Automatica最新文献

{"title":"State estimation for constant-time labeled automata under dense time","authors":"","doi":"10.1016/j.automatica.2024.111874","DOIUrl":"10.1016/j.automatica.2024.111874","url":null,"abstract":"<div><p>In this paper, we focus on <em>state estimation</em> for <em>constant-time labeled automata</em> in a dense time context, i.e., the time constraints of the automata can be given according to real numbers. Given a sequence of timed observations (i.e., pairs of logical observations with their time stamps) collected from a system within a finite time window, a state estimation method is proposed to find the set of states in which the system might reside by the end of the time window. By using both labeling and timing information as well as the structure of the system, we can express any finite time evolution from one state to another into <em>constraint satisfaction problems</em> (CSPs). This structural analysis is independent of all collected sequences of timed observations and can be achieved offline, although its cost is exponential with respect to the number of states in the system. Consequently, two algorithms are designed to perform state estimation under a single observation and no observation, respectively, by solving a finite number of CSPs generated according to the system’s structural information. Both algorithms can be jointly used in an iterative approach to perform state estimation for any sequence of timed observations. In such a case, the number of generated CSPs in the algorithms increases linearly with respect to the length of the observed sequence.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142048284","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 method based on linear feasibility tests for full-rank characterization of convex combinations of matrices","authors":"","doi":"10.1016/j.automatica.2024.111842","DOIUrl":"10.1016/j.automatica.2024.111842","url":null,"abstract":"<div><p>Given a set of full-rank matrices <span><math><mrow><msub><mrow><mi>A</mi></mrow><mrow><mn>1</mn></mrow></msub><mo>,</mo><msub><mrow><mi>A</mi></mrow><mrow><mn>2</mn></mrow></msub><mo>,</mo><mo>…</mo><mo>,</mo><msub><mrow><mi>A</mi></mrow><mrow><mi>r</mi></mrow></msub><mo>∈</mo><msup><mrow><mi>R</mi></mrow><mrow><mi>p</mi><mo>×</mo><mi>n</mi></mrow></msup></mrow></math></span>, this brief paper proposes a method based on linear feasibility tests to determine whether a convex combination <span><math><mrow><mi>A</mi><mrow><mo>(</mo><mi>α</mi><mo>)</mo></mrow><mo>=</mo><msubsup><mrow><mo>∑</mo></mrow><mrow><mi>i</mi><mo>=</mo><mn>1</mn></mrow><mrow><mi>r</mi></mrow></msubsup><msub><mrow><mi>α</mi></mrow><mrow><mi>i</mi></mrow></msub><msub><mrow><mi>A</mi></mrow><mrow><mi>i</mi></mrow></msub></mrow></math></span>, with <span><math><mrow><mi>α</mi><mo>=</mo><msup><mrow><mrow><mo>[</mo><msub><mrow><mi>α</mi></mrow><mrow><mn>1</mn></mrow></msub><mspace></mspace><msub><mrow><mi>α</mi></mrow><mrow><mn>2</mn></mrow></msub><mspace></mspace><mo>⋯</mo><mspace></mspace><msub><mrow><mi>α</mi></mrow><mrow><mi>r</mi></mrow></msub><mo>]</mo></mrow></mrow><mrow><mi>T</mi></mrow></msup></mrow></math></span> in the unit simplex <span><math><msub><mrow><mi>Λ</mi></mrow><mrow><mi>r</mi></mrow></msub></math></span>, may result in a rank-deficient matrix. The method is based on a sequence of linear programs with increasingly tightened constraints, and is guaranteed to reach an outcome after a finite number of iterations. Given a tolerance <span><math><mrow><mi>ɛ</mi><mo>&gt;</mo><mn>0</mn></mrow></math></span> arbitrarily chosen by the user, the method will either (i) certify that <span><math><mrow><mo>∄</mo><mspace></mspace><mi>α</mi><mo>∈</mo><msub><mrow><mi>Λ</mi></mrow><mrow><mi>r</mi></mrow></msub></mrow></math></span> such that <span><math><mrow><mi>A</mi><mrow><mo>(</mo><mi>α</mi><mo>)</mo></mrow></mrow></math></span> is rank-deficient or (ii) yield <span><math><mrow><mi>α</mi><mo>∈</mo><msub><mrow><mi>Λ</mi></mrow><mrow><mi>r</mi></mrow></msub></mrow></math></span>, <span><math><mrow><mi>v</mi><mo>≠</mo><mn>0</mn></mrow></math></span> such that <span><math><mrow><mo>‖</mo><mi>A</mi><mrow><mo>(</mo><mi>α</mi><mo>)</mo></mrow><mi>v</mi><mo>‖</mo><mo>/</mo><mo>‖</mo><mi>v</mi><mo>‖</mo><mo>&lt;</mo><mi>ɛ</mi></mrow></math></span>, which certifies that the smallest singular value of <span><math><mrow><mi>A</mi><mrow><mo>(</mo><mi>α</mi><mo>)</mo></mrow></mrow></math></span> is less than <span><math><mi>ɛ</mi></math></span>. This method bridges a gap in the literature, as no other numerically verifiable test for generic <span><math><mi>p</mi></math></span>, <span><math><mi>n</mi></math></span>, <span><math><mi>r</mi></math></span> has been proposed to reach the conclusion (ii). Three numerical examples are provided to showcase the advantages of the proposed method with respect to other tests reported in previous papers. The code employed in this work is availa","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142041121","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":"Comments on “Asynchronously switched control of switched linear systems with average dwell time” [Automatica 46 (2010) 953–958]","authors":"","doi":"10.1016/j.automatica.2024.111736","DOIUrl":"10.1016/j.automatica.2024.111736","url":null,"abstract":"<div><p>A flaw is uncovered in the proof of a central theorem (Theorem 1) in Zhang and Gao (2010). This sheds doubt on the validity of the results claimed in that paper.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142129249","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":"Stability analysis for linear systems with a switched rapidly varying delay","authors":"","doi":"10.1016/j.automatica.2024.111862","DOIUrl":"10.1016/j.automatica.2024.111862","url":null,"abstract":"<div><p>Linear continuous-time systems with switched pointwise delays are studied. A technique enabling to establish the stability of these systems with a rapidly varying periodic delay is proposed. It relies on two ingredients: a representation of the systems as time-varying systems with constant delays and an averaging approach. Illustrative examples show the effectiveness of the proposed methodology.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142041123","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":"Distributed predefined-time optimal economic dispatch for microgrids","authors":"","doi":"10.1016/j.automatica.2024.111870","DOIUrl":"10.1016/j.automatica.2024.111870","url":null,"abstract":"<div><p>With the massive popularization of distributed generators, optimal economic dispatch has been a key optimization problem to maintain stable and efficient work of the whole system. In this paper, a new smooth reconstruction penalty function with continuous and piecewise linear differential is designed to deal with generation power constraints, which promotes to obtain a better suboptimal solution compared with the existing smooth penalty methods. A distributed predefined-time optimal economic dispatch strategy is presented by utilizing a time-based function. By employing the proposed strategy, the minimization of the generation cost with transmission loss under the power balance constraint and generation minimum/maximum constraints can be realized within a predefined settling time. The performance of the proposed optimization strategy is evaluated by simulations and hardware-in-the-loop experiments in terms of validity verification, robustness to load change and topology reconfiguration, plug-and-play functionality, and comparison with the existing results to illustrate the advantages of fast convergence and near optimal results.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142041124","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":"Physics-informed probabilistic slow feature analysis","authors":"","doi":"10.1016/j.automatica.2024.111851","DOIUrl":"10.1016/j.automatica.2024.111851","url":null,"abstract":"<div><p>This paper presents a novel approach called physics-informed probabilistic slow feature analysis. The probabilistic slow feature analysis method has been employed to extract slowly varying latent patterns from high-dimensional measured data. The extracted slow features have proven effective in industrial applications such as soft sensing and process monitoring. However, industrial processes come with various physical constraints that must be taken into account, such as energy requirements, equipment limitations, and safety considerations. The conventional black-box nature of the slow feature model often leads to physically inconsistent or unacceptable results. To address this issue, we propose integrating physics principles into the probabilistic slow feature model, ensuring that the extracted features adhere to physics laws. Our formulation incorporates two types of physical constraints: linear algebraic equality and inequality constraints. Through an industrial case study, we demonstrate the effectiveness of our methodology, showcasing the advantages of incorporating physics in feature extraction. These advantages include improved interpretability, reduced data dimensionality, and enhanced generalization performance.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0005109824003455/pdfft?md5=8f52f00166f7a7ef67f923df7d618f81&pid=1-s2.0-S0005109824003455-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142041122","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}

{"title":"Identification from data with periodically missing output samples","authors":"","doi":"10.1016/j.automatica.2024.111869","DOIUrl":"10.1016/j.automatica.2024.111869","url":null,"abstract":"<div><p>The identification problem in case of data with missing values is challenging and currently not fully understood. For example, there are no general nonconservative identifiability results, nor provably correct data efficient methods. In this paper, we consider a special case of periodically missing output samples, where all but one output sample per period may be missing. The novel idea is to use a lifting operation that converts the original problem with missing data into an equivalent standard identification problem. The key step is the inverse transformation from the lifted to the original system, which requires computation of a matrix root. The well-posedness of the inverse transformation depends on the eigenvalues of the system. Under an assumption on the eigenvalues, which is not verifiable from the data, and a persistency of excitation-type assumption on the data, the method based on lifting recovers the data-generating system.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142041120","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":"Consensus algorithms for double-integrator dynamics with different velocity and actuator saturation constraints","authors":"","doi":"10.1016/j.automatica.2024.111860","DOIUrl":"10.1016/j.automatica.2024.111860","url":null,"abstract":"<div><p>This paper considers consensus strategy design for double-integrator multi-agent systems with matched disturbances under a directed graph. Specifically, we consider the case where both the control inputs and velocities of the agents are subject to different and asymmetric constraints. A novel distributed algorithm exploiting saturation functions is proposed to achieve asymptotic consensus without violating the predefined velocity and actuator saturation constraints. Subsequently, we extend the obtained results to event-triggered communication, where agent position broadcasting occurs only when specific triggering conditions are met. We rigorously prove that there exists a positive minimum inter-event time to rule out Zeno behavior. Finally, the simulation results confirm the theoretical findings and illustrate the achievable performance.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142040091","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":"Displacement-based formation control with predefined attitude over time-varying topologies","authors":"","doi":"10.1016/j.automatica.2024.111852","DOIUrl":"10.1016/j.automatica.2024.111852","url":null,"abstract":"<div><p>This paper explores a displacement-based formation control problem in the presence of misaligned orientations among different body coordinate frames. When agents sense and adjust their relative positions, these misalignments suggest the attitudes of the agents in the absence of an agreement, thereby distorting collective behavior. To mitigate this distortion, an angular velocity control protocol is provided and embedded into a positively invariant set, aiming to establish a predefined attitude agreement. Based on this agreement, a formation control protocol is then to achieve the desired formation shape. Unlike the original alignment case, not only the dynamics of the agents among different coordinate frames are considered, but also the connectivity on the underlying topologies is relaxed. It should be pointed out that constructing a common Lyapunov function for these systems is challenging, since typical conditions for its existence and solvability, e.g., the double stochasticity condition or the non-trivial eigenvalue assignment, may not be satisfied. To address these challenges, a geometric analysis framework, derived as several polytopes and associated properties, is extended to handle these systems without the requirement for such conditions. By utilizing these properties, the control objectives of attitude and formation control are achieved, indicating that the desired formation shape is guaranteed through the implementation procedure of the attitude consensus. Finally, an example is conducted to verify the main results.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142039665","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":"Mean-square exponential stabilization of mixed-autonomy traffic PDE system","authors":"","doi":"10.1016/j.automatica.2024.111859","DOIUrl":"10.1016/j.automatica.2024.111859","url":null,"abstract":"<div><p>Control of mixed-autonomy traffic where Human-driven Vehicles (HVs) and Autonomous Vehicles (AVs) coexist on the road has gained increasing attention over the recent decades. This paper addresses the boundary stabilization problem for mixed traffic on freeways. The traffic dynamics are described by uncertain coupled hyperbolic partial differential equations (PDEs) with Markov jumping parameters, which aim to address the distinctive driving strategies between AVs and HVs. Considering that the spacing policies of AVs vary in mixed traffic, the stochastic impact area of AVs is governed by a continuous Markov chain. The interactions between HVs and AVs such as overtaking or lane changing are mainly induced by impact areas. Using backstepping design, we develop a full-state feedback boundary control law to stabilize the deterministic system (nominal system). Applying Lyapunov analysis, we demonstrate that the nominal backstepping control law is able to stabilize the traffic system with Markov jumping parameters, provided the nominal parameters are sufficiently close to the stochastic ones on average. The mean-square exponential stability conditions are derived, and the results are validated by numerical simulations.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142039666","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}