Automatica最新文献

{"title":"Accelerating recursive least squares adaptation/learning algorithms using a dynamic adaptation gain","authors":"Tudor-Bogdan Airimitoaie ,&nbsp;Ioan Doré Landau ,&nbsp;Bernard Vau ,&nbsp;Gabriel Buche","doi":"10.1016/j.automatica.2025.112297","DOIUrl":"10.1016/j.automatica.2025.112297","url":null,"abstract":"<div><div>The concept of “dynamic adaptation gain/learning rate” has been introduced in Landau et al. (2023) in order to accelerate the adaptation/learning transients in the context of adaptation/learning algorithms using constant scalar adaptation gain/learning rate. The present paper shows that inserting a ”dynamic adaptation gain/learning rate” into adaptation/learning algorithms with time varying matrix adaptation gain/learning rate belonging to the family of recursive least squares algorithms leads also to a significant acceleration of the adaptation/ learning transients. The proposed algorithms are analyzed in a deterministic and stochastic environment. This allows to emphasize the potential of these algorithms compared with the classical recursive least squares type algorithms. Comparative simulations and experimental results (an active noise control system) further illustrate the performance of these algorithms.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":""},"PeriodicalIF":4.8,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799214","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}

{"title":"Privacy-preserving distributed optimization for economic dispatch in smart grids","authors":"Wenjing An ,&nbsp;Derui Ding ,&nbsp;Zidong Wang ,&nbsp;Qinyuan Liu ,&nbsp;Hongli Dong","doi":"10.1016/j.automatica.2025.112275","DOIUrl":"10.1016/j.automatica.2025.112275","url":null,"abstract":"<div><div>This paper discusses a distributed economic dispatch problem (EDP) of smart grids while preventing sensitive information from being leaked during the communication process. In response to the problem, a novel privacy-preserving distributed economic dispatch strategy is developed via adding an exponentially decaying random noise to minimize the total cost of the grid while ensuring the privacy of sensitive state information. The quantitative relationship between the privacy and the estimation accuracy of eavesdroppers is profoundly disclosed in the framework of <span><math><mrow><mo>(</mo><mi>ς</mi><mo>,</mo><mi>σ</mi><mo>)</mo></mrow></math></span>-data-privacy. Furthermore, a sufficient condition on the iteration step size is achieved to ensure that the well-designed algorithm can converge to the optimal value of the addressed EDP exactly by resorting to the classical Lyapunov stability theory. Finally, simulation results verify the effectiveness of the carefully constructed privacy-preserving scheme.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":""},"PeriodicalIF":4.8,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799215","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}

{"title":"Compressed gradient tracking algorithms for distributed nonconvex optimization","authors":"Lei Xu ,&nbsp;Xinlei Yi ,&nbsp;Guanghui Wen ,&nbsp;Yang Shi ,&nbsp;Karl H. Johansson ,&nbsp;Tao Yang","doi":"10.1016/j.automatica.2025.112286","DOIUrl":"10.1016/j.automatica.2025.112286","url":null,"abstract":"<div><div>In this paper, we study the distributed nonconvex optimization problem, aiming to minimize the average value of the local nonconvex cost functions using local information exchange. To reduce the communication overhead, we introduce three general classes of compressors, i.e., compressors with bounded relative compression error, compressors with globally bounded absolute compression error, and compressors with locally bounded absolute compression error. By integrating them, respectively, with the distributed gradient tracking algorithm, we then propose three corresponding compressed distributed nonconvex optimization algorithms. Motivated by the state-of-the-art BEER algorithm proposed in Zhao et al. (2022), which is an efficient compressed algorithm integrating gradient tracking with biased and contractive compressors, our first proposed algorithm extends this algorithm to accommodate both biased and non-contractive compressors For each algorithm, we design a novel Lyapunov function to demonstrate its sublinear convergence to a stationary point if the local cost functions are smooth. Furthermore, when the global cost function satisfies the Polyak–Łojasiewicz (P–Ł) condition, we show that our proposed algorithms linearly converge to a global optimal point. It is worth noting that, for compressors with bounded relative compression error and globally bounded absolute compression error, our proposed algorithms’ parameters do not require prior knowledge of the P–Ł constant.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":""},"PeriodicalIF":4.8,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143799216","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}

{"title":"A new event-triggered internal model-based observer method for cooperative robust output regulation","authors":"Yahui Hao,&nbsp;Lu Liu","doi":"10.1016/j.automatica.2025.112293","DOIUrl":"10.1016/j.automatica.2025.112293","url":null,"abstract":"<div><div>This paper addresses the distributed cooperative robust output regulation problem of nonlinear multi-agent systems in normal form with nonidentical relative degrees. First, a new distributed event-triggered internal model-based observer is proposed to estimate the exosystem with uncertain parameters in its output. To ensure that the estimation error of the observer converges to 0 asymptotically without using continuous communication between neighboring agents, a novel reduced-order event-triggering mechanism together with an estimator for the observer is introduced to determine appropriate communication instants for each agent. It is shown that Zeno behavior is excluded by providing a strict positive minimum inter-event time. Second, distributed controllers are designed using the backstepping method to enable individual agents to track the observers. It is demonstrated that the proposed event-triggered control protocol can solve the concerned problem under fixed communication digraphs containing a spanning tree. Third, jointly connected digraphs are considered. Unlike fixed digraphs, it is found that the system matrix of the internal model-based observer needs to satisfy additional conditions, such as having small enough traces, to achieve the control objective. Finally, numerical examples are conducted to demonstrate the effectiveness of the proposed event-triggered control protocols.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112293"},"PeriodicalIF":4.8,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143800390","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}

{"title":"Data Assimilation for Sign-indefinite Priors: A generalization of Sinkhorn’s algorithm","authors":"Anqi Dong ,&nbsp;Tryphon T. Georgiou ,&nbsp;Allen Tannenbaum","doi":"10.1016/j.automatica.2025.112283","DOIUrl":"10.1016/j.automatica.2025.112283","url":null,"abstract":"<div><div>We deal with a hitherto unstudied problem that is motivated by the need to model promotion/inhibition contributions of relations, as in gene regulatory networks, to explain observed empirical distributions. There is no known pre-existing work focusing on this problem which, in essence, consists in calibrating a sign-indefinite data set representing prior information on the joint strength of promotion/inhibition, to restore consistency with specified observed marginals. We address the problem in the general setting of relations between <span><math><mi>n</mi></math></span> objects, and then specialize to binary relations to compare with a possible adhoc alternative following a Metropolis–Hastings rationale. Thus, our paper begins by addressing the general problem to find a multi-dimensional array (representing relative contribution of the <span><math><mi>n</mi></math></span> factors) to match specified marginals; the salient feature is that the sign (promotion/inhibition) of entries should match that of the prior. We develop an approach that is based on minimizing a suitable entropy functional subject to the constraints. Our approach follows verbatim Schrödinger’s rationale (Schrödinger, 1931, 1932) that underlies the celebrated Sinkhorn–Knopp algorithm in statistics used to reconcile contingency tables (of positive/frequency data sets) with marginal data (Knight, 2008). The resulting algorithm for our case of sign-indefinite prior generalizes the Sinkhorn–Knopp algorithm in that it amounts to iterative scaling of the entries of the array along different coordinate directions. The scaling is <em>multiplicative</em> but also, in contrast to Sinkhorn–Knopp, <em>inverse-multiplicative</em> depending on the sign of entries. When the entries of the prior are non-negative, our algorithm reduces to the classical Sinkhorn–Knopp algorithm which, in recent years, has become the computational workhorse of optimal transport (Peyré and Cuturi, 2019). Interestingly, the extension of the Sinkhorn–Knopp algorithm herein is perhaps the only example of a coordinate gradient ascent algorithm, other than the classical Sinkhorn, that has a non-trivial closed-form solution.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112283"},"PeriodicalIF":4.8,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143792109","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}

{"title":"Adaptive fault tolerant cooperative control for hybrid nonlinear multiagent systems via switching functional","authors":"Huaying Li ,&nbsp;Qinmin Yang ,&nbsp;Meng Zhang ,&nbsp;Zhengguang Wu ,&nbsp;Shuzhi Sam Ge","doi":"10.1016/j.automatica.2025.112298","DOIUrl":"10.1016/j.automatica.2025.112298","url":null,"abstract":"<div><div>This paper investigates the fault tolerant cooperative control of strict-feedback hybrid multiagent systems with unknown nonlinear dynamics. The hybrid multiagent systems consist of both continuous-time and discrete-time agents, which suffer from potential multiple actuator faults. To deal with the sampled neighborhood information for continuous-time agents and to generate <span><math><mi>n</mi></math></span>-step prediction for discrete-time agents, hybrid distributed estimators are developed to estimate the state of the leader. To mitigate the impact by faulty actuators, a unified learning-based switching functional is introduced to select different sets of actuators automatically and locate the healthy set. By this means, the requirement for fault identification or fault detection and isolation mechanisms is relaxed. The controllers for continuous-time and discrete-time agents are designed separately for accommodating the difference between their dynamics. Through Lyapunov analysis, it is shown that the followers’ output can track the leader’s output and all the signals in the closed-loop are bounded. The numerical studies verify the effectiveness of the proposed scheme.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112298"},"PeriodicalIF":4.8,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143792110","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}

{"title":"Optimal reference tracking with arbitrary sampling","authors":"Jacob Higgins ,&nbsp;Alessandro V. Papadopoulos ,&nbsp;Enrico Bini ,&nbsp;Nicola Bezzo","doi":"10.1016/j.automatica.2025.112308","DOIUrl":"10.1016/j.automatica.2025.112308","url":null,"abstract":"<div><div>It is a standard engineering practice to design feedback-based control to have a system follow a given trajectory. While the trajectory is continuous-time, the sequence of references is varied at discrete times, which may not be periodic. In this paper, we propose a method to determine the discrete-time references which minimizes a weighted <span><math><msup><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msup></math></span> distance between the achieved trajectory and the target trajectory. Also, we consider any arbitrary sequence of sampling instants. The proposed method is then assessed over different simulation results, analyzing the design parameters’ effects, and over an unmanned aerial vehicle (UAV) use case.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112308"},"PeriodicalIF":4.8,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143792111","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}

{"title":"Meso-scale coalitional control in large-scale networks","authors":"Victoria Erofeeva,&nbsp;Oleg Granichin,&nbsp;Denis Uzhva","doi":"10.1016/j.automatica.2025.112276","DOIUrl":"10.1016/j.automatica.2025.112276","url":null,"abstract":"<div><div>Network systems are usually composed of many interacting nodes. A large number of nodes and their possibly high-dimensional dynamics may result in complex system designs, which pose challenges to control of such systems in real-time. The traditional methods generate reduced-order models that well approximate the behavior of a high-dimensional system. However, when applied to large-scale network systems, these approaches face the problem of structure preservation. The control of complex networks is highly dependent on their interconnection structure, which is usually lost in the process of the conventional model reduction. Frequently, large-scale systems possess structural features that divide the system into subsystems or clusters. In this paper, we propose a meso-scale control approach that employs structural features of the system to reduce computational complexity. This approach is integrated into the model predictive control (MPC) synthesis framework. Our theoretical analysis highlights the significant reduction in computations at the expense of a little decrease in accuracy. The simulation results demonstrate the benefits and limits of our proposed control method.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112276"},"PeriodicalIF":4.8,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143792107","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}

{"title":"To play or not to play: A characterization of the marginal contribution of the opponent in a class of LQ differential games","authors":"Lorenzo Tarantino ,&nbsp;Alessandro Astolfi ,&nbsp;Mario Sassano","doi":"10.1016/j.automatica.2025.112264","DOIUrl":"10.1016/j.automatica.2025.112264","url":null,"abstract":"<div><div>A class of Linear Quadratic (LQ) finite-horizon differential games involving a Mayer-type cost on the state is studied with the aim of assessing the effect of the presence of an opponent. The contribution of the other player is quantitatively characterized by comparing the solutions of the underlying Riccati differential equations arising in the optimal control (in the absence of the opponent) and in the differential game. In the case of open-loop Nash equilibria, the contribution can be explicitly characterized, since closed-form solutions to the set of coupled asymmetric Riccati differential equations arising in the considered class of games can be computed. The construction of the underlying solutions hinges upon a time-varying change of coordinates, leading to constant equilibrium costate variables for each of the involved players. Moreover, in this setting, we provide further insights on the role of the costate variables similar to those arising in the context of optimal control problems. For feedback Nash equilibria a closed-form solution to the related coupled symmetric differential Riccati equations cannot be determined. Therefore an estimate of the solution is provided by relying on a functional approximation approach. It is shown that this is sufficient to characterize the contribution of the opponent also for feedback Nash Equilibria.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112264"},"PeriodicalIF":4.8,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143792108","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}

{"title":"Convergence analysis of the Friedkin–Johnsen model with multiple topics","authors":"Lingling Yao ,&nbsp;Dongmei Xie ,&nbsp;Aming Li","doi":"10.1016/j.automatica.2025.112272","DOIUrl":"10.1016/j.automatica.2025.112272","url":null,"abstract":"<div><div>In this paper, we study the convergence and consensus of the Friedkin–Johnsen (F–J) model with <span><math><mi>n</mi></math></span> individuals/agents and <span><math><mi>m</mi></math></span> interdependent topics, where the interpersonal influence among <span><math><mi>n</mi></math></span> individuals is represented by an interpersonal influence matrix <span><math><mi>W</mi></math></span> and the interdependencies among <span><math><mi>m</mi></math></span> topics are described by a set of “logic matrices” <span><math><mrow><msub><mrow><mi>C</mi></mrow><mrow><mn>1</mn></mrow></msub><mo>,</mo><mo>…</mo><mo>,</mo><msub><mrow><mi>C</mi></mrow><mrow><mi>n</mi></mrow></msub></mrow></math></span>. Each topic is described by a topic subnetwork and the whole F–J model can be regarded as a large network with <span><math><mi>m</mi></math></span> isomorphic subnetworks as well as the interactions among them. For the F–J model with homogeneous logic matrices (i.e., <span><math><mrow><msub><mrow><mi>C</mi></mrow><mrow><mn>1</mn></mrow></msub><mo>=</mo><mo>⋯</mo><mo>=</mo><msub><mrow><mi>C</mi></mrow><mrow><mi>n</mi></mrow></msub></mrow></math></span>), our results show that it can achieve global topic consensus (consensus on each topic) if and only if all individuals are non-oblivious with only one stubborn individual and all topics are independent. For the F–J model with heterogeneous logic matrices (i.e., <span><math><mrow><mo>∃</mo><msub><mrow><mi>C</mi></mrow><mrow><mi>i</mi></mrow></msub><mo>≠</mo><msub><mrow><mi>C</mi></mrow><mrow><mi>j</mi></mrow></msub></mrow></math></span>), we not only construct the integrated digraph <span><math><mrow><mi>G</mi><mrow><mo>(</mo><msub><mrow><mi>C</mi></mrow><mrow><mn>1</mn></mrow></msub><mo>,</mo><msub><mrow><mi>C</mi></mrow><mrow><mn>2</mn></mrow></msub><mo>,</mo><mo>…</mo><mo>,</mo><msub><mrow><mi>C</mi></mrow><mrow><mi>n</mi></mrow></msub><mo>)</mo></mrow></mrow></math></span> but also establish the connections between this digraph and the logic networks <span><math><mrow><mi>G</mi><mrow><mo>(</mo><msub><mrow><mi>C</mi></mrow><mrow><mn>1</mn></mrow></msub><mo>)</mo></mrow><mo>,</mo><mo>…</mo><mo>,</mo><mi>G</mi><mrow><mo>(</mo><msub><mrow><mi>C</mi></mrow><mrow><mi>n</mi></mrow></msub><mo>)</mo></mrow></mrow></math></span>. Taking advantage of these connections, we establish the convergence and topic consensus criteria for the F–J model with heterogeneous logic matrices, where the heterogeneity is reflected in the structure, weight, and sign of <span><math><msub><mrow><mi>C</mi></mrow><mrow><mi>i</mi></mrow></msub></math></span>. Finally, some simulations are provided to illustrate the results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112272"},"PeriodicalIF":4.8,"publicationDate":"2025-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143792106","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}