Automatica最新文献_第4页

Modelling and detection of slipping in distributed damping subs for drillstring torsional vibration mitigation 分布式减振短节的滑移建模与检测

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-19 DOI: 10.1016/j.automatica.2025.112429

Nils Christian Aars Wilhelmsen , Pauline Marie Nüsse , Adrian Ambrus , Ole Morten Aamo

{"title":"Modelling and detection of slipping in distributed damping subs for drillstring torsional vibration mitigation","authors":"Nils Christian Aars Wilhelmsen , Pauline Marie Nüsse , Adrian Ambrus , Ole Morten Aamo","doi":"10.1016/j.automatica.2025.112429","DOIUrl":"10.1016/j.automatica.2025.112429","url":null,"abstract":"<div><div>Torsional vibrations during drilling are detrimental to the equipment used and result in sub-optimal performance. A recently developed method to mitigate such vibrations involves the use of distributed damping subs fitted around the drillstring at various locations throughout non-vertical sections of the well. An eddy current brake, which may be actively controlled in practice, dampens the vibrations but the reactionary torque results in lateral motion of the subs which may cause slipping. To minimize slipping between the damping subs and the wellbore wall during operation, the controller needs to know if and when this happens in order to alter the control input accordingly. A control-oriented mathematical model is derived to describe the lateral and torsional motion of a sub within the wellbore, with the wellbore friction modelled as Coulomb friction with stiction. Next, a slip detection algorithm based on measurements from inertial measurement units placed within the damping sub is proposed. A simulation of the control-oriented damping sub model coupled to a low-order drillstring model featuring torsional vibrations is presented, where the reactionary damping torque causes the sub to slip along the wellbore wall. Simulated accelerometer signals and the resultant residual for detecting slippage are shown to demonstrate the methodology. The slip detection methodology is further verified on data from a high-fidelity simulator.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112429"},"PeriodicalIF":4.8,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144312723","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

Dual-variable iterative learning control for switched systems with iteration experience succession strategy 基于迭代经验连续策略的切换系统双变量迭代学习控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-19 DOI: 10.1016/j.automatica.2025.112443

Yiwen Qi , Caibin Yao , Choon Ki Ahn , Dong Shen , Ziyu Qu

{"title":"Dual-variable iterative learning control for switched systems with iteration experience succession strategy","authors":"Yiwen Qi , Caibin Yao , Choon Ki Ahn , Dong Shen , Ziyu Qu","doi":"10.1016/j.automatica.2025.112443","DOIUrl":"10.1016/j.automatica.2025.112443","url":null,"abstract":"<div><div>Iterative learning control (ILC) refers to the optimal control of repetitive systems. It is a thorny problem that ILC is maliciously terminated during any single run, resulting in different running lengths. In addition, reinforcement learning is an intelligent approach to finding the optimal controller gains for system performance improvement. In this paper, dual variable ILC (DV-ILC) for switched systems with arbitrary switching rules is examined. First, for variable iteration run lengths induced by security issues, an iteration experience succession strategy (IESS) is proposed, and the minimum number of iterations is presented. Second, a reinforcement learning optimizer is adopted to continuously regulate variable controller gains. The controller is designed in the form of an open-loop P-type and a closed-loop PD-type working together, meaning that both current and historical information can be fully utilized. In addition, the tracking error convergence in the iteration domain is proved. Finally, the simulations prove the effectiveness of the proposed method.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112443"},"PeriodicalIF":4.8,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144313454","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 effects of modeling errors on distributed continuous-time filtering 建模误差对分布式连续时间滤波的影响

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-19 DOI: 10.1016/j.automatica.2025.112432

Xiaoxu Lyu , Shilei Li , Dawei Shi , Ling Shi

引用次数: 0

A privacy preserving distributed controller for the general formation of multi-agent systems in port-Hamiltonian form 波特-哈密顿形式的多智能体系统一般形式的保密性分布式控制器

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-19 DOI: 10.1016/j.automatica.2025.112452

Jingyi Zhao , Yongxin Wu , Yuhu Wu , Yann Le Gorrec

引用次数: 0

Scalable command governor via semi-ellipsoidal set for linear systems with time-varying soft constraints 具有时变软约束的线性系统的半椭球集可伸缩命令调速器

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-19 DOI: 10.1016/j.automatica.2025.112438

Hoai-Nam Nguyen

引用次数: 0

n-step temporal difference learning with optimal n 具有最优n的n步时间差分学习

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-18 DOI: 10.1016/j.automatica.2025.112449

Lakshmi Mandal, Shalabh Bhatnagar

{"title":"n-step temporal difference learning with optimal n","authors":"Lakshmi Mandal, Shalabh Bhatnagar","doi":"10.1016/j.automatica.2025.112449","DOIUrl":"10.1016/j.automatica.2025.112449","url":null,"abstract":"<div><div>We consider the problem of finding the optimal value of <span><math><mi>n</mi></math></span> in the <span><math><mi>n</mi></math></span>-step temporal difference (TD) learning algorithm. Our objective function for the optimization problem is the average root mean squared error (RMSE). We find the optimal <span><math><mi>n</mi></math></span> by resorting to a model-free optimization technique involving a one-simulation simultaneous perturbation stochastic approximation (SPSA) based procedure. Whereas SPSA is a zeroth-order continuous optimization procedure, we adapt it to the discrete optimization setting by using a random projection operator. We prove the asymptotic convergence of the recursion by showing that the sequence of <span><math><mi>n</mi></math></span>-updates obtained using zeroth-order stochastic gradient search converges almost surely to an internally chain transitive invariant set of an associated differential inclusion. This results in convergence of the discrete parameter sequence to the optimal <span><math><mi>n</mi></math></span> in <span><math><mi>n</mi></math></span>-step TD. Through experiments, we show that the optimal value of <span><math><mi>n</mi></math></span> is achieved with our SDPSA algorithm for arbitrary initial values. We further show using numerical evaluations that SDPSA outperforms the state-of-the-art discrete parameter stochastic optimization algorithm ‘Optimal Computing Budget Allocation (OCBA)’ on benchmark RL tasks.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112449"},"PeriodicalIF":4.8,"publicationDate":"2025-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144312724","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

Adaptive tracking control of state-constrained uncertain nonlinear cyber–physical systems against deception attacks 状态约束不确定非线性网络物理系统抗欺骗攻击的自适应跟踪控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-17 DOI: 10.1016/j.automatica.2025.112430

Zhaoyang Cuan, Da-Wei Ding

{"title":"Adaptive tracking control of state-constrained uncertain nonlinear cyber–physical systems against deception attacks","authors":"Zhaoyang Cuan, Da-Wei Ding","doi":"10.1016/j.automatica.2025.112430","DOIUrl":"10.1016/j.automatica.2025.112430","url":null,"abstract":"<div><div>A novel adaptive tracking control scheme is developed to cope with the tracking control issue for a category of state-constrained nonlinear cyber–physical systems (CPSs) with exogenous interferences, which are subject to deception attacks started in controller–actuator (C–A) channel. Different from most existing works, such type of state constraints own a distinct characteristic that they occur some time after the initial time instant of control operation. An error shifting function and a barrier Lyapunov function (BLF) with varying barrier boundaries are designed to promote the development of a novel adaptive tracking control method, which does not depend on the precise system model, and can dispose of the exogenous perturbations and deception attacks simultaneously. In particular, the developed control architecture can not only make sure that all the tracking errors get into a pre-defined small region of the equilibrium point, but also guarantee the total signals of the closed loop system conform to the corresponding state constraints in fixed time even if the initial state constraints are not satisfied. Significantly, the tracking precision degree is known beforehand and could be preseted by restructuring the control design parameters suitably. Eventually, the effectiveness and superiority of the proposed control framework are theoretically authenticated and practically illustrated through a representative application example.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"179 ","pages":"Article 112430"},"PeriodicalIF":4.8,"publicationDate":"2025-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144298389","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

Emergence of partial tracking in the set of active pursuer–evader pairs in Euclidean space 欧几里德空间中主动跟踪-回避对集合部分跟踪的出现

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-17 DOI: 10.1016/j.automatica.2025.112445

Hyunjin Ahn , Junhyeok Byeon , Seung-Yeal Ha , Jaeyoung Yoon

引用次数: 0

Boundary stabilization of linear hyperbolic integro-differential equation with time-dependent coefficients 具有时变系数的线性双曲型积分-微分方程的边界稳定

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-06-17 DOI: 10.1016/j.automatica.2025.112451

Long Hu , Qing Zhang

引用次数: 0

Converse Lyapunov theorem for Input-to-State Stability of Linear Integral Difference Equations 线性积分差分方程输入-状态稳定性的逆Lyapunov定理