Automatica最新文献

{"title":"Digital output feedback event-based stabilization of nonlinear systems with state delays","authors":"Mario Di Ferdinando ,&nbsp;Alessandro Borri ,&nbsp;Stefano Di Gennaro ,&nbsp;Pierdomenico Pepe","doi":"10.1016/j.automatica.2025.112311","DOIUrl":"10.1016/j.automatica.2025.112311","url":null,"abstract":"<div><div>In this paper, the stabilization problem of nonlinear time-delay systems by means of digital dynamic output feedback event-triggered controllers is addressed. In particular, for the class of control-affine nonlinear systems with state delays, a methodology for the design of quantized sampled-data observer-based event-triggered (QSOE) stabilizers is provided. As a first step, the notion of Dynamic Output Steepest Descent Feedback (DOSDF), induced by a class of Lyapunov–Krasovskii functionals, is suitably revised in order to cope with the design of QSOE stabilizers. Then, the stabilization in the sample-and-hold sense theory is used as a tool to prove the existence of a suitably fast sampling and of an accurate quantization of the input/output channels such that: the digital implementation of DOSDFs, updated through a proposed event-based mechanism, ensures the semi-global practical stability property of the related closed-loop system with arbitrarily small final target ball of the origin. In the theory here developed, aperiodic sampling and the non-uniform quantization of the input/output channels are taken into account. Possible discontinuities in the functions describing the DOSDF at hand are also managed enlarging the possibilities to successfully designing QSOE stabilizers. Moreover, the proposed QSOE stabilizer is described by easily implementable difference equations avoiding the necessity to solve differential equations for the correct application of the controller at hand. Nonlinear delay-free systems are addressed as a special case. The proposed results are validated through practical examples concerning a Glucose-Insulin system and a Continuous Stirred Tank Reactor system.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112311"},"PeriodicalIF":4.8,"publicationDate":"2025-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143785186","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":"Distributed output-feedback leader-following consensus of nonlinear multiagent systems","authors":"Jixing Lv ,&nbsp;Changhong Wang ,&nbsp;Lihua Xie","doi":"10.1016/j.automatica.2025.112281","DOIUrl":"10.1016/j.automatica.2025.112281","url":null,"abstract":"<div><div>This paper addresses the leader-following consensus problem of a class of strict-feedback nonlinear multiagent systems under undirected follower networks. The leader and the followers are subject to additive input and external disturbances, respectively. A hierarchical output-feedback strategy is proposed, which can be implemented in a fully distributed manner in the sense that neither the Laplacian matrix eigenvalues nor the leader’s input bound are required. Firstly, a novel fully distributed observer is introduced to reconstruct the leader’s state and unknown input in a user-prescribed finite time, requiring only the leader’s output to be available to its neighboring followers. Utilizing the estimated information, a local observer-based output-feedback control protocol is then designed to achieve the state consensus. Subsequently, the robustness of the strategy to measurement noise is analyzed. The proposed strategy advances existing output-feedback fully distributed results in two significant aspects: (1) it is suitable for the scenarios where the leader’s state/observer information is not available to any follower and only the leader’s output can be obtained by its neighboring followers; (2) the state consensus is achieved in a user-prescribed finite time. Finally, simulation results are provided to validate the efficacy of the proposed consensus approach.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112281"},"PeriodicalIF":4.8,"publicationDate":"2025-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143783199","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":"Bayesian online learning for human-assisted target localization","authors":"Min-Won Seo,&nbsp;Solmaz S. Kia","doi":"10.1016/j.automatica.2025.112288","DOIUrl":"10.1016/j.automatica.2025.112288","url":null,"abstract":"<div><div>This paper presents a Bayesian framework for human-assisted autonomy sensor fusion in dynamic target localization. Autonomous sensor-based tracking systems can suffer from observability and target detection failure. Humans possess valuable qualitative information from their past knowledge and rapid situational awareness that can give them an advantage over machine perception in many scenarios. To compensate for the shortcomings of an autonomous tracking system, we propose collecting spatial sensing information from human operators who visually monitor the target and can provide target localization information in the form of free sketches encircling the area where the target is located. However, human inputs cannot be taken deterministically and trusted absolutely due to their inherent subjectivity and variability. Our primary focus is to construct an adaptive probabilistic model for human-provided inputs where the adaptation terms capture the level of reliability of the human inputs. We also introduce a novel joint Bayesian learning method to fuse human and autonomous sensor input that captures and accounts for the dynamic changes in human detection reliability. Unlike deep learning frameworks, a unique aspect of this Bayesian modeling framework is its analytical closed-form update equations. This feature provides computational efficiency and allows online learning from limited data sets. Simulations showcase our results, demonstrating the significant value of human inputs in enhancing autonomous systems.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112288"},"PeriodicalIF":4.8,"publicationDate":"2025-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143783207","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":"Algorithms enhancement for optimal triggering control in logical dynamic systems: Leveraging data structure storage","authors":"Lin Lin ,&nbsp;Min Meng ,&nbsp;Zhan Shu ,&nbsp;Zhiyi Zhong ,&nbsp;James Lam","doi":"10.1016/j.automatica.2025.112290","DOIUrl":"10.1016/j.automatica.2025.112290","url":null,"abstract":"<div><div>This paper studies stabilization of logical control systems (LCSs) using an event-triggered control strategy. First, an LCS is converted into its algebraic state-space representation. In this framework, a stabilizability criterion for LCSs is established, and the optimal triggering control problem is formulated. The goal of the optimal triggering control is to drive the LCS to a desired state while minimizing the number of states that trigger the control action. Then, the equivalence between designing the optimal triggering controller for an LCS and finding the minimum-weight arborescence in the corresponding transition graph is proved. Subsequently, based on the depth-first search and utilizing a Fibonacci-heap-typed data structure, algorithms are established to determine the stabilizability of LCSs and to design the optimal triggering controller. Finally, an example involving the <em>lac</em> operon in the bacterium <em>Escherichia coli</em> is presented to illustrate the obtained results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112290"},"PeriodicalIF":4.8,"publicationDate":"2025-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143783084","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":"Distributed optimization for uncertain nonlinear MASs under event-triggered communication","authors":"Sha Fan ,&nbsp;Dong Yue ,&nbsp;Bohui Wang ,&nbsp;Chao Deng ,&nbsp;Huaicheng Yan","doi":"10.1016/j.automatica.2025.112134","DOIUrl":"10.1016/j.automatica.2025.112134","url":null,"abstract":"<div><div>In this paper, we consider the distributed adaptive optimization problem for nonlinear multi-agent systems (MASs) with unmatched uncertainties under a dynamic event-triggered mechanism (DETM). Unlike the existing distributed optimization results that focus on the linear MASs under static or simple event-triggered communication, more general nonlinear MASs with unmatched uncertainties are considered in this paper, which makes the design of the distributed optimization strategy challenging. To solve this problem, a distributed adaptive optimization algorithm based on the dynamic event-triggered mechanism is first proposed for first-order uncertain nonlinear MASs, which could provide a dynamic agent interaction-based adaptive event sampling. Based on this, a DETM-based distributed adaptive optimization algorithm is designed for high-order uncertain nonlinear MASs by employing the backstepping technique. Specifically, by introducing a high-order filter, an improved distributed optimization algorithm is further proposed, to ensure the existence of high-order derivatives of the local reference, making the application of the backstepping technique easy. Ultimately, a simulation example with comparisons is provided to show the efficacy of the developed algorithm.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"177 ","pages":"Article 112134"},"PeriodicalIF":4.8,"publicationDate":"2025-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143783206","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":"An optimistic approach to cost-aware predictive control","authors":"Michael Enqi Cao,&nbsp;Matthieu Bloch,&nbsp;Samuel Coogan","doi":"10.1016/j.automatica.2025.112263","DOIUrl":"10.1016/j.automatica.2025.112263","url":null,"abstract":"<div><div>We consider continuous-time systems subject to a priori unknown state-dependent disturbance inputs. Given a target goal region, our first approach consists of a control scheme that avoids unsafe regions of the state space and observes the disturbance behavior until the goal is reachable with high probability. We leverage collected observations and the mixed monotonicity property of dynamical systems to efficiently obtain high-probability overapproximations of the system’s reachable sets. These overapproximations improve as more observations are collected. For our second approach, we consider the problem of minimizing cost while navigating toward the goal region and modify our previous formulation to allow for the estimated confidence bounds on the disturbance to be adjusted based on what would reduce the overall cost. We explicitly consider the additional cost incurred through exploration and develop a formulation wherein the amount of exploration performed can be directly tuned. We show theoretical results confirming that this confidence bound modification strategy outperforms the previously developed strategy on a simplified system. We demonstrate the first approach on an example of a motorboat navigating a river, then showcase a Monte Carlo simulation comparison of both approaches on a planar multirotor navigating toward a goal region through an unknown wind field.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112263"},"PeriodicalIF":4.8,"publicationDate":"2025-03-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143724530","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":"On attack detection and identification for the cyber–physical system using lifted system model","authors":"Dawei Sun ,&nbsp;Minhyun Cho ,&nbsp;Inseok Hwang","doi":"10.1016/j.automatica.2025.112243","DOIUrl":"10.1016/j.automatica.2025.112243","url":null,"abstract":"<div><div>Motivated by the safety and security issues related to cyber–physical systems with potentially multi-rate, delayed, and nonuniformly sampled measurements, we investigate the attack detection and identification using the lifted system model in this paper. Attack detectability and identifiability based on the lifted system model are formally defined and rigorously characterized in a novel approach. The method of checking detectability is discussed, and a residual design problem for attack detection is formulated in a general way. For attack identification, we define and characterize it by generalizing the concept of mode discernibility for switched systems, and a method for identifying the attack is discussed based on the theoretical analysis. An illustrative example of an unmanned aircraft system is provided to validate the main results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112243"},"PeriodicalIF":4.8,"publicationDate":"2025-03-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143716040","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":"Robust optimal control of bi-objective non-homogeneous stochastic linear quadratic system with random coefficients","authors":"Guangchen Wang ,&nbsp;Zhuangzhuang Xing","doi":"10.1016/j.automatica.2025.112234","DOIUrl":"10.1016/j.automatica.2025.112234","url":null,"abstract":"<div><div>This paper investigates a robust stochastic linear–quadratic optimal control (RSLQ) problem with non-homogeneous terms in state, where all coefficients of state and cost function are allowed to be random and the coefficients of cost function are also uncertain. The existence of a unique robust optimal control (OC) <span><math><msup><mrow><mover><mrow><mi>v</mi></mrow><mrow><mo>̄</mo></mrow></mover></mrow><mrow><msup><mrow><mi>λ</mi></mrow><mrow><mo>∗</mo></mrow></msup></mrow></msup></math></span> which depends on parameter <span><math><mrow><msup><mrow><mi>λ</mi></mrow><mrow><mo>∗</mo></mrow></msup><mo>∈</mo><mrow><mo>[</mo><mn>0</mn><mo>,</mo><mn>1</mn><mo>]</mo></mrow></mrow></math></span> is obtained, and <span><math><mrow><mo>(</mo><msup><mrow><mi>λ</mi></mrow><mrow><mo>∗</mo></mrow></msup><mo>,</mo><msup><mrow><mover><mrow><mi>v</mi></mrow><mrow><mo>̄</mo></mrow></mover></mrow><mrow><msup><mrow><mi>λ</mi></mrow><mrow><mo>∗</mo></mrow></msup></mrow></msup><mo>)</mo></mrow></math></span> is verified to be a saddle point of a game problem. Then the solving of Problem RSLQ is proven to be equivalent to the seeking of a global maximum point <span><math><msup><mrow><mi>λ</mi></mrow><mrow><mo>∗</mo></mrow></msup></math></span> of a value function <span><math><mrow><msup><mrow><mi>V</mi></mrow><mrow><mi>λ</mi></mrow></msup><mrow><mo>(</mo><mi>x</mi><mo>)</mo></mrow></mrow></math></span> w.r.t. <span><math><mrow><mi>λ</mi><mo>∈</mo><mrow><mo>[</mo><mn>0</mn><mo>,</mo><mn>1</mn><mo>]</mo></mrow></mrow></math></span>. Furthermore, for the case with one-dimensional state, we obtain the continuity of <span><math><mrow><msup><mrow><mi>V</mi></mrow><mrow><mi>λ</mi></mrow></msup><mrow><mo>(</mo><mi>x</mi><mo>)</mo></mrow></mrow></math></span> w.r.t. <span><math><mi>λ</mi></math></span>, which can also be seen as a stability property of value function of stochastic linear–quadratic (SLQ) problems w.r.t. parameter <span><math><mi>λ</mi></math></span>. The main challenge is the continuity dependency w.r.t. <span><math><mi>λ</mi></math></span> of solution of an auxiliary linear backward stochastic differential equation (BSDE), which has possibly unbounded coefficients and appears in the explicit form of <span><math><mrow><msup><mrow><mi>V</mi></mrow><mrow><mi>λ</mi></mrow></msup><mrow><mo>(</mo><mi>x</mi><mo>)</mo></mrow></mrow></math></span>. Via the estimates of bounded mean oscillation martingales (BMO martingales) and stochastic Riccati equations (SREs), along with transformation of measures, we overcome this obstacle and derive that <span><math><mrow><msup><mrow><mi>V</mi></mrow><mrow><mi>λ</mi></mrow></msup><mrow><mo>(</mo><mi>x</mi><mo>)</mo></mrow></mrow></math></span> is Lipschitz continuous w.r.t. <span><math><mi>λ</mi></math></span>. Estimates of two generalized SREs appeared in an SLQ problem with conic constraint are also obtained. Some numerical examples are given to further verify the validity of our theoretical analysis.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112234"},"PeriodicalIF":4.8,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143687600","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":"Dominance regions of pursuit-evasion games in non-anticipative information patterns","authors":"Weiwen Huang ,&nbsp;Li Liang ,&nbsp;Ningsheng Xu ,&nbsp;Fang Deng","doi":"10.1016/j.automatica.2025.112258","DOIUrl":"10.1016/j.automatica.2025.112258","url":null,"abstract":"<div><div>The evader’s dominance region is an important concept and the foundation of geometric methods for pursuit-evasion games. This article mainly reveals the relevant properties of the evader’s dominance region, especially in non-anticipative information patterns. We can use these properties to research pursuit-evasion games in non-anticipative information patterns. The core problem is under what condition the pursuer has a non-anticipative strategy to prevent the evader leaving its initial dominance region before being captured regardless of the evader’s strategy. We first define the evader’s dominance region by the shortest path distance, and we rigorously prove for the first time that the initial dominance region of the evader is the reachable region of the evader in the open-loop sense. Subsequently, we prove that there exists a non-anticipative strategy by which the pursuer can capture the evader before the evader leaves its initial dominance region’s closure in the absence of obstacles. For cases with obstacles, we provide a counter example to illustrate that such a non-anticipative strategy does not always exist, and provide a necessary condition for the existence of such strategy. Finally, we consider a scenario with a single corner obstacle and provide a sufficient condition for the existence of such a non-anticipative strategy. At the end of this article, we discuss the application of the evader’s dominance region in target defense games. This article has important reference significance for the design of non-anticipative strategies in pursuit-evasion games with obstacles.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112258"},"PeriodicalIF":4.8,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143687599","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":"Finite-time formation tracking for heterogeneous Euler–Lagrange systems with an uncertain leader","authors":"Qing Wang ,&nbsp;Xiwang Dong ,&nbsp;Zhiyong Chen ,&nbsp;Zhi Lian ,&nbsp;Jinhu Lü","doi":"10.1016/j.automatica.2025.112268","DOIUrl":"10.1016/j.automatica.2025.112268","url":null,"abstract":"<div><div>This paper discusses the finite-time time-varying formation tracking control problem of heterogeneous Euler–Lagrange systems with an uncertain leader. Unlike most existing works, where knowledge of the system dynamics of the leader node is required for follower agents in advance, this paper presents a distributed observer-based finite-time formation tracking control framework that operates independently of the system dynamic knowledge of the leader node. Firstly, two novel classes of finite-time adaptive distributed observers are constructed to estimate both the state and unknown dynamics of the leader system. The associated adaptation parameters can converge to the true values in finite time under an initial excitation condition, rather than the existing restrictive persistently exciting or cooperative finite-time excitation condition. Then, a finite-time formation tracking controller is developed based on the presented finite-time observers; with the help of Lyapunov stability theory, the finite-time formation tracking criterion for the considered system with an uncertain leader is derived from the constructed controller. Finally, a simulation example is provided to demonstrate the effectiveness of the presented finite-time formation tracking controller.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"176 ","pages":"Article 112268"},"PeriodicalIF":4.8,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143683007","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}