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H2/H∞ state and output feedback control with sparse actuation 稀疏驱动的H2/H∞状态与输出反馈控制
IF 5.9 2区 计算机科学
Automatica Pub Date : 2025-09-08 DOI: 10.1016/j.automatica.2025.112581
Vedang M. Deshpande , Raktim Bhattacharya
{"title":"H2/H∞ state and output feedback control with sparse actuation","authors":"Vedang M. Deshpande ,&nbsp;Raktim Bhattacharya","doi":"10.1016/j.automatica.2025.112581","DOIUrl":"10.1016/j.automatica.2025.112581","url":null,"abstract":"<div><div>In this paper, we present novel convex optimization formulations for designing full-state and output-feedback controllers with sparse actuation that achieve user-specified <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance criteria. The sparsity is induced through the <span><math><msub><mrow><mi>ℓ</mi></mrow><mrow><mn>1</mn></mrow></msub></math></span>-minimization over channel-wise <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> norms from disturbances to the individual actuator signals, while simultaneously constraining <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> or <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> norm from disturbances to the output variables The proposed approach is applied to a structural dynamics problem, demonstrating the advantages of simultaneous optimization of the control law and the actuation architecture in realizing an efficient closed-loop system, as well as highlighting the trade-offs between maximum allowable actuator magnitudes and the controller sparsity.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112581"},"PeriodicalIF":5.9,"publicationDate":"2025-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145010788","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
Hierarchical supervisory control of networked and cyber-attacked discrete-event systems 网络化和网络攻击离散事件系统的分层监控
IF 5.9 2区 计算机科学
Automatica Pub Date : 2025-09-08 DOI: 10.1016/j.automatica.2025.112578
Shaowen Miao , Jan Komenda , Feng Lin
{"title":"Hierarchical supervisory control of networked and cyber-attacked discrete-event systems","authors":"Shaowen Miao ,&nbsp;Jan Komenda ,&nbsp;Feng Lin","doi":"10.1016/j.automatica.2025.112578","DOIUrl":"10.1016/j.automatica.2025.112578","url":null,"abstract":"<div><div>In standard supervisory control of discrete-event systems, partial (incomplete) observations are given by deterministic functions such as natural projections, which erase unobservable events, or masks, which can represent indistinguishable events, where two or more different events yield the same observation. However, communication channels in modern technological systems are not always reliable and can be attacked by malicious external agents. In that case, the plant observations obtained by the supervisor may not be deterministic, e.g., due to delays and losses, or external attacks. This paper considers a unified supervisory control framework with set-valued (nondeterministic) observations and proposes a simplified version of nondeterministic observability, together with a generalized normality. It shows how the results of hierarchical control can be extended to the networked and cyber-attacked discrete-event systems at the same time.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112578"},"PeriodicalIF":5.9,"publicationDate":"2025-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145010786","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
Aperiodic-sampled neural network controllers with closed-loop stability verifications 具有闭环稳定性验证的非周期采样神经网络控制器
IF 5.9 2区 计算机科学
Automatica Pub Date : 2025-09-08 DOI: 10.1016/j.automatica.2025.112573
Renjie Ma , Zhijian Hu , Rongni Yang , Ligang Wu
{"title":"Aperiodic-sampled neural network controllers with closed-loop stability verifications","authors":"Renjie Ma ,&nbsp;Zhijian Hu ,&nbsp;Rongni Yang ,&nbsp;Ligang Wu","doi":"10.1016/j.automatica.2025.112573","DOIUrl":"10.1016/j.automatica.2025.112573","url":null,"abstract":"<div><div>In this paper, we synthesize two aperiodic-sampled deep neural network (DNN) control schemes, based on the closed-loop tracking stability guarantees. By means of the integral quadratic constraint coping with the input–output behavior of system uncertainties/nonlinearities and the convex relaxations of nonlinear DNN activations leveraging their local sector-bounded attributes, we establish conditions to design the event- and self-triggered logics and to compute the ellipsoidal inner approximations of region of attraction, respectively. Finally, we perform a numerical example of an inverted pendulum to illustrate the effectiveness of the proposed aperiodic-sampled DNN control schemes.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112573"},"PeriodicalIF":5.9,"publicationDate":"2025-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145010789","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 design of linear time varying model predictive control for trajectory stabilization 用于弹道稳定的线性时变模型预测控制设计
IF 5.9 2区 计算机科学
Automatica Pub Date : 2025-09-08 DOI: 10.1016/j.automatica.2025.112577
Nicolas Kessler , Lorenzo Fagiano
{"title":"On the design of linear time varying model predictive control for trajectory stabilization","authors":"Nicolas Kessler ,&nbsp;Lorenzo Fagiano","doi":"10.1016/j.automatica.2025.112577","DOIUrl":"10.1016/j.automatica.2025.112577","url":null,"abstract":"<div><div>Stabilizing a reference trajectory of a nonlinear system is a recurrent, non-trivial task in control engineering. A common approach is to linearize the dynamics along the trajectory, thus deriving a linear-time-varying (LTV) model, and to design a model predictive controller (MPC), which results to be computationally efficient, since only convex programs need to be solved in real time, while retaining constraint handling capabilities. Building on recent developments in gain-scheduling control design, where linearization errors and tracking error bounds are considered, a new approach to derive such LTV-MPC controllers is presented. The method addresses the systematic derivation of a suitable terminal cost. The resulting MPC law is tube-based, exploiting the co-designed auxiliary gain-scheduled controller. Computational and implementation aspects are discussed as well, and the resulting hierarchical method is demonstrated both in simulation and in experiments with a small drone with fast dynamics and limited embedded computational capacity.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112577"},"PeriodicalIF":5.9,"publicationDate":"2025-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145010785","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
Adaptive dynamic event–triggered distributed optimal coordination of heterogeneous uncertain nonlinear multiagent systems 异构不确定非线性多智能体系统的自适应动态事件触发分布式最优协调
IF 5.9 2区 计算机科学
Automatica Pub Date : 2025-09-08 DOI: 10.1016/j.automatica.2025.112580
Tianyu Liu, Lu Liu
{"title":"Adaptive dynamic event–triggered distributed optimal coordination of heterogeneous uncertain nonlinear multiagent systems","authors":"Tianyu Liu,&nbsp;Lu Liu","doi":"10.1016/j.automatica.2025.112580","DOIUrl":"10.1016/j.automatica.2025.112580","url":null,"abstract":"<div><div>This paper addresses the distributed optimal coordination problem for a class of heterogeneous uncertain nonlinear multiagent systems. Instead of relying on the analytical forms of gradient functions, we use the measured gradient values depending on agents’ real-time outputs and propose a novel adaptive distributed control scheme. This scheme integrates event-triggered optimal coordinators, high-order filters, and tracking controllers. To handle the interaction between optimal coordinators and filters, we incorporate a new compensation term into the updating law for the coupling weight of each edge. Moreover, we design a novel adaptive distributed dynamic event-triggering mechanism that ensures that the inter-event times of each agent are lower bounded by a positive constant. Asymptotic convergence of agents’ outputs to the optimal point is proved by constructing a composite Lyapunov function. The proposed control scheme does not depend on global topology information. A numerical example is given to demonstrate the effectiveness of the proposed control scheme.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112580"},"PeriodicalIF":5.9,"publicationDate":"2025-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145010787","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
Closed-loop data-enabled predictive control and its equivalence with closed-loop subspace predictive control 闭环数据使能预测控制及其与闭环子空间预测控制的等价性
IF 5.9 2区 计算机科学
Automatica Pub Date : 2025-09-07 DOI: 10.1016/j.automatica.2025.112556
Rogier Dinkla , Tom Oomen , Sebastiaan Paul Mulders , Jan-Willem van Wingerden
{"title":"Closed-loop data-enabled predictive control and its equivalence with closed-loop subspace predictive control","authors":"Rogier Dinkla ,&nbsp;Tom Oomen ,&nbsp;Sebastiaan Paul Mulders ,&nbsp;Jan-Willem van Wingerden","doi":"10.1016/j.automatica.2025.112556","DOIUrl":"10.1016/j.automatica.2025.112556","url":null,"abstract":"<div><div>Factors like growing data availability and increasing system complexity have sparked interest in data-driven predictive control (DDPC) methods like Data-enabled Predictive Control (DeePC). However, closed-loop identification bias arises in the presence of noise, which reduces the effectiveness of obtained control policies. In this paper we propose Closed-loop Data-enabled Predictive Control (CL-DeePC), a framework that unifies different approaches to address this challenge. To this end, CL-DeePC incorporates instrumental variables (IVs) to synthesize and sequentially apply consistent single or multi-step-ahead predictors. Furthermore, a computationally efficient CL-DeePC implementation is developed that reveals an equivalence with Closed-loop Subspace Predictive Control (CL-SPC). Time marching simulations of DeePC and CL-DeePC are conducted using Hankel matrices of past data that are updated at every time step to induce potentially troublesome closed-loop correlations between inputs and noise. Compared to DeePC, CL-DeePC simulations demonstrate superior reference tracking, with a sensitivity study finding a 48% lower susceptibility to noise-induced reference tracking performance degradation.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112556"},"PeriodicalIF":5.9,"publicationDate":"2025-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145007779","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
Observer-based asymptotic active fault diagnosis: Separate and joint design of observer gain and input 基于观测器的渐近主动故障诊断：观测器增益与输入的分离与联合设计
IF 5.9 2区 计算机科学
Automatica Pub Date : 2025-09-03 DOI: 10.1016/j.automatica.2025.112548
Feng Xu , Yiming Wan , Ye Wang , Vicenç Puig
{"title":"Observer-based asymptotic active fault diagnosis: Separate and joint design of observer gain and input","authors":"Feng Xu ,&nbsp;Yiming Wan ,&nbsp;Ye Wang ,&nbsp;Vicenç Puig","doi":"10.1016/j.automatica.2025.112548","DOIUrl":"10.1016/j.automatica.2025.112548","url":null,"abstract":"<div><div>This paper proposes observer gain and input design methods for observer-based asymptotic active fault diagnosis, which are based on a newly-defined notion named the excluding degree of the origin from a zonotope. Using the excluding degree, a quantitative specification is obtained to characterize the performance of set-based robust fault diagnosis. Furthermore, a separate gain design method and a joint gain and input design method are proposed, respectively. This is the first work to achieve a joint observer gain and input design for set-based active fault diagnosis. Compared with the existing methods that design gains and input separately, the proposed joint gain and input design method has advantages to exploit the fault diagnosis potential of observer-based schemes. Finally, several examples are used to illustrate the effectiveness of the proposed methods.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112548"},"PeriodicalIF":5.9,"publicationDate":"2025-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144933760","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
Byzantine-resilient federated online learning for Gaussian process regression 高斯过程回归的拜占庭弹性联邦在线学习
IF 5.9 2区 计算机科学
Automatica Pub Date : 2025-09-03 DOI: 10.1016/j.automatica.2025.112554
Xu Zhang , Zhenyuan Yuan , Minghui Zhu
{"title":"Byzantine-resilient federated online learning for Gaussian process regression","authors":"Xu Zhang ,&nbsp;Zhenyuan Yuan ,&nbsp;Minghui Zhu","doi":"10.1016/j.automatica.2025.112554","DOIUrl":"10.1016/j.automatica.2025.112554","url":null,"abstract":"<div><div>In this paper, we study Byzantine-resilient federated online learning for Gaussian process regression (GPR). We develop a Byzantine-resilient federated GPR algorithm that allows a cloud and a group of agents to collaboratively learn a latent function and improve the learning performances where some agents exhibit Byzantine failures, i.e., arbitrary and potentially adversarial behavior. Each agent-based local GPR sends potentially compromised local predictions to the cloud, and the cloud-based aggregated GPR computes a global model by a Byzantine-resilient product of experts aggregation rule. Then the cloud broadcasts the current global model to all the agents. Agent-based fused GPR refines local predictions by fusing the received global model with that of the agent-based local GPR. Moreover, we quantify the learning accuracy improvements of the agent-based fused GPR over the agent-based local GPR. Experiments on a toy example and two medium-scale real-world datasets are conducted to demonstrate the performances of the proposed algorithm.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112554"},"PeriodicalIF":5.9,"publicationDate":"2025-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144933761","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
Intersection-based architectures for decentralized diagnosis of discrete event systems 离散事件系统分散诊断的交叉点架构
IF 5.9 2区 计算机科学
Automatica Pub Date : 2025-09-03 DOI: 10.1016/j.automatica.2025.112576
Shigemasa Takai, Takashi Yamamoto
{"title":"Intersection-based architectures for decentralized diagnosis of discrete event systems","authors":"Shigemasa Takai,&nbsp;Takashi Yamamoto","doi":"10.1016/j.automatica.2025.112576","DOIUrl":"10.1016/j.automatica.2025.112576","url":null,"abstract":"<div><div>In this paper, two intersection-based architectures, named the normal-state-estimator-intersection-based architecture (N-SEI architecture) and the failure-state-estimator-intersection-based architecture (F-SEI architecture), are examined for decentralized diagnosis of discrete event systems. For each of these architectures, the corresponding notion of codiagnosability is defined. These defined notions of codiagnosability are incomparable with inference diagnosability for the inference-based architecture. In addition, codiagnosability for the N-SEI architecture is weaker than the existing notion of intersection-based codiagnosability, while codiagnosability for the F-SEI architecture is incomparable with it. For each of the N-SEI and F-SEI architectures, a method for verifying the corresponding notion of codiagnosability is developed.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112576"},"PeriodicalIF":5.9,"publicationDate":"2025-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144933762","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
Interval-constraint multiagent systems: Global attractivity and structural stability of equilibria 区间约束多智能体系统：均衡的全局吸引性和结构稳定性
IF 5.9 2区 计算机科学
Automatica Pub Date : 2025-09-02 DOI: 10.1016/j.automatica.2025.112566
Fengqiu Liu , Kuize Zhang , Yuhu Wu , Xiaoping Xue
{"title":"Interval-constraint multiagent systems: Global attractivity and structural stability of equilibria","authors":"Fengqiu Liu ,&nbsp;Kuize Zhang ,&nbsp;Yuhu Wu ,&nbsp;Xiaoping Xue","doi":"10.1016/j.automatica.2025.112566","DOIUrl":"10.1016/j.automatica.2025.112566","url":null,"abstract":"<div><div>This paper focuses on the dynamic behavior of an interval-constraint multiagent system. Each agent has a constraint interval that limits its potential consensus values, achieved by encoding a nonsmooth piecewise function into the agent. In addition, the underlying graphs considered are strongly connected. First, a dichotomy of equilibria is identified: either a unique non-consensus equilibrium point or multiple consensus points, depending on whether the intersection of the constraint intervals is empty or not. Then, the set of equilibria is proven to be a global attractor. Structural stability of such a system is also proven based on real-analysis methods, showing that the equilibria have continuous dependence on changes of the constraint intervals. Three running examples are used to illustrate the proposed results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"183 ","pages":"Article 112566"},"PeriodicalIF":5.9,"publicationDate":"2025-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144926765","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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