Automatica最新文献_第5页

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 , Yize Mi , Hanqing Guo , Huaben Chen , Zhiyun Lin , 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

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

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, 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, Avishai Weiss, 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

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

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 , Kaihua Xi , Aijie Cheng , Chenghui Zhang , 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

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

引用次数: 0