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Online mixed discrete and continuous optimization: Algorithms, regret analysis and applications
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-11 DOI: 10.1016/j.automatica.2025.112189
Lintao Ye , Ming Chi , Zhi-Wei Liu , Xiaoling Wang , Vijay Gupta
{"title":"Online mixed discrete and continuous optimization: Algorithms, regret analysis and applications","authors":"Lintao Ye ,&nbsp;Ming Chi ,&nbsp;Zhi-Wei Liu ,&nbsp;Xiaoling Wang ,&nbsp;Vijay Gupta","doi":"10.1016/j.automatica.2025.112189","DOIUrl":"10.1016/j.automatica.2025.112189","url":null,"abstract":"<div><div>We study an online mixed discrete and continuous optimization problem where a decision maker interacts with an unknown environment over <span><math><mi>T</mi></math></span> rounds. At each round, the decision maker needs to jointly choose a discrete action and a continuous action and receives a reward associated with the chosen actions. The decision maker seeks to maximize the accumulative reward after <span><math><mi>T</mi></math></span> rounds. We propose algorithms to solve the online mixed discrete and continuous optimization problem that yield regret sublinear in <span><math><mi>T</mi></math></span>. We apply our algorithms to solve some important applications in practice with regret guarantees. We validate our theoretical results with numerical experiments.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112189"},"PeriodicalIF":4.8,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143387818","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
Distributed online path-length-independent algorithm for noncooperative games over unbalanced digraphs
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-11 DOI: 10.1016/j.automatica.2025.112200
Zhenhua Deng
{"title":"Distributed online path-length-independent algorithm for noncooperative games over unbalanced digraphs","authors":"Zhenhua Deng","doi":"10.1016/j.automatica.2025.112200","DOIUrl":"10.1016/j.automatica.2025.112200","url":null,"abstract":"<div><div>This paper studies online noncooperative games with dynamic regrets. Existing online noncooperative games rely on the sublinear growth of the path-length of Nash equilibrium sequences when considering dynamic regrets, which implies that their cost functions cannot be rapidly time-varying. Moreover, most of related results depend on undirected communication graphs. However, in many engineering practices, the cost functions may change greatly over time and the communication graphs may be directed. Here our problem involves rapidly time-varying cost functions, i.e., the path-length of Nash equilibrium sequences at least linearly grows, and the interaction topologies are unbalanced digraphs. In order to make decisions online without regrets, we develop a distributed algorithm based on multi-step mirror descents. Under the algorithm, sublinear dynamic regret bounds are established. More importantly, the dynamic regrets are independent of the path-length of Nash equilibrium sequences, compared with existing results. Finally, the simulation results validate the effectiveness of our algorithm, and demonstrate that our algorithm has better performance than other related algorithms.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112200"},"PeriodicalIF":4.8,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143387822","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 moving horizon estimation for nonlinear systems: From perfect to imperfect optimization
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-11 DOI: 10.1016/j.automatica.2025.112187
Angelo Alessandri
{"title":"Robust moving horizon estimation for nonlinear systems: From perfect to imperfect optimization","authors":"Angelo Alessandri","doi":"10.1016/j.automatica.2025.112187","DOIUrl":"10.1016/j.automatica.2025.112187","url":null,"abstract":"<div><div>This paper examines the robust stability of moving-horizon estimators for nonlinear discrete-time systems that are detectable in the sense of incremental input/output-to-state stability and are affected by disturbances. The estimate of a moving-horizon estimator is derived from the on-line solution of a least-squares minimization problem at each time instant. The resulting stability guarantees depend on the optimization tolerance in solving these minimization problems. Specifically, two main contributions are established: (i) the robust stability of the estimation error, assuming the on-line minimization problem is solved exactly; (ii) the practical robust stability of the estimation error with state estimates obtained through imperfect minimization. Finally, the construction of such robust moving-horizon estimators and the performance resulting from the design based on the theoretical findings are showcased with two numerical examples.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112187"},"PeriodicalIF":4.8,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143387821","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}
引用次数: 0
A delay-derivative-dependent switched system model method for stability analysis of linear systems with time-varying delay
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-11 DOI: 10.1016/j.automatica.2025.112183
Hong-Bing Zeng , Yu-Jie Chen , Yong He , Xian-Ming Zhang
{"title":"A delay-derivative-dependent switched system model method for stability analysis of linear systems with time-varying delay","authors":"Hong-Bing Zeng ,&nbsp;Yu-Jie Chen ,&nbsp;Yong He ,&nbsp;Xian-Ming Zhang","doi":"10.1016/j.automatica.2025.112183","DOIUrl":"10.1016/j.automatica.2025.112183","url":null,"abstract":"<div><div>This paper addresses the issue of delay- and its derivative-dependent stability of a linear system with a time-varying delay. Based on the sign of the delay derivative, the time-varying delay is divided into two modes, namely a monotone increasing mode and a monotone decreasing mode. Then the original delay system is described as a switched system with two modes. This description motivates to construct a monotone-mode-based switching Lyapunov–Krasovskii functional, which allows different Lyapunov matrices for each mode in stability analysis of time-delay systems. By employing the average dwell time technique, several sufficient stability criteria are presented for the system under study. Over two extensively studied examples, we demonstrate that the proposed stability criteria can deliver larger delay upper bounds than some existing methods.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112183"},"PeriodicalIF":4.8,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143379072","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
Conditions for global synchronization in networks of heterogeneous Kuramoto oscillators
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-08 DOI: 10.1016/j.automatica.2025.112180
Angel Mercado-Uribe , Jesus Mendoza-Avila , Denis Efimov , Johannes Schiffer
{"title":"Conditions for global synchronization in networks of heterogeneous Kuramoto oscillators","authors":"Angel Mercado-Uribe ,&nbsp;Jesus Mendoza-Avila ,&nbsp;Denis Efimov ,&nbsp;Johannes Schiffer","doi":"10.1016/j.automatica.2025.112180","DOIUrl":"10.1016/j.automatica.2025.112180","url":null,"abstract":"<div><div>The Kuramoto model is essential for studying synchronization. In this work, we present sufficient conditions for global synchronization in networks of heterogeneous Kuramoto oscillators in the absence of homoclinic and heteroclinic cycles. The result is established by constructing a suitable Leonov function candidate for the Kuramoto model, which provides sufficient conditions for almost global synchronization in networks with acyclic and meshed topologies. The synchronization property is accompanied by necessary and sufficient conditions to guarantee the existence of equilibria, which are satisfied if the conditions for synchronization hold. The implications of the main conditions and their relationship with the network topology and parameters are discussed. Finally, the results are illustrated via a numerical example.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112180"},"PeriodicalIF":4.8,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143350269","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}
引用次数: 0
Robust model reference adaptive control for square MIMO LTI systems with uniform vector relative degree of zero
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-08 DOI: 10.1016/j.automatica.2025.112190
Zigang Pan , Sheng Zeng , Tamer Başar
{"title":"Robust model reference adaptive control for square MIMO LTI systems with uniform vector relative degree of zero","authors":"Zigang Pan ,&nbsp;Sheng Zeng ,&nbsp;Tamer Başar","doi":"10.1016/j.automatica.2025.112190","DOIUrl":"10.1016/j.automatica.2025.112190","url":null,"abstract":"<div><div>In this paper, we present a systematic procedure for robust model reference adaptive control design for uncertain square multiple-input multiple-output (MIMO) continuous-time linear time-invariant (LTI) systems that admit uniform vector relative degree of zero, under the assumptions of minimum phase and that the upper bounds for the observability indices of all measurement channels are known. We assume that the unknown parameter vector lies in a convex compact set such that the high-frequency gain matrix remains invertible for any parameter vector value in the set. These assumptions allow for a successful design of a robust model reference adaptive controller. A numerical example is included to fully illustrate the controller design and the effectiveness of the controller. As compared with the recent paper Pan and Başar (2023), the problem with uniform vector relative degree of zero allows us to relieve the block diagonally identical backbone structure for the measurement channels, choose a general quadratic cost structure that weighs the tracking errors arbitrarily, and achieve optimality for the control design.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112190"},"PeriodicalIF":4.8,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143349006","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
Corrigendum to “Identification of ARMA Models with Binary-Valued Observations” [Automatica 149(2023) 110832]
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-08 DOI: 10.1016/j.automatica.2025.112177
Xin Li , Ting Wang , Jin Guo , Yanlong Zhao
{"title":"Corrigendum to “Identification of ARMA Models with Binary-Valued Observations” [Automatica 149(2023) 110832]","authors":"Xin Li ,&nbsp;Ting Wang ,&nbsp;Jin Guo ,&nbsp;Yanlong Zhao","doi":"10.1016/j.automatica.2025.112177","DOIUrl":"10.1016/j.automatica.2025.112177","url":null,"abstract":"","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112177"},"PeriodicalIF":4.8,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143349007","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
Exponential synchronization of networked systems under asynchronous sampled-data coupling
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-08 DOI: 10.1016/j.automatica.2025.112157
Jijju Thomas , Erik Steur , Christophe Fiter , Laurentiu Hetel , Nathan van de Wouw
{"title":"Exponential synchronization of networked systems under asynchronous sampled-data coupling","authors":"Jijju Thomas ,&nbsp;Erik Steur ,&nbsp;Christophe Fiter ,&nbsp;Laurentiu Hetel ,&nbsp;Nathan van de Wouw","doi":"10.1016/j.automatica.2025.112157","DOIUrl":"10.1016/j.automatica.2025.112157","url":null,"abstract":"<div><div>This paper presents a novel approach towards synchronization analysis of nonlinear networked systems, directionally coupled via a generic network topology, under asynchronous, aperiodic sampled-data linear coupling. The synchronization dynamics of the networked system is remodelled as a feedback-interconnection of an operator that captures the continuous-time synchronization dynamics, i.e., in the absence of sampled data transmission, and an operator that accounts for these communication constraints. By studying the properties of this feedback-interconnection in the framework of dissipativity theory, we provide a novel criterion that guarantees exponential synchronization. The provided criterion also aids in deciding the trade-off between bounds on time-varying, uncertain sampling intervals, the coupling gain, and the desired transient rate of synchronization, while taking into account the network topology. The theoretical results are illustrated using a networked FitzHugh–Nagumo neuron system.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112157"},"PeriodicalIF":4.8,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143349005","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
Distributed fault-tolerant control of multi-UAV formation for dynamic leader tracking: A Lyapunov-based MPC framework
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-07 DOI: 10.1016/j.automatica.2025.112179
Binyan Xu , Yufan Dai , Afzal Suleman , Yang Shi
{"title":"Distributed fault-tolerant control of multi-UAV formation for dynamic leader tracking: A Lyapunov-based MPC framework","authors":"Binyan Xu ,&nbsp;Yufan Dai ,&nbsp;Afzal Suleman ,&nbsp;Yang Shi","doi":"10.1016/j.automatica.2025.112179","DOIUrl":"10.1016/j.automatica.2025.112179","url":null,"abstract":"<div><div>This paper focuses on the formation tracking control problem of multiple unmanned aerial vehicles (UAVs) interconnected through a directed communication graph. The objective is to ensure that the vehicles attain a predetermined geometric configuration while simultaneously tracking a dynamic virtual leader in the presence of unexpected actuator faults. A novel distributed model predictive control (MPC) framework is proposed, where each UAV is equipped with an individual controller that adopts a hierarchical architecture comprising three sequentially connected control layers. The outer layer, integrating the Lyapunov-based MPC method with an adaptive parameter estimator, determines translation tracking control actions. The intermediate layer enforces the convergence of actual rotation angles toward the desired ones determined by the outer layer. The inner layer generates the torque control commands for rapid convergence of the angular velocities. The closed-loop stability of the entire multi-UAV system is rigorously analyzed, and sufficient conditions regarding the selection of user-defined parameters are established. Simulation results are provided to demonstrate the effectiveness of the proposed design.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"175 ","pages":"Article 112179"},"PeriodicalIF":4.8,"publicationDate":"2025-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143348422","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
Performance-barrier event-triggered control of a class of reaction–diffusion PDEs
IF 4.8 2区 计算机科学
Automatica Pub Date : 2025-02-06 DOI: 10.1016/j.automatica.2025.112181
Bhathiya Rathnayake , Mamadou Diagne , Jorge Cortés , Miroslav Krstic
{"title":"Performance-barrier event-triggered control of a class of reaction–diffusion PDEs","authors":"Bhathiya Rathnayake ,&nbsp;Mamadou Diagne ,&nbsp;Jorge Cortés ,&nbsp;Miroslav Krstic","doi":"10.1016/j.automatica.2025.112181","DOIUrl":"10.1016/j.automatica.2025.112181","url":null,"abstract":"<div><div>We employ the recent performance-barrier event-triggered control (P-ETC) for achieving global exponential convergence of a class of reaction–diffusion PDEs via PDE backstepping control. Rather than insisting on a strictly monotonic decrease of the Lyapunov function for the closed-loop system, P-ETC allows the Lyapunov function to increase as long as it remains below an acceptable performance-barrier. This approach integrates a performance residual—the difference between the value of the performance-barrier and the Lyapunov function—into the triggering mechanism. The integration adds flexibility and results in fewer control updates than with <em>regular</em> ETC (R-ETC) that demands a monotonic decrease of the Lyapunov function. Our P-ETC PDE backstepping design ensures global exponential convergence of the closed-loop system solution to zero in the spatial <span><math><msup><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msup></math></span> norm, without encountering Zeno phenomenon. To avoid continuous monitoring of the triggering function that generates events, we develop periodic event-triggered and self-triggered variants (P-PETC and P-STC, respectively) of the P-ETC. The P-PETC only requires periodic evaluation of the triggering function whereas the P-STC preemptively computes the time of the next event at the current event time using the system model and continuously available system states. The P-PETC and P-STC also ensure a Zeno-free behavior and deliver performance equivalent to that of the continuous-time P-ETC which requires continuous evaluation of the triggering function, in addition to the continuous sensing of the state. We provide numerical simulations to illustrate the proposed technique and to compare it with R-ETC associated with strictly decreasing Lyapunov functions.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112181"},"PeriodicalIF":4.8,"publicationDate":"2025-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143192945","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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