Automatica最新文献_第8页

How improving performance may imply losing consistency in event-triggered consensus 如何提高性能可能意味着在事件触发的共识中失去一致性

IF 5.9 2区计算机科学

Automatica Pub Date : 2026-03-01 Epub Date: 2025-12-23 DOI: 10.1016/j.automatica.2025.112768

David Meister , Duarte J. Antunes , Frank Allgöwer

{"title":"How improving performance may imply losing consistency in event-triggered consensus","authors":"David Meister , Duarte J. Antunes , Frank Allgöwer","doi":"10.1016/j.automatica.2025.112768","DOIUrl":"10.1016/j.automatica.2025.112768","url":null,"abstract":"<div><div>Event-triggered control is often argued to lower the average triggering rate compared to time-triggered control while still achieving a desired control goal, e.g., the same performance level. However, this property, often called consistency, cannot be taken for granted and can be hard to analyze in many settings. In particular, the performance properties of decentralized event-triggered control schemes with respect to time-triggered control remain mostly unexplored. Therefore, in this paper, we examine these performance properties for a consensus problem considering single-integrator agent dynamics, a level-triggering rule, and a complete communication graph. We consider the long-term average quadratic deviation from consensus as a performance measure. For this setting, we show that enriching the information the local controllers use improves the performance of the consensus algorithm but renders a previously consistent event-triggered control scheme inconsistent. In addition, we do so while deploying optimal control inputs which we derive for both information cases and triggering schemes. With this insight, we can furthermore explain the relationship between two seemingly contrasting consistency results from the literature.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"185 ","pages":"Article 112768"},"PeriodicalIF":5.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145822800","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

Adaptive event-triggered tracking control via switching functions 自适应事件触发跟踪控制通过切换功能

IF 5.9 2区计算机科学

Automatica Pub Date : 2026-03-01 Epub Date: 2025-12-29 DOI: 10.1016/j.automatica.2025.112813

Zhijian Hu , Renjie Ma

引用次数: 0

Robust reinforcement learning-based controller for a class of nonlinear multiplayer Stackelberg game with input constraints 一类具有输入约束的非线性多人Stackelberg博弈的鲁棒强化学习控制器

IF 5.9 2区计算机科学

Automatica Pub Date : 2026-03-01 Epub Date: 2025-12-23 DOI: 10.1016/j.automatica.2025.112760

Reza Samsami, Mohammad Mehdi Arefi

{"title":"Robust reinforcement learning-based controller for a class of nonlinear multiplayer Stackelberg game with input constraints","authors":"Reza Samsami, Mohammad Mehdi Arefi","doi":"10.1016/j.automatica.2025.112760","DOIUrl":"10.1016/j.automatica.2025.112760","url":null,"abstract":"<div><div>This paper introduces a novel policy iteration (PI) reinforcement learning (RL) technique for a hierarchical Stackelberg dynamic game for a class of continuous-time nonlinear dynamical systems including one-leader-multi-followers that concurrently handles both zero-sum (ZS) and nonzero-sum (NZS) games in the game model. At first, the leader makes decisions to learn optimal strategies of all followers. Meanwhile, each follower independently reacts optimally to the leader’s strategy by playing a Nash game with followers and a ZS game with the disturbances simultaneously. To overcome the difficulty of solving the Hamilton–Jacobi (HJ) equation resulting from this hierarchical game, and consequently finding the multiplayer Stackelberg–Nash-saddle (MSNS) equilibrium solution of the game, an adaptive dynamic programming (ADP) algorithm that employs neural network (NN) is developed. An actor-critic NNs framework is presented to solve HJ equations by estimating value functions, control policies, and disturbances. To obtain the leader’s optimal strategy, an optimal adaptive control method using NN is proposed. The convergence of NN weights and the states of the closed-loop optimal system are shown to be uniformly ultimately bounded (UUB). Finally, an example is provided to show the effectiveness of the proposed algorithm in solving the MSNS equilibrium solution with input constraints.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"185 ","pages":"Article 112760"},"PeriodicalIF":5.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145822797","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-based probability-guaranteed tracking control with amplify-and-forward relay schemes 基于事件概率保证的放大前向中继跟踪控制

IF 5.9 2区计算机科学

Automatica Pub Date : 2026-03-01 Epub Date: 2025-12-24 DOI: 10.1016/j.automatica.2025.112761

Licheng Wang , Zidong Wang

{"title":"Event-based probability-guaranteed tracking control with amplify-and-forward relay schemes","authors":"Licheng Wang , Zidong Wang","doi":"10.1016/j.automatica.2025.112761","DOIUrl":"10.1016/j.automatica.2025.112761","url":null,"abstract":"<div><div>This paper investigates the event-based probability guaranteed <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> tracking control problem for a class of discrete-time systems with a relay-aided communication scheme. The uncertainties of the system matrices are taken into account, which is described by mutually independent uniformly distributed random variables. An adaptive event-triggering scheme is introduced during the signal exchange from the sensor to the relay where the triggering threshold is dynamically regulated. Moreover, an amplify-to-forward relay is employed to improve the communication quality between the sensor and the controller. With the help of the Lyapunov stability theory, sufficient conditions are established to guarantee that the tracking error dynamics achieves the asymptotical stability and the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance with probability constraints. The desired controller parameters are derived by means of the solution to certain optimization problem subject to matrix inequality constraints. Finally, a numerical example is provided to show the effectiveness of the developed tracking control scheme.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"185 ","pages":"Article 112761"},"PeriodicalIF":5.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145822795","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

Nonholonomic mechanics and virtual constraints on Riemannian homogeneous spaces 黎曼齐次空间的非完整力学和虚约束

IF 5.9 2区计算机科学

Automatica Pub Date : 2026-03-01 Epub Date: 2025-12-16 DOI: 10.1016/j.automatica.2025.112754

Efstratios Stratoglou , Alexandre Anahory Simoes , Anthony Bloch , Leonardo J. Colombo

{"title":"Nonholonomic mechanics and virtual constraints on Riemannian homogeneous spaces","authors":"Efstratios Stratoglou , Alexandre Anahory Simoes , Anthony Bloch , Leonardo J. Colombo","doi":"10.1016/j.automatica.2025.112754","DOIUrl":"10.1016/j.automatica.2025.112754","url":null,"abstract":"<div><div>Nonholonomic systems are, so to speak, mechanical systems with a prescribed restriction on the velocities. A virtual nonholonomic constraint is a controlled invariant distribution associated with an affine connection mechanical control system. A Riemannian homogeneous space is, a Riemannian manifold that looks the same everywhere, as you move through it by the action of a Lie group. These Riemannian manifolds are not necessarily Lie groups themselves, but nonetheless possess certain symmetries and invariances that allow for similar results to be obtained. In this work, we introduce the notion of virtual constraint on Riemannian homogeneous spaces in a geometric framework which is a generalization of the classical controlled invariant distribution setting and we show the existence and uniqueness of a control law preserving the invariant distribution. Moreover we characterize the closed-loop dynamics obtained using the unique control law in terms of an affine connection. We illustrate the theory with new examples of nonholonomic control systems inspired by robotics applications.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"185 ","pages":"Article 112754"},"PeriodicalIF":5.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145799601","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

Stationary Stackelberg equilibrium in two-person zero-sum stochastic Stackelberg games 二人零和随机Stackelberg对策中的平稳Stackelberg均衡

IF 5.9 2区计算机科学

Automatica Pub Date : 2026-03-01 Epub Date: 2025-12-19 DOI: 10.1016/j.automatica.2025.112758

Kaiyun Xie , Junlin Xiong

{"title":"Stationary Stackelberg equilibrium in two-person zero-sum stochastic Stackelberg games","authors":"Kaiyun Xie , Junlin Xiong","doi":"10.1016/j.automatica.2025.112758","DOIUrl":"10.1016/j.automatica.2025.112758","url":null,"abstract":"<div><div>This paper investigates the existence and computability of the stationary Stackelberg equilibrium (SSE) in two-person zero-sum stochastic Stackelberg games (SSGs). First, an operator-based approach is developed to illustrate that such games admit a fixed-point equilibrium (FPE). It is further proven that the FPE strategy pair constitutes an SSE. Building on this foundation, a value iteration (VI) algorithm is proposed to compute the SSE strategies. However, due to the curse of dimensionality, the exact computation of SSE strategies involves high computational complexity. To address this issue, an <span><math><mi>ϵ</mi></math></span>-sacrifice strategy is introduced to approximate the leader’s SSE strategy by performing finite iterations, with the degree of approximation quantified by <span><math><mi>ϵ</mi></math></span>. The relationship between <span><math><mi>ϵ</mi></math></span> and the number of iterations <span><math><mi>n</mi></math></span> is established, ensuring a trade-off between computational efficiency and strategic performance. An information flow control example demonstrates the efficiency of the designed strategies.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"185 ","pages":"Article 112758"},"PeriodicalIF":5.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145799602","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 control to steer dynamical systems to the generalized Nash equilibria for monotone aggregative games with operational constraints 带操作约束的单调聚集对策的分布式控制

IF 5.9 2区计算机科学

Automatica Pub Date : 2026-03-01 Epub Date: 2025-12-19 DOI: 10.1016/j.automatica.2025.112794

Ming Li , Zhaojian Wang , Mengshuo Jia , Feng Liu , Bo Yang , Xinping Guan

引用次数: 0

Almost sure notions of input-to-state stability and integral input-to-state stability for randomly switched time-varying systems 随机切换时变系统的输入-状态稳定性和积分输入-状态稳定性的基本确定概念

IF 5.9 2区计算机科学

Automatica Pub Date : 2026-03-01 Epub Date: 2025-12-31 DOI: 10.1016/j.automatica.2025.112815

Qian Liu , Yong He , Chongyang Ning

引用次数: 0

CBF-based safety design for adaptive control of uncertain nonlinear strict-feedback systems 基于cbf的不确定非线性严格反馈系统自适应控制安全设计

IF 5.9 2区计算机科学

Automatica Pub Date : 2026-03-01 Epub Date: 2025-12-19 DOI: 10.1016/j.automatica.2025.112782

Liwei An , Can Zhao , Guang-Hong Yang

{"title":"CBF-based safety design for adaptive control of uncertain nonlinear strict-feedback systems","authors":"Liwei An , Can Zhao , Guang-Hong Yang","doi":"10.1016/j.automatica.2025.112782","DOIUrl":"10.1016/j.automatica.2025.112782","url":null,"abstract":"<div><div>This paper studies the problem of adaptive tracking control for nonlinear strict-feedback systems with parametric uncertainties and safety constraints. A co-design strategy of control barrier functions (CBFs) and barrier Lyapunov functions (BLFs) is proposed, which inherits the robustness and stability of traditional adaptive backstepping controllers. First, a safe virtual control signal is generated by the CBF-induced quadratic programming (QP), which is the suboptimal and smooth solution of the QP with a shifting function. Then, a BLF-based backstepping controller is designed by following the safe virtual control signal. It is shown that the co-design can minimize the damage to the original tracking performance on the premise of safety guarantees. The distinguishing point of the safety design over the existing results is to avoid constructing the high-order CBFs that lead to conservative feasible sets of inputs for ensuring high-relative-degree safety constraints. The simulation results show that the proposed scheme achieves better tracking performance compared with the existing high-order CBF-based method.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"185 ","pages":"Article 112782"},"PeriodicalIF":5.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145799183","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

The role of network connectivity in distributed k-agreement protocols 网络连接在分布式k协议中的作用

IF 5.9 2区计算机科学

Automatica Pub Date : 2026-03-01 Epub Date: 2025-12-29 DOI: 10.1016/j.automatica.2025.112753

Gianluca Bianchin , Miguel Vaquero , Jorge Cortés , Emiliano Dall’Anese

{"title":"The role of network connectivity in distributed k-agreement protocols","authors":"Gianluca Bianchin , Miguel Vaquero , Jorge Cortés , Emiliano Dall’Anese","doi":"10.1016/j.automatica.2025.112753","DOIUrl":"10.1016/j.automatica.2025.112753","url":null,"abstract":"<div><div>Given a network of agents, we say that the agents achieve a <span><math><mi>k</mi></math></span>-<em>agreement</em> when their state variables converge to a point that corresponds to the projection of the agents’ states onto a <span><math><mi>k</mi></math></span>-dimensional linear subspace. The <span><math><mi>k</mi></math></span>-agreement problem generalizes the classical consensus problem; unlike in consensus, where the agents’ states must asymptotically coincide, in <span><math><mi>k</mi></math></span>-agreement the agents reach an agreement in a generalized sense (within a linear subspace, where the states do not necessarily coincide). In this paper, we investigate which interaction topologies enable a network of agents to reach an agreement on a prescribed <span><math><mi>k</mi></math></span>-dimensional subspace through local coordination algorithms. We show that achieving <span><math><mi>k</mi></math></span>-agreement requires communication over highly connected graphs; specifically, the number of edges in the interaction graph must grow linearly with the dimension <span><math><mi>k</mi></math></span> of the agreement subspace. Our characterization reveals that the presence of cycles in the communication graph (particularly, independent families of cycles) constitutes the fundamental structural feature enabling the agents to achieve <span><math><mi>k</mi></math></span>-agreement. We also investigate the use of common graph topologies, such as path and circulant graphs, for <span><math><mi>k</mi></math></span>-agreement, deriving insights into the relationship between the subspace dimension <span><math><mi>k</mi></math></span> and the required network connectivity. The effectiveness of the proposed framework is demonstrated through simulations in robotic formation control problems.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"185 ","pages":"Article 112753"},"PeriodicalIF":5.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145884874","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