Automatica最新文献_第7页

Is time-optimal speed planning under jerk constraints a convex problem? 在颠簸约束条件下的时间最优速度规划是一个凸问题吗？

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-08-16 DOI: 10.1016/j.automatica.2024.111864

引用次数: 0

Compositional synthesis for linear systems via convex optimization of assume-guarantee contracts 通过假设-保证合同的凸优化实现线性系统的组合合成

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-08-16 DOI: 10.1016/j.automatica.2024.111816

{"title":"Compositional synthesis for linear systems via convex optimization of assume-guarantee contracts","authors":"","doi":"10.1016/j.automatica.2024.111816","DOIUrl":"10.1016/j.automatica.2024.111816","url":null,"abstract":"<div><p>We take a divide and conquer approach to design controllers for reachability problems given large-scale linear systems with polyhedral constraints on states, controls, and disturbances. Such systems are made of small subsystems with coupled dynamics. We treat the couplings as additional disturbances and use assume-guarantee (AG) contracts to characterize these disturbance sets. For each subsystem, we design and implement a robust controller locally, subject to its own constraints and contracts. The main contribution of this paper is a method to derive the contracts via a novel parameterization and a corresponding potential function that characterizes the distance to the correct composition of controllers and contracts, where all contracts are held. We show that the potential function is convex in the contract parameters. This enables the subsystems to negotiate the contracts with the gradient information from the dual of their local synthesis optimization problems in a distributed way, facilitating compositional control synthesis that scales to large systems. We present numerical examples, including a scalability study on a system with tens of thousands of dimensions, and a simple case study on applying our method to a distributed Model Predictive Control (MPC) problem in a power system.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141993581","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

Discrete-time adaptive state tracking control schemes using gradient algorithms 使用梯度算法的离散时间自适应状态跟踪控制方案

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-08-16 DOI: 10.1016/j.automatica.2024.111849

引用次数: 0

A negative imaginary robust formation control scheme for networked multi-tilt tricopters utilizing an inner-loop sliding-mode control technique 利用内环滑模控制技术的网络化多倾角三旋翼飞行器负虚稳健编队控制方案

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-08-10 DOI: 10.1016/j.automatica.2024.111813

{"title":"A negative imaginary robust formation control scheme for networked multi-tilt tricopters utilizing an inner-loop sliding-mode control technique","authors":"","doi":"10.1016/j.automatica.2024.111813","DOIUrl":"10.1016/j.automatica.2024.111813","url":null,"abstract":"<div><p>This paper proposes a robust formation control scheme for networked multi-tilt tricopter UAVs utilizing the Negative Imaginary (NI) and Positive Real (PR) theory. A Sliding Mode Control (SMC) scheme is designed for a multi-tilt tricopter to ensure stable hovering at a desired height. Then, a modified Subspace-based system identification algorithm is devised to identify a six-by-six NI model of the inner-loop-SMC-controlled tricopter in the continuous-time domain by exploiting the Laguerre filter. A two-loop formation control scheme has been developed for networked multi-tilt tricopters where the inner loop of each tricopter applies the SMC scheme, and the outer loop implements a distributed output feedback controller that satisfies the ‘mixed’ Strictly NI (SNI) + Strictly PR (SPR) system properties. Subsequently, we have established the robustness of the proposed scheme against NI/PR-type uncertainties and sudden loss of agents. The eigenvalue loci (also known as characteristic loci) technique is used instead of the Lyapunov-based approach to prove the asymptotic stability of the formation control scheme. An in-depth simulation case study was performed on a group of six inner-loop-SMC-controlled multi-tilt tricopters connected via a network to achieve a formation control mission, even in the presence of uncertainties.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141953915","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 stability of a class of Michaelis–Menten networks 论一类迈克尔斯-门顿网络的稳定性

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-08-09 DOI: 10.1016/j.automatica.2024.111837

引用次数: 0

Distributed state estimation for heterogeneous sensor networks 异构传感器网络的分布式状态估计

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-08-09 DOI: 10.1016/j.automatica.2024.111839

引用次数: 0

Data-driven model reduction for port-Hamiltonian and network systems in the Loewner framework 卢瓦纳框架下端口-哈密尔顿和网络系统的数据驱动模型还原

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-08-09 DOI: 10.1016/j.automatica.2024.111836

{"title":"Data-driven model reduction for port-Hamiltonian and network systems in the Loewner framework","authors":"","doi":"10.1016/j.automatica.2024.111836","DOIUrl":"10.1016/j.automatica.2024.111836","url":null,"abstract":"<div><p>The model reduction problem in the Loewner framework for port-Hamiltonian and network systems on graphs is studied. In particular, given a set of right-tangential interpolation data, the (subset of) left-tangential interpolation data that allow constructing an interpolant possessing a port-Hamiltonian structure is characterized. In addition, conditions under which an interpolant retains the underlying port-Hamiltonian structure of the system generating the data are given by requiring a particular structure of the generalized observability matrix. <em>Ipso facto</em> a characterization of the reduced order model in terms of Dirac structure with the aim of relating the Dirac structure of the underlying port-Hamiltonian system with the Dirac structure of the constructed interpolant is given. This result, in turn, is used to solve the model reduction problem in the Loewner framework for network systems described by a weighted graph. The problem is first solved, for a given clustering, by giving conditions on the right- and left-tangential interpolation data that yield an interpolant possessing a network structure. Thereafter, for given tangential data obtained by sampling an underlying network system, we give conditions under which we can select a clustering and construct a reduced model preserving the network structure. Finally, the results are illustrated by means of a second order diffusively coupled system and a first order network system.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0005109824003303/pdfft?md5=b13fdd57f0ec6a6d5a3c1a1193ac207f&pid=1-s2.0-S0005109824003303-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141963557","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

Distributed learning control for heterogeneous linear multi-agent networks 异构线性多代理网络的分布式学习控制

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-08-09 DOI: 10.1016/j.automatica.2024.111838

引用次数: 0

An identification method for oscillators with response-dependent inertia 与响应相关惯性振荡器的识别方法

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-08-09 DOI: 10.1016/j.automatica.2024.111824

引用次数: 0

Stability and bounded real lemmas of discrete-time MJLSs with the Markov chain on a Borel space Borel空间上马尔可夫链的离散时MJLS的稳定性和有界实数定理

IF 4.8 2区计算机科学

Automatica Pub Date : 2024-08-08 DOI: 10.1016/j.automatica.2024.111827

{"title":"Stability and bounded real lemmas of discrete-time MJLSs with the Markov chain on a Borel space","authors":"","doi":"10.1016/j.automatica.2024.111827","DOIUrl":"10.1016/j.automatica.2024.111827","url":null,"abstract":"<div><p>In this paper, exponential stability of discrete-time Markov jump linear systems (MJLSs) with the Markov chain on a Borel space <span><math><mrow><mo>(</mo><mi>Θ</mi><mo>,</mo><mi>B</mi><mrow><mo>(</mo><mi>Θ</mi><mo>)</mo></mrow><mo>)</mo></mrow></math></span> is studied, and bounded real lemmas (BRLs) are given. The work generalizes the results from the previous literature that considered only the Markov chain taking values in a countable set to the scenario of an uncountable set and provides unified approaches for describing exponential stability and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance of MJLSs. This paper covers two kinds of exponential stabilities: one is exponential mean-square stability with conditioning (EMSSy-C), and the other is exponential mean-square stability (EMSSy). First, based on the infinite-dimensional operator theory, the equivalent conditions for determining these two kinds of stabilities are shown respectively by the exponentially stable evolutions generated by the corresponding bounded linear operators on different Banach spaces, which turn out to present the spectral criteria of EMSSy-C and EMSSy. Furthermore, the relationship between these two kinds of stabilities is discussed. Moreover, some easier-to-check criteria are established for EMSSy-C of MJLSs in terms of the existence of uniformly positive definite solutions of Lyapunov-type equations or inequalities. In addition, BRLs are given separately in terms of the existence of solutions of the <span><math><mi>Θ</mi></math></span>-coupled difference Riccati equation for the finite horizon case and algebraic Riccati equation for the infinite horizon case, which facilitates the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> analysis of MJLSs with the Markov chain on a Borel space.</p></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":null,"pages":null},"PeriodicalIF":4.8,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141963576","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