Automatica最新文献_第8页

Multi-level scheduling schemes for minimizing estimation error: A game-theoretic approach

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-02-06 DOI: 10.1016/j.automatica.2024.112014

Kaiyun Xie, Junlin Xiong

引用次数: 0

Fault-tolerant dynamic output feedback control of LPV systems via fault hiding

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-02-06 DOI: 10.1016/j.automatica.2025.112191

Márcia Luciana da Costa Peixoto , Pedro Moreira de Oliveira , Iury Bessa , Pedro Henrique Coutinho , Paulo Sergio Pereira Pessim , Vicenç Puig , Reinaldo Martinez Palhares

引用次数: 0

A polynomial chaos approach to stochastic LQ optimal control: Error bounds and infinite-horizon results

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-02-06 DOI: 10.1016/j.automatica.2025.112117

Ruchuan Ou , Jonas Schießl , Michael Heinrich Baumann , Lars Grüne , Timm Faulwasser

引用次数: 0

Robust optimal lane-changing control for Connected Autonomous Vehicles in mixed traffic

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-02-06 DOI: 10.1016/j.automatica.2025.112169

Anni Li, Andres S. Chavez Armijos, Christos G. Cassandras

{"title":"Robust optimal lane-changing control for Connected Autonomous Vehicles in mixed traffic","authors":"Anni Li, Andres S. Chavez Armijos, Christos G. Cassandras","doi":"10.1016/j.automatica.2025.112169","DOIUrl":"10.1016/j.automatica.2025.112169","url":null,"abstract":"<div><div>We derive time and energy-optimal policies for a Connected Autonomous Vehicle (CAV) to execute lane change maneuvers in mixed traffic, i.e., in the presence of both CAVs and Human Driven Vehicles (HDVs). These policies are also shown to be robust with respect to the unpredictable behavior of HDVs by exploiting CAV cooperation which can eliminate or greatly reduce the interaction between CAVs and HDVs. We derive a simple threshold-based criterion on the initial relative distance between two cooperating CAVs based on which an optimal policy is selected such that the lane-changing CAV merges ahead of a cooperating CAV in the target lane; in this case, the lane-changing CAV’s trajectory becomes independent of HDV behavior. Otherwise, the interaction between CAVs and neighboring HDVs is formulated as a bilevel optimization problem with an appropriate behavioral model for an HDV, and an iterated best response (IBR) method is used to determine an equilibrium. We demonstrate the convergence of the IBR process under certain conditions. Furthermore, Control Barrier Functions (CBFs) are implemented to ensure the robustness of lane-changing behaviors by guaranteeing safety in both longitudinal and lateral directions despite HDV disturbances. Simulation results validate the effectiveness of our CAV controllers in terms of cost, safety guarantees, and limited disruption to traffic flow. Additionally, we demonstrate the robustness of the lane-changing behaviors in the presence of uncontrollable HDVs.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112169"},"PeriodicalIF":4.8,"publicationDate":"2025-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143192943","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

A frequency domain analysis of slow coherency in networked systems

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-02-04 DOI: 10.1016/j.automatica.2025.112184

Hancheng Min , Richard Pates , Enrique Mallada

{"title":"A frequency domain analysis of slow coherency in networked systems","authors":"Hancheng Min , Richard Pates , Enrique Mallada","doi":"10.1016/j.automatica.2025.112184","DOIUrl":"10.1016/j.automatica.2025.112184","url":null,"abstract":"<div><div>Network coherence generally refers to the emergence of simple aggregated dynamical behaviors, despite heterogeneity in the dynamics of the subsystems that constitute the network. In this paper, we develop a general frequency domain framework to analyze and quantify the level of network coherence that a system exhibits by relating coherence with a low-rank property of the system’s input–output response. More precisely, for a networked system with linear dynamics and coupling, we show that, as the network’s <em>frequency-dependent algebraic connectivity</em> grows, the system transfer matrix converges to a rank-one transfer matrix representing the coherent behavior. Interestingly, the non-zero eigenvalue of such a rank-one matrix is given by the harmonic mean of individual nodal dynamics, and we refer to it as coherent dynamics. Our analysis unveils the frequency-dependent nature of coherence and a non-trivial interplay between dynamics and network topology. We further show that many networked systems can exhibit similar coherent behavior by establishing a concentration result in a setting with randomly chosen individual nodal dynamics.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112184"},"PeriodicalIF":4.8,"publicationDate":"2025-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130483","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

Event-Triggered and Periodic Event-Triggered Extremum Seeking Control

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-02-03 DOI: 10.1016/j.automatica.2025.112161

Victor Hugo Pereira Rodrigues , Tiago Roux Oliveira , Liu Hsu , Mamadou Diagne , Miroslav Krstic

{"title":"Event-Triggered and Periodic Event-Triggered Extremum Seeking Control","authors":"Victor Hugo Pereira Rodrigues , Tiago Roux Oliveira , Liu Hsu , Mamadou Diagne , Miroslav Krstic","doi":"10.1016/j.automatica.2025.112161","DOIUrl":"10.1016/j.automatica.2025.112161","url":null,"abstract":"<div><div>This paper introduces two innovative control schemes, event-triggered extremum seeking control (ET-ESC) and periodic event-triggered extremum seeking control (PET-ESC), designed for real-time optimizing multivariable systems. The classical extremum seeking control is augmented with static and dynamic triggering conditions to enable aperiodic and less frequent updates of the system’s input signals, offering the so-called <em>resource-aware</em> control design. Our convergence analysis is built upon time-scaling combined with Lyapunov and averaging theories for discontinuous systems. Both ET-ESC and PET-ESC assign an exponentially stable behavior to the resulting average system, which is equivalent to a practical asymptotic convergence to a small neighborhood of the extremum point. We guarantee Zeno behavior avoidance by establishing a minimum dwell time to avoid infinitely fast switching. In particular, the PET-ESC utilizes impulsive systems within a hybrid systems framework. Performance optimization matches one of the classical continuous-time extremum algorithms while balancing system performance with actuation resource consumption. Our ET-ESC and PET-ESC algorithms are the first of their kind and allow for arbitrarily large inter-sampling times unlocking the restriction imposed by existing sampled-data ESC. Extensive simulations validate the feasibility and effectiveness of our designs, illustrating the advantages of ET-ESC and PET-ESC.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112161"},"PeriodicalIF":4.8,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130488","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 absolute exponential stability of the Korteweg–de Vries–Burgers equation under nonlinear boundary controls

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-02-03 DOI: 10.1016/j.automatica.2025.112178

Yi Cheng , Yulin Wu , Yuhu Wu , Bao-Zhu Guo

{"title":"On absolute exponential stability of the Korteweg–de Vries–Burgers equation under nonlinear boundary controls","authors":"Yi Cheng , Yulin Wu , Yuhu Wu , Bao-Zhu Guo","doi":"10.1016/j.automatica.2025.112178","DOIUrl":"10.1016/j.automatica.2025.112178","url":null,"abstract":"<div><div>In this paper, we study the absolute exponential stability of the Korteweg–de Vries–Burgers equation under two distinct types of nonlinear boundary position feedback controls. We propose criteria that adhere to the sector-bounded and parabolic-restricted conditions, thereby encompassing a broad spectrum of nonlinear controllers. For each of these two nonlinear control strategies, we establish the well-posedness of the ensuing closed-loop system through the utilization of the Faedo–Galerkin approximation method. Furthermore, by crafting specific Lyapunov functionals, we demonstrate that the closed-loop systems exhibit global exponential stability in the <span><math><msup><mrow><mi>L</mi></mrow><mrow><mn>2</mn></mrow></msup></math></span>-space and semi-global exponential stability in the <span><math><msup><mrow><mi>H</mi></mrow><mrow><mi>m</mi></mrow></msup></math></span> spaces for <span><math><mrow><mi>m</mi><mo>=</mo><mn>1</mn><mo>,</mo><mn>2</mn><mo>,</mo><mn>3</mn></mrow></math></span> respectively. The explicit exponential decay rates of the closed-loop system solutions are determined, depending upon the dissipative and diffusive parameters. Some numerical simulations using a finite difference scheme are presented to illustrate the effectiveness of the proposed controls.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112178"},"PeriodicalIF":4.8,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130372","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

Input-to-state stabilization of endemic models for uncertainty of transmission, inflows, and immunity waning

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-02-03 DOI: 10.1016/j.automatica.2025.112167

Hiroshi Ito

{"title":"Input-to-state stabilization of endemic models for uncertainty of transmission, inflows, and immunity waning","authors":"Hiroshi Ito","doi":"10.1016/j.automatica.2025.112167","DOIUrl":"10.1016/j.automatica.2025.112167","url":null,"abstract":"<div><div>To mitigate the impact of infectious diseases spread, feedback decision that effectively adjusts the control amount making use of current data has been anticipated. In general, feedback control design is based on models, which are inherently subject to inaccuracy and uncertainty. Control theory seeks robustness guarantees that do not rely on the model perfection which is usually required for prediction purposes. To provide such a key, this paper deals with uncertainty of disease transmission and waning immunity as well as uncertain inflows from neighboring regions. New feedback control laws are proposed to achieve robustness in the framework of input-to-state stabilization (ISS) by governing societal activity levels, vaccination, and isolation. The control addresses endemic situations, which are more practical and mathematically much harder than disease-free situations. To go beyond Jacobian linearization and local analysis, the proposed control covers the entire space of population variables by articulating the achievable globalness mathematically. The preceding ISS-based studies cannot cope with waning immunity no matter how small the waning rate is since it gives rise to supply and dissipation in different growth orders in their formulation. This paper demonstrates how a Lyapunov function and control laws can be constructed to coordinate the orders.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112167"},"PeriodicalIF":4.8,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130480","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 adaptive consensus of perturbed Euler–Lagrange agents with unknown time varying disturbances

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-02-03 DOI: 10.1016/j.automatica.2025.112170

Jose Guadalupe Romero , Romeo Ortega , Emmanuel Nuño , Alexey Bobtsov

{"title":"Robust adaptive consensus of perturbed Euler–Lagrange agents with unknown time varying disturbances","authors":"Jose Guadalupe Romero , Romeo Ortega , Emmanuel Nuño , Alexey Bobtsov","doi":"10.1016/j.automatica.2025.112170","DOIUrl":"10.1016/j.automatica.2025.112170","url":null,"abstract":"<div><div>In this paper we consider the problem of leaderless <em>consensus</em> for networks of fully actuated Euler–Lagrange agents perturbed by <em>unknown</em> additive disturbances. The network is an undirected weighted graph with time delays. The proposed controller has a PD structure that incorporates the estimate of the unknown time varying disturbance, which is included in the control signal to cancel it. To the best of our knowledge, this is the first time that this <em>disturbance cancellation</em> approach is adopted for this problem. The design of the disturbance estimator proceeds along the following steps. First, the estimation of the unknown <em>frequencies</em> and then the reconstruction of the <em>initial conditions</em> of the disturbance internal model—an essential piece in the estimation of the actual additive disturbance. To reduce the excitation requirements of the proposed interlaced estimators, we use a recently introduced least-squares plus dynamic regressor extension algorithm that ensures convergence imposing extremely weak excitation assumptions. In this way, we derive a sufficient condition on the proportional and derivative gains of the controller to ensure that the systems globally and asymptotically converge to a consensus position. The efficacy of the proposed method is shown in a numerical simulation using a network of 4 robotic manipulators.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112170"},"PeriodicalIF":4.8,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130718","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

Decentralised adaptive-gain control for eliminating epidemic spreading on networks

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-02-01 DOI: 10.1016/j.automatica.2025.112143

Liam Walsh , Mengbin Ye , Brian D.O. Anderson , Zhiyong Sun

{"title":"Decentralised adaptive-gain control for eliminating epidemic spreading on networks","authors":"Liam Walsh , Mengbin Ye , Brian D.O. Anderson , Zhiyong Sun","doi":"10.1016/j.automatica.2025.112143","DOIUrl":"10.1016/j.automatica.2025.112143","url":null,"abstract":"<div><div>This paper considers the classical Susceptible–Infected–Susceptible (SIS) network epidemic model, which describes a disease spreading through <span><math><mi>n</mi></math></span> nodes, with the network links governing the possible transmission pathways of the disease between nodes. We consider feedback control to eliminate the disease, focusing especially on scenarios where the disease would otherwise persist in an uncontrolled network. We propose a family of decentralised adaptive-gain control algorithms, in which each node has a control gain that adaptively evolves according to a differential equation, independent of the gains of other nodes. The adaptive gain is applied multiplicatively to either decrease the infection rate or increase the recovery rate. To begin, we assume all nodes are controlled with adaptive gains, and prove that both infection rate control and recovery rate control algorithms eliminate the disease with positive finite limiting gains. Then, we consider the possibility of controlling a subset of the nodes, for both the infection rate control and recovery rate control. We first identify a necessary and sufficient condition for the existence of a subset of nodes, which if controlled would result in the elimination of the disease. For a given network, there may exist several such viable subsets, and we propose an iterative algorithm to identify such a subset. Simulations demonstrate the effectiveness of the proposed controllers.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112143"},"PeriodicalIF":4.8,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130485","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