIF":4.8,"publicationDate":"2025-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144322913","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
Event-triggered gain scheduling of 2 × 2 linear hyperbolic PDEs with time and space varying coupling coefficients 时空耦合系数变化的2 × 2线性双曲偏微分方程的事件触发增益调度
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-06-20 DOI: 10.1016/j.automatica.2025.112455
Nicolas Espitia , Jean Auriol
{"title":"Event-triggered gain scheduling of 2 × 2 linear hyperbolic PDEs with time and space varying coupling coefficients","authors":"Nicolas Espitia ,&nbsp;Jean Auriol","doi":"10.1016/j.automatica.2025.112455","DOIUrl":"10.1016/j.automatica.2025.112455","url":null,"abstract":"<div><div>In this paper, we address the problem of exponential stabilization of 2 × 2 hyperbolic PDEs systems with time- and space-varying in-domain coupling coefficients using event-triggered gain scheduling. More precisely, at each triggering time, we apply the control input as the classical static backstepping control law while scheduling the gains of the boundary controller according to the triggering mechanism and by solely considering the spatial variation of the coefficients. We present two different event-triggered gain scheduling strategies. The first strategy relies on a Lyapunov-based event-triggering condition, and the <span><math><msup><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msup></math></span> closed-loop exponential stability is shown using a Lyapunov analysis. The second one is a small-gain based event-triggering condition and builds on the <span><math><msup><mrow><mi>L</mi></mrow><mrow><mi>∞</mi></mrow></msup></math></span>-norm. The <span><math><msup><mrow><mi>L</mi></mrow><mrow><mi>∞</mi></mrow></msup></math></span> closed-loop exponential stability is shown by combining ISS estimates with small-gain arguments. In both cases, we prove that we avoid the Zeno phenomenon, provided that the coupling coefficients are slowly time-varying. Unlike existing results in the literature, the proposed approaches do not require solving time-varying backstepping kernel equations in real-time resulting in reduced computational burden and broader applicability.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112455"},"PeriodicalIF":4.8,"publicationDate":"2025-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144322958","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
Local stability of congestion control protocols: A MIMO gain and phase perspective 拥塞控制协议的局部稳定性:MIMO增益和相位视角
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-06-19 DOI: 10.1016/j.automatica.2025.112435
Ding Zhang , Ioannis Lestas , Li Qiu
{"title":"Local stability of congestion control protocols: A MIMO gain and phase perspective","authors":"Ding Zhang ,&nbsp;Ioannis Lestas ,&nbsp;Li Qiu","doi":"10.1016/j.automatica.2025.112435","DOIUrl":"10.1016/j.automatica.2025.112435","url":null,"abstract":"<div><div>This paper presents a systematic approach to analyzing the stability of linearized models of network congestion control protocols from a novel multi-input multi-output (MIMO) gain and phase perspective. We leverage a recently developed MIMO phase concept to revisit several classical stability results of congestion control protocols and enhance this analysis by entangling gain and phase information. This entanglement allows us to study protocols with significant phase lag or networks with delays. Particularly, the gain-phase entanglement is realized through two methods: (1) an explicit method based on frequency partitioning, which yields a set of easily verifiable, distributed stability conditions for typical TCP networks; and (2) an implicit method based on the Davis–Wielandt shell, which refines (1) but is more difficult to verify. Both methods exploit global phase bounds on network switches, resulting in partially decentralized conditions that emphasize phase characteristics. These conditions are advantageous in networks where switches exhibit similar phase responses. The effectiveness of the proposed conditions is demonstrated by a numerical example showcasing the stabilization of a Reno/RED network.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112435"},"PeriodicalIF":4.8,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144322955","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
Stabilization of a rotating body–beam by output feedback torque control 用输出反馈转矩控制稳定旋转体梁
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-06-19 DOI: 10.1016/j.automatica.2025.112446
Xi Xu , Cheng-Zhong Xu , Xueru Fan , Chun-Hai Kou
{"title":"Stabilization of a rotating body–beam by output feedback torque control","authors":"Xi Xu ,&nbsp;Cheng-Zhong Xu ,&nbsp;Xueru Fan ,&nbsp;Chun-Hai Kou","doi":"10.1016/j.automatica.2025.112446","DOIUrl":"10.1016/j.automatica.2025.112446","url":null,"abstract":"<div><div>This paper deals with the output feedback stabilization problem for a rotating body–beam system, originally studied by Baillieul and Levi. Inspired by the work of Li and Xu, we design an observer to estimate the system state by measuring the boundary moment force of beam at root and the angular velocity of disk. A novel Lyapunov functional is developed to prove exponential convergence of the observer. Utilizing the observer in the control law designed by Coron and d’Andréa-Novel, we achieve local asymptotic stability of the closed-loop system. Our results present an example of applying the so-called separation principle to stabilize nonlinear infinite-dimensional systems, whose applicability is well-known to finite dimensional systems.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112446"},"PeriodicalIF":4.8,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144313397","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
On the properties of monotone functionals for generalizing Bellman Principle 推广Bellman原理的单调泛函的性质
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-06-19 DOI: 10.1016/j.automatica.2025.112418
Auguste Caen , Jean-Denis Mathias
{"title":"On the properties of monotone functionals for generalizing Bellman Principle","authors":"Auguste Caen ,&nbsp;Jean-Denis Mathias","doi":"10.1016/j.automatica.2025.112418","DOIUrl":"10.1016/j.automatica.2025.112418","url":null,"abstract":"<div><div>Dynamic programming is classically used for solving optimal control problems. This approach is based on equating the value function of the problem under study as well as the Bellman Principle. However, despite a sharing common framework, each optimal control problem is addressed independently, depending on the characteristics of the cost function. The objective of this article is to establish a unified approach within the context of deterministic, autonomous dynamics with an infinite horizon. The ultimate purpose is to determine conditions from which an optimal control problem admits a <em>Bellman principle</em>. To achieve this, we introduce a typology composed of three so-called <em>monotone</em> functionals, which encompass typical cost functions met in the literature. Any functional that complies with the properties of one of this class can be used for tackling optimal control problems through Bellman principle. Then, we show that classical functionals used in the literature can be classified in one these classes. Finally, we show how to build a functional according to this typology through a simple problem of optimization.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112418"},"PeriodicalIF":4.8,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144313456","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
Model predictive control for tracking with implicit invariant sets 隐式不变集跟踪的模型预测控制
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-06-19 DOI: 10.1016/j.automatica.2025.112436
Irene Luque , Paula Chanfreut , Daniel Limón , José M. Maestre
{"title":"Model predictive control for tracking with implicit invariant sets","authors":"Irene Luque ,&nbsp;Paula Chanfreut ,&nbsp;Daniel Limón ,&nbsp;José M. Maestre","doi":"10.1016/j.automatica.2025.112436","DOIUrl":"10.1016/j.automatica.2025.112436","url":null,"abstract":"<div><div>This paper presents a model predictive control (MPC) technique for tracking with <em>implicit</em> terminal components. The controller formulation includes an artificial setpoint as decision variable, and the terminal constraint is defined <em>implicitly</em> for an augmented system that depends on the latter. In this respect, instead of computing an invariant terminal set, we consider an extended prediction horizon whose length can be bounded simply by solving LPs. This approach overcomes size-related limitations associated with the operations needed for computing invariant sets, also simplifying the offline MPC design. The proposed controller is able to drive large systems to admissible setpoints while guaranteeing recursive feasibility and convergence. Finally, the method is illustrated by an academic example, a mass–spring–damper system of variable-size and a more realistic case study of a drone.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112436"},"PeriodicalIF":4.8,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144312657","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
Model-free stabilization for discrete-time large-scale systems with time-delays 具有时滞的离散大系统的无模型镇定
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-06-19 DOI: 10.1016/j.automatica.2025.112439
Shuaizheng Lu, Weiming Xiang
{"title":"Model-free stabilization for discrete-time large-scale systems with time-delays","authors":"Shuaizheng Lu,&nbsp;Weiming Xiang","doi":"10.1016/j.automatica.2025.112439","DOIUrl":"10.1016/j.automatica.2025.112439","url":null,"abstract":"<div><div>This paper presents a data-driven methodology for designing controllers for a specific category of discrete-time large-scale systems with time delays. In our work, we introduce data-based formulas for designing decentralized state feedback control for discrete-time large-scale systems with uncertain time delays. These systems can be represented in a data-driven format, allowing for the parametrization of decentralized controllers using data collected from subsystems, such as system state, control input, and interconnection input. By using the Lyapunov–Krasovskii method, we formulate a data-driven semi-definite programming problem to derive decentralized stabilizing controllers. The noisy input data is further considered in the stabilization controller design, demonstrating its advantage of control under uncertainties.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112439"},"PeriodicalIF":4.8,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144312658","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
Prescribed-time semi-global output feedback stabilization by a time-varying high-gain observer 时变高增益观测器定时半全局输出反馈镇定
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-06-19 DOI: 10.1016/j.automatica.2025.112454
Shun-Li Li , Bin Zhou , Guangren Duan , Kai Zhang
{"title":"Prescribed-time semi-global output feedback stabilization by a time-varying high-gain observer","authors":"Shun-Li Li ,&nbsp;Bin Zhou ,&nbsp;Guangren Duan ,&nbsp;Kai Zhang","doi":"10.1016/j.automatica.2025.112454","DOIUrl":"10.1016/j.automatica.2025.112454","url":null,"abstract":"<div><div>A time-varying high-gain observer is constructed to achieve prescribed-time semi-global output feedback stabilization for time-varying nonlinear systems in the normal form. Any bounded conditions or global growth conditions are not imposed on the nonlinear model functions. This observer operates as a prescribed-time observer, with its gain matrix incorporating a product of a time-invariant gain matrix adjusted by a scalar parameter and a time-varying gain matrix derived from the parametric Lyapunov equation. The observer-based output feedback effectively recovers the performance of the preliminary state feedback, including both the prescribed time convergence and the region of attraction (containing any prescribed compact sets).</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112454"},"PeriodicalIF":4.8,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144322912","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
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