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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 ,&nbsp;Jian-Qiang Hu ,&nbsp;Teng Lian ,&nbsp;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
Task-space tracking of robot manipulators via internal model principle approach
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-27 DOI: 10.1016/j.automatica.2024.112104
Haiwen Wu , Bayu Jayawardhana , Dabo Xu
{"title":"Task-space tracking of robot manipulators via internal model principle approach","authors":"Haiwen Wu ,&nbsp;Bayu Jayawardhana ,&nbsp;Dabo Xu","doi":"10.1016/j.automatica.2024.112104","DOIUrl":"10.1016/j.automatica.2024.112104","url":null,"abstract":"<div><div>This paper presents an internal model-based adaptive control method for uncertain robot manipulators, addressing the <em>task-space</em> asymptotic tracking problem. In the proposed scheme, the reference trajectory is assumed to be a multi-tone sinusoidal signal with unknown amplitude and frequency parameters, and the robot kinematic and dynamic parameters are considered uncertain. Unlike existing approaches that assume the reference signals are directly measurable, we propose an error feedback controller that requires only measurements of the task-space tracking error, joint position, and joint velocity. Specifically, based on the internal model principle, an internal model-based dynamic compensator is developed to reproduce the reference signals. By using the parameter linearity properties of the robot kinematics and dynamics, adaptive laws are derived to handle the unknown parameters. The stability of the closed-loop system and the asymptotic convergence of the tracking error are analyzed using output stability concepts. The effectiveness of the proposed approach is validated through numerical simulations with a three-DOF manipulator.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112104"},"PeriodicalIF":4.8,"publicationDate":"2025-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130360","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
Distributionally robust LQG control under distributed uncertainty
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-27 DOI: 10.1016/j.automatica.2025.112128
Lucia Falconi , Augusto Ferrante , Mattia Zorzi
{"title":"Distributionally robust LQG control under distributed uncertainty","authors":"Lucia Falconi ,&nbsp;Augusto Ferrante ,&nbsp;Mattia Zorzi","doi":"10.1016/j.automatica.2025.112128","DOIUrl":"10.1016/j.automatica.2025.112128","url":null,"abstract":"<div><div>A new paradigm is proposed for the robustification of the LQG controller against distributional uncertainties on the noise process. Our controller optimizes the closed-loop performance in the worst possible scenario under the constraint that the noise distributional aberrance does not exceed a certain threshold limiting the relative entropy between the actual noise distribution and the nominal one. The main novelty is that the bounds on the distributional aberrance can be arbitrarily distributed along the whole disturbance trajectory. This is a problem for which, notwithstanding significant attention given in the recent literature, so far only relaxed or approximated solutions have been derived. We denote this Distributed uncertainty Distributionally robust LQG problem with the acronym D<span><math><msup><mrow></mrow><mrow><mn>2</mn></mrow></msup></math></span>-LQG.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112128"},"PeriodicalIF":4.8,"publicationDate":"2025-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130363","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 high performance globally exponentially convergent sensorless observer for the IPMSM: Theoretical and experimental results
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-27 DOI: 10.1016/j.automatica.2025.112138
Bowen Yi , Romeo Ortega , Jongwon Choi , Kwanghee Nam
{"title":"A high performance globally exponentially convergent sensorless observer for the IPMSM: Theoretical and experimental results","authors":"Bowen Yi ,&nbsp;Romeo Ortega ,&nbsp;Jongwon Choi ,&nbsp;Kwanghee Nam","doi":"10.1016/j.automatica.2025.112138","DOIUrl":"10.1016/j.automatica.2025.112138","url":null,"abstract":"<div><div>In a recent paper (Ortega et al., 2021) the authors proposed the first solution to the problem of designing a <em>globally exponentially stable</em> (GES) flux observer for the interior permanent magnet synchronous motor. However, the establishment of the stability proof relies on the assumption that the adaptation gain is sufficiently <em>small</em>—a condition that may degrade the quality of the transient behavior. In this paper we propose a new globally exponentially convergent flux observer that mitigates this limitation ensuring a high performance behavior under an operating constraint of motor currents. The design relies on the use of a novel theoretical tool—the generation of a <em>“virtual” invariant manifold</em>—that allows the use of the more advanced Kreisselmeier’s regression extension estimator, instead of a simple gradient descent one. We illustrate its superior transient behavior via extensive simulations and experiments.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112138"},"PeriodicalIF":4.8,"publicationDate":"2025-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130594","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
Event-triggered consensus of multiple nonholonomic mobile robots
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-27 DOI: 10.1016/j.automatica.2025.112156
Liang Xu , Youfeng Su , He Cai
{"title":"Event-triggered consensus of multiple nonholonomic mobile robots","authors":"Liang Xu ,&nbsp;Youfeng Su ,&nbsp;He Cai","doi":"10.1016/j.automatica.2025.112156","DOIUrl":"10.1016/j.automatica.2025.112156","url":null,"abstract":"<div><div>This paper solves the leaderless consensus problem of multiple nonholonomic mobile robots over undirected graphs by a novel distributed event-triggered controller where a persistently exciting signal is utilized to overcome the nonholonomic constraint. A new triggering mechanism containing two triggering conditions is developed with respect to the cascaded structure of the closed-loop system which makes the leaderless consensus problem tractable in the sense that we no longer need to find any strict Lyapunov function for the entire closed-loop system. It is proven in order that the solution of the closed-loop system is uniformly globally bounded, that the full consensus subspace is uniformly globally exponentially attractive, and that the Zeno behavior shall never occur. A numerical example is provided to validate the effectiveness of the proposed controller.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112156"},"PeriodicalIF":4.8,"publicationDate":"2025-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130591","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 Popov–Belevitch–Hautus tests for functional observability and output controllability
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-24 DOI: 10.1016/j.automatica.2025.112122
Arthur N. Montanari , Chao Duan , Adilson E. Motter
{"title":"On the Popov–Belevitch–Hautus tests for functional observability and output controllability","authors":"Arthur N. Montanari ,&nbsp;Chao Duan ,&nbsp;Adilson E. Motter","doi":"10.1016/j.automatica.2025.112122","DOIUrl":"10.1016/j.automatica.2025.112122","url":null,"abstract":"<div><div>Functional observability and output controllability are properties that establish the conditions for the partial estimation and partial control of the system state, respectively. In the special case of full-state observability and controllability, the Popov–Belevitch–Hautus (PBH) tests provide conditions for the properties to hold based on the system eigenspace. Generalizations of the PBH tests have been recently proposed for functional observability and output controllability, but thus far they have only been proven valid for diagonalizable systems. Here, we rigorously establish the generalized PBH test for functional observability, extending its validity to a broader class of systems using Jordan decomposition. Likewise, we determine the class of systems under which the generalized PBH test is sufficient and necessary for output controllability. These results have immediate implications for observer and controller design, pole assignment, and optimal placement of sensors and drivers.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112122"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130601","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
Risk-constrained linear quadratic control with one-step delayed sharing information pattern
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-24 DOI: 10.1016/j.automatica.2024.112093
Yan Wang , Wei Wang , Kun Zhang , Yunjian Xu , Rong Su
{"title":"Risk-constrained linear quadratic control with one-step delayed sharing information pattern","authors":"Yan Wang ,&nbsp;Wei Wang ,&nbsp;Kun Zhang ,&nbsp;Yunjian Xu ,&nbsp;Rong Su","doi":"10.1016/j.automatica.2024.112093","DOIUrl":"10.1016/j.automatica.2024.112093","url":null,"abstract":"<div><div>This paper studies the linear quadratic control for non-Gaussian interconnected systems (ISs). A nonclassical information pattern called delayed sharing pattern is considered. Most existing literature on linear quadratic control with delayed sharing pattern considers only the average event performance. However, the low-probability, yet extreme event may significantly damage the system. With explicit incorporation of a risk constraint, we design a best linear controller to balance the tradeoff between average and extreme event performance, which is referred to as the <em>risk-constrained best linear controller (RcBLC)</em>. We extend the projection principle of random variables. Through the extended projection principle and the Lagrangian duality theory, we establish a framework, in which the RcBLC can be designed by solving two tractable optimization subproblems with the optimal Lagrange multiplier found by the binary search method. Based on the established framework, we develop efficient design algorithms for the proposed RcBLC. Finally, the merit of the proposed method is illustrated by numerical simulation on a two-UAV system.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112093"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130361","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
State estimation for the two-time-scale CPSs: Handling asynchronous multimodal attacks
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-24 DOI: 10.1016/j.automatica.2024.112097
Ying Zhang, Linna Zhou, Lei Ma, Chunyu Yang
{"title":"State estimation for the two-time-scale CPSs: Handling asynchronous multimodal attacks","authors":"Ying Zhang,&nbsp;Linna Zhou,&nbsp;Lei Ma,&nbsp;Chunyu Yang","doi":"10.1016/j.automatica.2024.112097","DOIUrl":"10.1016/j.automatica.2024.112097","url":null,"abstract":"<div><div>This paper studies the state estimation issue for two-time-scale cyber–physical systems (TTSCPSs) with slow and fast transmission channels (TCs) under asynchronous cyber attacks. A novel multimodal attack model is established, by which the attack is generated with alternating modes of denial-of-service and deception attacks in each TC. To mitigate the detrimental effects of such attacks, a unique <span><math><mi>ɛ</mi></math></span>-dependent estimator and corresponding gain scheduling rule are designed. Then, by constructing an <span><math><mi>ɛ</mi></math></span>-dependent Lyapunov function, sufficient conditions are derived to ensure that the estimation error system is exponentially mean square stable with a prescribed <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance. It is worth mentioning that the possible numerical stiffness caused by two-time-scale properties is averted in the designed estimation algorithm. Finally, the effectiveness of the developed algorithm is illustrated by two simulation examples.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112097"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130595","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
Regional stability conditions for recurrent neural network-based control systems
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-24 DOI: 10.1016/j.automatica.2025.112127
Alessio La Bella , Marcello Farina , William D’Amico , Luca Zaccarian
{"title":"Regional stability conditions for recurrent neural network-based control systems","authors":"Alessio La Bella ,&nbsp;Marcello Farina ,&nbsp;William D’Amico ,&nbsp;Luca Zaccarian","doi":"10.1016/j.automatica.2025.112127","DOIUrl":"10.1016/j.automatica.2025.112127","url":null,"abstract":"<div><div>In this paper we propose novel global and regional stability analysis conditions based on linear matrix inequalities for a general class of recurrent neural networks. These conditions can be also used for state-feedback control design and a suitable optimization problem enforcing <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> norm minimization properties is defined. The theoretical results are corroborated by numerical simulations, showing the advantages and limitations of the methods presented herein.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112127"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130599","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
Feedback Nash equilibria for scalar N-player linear quadratic dynamic games
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-01-24 DOI: 10.1016/j.automatica.2025.112133
Benita Nortmann , Mario Sassano , Thulasi Mylvaganam
{"title":"Feedback Nash equilibria for scalar N-player linear quadratic dynamic games","authors":"Benita Nortmann ,&nbsp;Mario Sassano ,&nbsp;Thulasi Mylvaganam","doi":"10.1016/j.automatica.2025.112133","DOIUrl":"10.1016/j.automatica.2025.112133","url":null,"abstract":"<div><div>Considering infinite-horizon, discrete-time, linear quadratic, <span><math><mi>N</mi></math></span>-player dynamic games with scalar dynamics, a graphical representation of feedback Nash equilibrium solutions is provided. This representation is utilised to derive conditions for the number and properties of different feedback Nash equilibria a game may admit. The results are illustrated via a numerical example.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112133"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130707","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
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