Automatica最新文献_第4页

Decentralized co-design of distributed controllers and communication topologies for vehicular platoons: A dissipativity-based approach

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112118

Shirantha Welikala , Zihao Song , Hai Lin , Panos J. Antsaklis

{"title":"Decentralized co-design of distributed controllers and communication topologies for vehicular platoons: A dissipativity-based approach","authors":"Shirantha Welikala , Zihao Song , Hai Lin , Panos J. Antsaklis","doi":"10.1016/j.automatica.2025.112118","DOIUrl":"10.1016/j.automatica.2025.112118","url":null,"abstract":"<div><div>Vehicular platoons provide an appealing option for future transportation systems. Most of the existing work on platoons separated the design of the controller and its communication topology. However, it is advantageous to simultaneously design the platooning controller and the communication topology, especially in cases of platoon splitting and merging. Therefore, we propose a co-design framework for vehicular platoons that maintains both the compositionality of the controller and the string stability of the platoon. In order to solve the co-design problem for a platoon of vehicles, we first formulate a centralized linear matrix inequality (LMI) problem using the dissipativity properties of the vehicles. We then decompose it using Sylvester’s criterion to obtain smaller decentralized LMI problems. These smaller problems can be solved sequentially at individual vehicles in the platoon. To ensure the feasibility of the formulated centralized/decentralized LMI problems, we introduce local controllers at each vehicle, along with a specially developed local controller design scheme. In the centralized/decentralized LMI problems, a locally derived LMI condition is also encoded to ensure the finite-gain L2 stability of the closed-loop platooning system. We show that this implies L2 weak string stability of the vehicular platoon. Finally, we develop a simulation framework <span><span><sup>2</sup></span></span>\u0000 and conduct simulation studies to validate the proposed co-design method and its compositionality features.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112118"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130369","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 MIMO adaptive observer-based control for a Timoshenko beam

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112155

Tingting Meng , Bao-Zhu Guo , Wei He

引用次数: 0

Probabilistic predictability of stochastic dynamical systems

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112160

Tao Xu, Yushan Li, Jianping He

{"title":"Probabilistic predictability of stochastic dynamical systems","authors":"Tao Xu, Yushan Li, Jianping He","doi":"10.1016/j.automatica.2025.112160","DOIUrl":"10.1016/j.automatica.2025.112160","url":null,"abstract":"<div><div>To assess the quality of a probabilistic prediction for stochastic dynamical systems (SDSs), scoring rules assign a numerical score based on the predictive distribution and the measured state. In this paper, we propose an <span><math><mi>ϵ</mi></math></span>-logarithm score that generalizes the celebrated logarithm score by considering a neighborhood with radius <span><math><mi>ϵ</mi></math></span>. We characterize the probabilistic predictability of an SDS by optimizing the expected score over the space of probability measures. We show how the probabilistic predictability is quantitatively determined by the neighborhood radius, the differential entropies of process noises, and the system dimension. Given any predictor, we provide approximations for the expected score with an error of scale <span><math><mrow><mi>O</mi><mrow><mo>(</mo><mi>ϵ</mi><mo>)</mo></mrow></mrow></math></span>. In addition to the expected score, we also analyze the asymptotic behaviors of the score on individual trajectories. Specifically, we prove that the score on a trajectory can converge to the expected score when the process noises are independent and identically distributed. Moreover, the convergence speed against the trajectory length <span><math><mi>T</mi></math></span> is of scale <span><math><mrow><mi>O</mi><mrow><mo>(</mo><msup><mrow><mi>T</mi></mrow><mrow><mo>−</mo><mfrac><mrow><mn>1</mn></mrow><mrow><mn>2</mn></mrow></mfrac></mrow></msup><mo>)</mo></mrow></mrow></math></span> in the sense of probability. Finally, numerical examples are given to elaborate the results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112160"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130714","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

A neural network-based approach to hybrid systems identification for control

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112130

Filippo Fabiani , Bartolomeo Stellato , Daniele Masti , Paul J. Goulart

{"title":"A neural network-based approach to hybrid systems identification for control","authors":"Filippo Fabiani , Bartolomeo Stellato , Daniele Masti , Paul J. Goulart","doi":"10.1016/j.automatica.2025.112130","DOIUrl":"10.1016/j.automatica.2025.112130","url":null,"abstract":"<div><div>We consider the problem of designing a machine learning-based model of an unknown dynamical system from a finite number of (state-input)-successor state data points, such that the model obtained is also suitable for optimal control design. We adopt a neural network (NN) architecture that, once suitably trained, yields a hybrid system with continuous piecewise-affine (PWA) dynamics that is differentiable with respect to the network’s parameters, thereby enabling the use of derivative-based training procedures. We show that a careful choice of our NN’s weights produces a hybrid system model with structural properties that are highly favorable when used as part of a finite horizon optimal control problem (OCP). Specifically, we rely on available results to establish that optimal solutions with strong local optimality guarantees can be computed via nonlinear programming (NLP), in contrast to classical OCPs for general hybrid systems which typically require mixed-integer optimization. Besides being well-suited for optimal control design, numerical simulations illustrate that our NN-based technique enjoys very similar performance to state-of-the-art system identification methods for hybrid systems and it is competitive on nonlinear benchmarks.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112130"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130593","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

Accelerated secondary frequency regulation and active power sharing for islanded microgrids with external disturbances: A fully distributed approach

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112146

Boda Ning , Qing-Long Han , Zongyu Zuo , Lei Ding

{"title":"Accelerated secondary frequency regulation and active power sharing for islanded microgrids with external disturbances: A fully distributed approach","authors":"Boda Ning , Qing-Long Han , Zongyu Zuo , Lei Ding","doi":"10.1016/j.automatica.2025.112146","DOIUrl":"10.1016/j.automatica.2025.112146","url":null,"abstract":"<div><div>Islanded microgrids face some challenges in maintaining stable frequency and sharing proper power among distributed generators (DGs) in the presence of external disturbances. This paper develops a novel fully distributed approach to achieve accelerated secondary frequency regulation (FR) and active power sharing (APS) in islanded microgrids, which enhances system performance and robustness against external disturbances. The proposed control strategy combines advanced consensus algorithms with distributed secondary control loops, eliminating the requirement for a central control unit thereby improving the scalability. Particularly, the fully distributed feature of the proposed control strategy can be understood from two aspects. On one hand, the controller itself is not using global information of (1) communication topology, such as the second smallest eigenvalue of its Laplacian matrix; and (2) the total number of DGs in the microgrid. On the other hand, the estimated settling time is independent of the aforementioned global information. Therefore, the proposed fully distributed control scheme has the potential of becoming a promising solution for the resilient and efficient management of large-scale islanded microgrids. The effectiveness of the designed controllers is validated through numerical examples, demonstrating superior performance in terms of FR, APS, and transient response under various operating conditions.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112146"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130710","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

Strong well-posedness of the regular linear-quadratic problems: Stabilizable case

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112145

Renren Zhang

引用次数: 0

Mean–Variance optimization in discrete-time decision processes with general utility function

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112142

Nicole Bäuerle , Anna Jaśkiewicz , Andrzej S. Nowak

引用次数: 0

Safe zeroth-order optimization using quadratic local approximations

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2025.112141

Baiwei Guo , Yuning Jiang , Giancarlo Ferrari-Trecate , Maryam Kamgarpour

{"title":"Safe zeroth-order optimization using quadratic local approximations","authors":"Baiwei Guo , Yuning Jiang , Giancarlo Ferrari-Trecate , Maryam Kamgarpour","doi":"10.1016/j.automatica.2025.112141","DOIUrl":"10.1016/j.automatica.2025.112141","url":null,"abstract":"<div><div>This paper addresses smooth constrained optimization problems with unknown objective and constraint functions The main goal of this work is to generate a sequence of feasible (herein, referred to as safe) primal–dual pairs converging towards a KKT pair. Assuming to have prior knowledge on the smoothness of the unknown functions, we propose a novel zeroth-order method that iteratively computes quadratic approximations of the constraint functions, constructs local feasible sets, and optimizes over them. We prove that this method returns an <span><math><mi>η</mi></math></span>-KKT pair within <span><math><mrow><mi>O</mi><mrow><mo>(</mo><mi>d</mi><mo>/</mo><msup><mrow><mi>η</mi></mrow><mrow><mn>2</mn></mrow></msup><mo>)</mo></mrow></mrow></math></span> iterations and <span><math><mrow><mi>O</mi><mrow><mo>(</mo><msup><mrow><mi>d</mi></mrow><mrow><mn>2</mn></mrow></msup><mo>/</mo><msup><mrow><mi>η</mi></mrow><mrow><mn>2</mn></mrow></msup><mo>)</mo></mrow></mrow></math></span> samples (where <span><math><mi>d</mi></math></span> is the problem dimension) while every sample is within the feasible set. Moreover, we numerically show that our method can achieve fast convergence compared with some state-of-the-art zeroth-order safe approaches. The effectiveness of the proposed approach is also illustrated by applying it to a nonconvex optimization problem in optimal control.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112141"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130367","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

Parameterized gain-constrained Kalman Filtering via singular value decomposition

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-30 DOI: 10.1016/j.automatica.2024.112103

Chenxiao Wang , Fuxing Yao , Tianshi Chen , Wei Xing Zheng , Guang-Ren Duan , He Kong

{"title":"Parameterized gain-constrained Kalman Filtering via singular value decomposition","authors":"Chenxiao Wang , Fuxing Yao , Tianshi Chen , Wei Xing Zheng , Guang-Ren Duan , He Kong","doi":"10.1016/j.automatica.2024.112103","DOIUrl":"10.1016/j.automatica.2024.112103","url":null,"abstract":"<div><div>Gain-constrained Kalman filtering (KF) is an important estimation problem that has received much attention recently. It encompasses a few problems as special cases, including equality-constrained state estimation, filtering under unknown inputs, etc. In this paper, we propose a parameterized approach to gain-constrained KF by performing singular value decomposition (SVD) on the constraint condition. The filter equivalence between our results and the associated ones in the literature is established. Moreover, we show that the SVD-based approach has some computational advantages, compared to the existing methods in the literature. Specifically, on one hand, we show that with the aid of SVD, the proposed framework has computational advantages in certain situations (although it is not always the case), compared with the existing methods. On the other hand, for the case with network-induced effects, we show that the SVD-based approach is always more efficient than the existing methods, in terms of computational complexity. Finally, some numerical examples are presented to illustrate the obtained results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112103"},"PeriodicalIF":4.8,"publicationDate":"2025-01-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130713","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

Infinitesimal perturbation analysis (IPA) derivative estimation with unknown parameters

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-28 DOI: 10.1016/j.automatica.2025.112140

Hao Cao , Jian-Qiang Hu , Teng Lian , Xiangyu Yang

{"title":"Infinitesimal perturbation analysis (IPA) derivative estimation with unknown parameters","authors":"Hao Cao , Jian-Qiang Hu , Teng Lian , Xiangyu Yang","doi":"10.1016/j.automatica.2025.112140","DOIUrl":"10.1016/j.automatica.2025.112140","url":null,"abstract":"<div><div>We consider the problem of infinitesimal perturbation analysis (IPA) derivative estimation in a setting where some parameters associated with input processes are unknown. In general, IPA estimates depend explicitly on these parameters. Therefore they need to be estimated in order to compute IPA estimates. A “brute-force” way to solve this problem is to estimate the parameters first based on historical input data and then use the estimates in place of the parameters in calculating IPA estimates. However, this method does not utilize the most recent data and thus may lose some accuracy, particularly in an environment where data are received continuously and sequentially We propose an adaptive method in which IPA estimates are computed based on the latest parameter estimates that are continuously updated as more input data are obtained. We prove that our IPA estimators are strongly consistent and have a convergence rate of <span><math><mrow><mn>1</mn><mo>/</mo><msqrt><mrow><mi>n</mi></mrow></msqrt></mrow></math></span>, which is the same as the traditional IPA estimators. We use the <span><math><mrow><mi>G</mi><mo>/</mo><mi>G</mi><mo>/</mo><mn>1</mn></mrow></math></span> queue as an illustrative example to show how our method works in detail. Simulation experiments on several queueing systems are also provided to support our theoretical conclusions.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112140"},"PeriodicalIF":4.8,"publicationDate":"2025-01-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130362","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