Automatica最新文献_第6页

Reduced-order interval observer-based coordination control for discrete-time multi-agent systems

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-24 DOI: 10.1016/j.automatica.2025.112131

Housheng Su, Miaohong Luo, Zhigang Zeng

{"title":"Reduced-order interval observer-based coordination control for discrete-time multi-agent systems","authors":"Housheng Su, Miaohong Luo, Zhigang Zeng","doi":"10.1016/j.automatica.2025.112131","DOIUrl":"10.1016/j.automatica.2025.112131","url":null,"abstract":"<div><div>In this paper, the coordination control problem of discrete-time multi-agent systems (MASs) with uncertainties is studied by the output feedback technique, where the uncertainties are unknown disturbances and initial states. Firstly, a reduced-order neighborhood framer is constructed by using the boundary information of uncertainties. Secondly, a control protocol that depends on the absolute information of the agent framer is proposed by solving a modified algebraic Riccati equation. The results demonstrate that the control protocol can render a reduced-order neighborhood framer as a reduced-order neighborhood interval observer, which can not only realize the interval-valued estimation on the sum of the relative states between each agent and its neighbors in real time, but also realize the cooperative behavior of MASs under some sufficient conditions involving network synchronization and the instability degree of the agent. In addition, direct and indirect methods are proposed to eliminate the nonnegative constraint. Finally, the theoretical results are verified by two numerical simulations.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112131"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130364","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

Sliding mode control of Markov jump systems: Multi-processor based observer approach

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-24 DOI: 10.1016/j.automatica.2025.112132

Xiang Zhang , Shuping He , Ying Tan , Weidong Zhang

引用次数: 0

Universal output feedback control of a class of uncertain nonlinear systems with unknown delays in state, input and output

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-24 DOI: 10.1016/j.automatica.2025.112135

Xin Yu , Wei Lin

引用次数: 0

Distributed predefined-time algorithms for optimal solution seeking in multi-agent systems subject to input disturbances

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-24 DOI: 10.1016/j.automatica.2025.112139

Jing-Zhe Xu , Zhi-Wei Liu , Ming-Feng Ge , Tao Yang , Ming Chi , Dingxin He

{"title":"Distributed predefined-time algorithms for optimal solution seeking in multi-agent systems subject to input disturbances","authors":"Jing-Zhe Xu , Zhi-Wei Liu , Ming-Feng Ge , Tao Yang , Ming Chi , Dingxin He","doi":"10.1016/j.automatica.2025.112139","DOIUrl":"10.1016/j.automatica.2025.112139","url":null,"abstract":"<div><div>This paper presents a novel incremental consensus-based algorithm for solving a class of distributed optimization problems in multi-agent systems, considering input disturbances, equality constraints, and box constraints. Traditional methods rely on average consensus to maintain the satisfaction of equality constraints throughout the entire evolution process. However, in practical applications, input disturbances can disrupt these equality constraints, rendering traditional methods ineffective. To address this challenge, the proposed algorithm combines integration sliding mode control technology with the observer methodology, creating a unified framework capable of handling input disturbances and preventing the system state from deviating beyond the solution space defined by the equality and box constraints. Moreover, the proposed algorithm offers the advantage of ensuring that all agents reach the optimal solution within a predefined time frame. This settling time can be directly adjusted by modifying one or more parameters. Finally, several numerical examples are validated to demonstrate the effectiveness and performance of the proposed algorithm.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112139"},"PeriodicalIF":4.8,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130592","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

Matrix decomposition-based parametrization and singularity-free adaptive control of MIMO nonlinear systems

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-22 DOI: 10.1016/j.automatica.2025.112129

Feifei Li, Yanjun Zhang, Jian Sun

{"title":"Matrix decomposition-based parametrization and singularity-free adaptive control of MIMO nonlinear systems","authors":"Feifei Li, Yanjun Zhang, Jian Sun","doi":"10.1016/j.automatica.2025.112129","DOIUrl":"10.1016/j.automatica.2025.112129","url":null,"abstract":"<div><div>This paper proposes a new matrix decomposition-based adaptive control scheme for multi-input and multi-output (MIMO) continuous-time uncertain nonlinear systems with arbitrary vector relative degrees. Novel matrix decomposition-based parametrization structures are constructed for parameter estimation, upon which singularity-free adaptive control laws with modified parameter update laws are formulated to ensure closed-loop stability and output tracking. State feedback and output feedback are addressed, respectively. The proposed adaptive control scheme exhibits the following characteristics when compared with the existing results: (i) it is applicable for control of a broader class of uncertain MIMO nonlinear systems with arbitrary vector relative degrees; (ii) it requires less knowledge of the uncertain control gain matrix, while still ensuring that the adaptive control law is always non-singular during the process of parameter adaptation; and (iii) it guarantees the desired system performance without involving transient or high-gain issues. The proposed adaptive control scheme is verified by a hypersonic vehicle model simulation.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112129"},"PeriodicalIF":4.8,"publicationDate":"2025-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130597","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

Razumikhin-type ISS Lyapunov function and small gain theorem for discrete time time-delay systems with application to a biased min-consensus protocol

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-22 DOI: 10.1016/j.automatica.2025.112111

Yuanqiu Mo , Wenwu Yu , Huazhou Hou , Soura Dasgupta

{"title":"Razumikhin-type ISS Lyapunov function and small gain theorem for discrete time time-delay systems with application to a biased min-consensus protocol","authors":"Yuanqiu Mo , Wenwu Yu , Huazhou Hou , Soura Dasgupta","doi":"10.1016/j.automatica.2025.112111","DOIUrl":"10.1016/j.automatica.2025.112111","url":null,"abstract":"<div><div>This paper considers small gain theorems for the global asymptotic and exponential input-to-state stability for discrete time time-delay systems using dissipative-form Razumikhin-type Lyapunov function. Among other things, unlike the existing literature, it provides both necessary and sufficient conditions for exponential input-to-state stability in terms of the dissipative-form Razumikhin-type Lyapunov function and the small gain theorem. Previous necessary and sufficient conditions were with the more computationally onerous, Krasovskii-type Lyapunov functions. The result finds application in the robust stability analysis of a graph-based distributed algorithm, namely, the biased min-consensus protocol, which can be used to compute the length of the shortest path from each node to its nearest source in a graph. We consider the biased min-consensus protocol under perturbations that are common in communication networks, including noise, delay and asynchronous communication. By converting such a perturbed protocol into a discrete time time-delay nonlinear system, we prove its exponential input-to-state stability under perturbations using our Razumikhin-type Lyapunov-based small gain theorem. Simulations are provided to verify the theoretical results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112111"},"PeriodicalIF":4.8,"publicationDate":"2025-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130895","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

Privacy-preserving average consensus via matrix-weighted inter-agent coupling

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-22 DOI: 10.1016/j.automatica.2024.112094

Lulu Pan , Haibin Shao , Yang Lu , Mehran Mesbahi , Dewei Li , Yugeng Xi

{"title":"Privacy-preserving average consensus via matrix-weighted inter-agent coupling","authors":"Lulu Pan , Haibin Shao , Yang Lu , Mehran Mesbahi , Dewei Li , Yugeng Xi","doi":"10.1016/j.automatica.2024.112094","DOIUrl":"10.1016/j.automatica.2024.112094","url":null,"abstract":"<div><div>Achieving average consensus without disclosing the initial agents’ state is critical for secure multi-agent coordination. This paper proposes a novel privacy-preserving average consensus algorithm via a matrix-weighted inter-agent coupling mechanism. Specifically, the algorithm first lifts each agent state to a higher-dimensional space, then employs a dedicatedly designed matrix-valued state coupling mechanism to conceal the initial agents’ state while guaranteeing that the multi-agent network achieves average consensus. The convergence analysis is transformed into the average consensus problem on matrix-weighted switching networks with low-rank, positive semi-definite coupling matrices. We show that the average consensus can be guaranteed and discuss its performance in the presence of honest-but-curious agents and external eavesdroppers. The algorithm, involving only basic matrix operations, is computationally more efficient than cryptography-based approaches and can be implemented without relying on a centralized third party. Numerical results are provided to illustrate the effectiveness of the algorithm.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112094"},"PeriodicalIF":4.8,"publicationDate":"2025-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130365","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

Linear quadratic control with risk constraints

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-21 DOI: 10.1016/j.automatica.2024.112095

Anastasios Tsiamis , Dionysis Kalogerias , Alejandro Ribeiro , George J. Pappas

{"title":"Linear quadratic control with risk constraints","authors":"Anastasios Tsiamis , Dionysis Kalogerias , Alejandro Ribeiro , George J. Pappas","doi":"10.1016/j.automatica.2024.112095","DOIUrl":"10.1016/j.automatica.2024.112095","url":null,"abstract":"<div><div>We propose a new risk-constrained formulation of the Linear Quadratic (LQ) stochastic control problem for general partially-observed systems. Classical risk-neutral LQ controllers, although optimal in expectation, might be ineffective under infrequent, yet statistically significant extreme events. To effectively trade between average and extreme event performance, we introduce a new risk constraint, which restricts the cumulative expected predictive variance of the state penalty by a user-prescribed level. We show that, under certain conditions on the process noise, the optimal risk-aware controller can be evaluated explicitly and in closed form. In fact, it is affine relative to the minimum mean square error (mmse) state estimate. The affine term pushes the state away from directions where the noise exhibits heavy tails, by exploiting the third-order moment (skewness) of the noise. The linear term regulates the state more strictly in risky directions, where both the prediction error (conditional) covariance and the state penalty are simultaneously large; this is achieved by inflating the state penalty within a new filtered Riccati difference equation. We also prove that the new risk-aware controller is internally stable, regardless of parameter tuning, in the special cases of (i) fully-observed systems, and (ii) partially-observed systems with Gaussian noise. The properties of the proposed risk-aware LQ framework are lastly illustrated via indicative numerical examples.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112095"},"PeriodicalIF":4.8,"publicationDate":"2025-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130726","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

Heuristic learning for co-design scheme of optimal sequential attack

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-21 DOI: 10.1016/j.automatica.2025.112113

Xiaoyu Luo , Haoxuan Pan , Chongrong Fang , Chengcheng Zhao , Peng Cheng , Jianping He

{"title":"Heuristic learning for co-design scheme of optimal sequential attack","authors":"Xiaoyu Luo , Haoxuan Pan , Chongrong Fang , Chengcheng Zhao , Peng Cheng , Jianping He","doi":"10.1016/j.automatica.2025.112113","DOIUrl":"10.1016/j.automatica.2025.112113","url":null,"abstract":"<div><div>This paper considers a novel co-design problem of the optimal <em>sequential</em> attack, whose attack strategy changes with the time series, and in which the <em>sequential</em> attack selection strategy and <em>sequential</em> attack signal are simultaneously designed. Different from the existing attack design works that separately focus on attack subsets or attack signals, the joint design of the attack strategy poses a huge challenge due to the deep coupling relation between the <em>sequential</em> attack selection strategy and <em>sequential</em> attack signal. In this manuscript, we decompose the sequential co-design problem into two equivalent sub-problems. Specifically, we first derive an analytical closed-form expression between the optimal attack signal and the sequential attack selection strategy. Furthermore, we prove the finite-time inverse convergence of the critical parameters in the injected optimal attack signal by discrete-time Lyapunov analysis, which enables the efficient off-line design of the attack signal and saves computing resources. Finally, we exploit its relationship to design a heuristic two-stage learning-based joint attack algorithm (HTL-JA), which can accelerate the realization of the attack target compared to the one-stage proximal-policy-optimization-based (PPO) algorithm. Extensive simulations are conducted to show the effectiveness of the injected optimal sequential attack.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112113"},"PeriodicalIF":4.8,"publicationDate":"2025-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143131013","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

Robust event-triggered tracking control for an unmanned aerial vehicle with non-vanishing disturbances

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-21 DOI: 10.1016/j.automatica.2025.112123

Linghuan Kong , Wei He , Carlos Silvestre

{"title":"Robust event-triggered tracking control for an unmanned aerial vehicle with non-vanishing disturbances","authors":"Linghuan Kong , Wei He , Carlos Silvestre","doi":"10.1016/j.automatica.2025.112123","DOIUrl":"10.1016/j.automatica.2025.112123","url":null,"abstract":"<div><div>This paper addresses the trajectory tracking problem of unmanned aerial vehicles (UAVs) in the presence of unknown external disturbances. It deviates from conventional dynamic surface control (DSC) techniques by introducing a new auxiliary variable for compensating filtering errors and using backstepping, and the desired thrust is then designed. Additionally, it presents a dynamic event-triggered strategy that incorporates error compensation, aiming to lessen communication burdens in developing angular velocity commands. The key feature of the proposed method is two-fold: firstly, two auxiliary variables are designed resorting to a filtering mechanism to compensate for the errors induced by the DSC and the event-triggered mechanism, thereby improving tracking accuracy. Secondly, it proposes a novel disturbance compensation approach to effectively manage non-vanishing, time-varying disturbances without requiring the a prior knowledge of their derivatives. This method efficiently saves communication resources, particularly by avoiding Zeno behavior, while maintaining high-accuracy tracking control of the UAV. Simulation results are presented to demonstrate the efficacy of the proposed approach and validate the theoretical findings.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112123"},"PeriodicalIF":4.8,"publicationDate":"2025-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130888","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