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Optimal spatial–temporal triangulation for bearing-only cooperative motion estimation
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-25 DOI: 10.1016/j.automatica.2025.112216
Canlun Zheng , Yize Mi , Hanqing Guo , Huaben Chen , Zhiyun Lin , Shiyu Zhao
{"title":"Optimal spatial–temporal triangulation for bearing-only cooperative motion estimation","authors":"Canlun Zheng ,&nbsp;Yize Mi ,&nbsp;Hanqing Guo ,&nbsp;Huaben Chen ,&nbsp;Zhiyun Lin ,&nbsp;Shiyu Zhao","doi":"10.1016/j.automatica.2025.112216","DOIUrl":"10.1016/j.automatica.2025.112216","url":null,"abstract":"<div><div>Vision-based cooperative motion estimation is an important problem for many multi-robot systems such as cooperative aerial target pursuit. This problem can be formulated as <em>bearing-only</em> cooperative motion estimation, where the visual measurement is modeled as a bearing vector pointing from the camera to the target. The conventional approaches for bearing-only cooperative estimation are mainly based on the framework of distributed Kalman filtering (DKF). In this paper, we propose a new optimal bearing-only cooperative estimation algorithm, named spatial–temporal triangulation, based on the method of distributed recursive least squares. The design of the algorithm fully incorporates all the available information and the specific triangulation geometric constraint. As a result, the algorithm has superior estimation performance than the state-of-the-art DKF algorithms in terms of both accuracy and convergence speed as verified by numerical simulation. We rigorously prove the exponential convergence of the proposed algorithm. Moreover, to verify the effectiveness of the proposed algorithm under practical challenging conditions, we develop a vision-based cooperative aerial target pursuit system, which is the first of such fully autonomous systems up to now to the best of our knowledge.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112216"},"PeriodicalIF":4.8,"publicationDate":"2025-02-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143480183","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 dynamic optimal allocation for uncertain over-actuated linear systems
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-24 DOI: 10.1016/j.automatica.2025.112208
Sergio Galeani, Roberto Masocco, Mario Sassano
{"title":"Data-driven dynamic optimal allocation for uncertain over-actuated linear systems","authors":"Sergio Galeani,&nbsp;Roberto Masocco,&nbsp;Mario Sassano","doi":"10.1016/j.automatica.2025.112208","DOIUrl":"10.1016/j.automatica.2025.112208","url":null,"abstract":"<div><div>The dynamic control allocation problem for LTI systems is addressed in an uncertain setting. In the presence of unstructured uncertainties affecting the underlying plant, a completely data-driven strategy is envisioned to optimally allocate the control action in the presence of non-constant steady-state behavior of the plant, while leaving untouched the regulated output response induced by an a priori given controller. Compared with the current state of the art, the proposed solution exhibits several appealing features. Such features are: complete invisibility of the allocator’s action (after a training interval if the plant is unknown), exact optimization of the periodic steady-state evolution, arbitrary speed of the allocation action; while all of them are achieved even for unknown plants in this paper, in the current literature they are impossible to achieve or just obtainable for a perfectly known plant.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112208"},"PeriodicalIF":4.8,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143474297","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 forward–backward and Douglas–Rachford splitting dynamics
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-24 DOI: 10.1016/j.automatica.2025.112210
Ibrahim K. Ozaslan, Mihailo R. Jovanović
{"title":"Accelerated forward–backward and Douglas–Rachford splitting dynamics","authors":"Ibrahim K. Ozaslan,&nbsp;Mihailo R. Jovanović","doi":"10.1016/j.automatica.2025.112210","DOIUrl":"10.1016/j.automatica.2025.112210","url":null,"abstract":"<div><div>We examine convergence properties of continuous-time variants of accelerated Forward–Backward (FB) and Douglas–Rachford (DR) splitting algorithms for nonsmooth composite optimization problems. When the objective function is given by the sum of a quadratic and a nonsmooth term, we establish accelerated sublinear and exponential convergence rates for convex and strongly convex problems, respectively. Moreover, for FB splitting dynamics, we demonstrate that accelerated exponential convergence rate carries over to general strongly convex problems. In our Lyapunov-based analysis we exploit the variable-metric gradient interpretations of FB and DR splittings to obtain smooth Lyapunov functions that allow us to establish accelerated convergence rates. We provide computational experiments to demonstrate the merits and the effectiveness of our analysis</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112210"},"PeriodicalIF":4.8,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143480181","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
Distributed optimal coordination of multi-agent systems with coupled objective functions: A fixed-time estimation-based approach
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-24 DOI: 10.1016/j.automatica.2025.112213
Xiao Fang, Guanghui Wen
{"title":"Distributed optimal coordination of multi-agent systems with coupled objective functions: A fixed-time estimation-based approach","authors":"Xiao Fang,&nbsp;Guanghui Wen","doi":"10.1016/j.automatica.2025.112213","DOIUrl":"10.1016/j.automatica.2025.112213","url":null,"abstract":"<div><div>This paper explores a class of distributed optimal coordination problems with coupled objectives, incorporating features of distributed optimization and non-cooperative game. In this context, the local objective functions of agents depend on their own decisions as well as the decisions made by other agents. The objective of the agents is to achieve optimal coordination by minimizing the team objective function, which represents the average of all agents’ local objective functions. The main challenge lies in obtaining the partial derivatives of the team objective function, which are aggregations of all local objective functions’ partial derivatives and cannot be directly obtained by the agents. To tackle this problem, distributed optimal coordination control laws based on fixed-time estimation are developed. These control laws utilize distributed fixed-time estimators that enable agents to estimate the team decision and partial derivatives of the team objective function within a fixed time. The proposed distributed optimal coordination control laws guarantee the exponential convergence of the agents to the optimal states when the constraint sets are independent. Under the condition of a common constraint set, the proposed laws further ensure fixed-time optimal coordination. A numerical example involving coordinated dynamic positioning of a multi-agent system is presented to demonstrate the effectiveness of the proposed algorithms.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112213"},"PeriodicalIF":4.8,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143474298","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
Projection-free computation of robust controllable sets with constrained zonotopes
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-24 DOI: 10.1016/j.automatica.2025.112211
Abraham P. Vinod, Avishai Weiss, Stefano Di Cairano
{"title":"Projection-free computation of robust controllable sets with constrained zonotopes","authors":"Abraham P. Vinod,&nbsp;Avishai Weiss,&nbsp;Stefano Di Cairano","doi":"10.1016/j.automatica.2025.112211","DOIUrl":"10.1016/j.automatica.2025.112211","url":null,"abstract":"<div><div>We study the problem of computing robust controllable sets for discrete-time linear systems with additive uncertainty. We propose a tractable and scalable approach to inner- and outer-approximate robust controllable sets using constrained zonotopes, when the additive uncertainty set is a symmetric, convex, and compact set. Our least-squares-based approach uses novel closed-form approximations of the Pontryagin difference between a constrained zonotopic minuend and a symmetric, convex, and compact subtrahend. We obtain these approximations using two novel canonical representations for full-dimensional constrained zonotopes. Unlike existing approaches, our approach does not rely on convex optimization solvers, and is projection-free for ellipsoidal and zonotopic uncertainty sets. We also propose a least-squares-based approach to compute a convex, polyhedral outer-approximation to constrained zonotopes, and characterize sufficient conditions under which all these approximations are exact. We demonstrate the computational efficiency and scalability of our approach in several case studies, including the design of abort-safe rendezvous trajectories for a spacecraft in near-rectilinear halo orbit under uncertainty. Our approach can inner-approximate a 20-step robust controllable set for a 100-dimensional linear system in under 15 s on a standard computer.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112211"},"PeriodicalIF":4.8,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143474296","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 prediction using a high-gain distributed scheme
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-24 DOI: 10.1016/j.automatica.2025.112219
Mathieu Bajodek , Fernando Castaños , Sabine Mondié
{"title":"State prediction using a high-gain distributed scheme","authors":"Mathieu Bajodek ,&nbsp;Fernando Castaños ,&nbsp;Sabine Mondié","doi":"10.1016/j.automatica.2025.112219","DOIUrl":"10.1016/j.automatica.2025.112219","url":null,"abstract":"<div><div>Time delays pose unique challenges in control engineering, as inherent delays can introduce instabilities and compromise system performance. To overcome these complexities, the concept of predictors or compensators has been instrumental in stabilising closed-loop systems. Still, it requires an accurate delayed state estimation through the design and implementation of predictors. In this paper, we delve into the design of novel prediction architectures tailored to nonlinear systems with input and output delays that not only ensure stability but also bolster robustness, emphasising their ability to preserve stability despite measurement noises or external perturbations.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112219"},"PeriodicalIF":4.8,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143474299","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
External Bias and Opinion Clustering in Cooperative Networks
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-24 DOI: 10.1016/j.automatica.2025.112224
Akshay Nagesh Kamthe, Vishnudatta Thota, Aashi Shrinate, Twinkle Tripathy
{"title":"External Bias and Opinion Clustering in Cooperative Networks","authors":"Akshay Nagesh Kamthe,&nbsp;Vishnudatta Thota,&nbsp;Aashi Shrinate,&nbsp;Twinkle Tripathy","doi":"10.1016/j.automatica.2025.112224","DOIUrl":"10.1016/j.automatica.2025.112224","url":null,"abstract":"<div><div>In this work, we consider a group of <span><math><mi>n</mi></math></span> agents which interact with each other in a cooperative framework. A Laplacian-based model is proposed to govern the evolution of opinions in the group when the agents are subjected to external biases like agents’ traits, news, <em>etc</em>. The objective of the paper is to design a control input which leads to any desired opinion clustering even in the presence of external bias factors. Further, we also determine the conditions which ensure the reachability to any arbitrary opinion states. Note that all of these results hold for any kind of graph structure. Finally, some numerical simulations are discussed to validate these results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112224"},"PeriodicalIF":4.8,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143474300","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 critical escape probability formulation for enhancing the transient stability of power systems with system parameter design
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-22 DOI: 10.1016/j.automatica.2025.112217
Xian Wu , Kaihua Xi , Aijie Cheng , Chenghui Zhang , Hai Xiang Lin
{"title":"A critical escape probability formulation for enhancing the transient stability of power systems with system parameter design","authors":"Xian Wu ,&nbsp;Kaihua Xi ,&nbsp;Aijie Cheng ,&nbsp;Chenghui Zhang ,&nbsp;Hai Xiang Lin","doi":"10.1016/j.automatica.2025.112217","DOIUrl":"10.1016/j.automatica.2025.112217","url":null,"abstract":"<div><div>For the enhancement of the transient stability of power systems, the key is to define a quantitative optimization formulation with system parameters as decision variables. In this paper, we model the disturbances by Gaussian noise and define a metric named <em>Critical Escape Probability</em> (CREP) based on the invariant probability measure of a linearized stochastic process. CREP characterizes the probability of the state escaping from a critical set. CREP involves all the system parameters and reflects the size of the basin of attraction of the nonlinear systems. An optimization framework that minimizes CREP with the system parameters as decision variables is presented. Simulations show that the mean of the first hitting time when the state hits the boundary of the critical set, that is often used to describe the stability of nonlinear systems, is dramatically increased by minimizing CREP. This indicates that the transient stability of the system is effectively enhanced. It is also shown that suppressing the state fluctuations only is insufficient for enhancing the transient stability. In addition, the famous Braess’ paradox which also exists in power systems is revisited. Surprisingly, it turned out that the paradoxes identified by the traditional metric may not exist according to CREP. This new metric opens a new avenue for the transient stability analysis of future power systems integrated with large amounts of renewable energy.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112217"},"PeriodicalIF":4.8,"publicationDate":"2025-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143463382","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
Gaussian framework for nonlinear state estimation with stochastic event-trigger and packet losses
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-20 DOI: 10.1016/j.automatica.2025.112220
Weijun Lv , Chang Liu , Yong Xu , Renquan Lu , Ling Shi
{"title":"Gaussian framework for nonlinear state estimation with stochastic event-trigger and packet losses","authors":"Weijun Lv ,&nbsp;Chang Liu ,&nbsp;Yong Xu ,&nbsp;Renquan Lu ,&nbsp;Ling Shi","doi":"10.1016/j.automatica.2025.112220","DOIUrl":"10.1016/j.automatica.2025.112220","url":null,"abstract":"<div><div>Nonlinear state estimation with stochastic event-trigger and packet losses is studied in this paper. To handle the nonlinearity and the uncertainty of the available information, the recursive probability density functions (PDFs) are characterized as Gaussian. Then, an event-trigger and packet losses induced Gaussian filter (EPGF) and its Gaussian smoother (EPGS) are derived to develop a new Gaussian framework. This developed framework is an extension of the standard Gaussian one and suitable for both linear and nonlinear systems. The key to its implementation is calculating a series of integrals with the Gaussian weight form, which can be approximated by various numerical techniques. In addition, according to the rule of three-degree spherical-radial cubature, two specific filtering and smoothing algorithms of the proposed framework are presented. Finally, a numerical simulation illustrates the effectiveness of the developed scheme.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112220"},"PeriodicalIF":4.8,"publicationDate":"2025-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143454450","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
Stochastic dissipativity for systems with probabilistic input delays
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-20 DOI: 10.1016/j.automatica.2025.112212
Ethan J. LoCicero, Amy K. Strong, Leila J. Bridgeman
{"title":"Stochastic dissipativity for systems with probabilistic input delays","authors":"Ethan J. LoCicero,&nbsp;Amy K. Strong,&nbsp;Leila J. Bridgeman","doi":"10.1016/j.automatica.2025.112212","DOIUrl":"10.1016/j.automatica.2025.112212","url":null,"abstract":"<div><div>This work considers stochastic operators in Hilbert spaces, and in particular, systems with stochastically time-varying input delays of a known probability distribution. Stochastic dissipativity and stability are defined from an operator-theoretic perspective, and the well-known open-loop dissipativity conditions for closed-loop/network stability are extended to the stochastic case. Criteria are derived to identify dissipative nonlinear systems with stochastic input delays, and this result is used to find delay-distribution-dependent linear matrix inequality conditions for stochastic dissipativity of a linear system with input delays of a known probability distribution. A numerical experiment demonstrates the utility of the resulting criteria for robust plant analysis and controller design, highlighting significantly reduced conservatism compared to deterministic methods.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112212"},"PeriodicalIF":4.8,"publicationDate":"2025-02-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143446113","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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