Automatica最新文献_第5页

OL-NE for LQ differential games: A Port-Controlled Hamiltonian system perspective and some computational strategies LQ 微分博弈的 OL-NE：端口控制哈密尔顿系统视角和一些计算策略

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-09 DOI: 10.1016/j.automatica.2024.111953

Mario Sassano , Thulasi Mylvaganam , Alessandro Astolfi

{"title":"OL-NE for LQ differential games: A Port-Controlled Hamiltonian system perspective and some computational strategies","authors":"Mario Sassano , Thulasi Mylvaganam , Alessandro Astolfi","doi":"10.1016/j.automatica.2024.111953","DOIUrl":"10.1016/j.automatica.2024.111953","url":null,"abstract":"<div><div>Linear Quadratic differential games and their Open-Loop Nash Equilibrium (OL-NE) strategies are studied with a threefold objective. First, it is shown that the state/costate lifted system (arising from the application of Pontryagin’s Minimum Principle) is such that its behaviour restricted to the <em>equilibrium subspace</em> can be interpreted as the (non-power-preserving) interconnection of two cyclo-passive Port-Controlled Hamiltonian systems. Such PCH systems constitute the <em>best response</em> generators for each player, thus mimicking and extending the corresponding interpretation of (single-player) optimal control problems. Second, by realizing that the behaviour of the lifted dynamics <em>off</em> the equilibrium subspace is “irrelevant” for generating the equilibrium strategies, it is shown that such an invariant subspace can be rendered, via a suitably constructed virtual input, externally asymptotically stable while preserving the OL-NE. Finally, based on these premises we provide a closed-form gradient-descent method to solve the asymmetric coupled Riccati equations characterizing the OL-NE strategies.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111953"},"PeriodicalIF":4.8,"publicationDate":"2024-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421277","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

Hierarchical lane-changing control for vehicle platoons in prescribed performance 规定性能下车辆排的分层变道控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-09 DOI: 10.1016/j.automatica.2024.111972

Wei-Wei Che , Lili Zhang , Chao Deng , Zheng-Guang Wu

{"title":"Hierarchical lane-changing control for vehicle platoons in prescribed performance","authors":"Wei-Wei Che , Lili Zhang , Chao Deng , Zheng-Guang Wu","doi":"10.1016/j.automatica.2024.111972","DOIUrl":"10.1016/j.automatica.2024.111972","url":null,"abstract":"<div><div>This paper proposes a hierarchical control approach to solve the prescribed performance lane-changing control problem for nonlinear vehicle platoons. By incorporating the collision avoidance and comfort assurance conditions specifically tailored for vehicle platoons, the value range of the safe lane-changing completion time (LCCT) can be calculated. Based on which, the longitudinal and lateral reference displacements are determined for the leader vehicle, respectively. Further, to safely achieve the prescribed performance lane changing in the operational layer, a class of more practical performance functions is designed based on the calculated LCCT as the key technology for proposing the neural network longitudinal and lateral control protocols. The developed lane-changing control strategies guarantee that the vehicle platoon can track the obtained reference trajectory while avoiding inter-platoon and intra-platoon collisions. Furthermore, the safe lane-changing maneuver can be achieved within the predefined LCCT with the preset accuracy. Finally, the availability of the proposed hierarchical algorithm is checked through two simulation examples with comparisons.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111972"},"PeriodicalIF":4.8,"publicationDate":"2024-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421291","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

Lifted time stable inversion based feedforward control for linear non-minimum phase systems 基于提升时间稳定反演的线性非最小相位系统前馈控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-09 DOI: 10.1016/j.automatica.2024.111979

Xiaoqiang Ji , Shaoqin Zhu , Yangsheng Xu , Richard W. Longman

{"title":"Lifted time stable inversion based feedforward control for linear non-minimum phase systems","authors":"Xiaoqiang Ji , Shaoqin Zhu , Yangsheng Xu , Richard W. Longman","doi":"10.1016/j.automatica.2024.111979","DOIUrl":"10.1016/j.automatica.2024.111979","url":null,"abstract":"<div><div>The feedforward control strategy exhibits substantial capability and high-precision control for output tracking tasks. However, the feedforward control action obtained through solving the inverse problem is unstable for non-minimum phase systems. In this paper, a novel stable inversion method is presented, termed lifted time stable inversion. Compared to the existing method, the proposed method does not necessitate infinite window to accomplish the tracking tasks. A comprehensive analysis of the developed method is provided, focusing on analysis of finite time stability and input–output finite time stability, aspects that have garnered limited attention in the literature on feedforward control. Furthermore, the relationship with existing stable inversion method is illustrated by constructing a linear transformation of the initial conditions for both inversions. Simulation results substantiate the validity of the finite time bounds and demonstrate the superior tracking advantage of the proposed method relative to the existing method. The performance of the proposed method is further displayed experimentally on a piezoelectric ceramic positioning platform.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111979"},"PeriodicalIF":4.8,"publicationDate":"2024-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421966","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

Nonlinear functional estimation: Functional detectability and full information estimation 非线性函数估计：函数可探测性与全信息估计

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-08 DOI: 10.1016/j.automatica.2024.111945

Simon Muntwiler, Johannes Köhler, Melanie N. Zeilinger

{"title":"Nonlinear functional estimation: Functional detectability and full information estimation","authors":"Simon Muntwiler, Johannes Köhler, Melanie N. Zeilinger","doi":"10.1016/j.automatica.2024.111945","DOIUrl":"10.1016/j.automatica.2024.111945","url":null,"abstract":"<div><div>We consider the design of functional estimators, i.e., approaches to compute an estimate of a nonlinear function of the state of a general nonlinear dynamical system subject to process noise based on noisy output measurements. To this end, we introduce a novel functional detectability notion in the form of incremental input/output-to-output stability (<span><math><mi>δ</mi></math></span>-IOOS). We show that <span><math><mi>δ</mi></math></span>-IOOS is a necessary condition for the existence of a functional estimator satisfying an input-to-output type stability property. Additionally, we prove that a system is functional detectable if and only if it admits a corresponding <span><math><mi>δ</mi></math></span>-IOOS Lyapunov function. Furthermore, <span><math><mi>δ</mi></math></span>-IOOS is shown to be a sufficient condition for the design of a stable functional estimator by introducing the design of a full information estimation (FIE) approach for functional estimation. Together, we present a unified framework to study functional estimation with a detectability condition, which is necessary and sufficient for the existence of a stable functional estimator, and a corresponding functional estimator design. The practical need for and applicability of the proposed functional estimator design is illustrated with a numerical example of a power system.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111945"},"PeriodicalIF":4.8,"publicationDate":"2024-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421965","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

Soft-minimum and soft-maximum barrier functions for safety with actuation constraints 具有执行约束的安全软最小和软最大障碍函数

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-08 DOI: 10.1016/j.automatica.2024.111921

Pedram Rabiee, Jesse B. Hoagg

引用次数: 0

Adaptive learning-based model predictive control for uncertain interconnected systems: A set membership identification approach 基于自适应学习的不确定互联系统模型预测控制：集合成员识别方法

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-08 DOI: 10.1016/j.automatica.2024.111943

Ahmed Aboudonia, John Lygeros

{"title":"Adaptive learning-based model predictive control for uncertain interconnected systems: A set membership identification approach","authors":"Ahmed Aboudonia, John Lygeros","doi":"10.1016/j.automatica.2024.111943","DOIUrl":"10.1016/j.automatica.2024.111943","url":null,"abstract":"<div><div>We propose a novel adaptive learning-based model predictive control (MPC) scheme for interconnected systems which can be decomposed into several smaller dynamically coupled subsystems with uncertain coupling. The proposed scheme is mainly divided into two main online phases; a learning phase and an adaptation phase. Set membership identification is used in the learning phase to learn an uncertainty set that contains the coupling strength using online data. In the adaptation phase, rigid tube-based robust MPC is used to compute the optimal predicted states and inputs. Besides computing the optimal trajectories, the MPC ingredients are adapted in the adaptation phase taking the learnt uncertainty set into account. These MPC ingredients include the prestabilizing controller, the rigid tube, the tightened constraints and the terminal ingredients. The recursive feasibility of the proposed scheme as well as the stability of the corresponding closed-loop system are discussed. The developed scheme is compared in simulations to existing schemes including robust, adaptive and learning-based MPC.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111943"},"PeriodicalIF":4.8,"publicationDate":"2024-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421963","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

Tamper-tolerant diagnosability analysis and tampering detectability in discrete event systems under cost constraints 成本约束下离散事件系统的可篡改诊断性分析和可篡改检测性

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-08 DOI: 10.1016/j.automatica.2024.111971

Yuting Li , Christoforos N. Hadjicostis , Naiqi Wu , Zhiwu Li

{"title":"Tamper-tolerant diagnosability analysis and tampering detectability in discrete event systems under cost constraints","authors":"Yuting Li , Christoforos N. Hadjicostis , Naiqi Wu , Zhiwu Li","doi":"10.1016/j.automatica.2024.111971","DOIUrl":"10.1016/j.automatica.2024.111971","url":null,"abstract":"<div><div>This paper addresses fault diagnosis and tampering detection in discrete event systems modeled with nondeterministic finite automata under malicious attacks. We propose a novel structure to simultaneously track the occurrence of fault events and tampering actions in systems compromised by attacks (i.e., by arbitrary deletions, insertions, or substitutions of observed symbols). Assuming that each deletion, insertion, or substitution bears a positive cost to the attacker, two scenarios are taken into account: (1) a bounded number of attacks or, more generally, a total cost constraint on tampering actions, and (2) an unbounded number of attacks or, more generally, no constraints on the total cost of tampering actions. Several examples are presented to demonstrate the influence of cost constraints on tamper-tolerant diagnosis and tampering detection. A state isolation technique is developed to deal with the fault and/or tampering action detection problem via an external observer that aims to isolate the estimated states within a certain subset of states based on a given sequence of observations. We also report a technique of polynomial complexity for verifying tamper-tolerant diagnosability and tampering detectability.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111971"},"PeriodicalIF":4.8,"publicationDate":"2024-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421289","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 separation principle for the prescribed-time stabilization of a class of nonlinear systems 一类非线性系统规定时间稳定的分离原理

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-08 DOI: 10.1016/j.automatica.2024.111983

Hefu Ye, Yongduan Song

{"title":"A separation principle for the prescribed-time stabilization of a class of nonlinear systems","authors":"Hefu Ye, Yongduan Song","doi":"10.1016/j.automatica.2024.111983","DOIUrl":"10.1016/j.automatica.2024.111983","url":null,"abstract":"<div><div>Despite the recent development of prescribed-time control theory, the highly desirable separation principle remains unavailable for nonlinear systems with only the output being measurable. In this paper, for the first time we establish such separation principle for a class of nonlinear systems, such that the prescribed-time observer and prescribed-time controller can be designed independently, and the parameter designs do not affect each other. Our method makes use of two parametric Lyapunov equations (PLEs) to generate two symmetric positive-definite matrices, aiming to avoid conservative treatments of nonlinear functions commonly associated with high-gain methods during the design process. Our work provides a stronger version of the matrix pencil formulation that is applicable when nonlinearities satisfy the so-called linear growth condition, even if the growth rate is unknown. In our method the selection of design parameters is straightforward as it involves only three parameters: one for the prescribed convergence time <span><math><msub><mrow><mi>t</mi></mrow><mrow><mi>f</mi></mrow></msub></math></span>, and the other two are for the controller and the observer respectively, and the choice of the latter two parameters does not affect each other. Once the system order is determined, one can directly obtain reasonable ranges for these two parameters. Numerical simulations verify the effectiveness of the proposed method.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111983"},"PeriodicalIF":4.8,"publicationDate":"2024-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421964","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

Convergence rate bounds for the mirror descent method: IQCs, Popov criterion and Bregman divergence 镜像下降法的收敛率边界：IQCs、波波夫准则和布雷格曼发散

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-08 DOI: 10.1016/j.automatica.2024.111973

Mengmou Li , Khaled Laib , Takeshi Hatanaka , Ioannis Lestas

引用次数: 0

Necessary and sufficient condition of distributed H∞ filtering for interconnected large-scale systems: A novel space construction approach 互联大规模系统分布式 H∞ 滤波的必要条件和充分条件一种新颖的空间构建方法

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-04 DOI: 10.1016/j.automatica.2024.111918

Tao Yu , Jun Song , Zhiying Wu , Shuping He

{"title":"Necessary and sufficient condition of distributed H∞ filtering for interconnected large-scale systems: A novel space construction approach","authors":"Tao Yu , Jun Song , Zhiying Wu , Shuping He","doi":"10.1016/j.automatica.2024.111918","DOIUrl":"10.1016/j.automatica.2024.111918","url":null,"abstract":"<div><div>This paper studies the distributed <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> filtering problem for interconnected large-scale systems (ILSs). In distributed filtering, all sub-filters are interconnected via the designed interconnection matrix and each filter only requires local subsystems’ measurements to estimate the target signals. By the developed space construction method, novel both necessary and sufficient conditions are proposed to ensure the asymptotic stability and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance of the filtering error ILSs. The novel conditions are numerically attractive because the computationally expensive matrix inversion terms are eliminated. In order to further reduce the computation burden, some sufficient conditions are also provided to guarantee the stability and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance of the filtering error for ILSs. Then, by constructing the basis of the null space for some matrices skillfully and using Finsler’s Lemma three times, this paper separates the product relation among the filter parameters and the unknown auxiliary variables. As a result, not only the filter parameters but also the interconnection matrix of distributed filters can be designed. The designed conditions are given in terms of linear matrix inequalities. At last, three examples are tested to demonstrate the advantages and superiorities of the developed filtering methodology.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"171 ","pages":"Article 111918"},"PeriodicalIF":4.8,"publicationDate":"2024-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421953","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