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Approximate constrained stochastic optimal control via parameterized input inference 通过参数化输入推理实现近似受限随机最优控制
IF 4.8 2区 计算机科学
Automatica Pub Date : 2024-10-21 DOI: 10.1016/j.automatica.2024.111978
Shahbaz P. Qadri Syed, He Bai
{"title":"Approximate constrained stochastic optimal control via parameterized input inference","authors":"Shahbaz P. Qadri Syed,&nbsp;He Bai","doi":"10.1016/j.automatica.2024.111978","DOIUrl":"10.1016/j.automatica.2024.111978","url":null,"abstract":"<div><div>Approximate methods to solve stochastic optimal control (SOC) problems have received significant interest from researchers in the past decade. Probabilistic inference approaches to SOC have been developed to solve nonlinear quadratic Gaussian problems. In this work, we propose an Expectation–Maximization (EM) based inference procedure to generate state-feedback controls for constrained SOC problems. We consider the inequality constraints for the state and controls and also the structural constraints for the controls. We employ barrier functions to address state and control constraints. We show that the expectation step leads to smoothing of the state-control pair while the maximization step on the non-zero subsets of the control parameters allows inference of structured stochastic optimal controllers. We demonstrate the effectiveness of the algorithm on unicycle obstacle avoidance and four-unicycle formation control examples. In these examples, we perform an empirical study on the parametric effect of barrier functions on the state constraint satisfaction. We also present a comparative study of smoothing algorithms on the performance of the proposed approach.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111978"},"PeriodicalIF":4.8,"publicationDate":"2024-10-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142526133","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
Corrigendum to “Assessment of initial-state-opacity in live and bounded labeled Petri net systems via optimization techniques” [Automatica 152 (2023) 110911] 对 "通过优化技术评估实时和有界标记 Petri 网系统中的初始状态容量 "的更正[Automatica 152 (2023) 110911]
IF 4.8 2区 计算机科学
Automatica Pub Date : 2024-10-20 DOI: 10.1016/j.automatica.2024.111958
Francesco Basile , Gianmaria De Tommasi , Carlo Motta
{"title":"Corrigendum to “Assessment of initial-state-opacity in live and bounded labeled Petri net systems via optimization techniques” [Automatica 152 (2023) 110911]","authors":"Francesco Basile ,&nbsp;Gianmaria De Tommasi ,&nbsp;Carlo Motta","doi":"10.1016/j.automatica.2024.111958","DOIUrl":"10.1016/j.automatica.2024.111958","url":null,"abstract":"","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111958"},"PeriodicalIF":4.8,"publicationDate":"2024-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142525970","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
Non-identifier based adaptive control of a chain of integrators and perturbations with unknown delays and parameters 具有未知延迟和参数的积分器和扰动链的非识别器自适应控制
IF 4.8 2区 计算机科学
Automatica Pub Date : 2024-10-18 DOI: 10.1016/j.automatica.2024.111969
Xin Yu , Wei Lin
{"title":"Non-identifier based adaptive control of a chain of integrators and perturbations with unknown delays and parameters","authors":"Xin Yu ,&nbsp;Wei Lin","doi":"10.1016/j.automatica.2024.111969","DOIUrl":"10.1016/j.automatica.2024.111969","url":null,"abstract":"<div><div>This paper solves the problem of how to control a chain of integrators with <em>unknown delays</em> in both state and input by memoryless state feedback. Inspired by the non-identifier based adaptive control scheme (Lei and Lin, 2006) as well as the recent progress in stabilizing time-delay feedforward systems with unknown parameters via dynamic state compensation (Sun and Lin, 2023), we design a memoryless universal controller (finite-dimensional) which adaptively stabilizes the time-delay integrators whose all delays are not known a priori. As a byproduct of this development, global adaptive regulation of a class of nonlinear systems with unknown delays and unknown parameters is also solved by the proposed universal control strategy.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111969"},"PeriodicalIF":4.8,"publicationDate":"2024-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142525965","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 stability of model predictive control with finite-control-set constraints and disturbances 论具有有限控制集约束和干扰的模型预测控制的稳定性
IF 4.8 2区 计算机科学
Automatica Pub Date : 2024-10-18 DOI: 10.1016/j.automatica.2024.111982
Yimeng Li , Jun Yang , Jinhao Liu , Xinming Wang , Shihua Li
{"title":"On stability of model predictive control with finite-control-set constraints and disturbances","authors":"Yimeng Li ,&nbsp;Jun Yang ,&nbsp;Jinhao Liu ,&nbsp;Xinming Wang ,&nbsp;Shihua Li","doi":"10.1016/j.automatica.2024.111982","DOIUrl":"10.1016/j.automatica.2024.111982","url":null,"abstract":"<div><div>This paper investigates the stability issues of model predictive control (MPC) for discrete-time linear systems with state and finite control set (FCS) constraints subject to time-varying disturbances. A new FCS-MPC design and analysis framework is developed using the disturbance estimation approaches and the tool of robust positive invariant (RPI) set sequence. It encompasses a discrete-time exogenous signal observer that helps characterize the estimated dynamics within well-defined bounds and a quantized control law that adheres to both state and input constraints. The practical asymptotical stability of the resulting closed-loop system is shown to be guaranteed, and the tracking error remains uniformly bounded. Finally, simulation results of a numerical example validate the effectiveness of the proposed method.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111982"},"PeriodicalIF":4.8,"publicationDate":"2024-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142526132","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Deadzone-Adapted Disturbance Suppression Control for strict-feedback systems 严格反馈系统的死区适应性干扰抑制控制
IF 4.8 2区 计算机科学
Automatica Pub Date : 2024-10-16 DOI: 10.1016/j.automatica.2024.111986
Iasson Karafyllis , Miroslav Krstic , Alexandros Aslanidis
{"title":"Deadzone-Adapted Disturbance Suppression Control for strict-feedback systems","authors":"Iasson Karafyllis ,&nbsp;Miroslav Krstic ,&nbsp;Alexandros Aslanidis","doi":"10.1016/j.automatica.2024.111986","DOIUrl":"10.1016/j.automatica.2024.111986","url":null,"abstract":"<div><div>In this paper we extend our recently proposed Deadzone-Adapted Disturbance Suppression (DADS) Control approach from systems with matched uncertainties to general systems in parametric strict feedback form. The DADS approach prevents gain and state drift regardless of the size of the disturbance and unknown parameter and achieves an attenuation of the plant output to an assignable small level, despite the presence of persistent disturbances and unknown parameters of arbitrary and unknown bounds. The controller is designed by means of a step-by-step backstepping procedure which can be applied in an algorithmic fashion. Examples are provided which illustrate the efficiency of the DADS controller compared to existing adaptive control schemes.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111986"},"PeriodicalIF":4.8,"publicationDate":"2024-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142441427","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
Time-extended consensus for multi-agent non-interactive collaboration 多代理非交互式协作的延时共识
IF 4.8 2区 计算机科学
Automatica Pub Date : 2024-10-16 DOI: 10.1016/j.automatica.2024.111985
Weiran Yao , Haoyu Tian , Jianxing Liu , Ligang Wu , Yu Sun
{"title":"Time-extended consensus for multi-agent non-interactive collaboration","authors":"Weiran Yao ,&nbsp;Haoyu Tian ,&nbsp;Jianxing Liu ,&nbsp;Ligang Wu ,&nbsp;Yu Sun","doi":"10.1016/j.automatica.2024.111985","DOIUrl":"10.1016/j.automatica.2024.111985","url":null,"abstract":"<div><div>Plan-based coordination, which can fill the vacancy of control during the communication silent periods, improves the ability of agents’ independence and reduces the requirement of communication resources. This paper presents a generalized form of plan-based coordination, namely the time-extended consensus problem, which is applicable to multi-agent systems entering non-interaction state. Conditions for achieving time-extended consensus are described for systems subject to the Lipschitz condition. A control protocol for time-extended consensus is constructed using linear superposition of drag vector fields. The convergence process of time-extended states based on the proposed control protocol is investigated in terms of the speed of approaching consensus. Simulation results demonstrate the advantages and limitations of the proposed method for time-extended consensus and how it compares to conventional multi-agent state synchronization.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111985"},"PeriodicalIF":4.8,"publicationDate":"2024-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142441428","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
Data-driven stabilization of switched and constrained linear systems 数据驱动的开关和约束线性系统稳定化
IF 4.8 2区 计算机科学
Automatica Pub Date : 2024-10-11 DOI: 10.1016/j.automatica.2024.111974
Mattia Bianchi , Sergio Grammatico , Jorge Cortés
{"title":"Data-driven stabilization of switched and constrained linear systems","authors":"Mattia Bianchi ,&nbsp;Sergio Grammatico ,&nbsp;Jorge Cortés","doi":"10.1016/j.automatica.2024.111974","DOIUrl":"10.1016/j.automatica.2024.111974","url":null,"abstract":"<div><div>We consider the design of state feedback control laws for both the switching signal and the continuous input of an unknown switched linear system, given past noisy input-state trajectories measurements. Based on Lyapunov–Metzler inequalities and on a matrix S-lemma, we derive data-dependent bilinear programs, whose solution directly returns a provably stabilizing controller and ensures <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> or <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance. We further present relaxations that considerably reduce the computational cost, still without requiring stabilizability of any of the switching modes. Finally, we showcase the flexibility of our approach on the constrained stabilization problem for an unknown perturbed linear system. We validate our theoretical findings numerically, demonstrating the favorable trade-off between conservatism and tractability achieved by the proposed relaxations.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111974"},"PeriodicalIF":4.8,"publicationDate":"2024-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421292","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Schatten-p radius: Optimality criterion and optimization for basic ellipsotopes with application to zonotopes and ellipsoids Schatten-p 半径基本椭球的最优性标准和优化，以及对带状椭球和椭球的应用
IF 4.8 2区 计算机科学
Automatica Pub Date : 2024-10-11 DOI: 10.1016/j.automatica.2024.111926
Chengrui Wang, Houde Liu, Sanchuan Chen, Feng Xu
{"title":"Schatten-p radius: Optimality criterion and optimization for basic ellipsotopes with application to zonotopes and ellipsoids","authors":"Chengrui Wang,&nbsp;Houde Liu,&nbsp;Sanchuan Chen,&nbsp;Feng Xu","doi":"10.1016/j.automatica.2024.111926","DOIUrl":"10.1016/j.automatica.2024.111926","url":null,"abstract":"<div><div>Optimizing a parameterized zonotope or ellipsoid is a common task in robust state estimation, fault diagnosis and reachability analysis. Recent studies have unified ellipsoids and zonotopes into <em>basic ellipsotopes</em>, which support precise representation for more nonlinear boundaries and constraints in practical applications. However, there are currently no available optimality criteria and optimization techniques for general basic ellipsotopes. In this paper, we introduce a novel optimality criterion called <em>Schatten-p radius</em> for basic ellipsotopes. Based on this criterion, we develop a set of methods to minimize the Schatten-<em>p</em> radius under convex constraints for arbitrary <span><math><mrow><mn>0</mn><mo>&lt;</mo></mrow></math></span> <em>p</em> <span><math><mrow><mo>&lt;</mo><mi>∞</mi></mrow></math></span>, which also implies new available tools for minimizing zonotopes and ellipsoids. The effectiveness of the Schatten-<em>p</em> radius optimization is demonstrated on several numerical examples.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111926"},"PeriodicalIF":4.8,"publicationDate":"2024-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421950","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
Randomized greedy methods for weak submodular sensor selection with robustness considerations 考虑鲁棒性的弱亚模态传感器选择随机贪婪方法
IF 4.8 2区 计算机科学
Automatica Pub Date : 2024-10-09 DOI: 10.1016/j.automatica.2024.111984
Ege Can Kaya , Michael Hibbard , Takashi Tanaka , Ufuk Topcu , Abolfazl Hashemi
{"title":"Randomized greedy methods for weak submodular sensor selection with robustness considerations","authors":"Ege Can Kaya ,&nbsp;Michael Hibbard ,&nbsp;Takashi Tanaka ,&nbsp;Ufuk Topcu ,&nbsp;Abolfazl Hashemi","doi":"10.1016/j.automatica.2024.111984","DOIUrl":"10.1016/j.automatica.2024.111984","url":null,"abstract":"<div><div>We study a pair of budget- and performance-constrained weak submodular maximization problems. For computational efficiency, we explore the use of stochastic greedy algorithms which limit the search space via random sampling instead of the standard greedy procedure which explores the entire feasible search space. We propose a pair of stochastic greedy algorithms, namely, <span>Modified Randomized Greedy (MRG)</span> and <span>Dual Randomized Greedy (DRG)</span> to approximately solve the budget- and performance-constrained problems, respectively. For both algorithms, we derive approximation guarantees that hold with high probability. We then examine the use of DRG in robust optimization problems wherein the objective is to maximize the worst-case of a number of weak submodular objectives and propose the <span>Randomized Weak Submodular Saturation Algorithm (Random-WSSA)</span>. We further derive a high-probability guarantee for when <span>Random-WSSA</span> successfully constructs a robust solution. Finally, we showcase the effectiveness of these algorithms in a variety of relevant uses within the context of Earth-observing LEO constellations which estimate atmospheric weather conditions and provide Earth coverage.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111984"},"PeriodicalIF":4.8,"publicationDate":"2024-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421290","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 max-plus linear systems using feedback cycle shaping 利用反馈周期整形控制最大加线性系统
IF 4.8 2区 计算机科学
Automatica Pub Date : 2024-10-09 DOI: 10.1016/j.automatica.2024.111980
Vinicius Mariano Gonçalves , Prashanth Krishnamurthy , Anthony Tzes , Farshad Khorrami
{"title":"Control of max-plus linear systems using feedback cycle shaping","authors":"Vinicius Mariano Gonçalves ,&nbsp;Prashanth Krishnamurthy ,&nbsp;Anthony Tzes ,&nbsp;Farshad Khorrami","doi":"10.1016/j.automatica.2024.111980","DOIUrl":"10.1016/j.automatica.2024.111980","url":null,"abstract":"<div><div>For “Timed Event Graphs”, linear equations can be written in the max-plus algebra that describe the firing dynamics. In some cases, independent events/inputs can be used to influence the system dynamics in order to achieve a desired specification. In this setting, significant attention has been devoted to the mathematical development of controllers that achieve these desired specifications. In this article, a methodology is provided for solving a max-plus linear control problem as an extension of the result in Gonçalves et al. (2017). A condition is provided that induces into the system a periodic behavior in steady state and also shapes the response to comply with the specifications. Furthermore, the controller’s causality is addressed.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111980"},"PeriodicalIF":4.8,"publicationDate":"2024-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421967","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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