Automatica最新文献_第5页

Learning-based adaptive optimal control of linear time-delay systems: A value iteration approach 基于学习的线性时延系统自适应优化控制：价值迭代法

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-02 DOI: 10.1016/j.automatica.2024.111944

Leilei Cui , Bo Pang , Miroslav Krstić , Zhong-Ping Jiang

{"title":"Learning-based adaptive optimal control of linear time-delay systems: A value iteration approach","authors":"Leilei Cui , Bo Pang , Miroslav Krstić , Zhong-Ping Jiang","doi":"10.1016/j.automatica.2024.111944","DOIUrl":"10.1016/j.automatica.2024.111944","url":null,"abstract":"<div><div>This paper proposes a novel learning-based adaptive optimal controller design method for a class of continuous-time linear time-delay systems. A key strategy is to exploit the state-of-the-art reinforcement learning (RL) techniques and adaptive dynamic programming (ADP), and propose a data-driven method to learn the near-optimal controller without the precise knowledge of system dynamics. Specifically, a value iteration (VI) algorithm is proposed to solve the infinite-dimensional Riccati equation for the linear quadratic optimal control problem of time-delay systems using finite samples of input-state trajectory data. It is rigorously proved that the proposed VI algorithm converges to the near-optimal solution. Compared with the previous literature, the nice features of the proposed VI algorithm are that it is directly developed for continuous-time systems without discretization and an initial admissible controller is not required for implementing the algorithm. The efficacy of the proposed methodology is demonstrated by two practical examples of metal cutting and autonomous driving.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421279","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

Secure state constraints control design for uncertain nonlinear systems via a unified boundary modification approach 通过统一边界修正法实现不确定非线性系统的安全状态约束控制设计

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-02 DOI: 10.1016/j.automatica.2024.111964

Hao Li , Chang-Chun Hua , Kuo Li

{"title":"Secure state constraints control design for uncertain nonlinear systems via a unified boundary modification approach","authors":"Hao Li , Chang-Chun Hua , Kuo Li","doi":"10.1016/j.automatica.2024.111964","DOIUrl":"10.1016/j.automatica.2024.111964","url":null,"abstract":"<div><div>This paper investigates the tracking control problem of uncertain nonlinear systems under secure full-state constraints. Existing results implicitly assume that the constraints are reasonable and feasible control strategy capable of maintaining such constraints exists, which is unrealistic, especially for uncertain nonlinear systems, pre-determining the controllable attractor domain poses a challenge. In this paper, we present a unified boundary modification approach, which addresses the incompatibility problem between state constraints and ensures the secure operation of the system. First, we complete the direct constraints on the states using nonlinear state-dependent functions, where constraints comprise two components: (1) user-specified boundaries and (2) dynamic modification part. Then, we construct detection variables to determine whether the system loses control due to incompatible constraints. When the system enters the collision avoidance region, the dynamic adjustment function automatically corrects the constraints to ensure controllability and stability. The dynamic adjustment function remains inactive when the system operates within the safe region. Thus, existing state constraint results are a special case of ours. Moreover, we introduce a novel transformation so that the initial conditions of virtual controller are not restricted by the barrier function. The solution is more flexible in design and implementation, and the tracking error is confined within the specified performance envelope. Finally, numerical simulations validate the effectiveness of the approach.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142421955","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 generalized Kuramoto model for opinion dynamics on the unit sphere 单位球面上舆论动力学的广义仓本模型

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-02 DOI: 10.1016/j.automatica.2024.111957

Ziqiao Zhang , Said Al-Abri , Fumin Zhang

引用次数: 0

Adaptive model-free disturbance rejection for continuum robots 连续机器人的自适应无模型干扰抑制

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-01 DOI: 10.1016/j.automatica.2024.111949

Cemal Tugrul Yilmaz, Connor Watson, Tania K. Morimoto, Miroslav Krstic

引用次数: 0

Inhomogeneous Hegselmann–Krause models with two types of noise 具有两种噪声的非均质海格塞曼-克劳斯模型

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-10-01 DOI: 10.1016/j.automatica.2024.111948

Linglong Du , Yue Wang , Ke Wang

引用次数: 0

Transmit power policies for stochastic stabilisation of multi-link wireless networked control systems 多链路无线网络控制系统随机稳定的发射功率策略

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-09-30 DOI: 10.1016/j.automatica.2024.111936

Alejandro I. Maass , Dragan Nešić , Romain Postoyan , Vineeth S. Varma , Samson Lasaulce , Diego Muñoz-Carpintero

{"title":"Transmit power policies for stochastic stabilisation of multi-link wireless networked control systems","authors":"Alejandro I. Maass , Dragan Nešić , Romain Postoyan , Vineeth S. Varma , Samson Lasaulce , Diego Muñoz-Carpintero","doi":"10.1016/j.automatica.2024.111936","DOIUrl":"10.1016/j.automatica.2024.111936","url":null,"abstract":"<div><div>Transmit power control is crucial in wireless networks due to limited battery power, impacting both economic and environmental aspects by reducing power consumption. High transmission power diminishes node lifespan, causes interference, and pollution. Existing work in wireless networks mainly focuses on power policies for communication aspects like quality of service and channel capacity, while wireless networked control systems (WNCSs) require adapted policies for control-oriented requirements such as stability. Recent research in the control community has predominantly focused on linear systems or non-linear systems with a single-link perspective. This paper introduces a framework for designing stabilising transmit power levels for broader classes of non-linear plants and multi-link scenarios. By considering the non-linear relationship between channel success probabilities and transmit power, we establish stability conditions linking channel probabilities and transmission rate. These results, along with practical interference models, offer a methodology for stabilising transmit power in non-linear and multi-link WNCSs.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142356819","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

Deep-learning based KKL chain observer for discrete-time nonlinear systems with time-varying output delay 基于深度学习的 KKL 链式观测器，用于具有时变输出延迟的离散时间非线性系统

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-09-30 DOI: 10.1016/j.automatica.2024.111955

Yasmine Marani , Ibrahima N’Doye , Taous Meriem Laleg-Kirati

引用次数: 0

Command-governor-based stealthy attack design for estimation difference regulation 基于命令治理器的估算差分调节隐形攻击设计

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-09-30 DOI: 10.1016/j.automatica.2024.111951

Tao Chen, Lei Wang, Zhitao Liu, Hongye Su

{"title":"Command-governor-based stealthy attack design for estimation difference regulation","authors":"Tao Chen, Lei Wang, Zhitao Liu, Hongye Su","doi":"10.1016/j.automatica.2024.111951","DOIUrl":"10.1016/j.automatica.2024.111951","url":null,"abstract":"<div><div>In the field of cyber–physical systems, significant attention has been received by the problem of stealthy attack strategy design for remote estimators, for which most existing approaches are exploited by maximizing the difference between the healthy and attacked estimations. However, in some practical scenarios, it is more effective to regulate such difference to some specific set so as to achieve some desired damages, e.g., collisions of unmanned aerial vehicles. Motivated by this, in this paper a novel stealthy attack strategy is developed with the attack purpose of regulating, instead of maximizing, the estimation difference. By constructing the stealthy constraint and identifying the feasible reference set, it is shown that such a design problem can be transformed into that of regulation subject to constraints on estimation and innovation difference. Then, an <em>on-line</em> attack sequence design approach is proposed by incorporating the command governor into the linear quadratic regulator, which regulates the estimation difference to the target reference for achieving the desired attack purpose, while maintaining stealthiness. Numerical simulations are conducted to verify the effectiveness of the proposed attack strategy.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142356912","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

Variance-reduced reshuffling gradient descent for nonconvex optimization: Centralized and distributed algorithms 用于非凸优化的方差缩小重洗梯度下降法：集中式和分布式算法

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-09-30 DOI: 10.1016/j.automatica.2024.111954

Xia Jiang , Xianlin Zeng , Lihua Xie , Jian Sun , Jie Chen

{"title":"Variance-reduced reshuffling gradient descent for nonconvex optimization: Centralized and distributed algorithms","authors":"Xia Jiang , Xianlin Zeng , Lihua Xie , Jian Sun , Jie Chen","doi":"10.1016/j.automatica.2024.111954","DOIUrl":"10.1016/j.automatica.2024.111954","url":null,"abstract":"<div><div>Nonconvex finite-sum optimization plays a crucial role in signal processing and machine learning, fueling the development of numerous centralized and distributed stochastic algorithms. However, existing stochastic optimization algorithms often suffer from high stochastic gradient variance due to the use of random sampling with replacement. To address this issue, this paper introduces an explicit variance-reduction step and proposes variance-reduced reshuffling gradient algorithms with a sampling-without-replacement scheme. Specifically, this paper proves that the proposed centralized variance-reduced reshuffling gradient algorithm (VR-RG) with constant step sizes converges to a stationary point for nonconvex optimization under the Kurdyka–Łojasiewicz condition. Moreover, for nonconvex optimization over connected multi-agent networks, the proposed distributed variance-reduced reshuffling gradient algorithm (DVR-RG) converges to a neighborhood of stationary points, where the neighborhood can be made arbitrarily small under mild conditions. Notably, the proposed DVR-RG requires only one communication round at each epoch. Finally, numerical simulations demonstrate the efficiency of the proposed algorithms.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142356820","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

Two-agent connectivity maintenance and collision avoidance under two relationships 两种关系下的双代理连通性维护和碰撞规避

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-09-30 DOI: 10.1016/j.automatica.2024.111959

Bofan Wu , Zhaoxia Peng , Guoguang Wen , Shichun Yang , Xiaoqin Zhai , Tingwen Huang

{"title":"Two-agent connectivity maintenance and collision avoidance under two relationships","authors":"Bofan Wu , Zhaoxia Peng , Guoguang Wen , Shichun Yang , Xiaoqin Zhai , Tingwen Huang","doi":"10.1016/j.automatica.2024.111959","DOIUrl":"10.1016/j.automatica.2024.111959","url":null,"abstract":"<div><div>In this paper, we study a two-agent tracking problem with the connectivity maintenance and collision avoidance requirements (CM–CARs) under two relationships. One is the leader–follower relationship, where the leader just focuses on its tracking goal, but the follower still needs to ensure the CM–CARs for the leader. Since the feasible space of the follower is a nonconvex ring, it is inconvenient to search for a feasible control directly. Thus, we split the original nonconvex region and search for a convex one by a homeomorphism mapping. Under the leader–follower relationship, a control scheme is proposed for the follower in the original feasible region. It is transformed from a control protocol that ensures the follower satisfies the CM–CARs in the mapping convex region. The other is the colleague relationship, where two agents both need to satisfy the CM–CARs and their control strategies are interactive. Thus, we propose an optimization-based strategy to achieve the tracking mission for the two-agent system, which satisfies the CM–CARs. Finally, we provide some simulation results to verify the proposed strategies.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142356664","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