Automatica最新文献_第8页

PTNDO-based distributed active fault-tolerant control for leader–follower vehicular formation with unknown direction faults 未知方向故障下leader-follower车辆编队的ptndo分布式主动容错控制

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-28 DOI: 10.1016/j.automatica.2025.112540

Wei-Dong Xu , Xiang-Gui Guo , Qing Li , Jian-Liang Wang , Ju H. Park

{"title":"PTNDO-based distributed active fault-tolerant control for leader–follower vehicular formation with unknown direction faults","authors":"Wei-Dong Xu , Xiang-Gui Guo , Qing Li , Jian-Liang Wang , Ju H. Park","doi":"10.1016/j.automatica.2025.112540","DOIUrl":"10.1016/j.automatica.2025.112540","url":null,"abstract":"<div><div>This paper investigates the problem of distributed predefined-time active fault-tolerant control for vehicular formation systems subject to unknown direction actuator faults, unknown nonlinear dynamics, and external disturbances. First, two novel predefined-time stability lemmas are proposed, eliminating the need for quadratic fractional functions or piecewise continuous functions, thereby avoiding singularity issues. Subsequently, a novel predefined-time nonlinear disturbance observer (PTNDO) is designed to accurately estimate the lumped disturbance within a predefined time. It is worth mentioning that, based on the proposed PTNDO, a novel reverse fault detector (RFD) by utilizing the disturbance estimation error is developed to accurately detect the reverse faults, and then a predefined-time active fault-tolerant strategy is constructed to avoid the control input peaks and excessive control gains caused by existing Nussbaum function-based methods. Furthermore, the proposed fault-tolerant control strategy not only ensures that the formation error converges to a neighborhood near the origin within a predefined time but also maintains inter-vehicle communication connectivity and collision avoidance. Finally, simulation experiments demonstrate the effectiveness and superiority of the proposed control strategy.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"182 ","pages":"Article 112540"},"PeriodicalIF":5.9,"publicationDate":"2025-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144907347","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

Pattern formation using an intrinsic optimal control approach 模式形成使用内在最优控制方法

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-28 DOI: 10.1016/j.automatica.2025.112524

Tianhao Li , Yibei Li , Zhixin Liu , Xiaoming Hu

引用次数: 0

Prescribed performance distributed event-triggered control 规定的性能分布式事件触发控制

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-28 DOI: 10.1016/j.automatica.2025.112551

Tao Xu , Guanghui Wen , Zhisheng Duan , Lihua Xie

{"title":"Prescribed performance distributed event-triggered control","authors":"Tao Xu , Guanghui Wen , Zhisheng Duan , Lihua Xie","doi":"10.1016/j.automatica.2025.112551","DOIUrl":"10.1016/j.automatica.2025.112551","url":null,"abstract":"<div><div>Distributed event-triggered control improves resource efficiency by updating control inputs only when necessary. Most existing related studies focus primarily on steady-state performance, often overlooking transient behavior. This paper proposes novel prescribed performance adaptive distributed event-triggered control schemes for networked second-order integrator multi-agent systems, ensuring time-varying consensus even in the presence of disturbances. Specifically, intermittently updated edge-based measurement information is employed for event-triggered feedback control to conserve limited resources. Adaptive gains are designed to eliminate the requirement for global network information during implementation. By incorporating appropriate performance functions, the proposed control schemes guarantee that the relative position and velocity errors satisfy the prescribed transient and steady-state performance bounds. An explicit lower bound on the inter-event intervals within any finite time horizon is derived, revealing the relationship between control performance and triggering frequency. Numerical simulations are provided to demonstrate the effectiveness, superiority, and applicability of the developed control schemes.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"182 ","pages":"Article 112551"},"PeriodicalIF":5.9,"publicationDate":"2025-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144913876","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

Sparse sampled-data control of a family of high-order nonlinear systems with large delays in state and input 一类状态和输入大延迟的高阶非线性系统的稀疏采样数据控制

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-27 DOI: 10.1016/j.automatica.2025.112534

Congran Zhao, Wei Lin

引用次数: 0

Reducing computational complexity in nonlinear model input design via sparse estimation 利用稀疏估计降低非线性模型输入设计的计算复杂度

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-27 DOI: 10.1016/j.automatica.2025.112557

Javad Parsa , Cristian R. Rojas , Håkan Hjalmarsson

{"title":"Reducing computational complexity in nonlinear model input design via sparse estimation","authors":"Javad Parsa , Cristian R. Rojas , Håkan Hjalmarsson","doi":"10.1016/j.automatica.2025.112557","DOIUrl":"10.1016/j.automatica.2025.112557","url":null,"abstract":"<div><div>The probability density function of the input plays a crucial role in the process of identifying nonlinear systems, with a finite representation commonly employed in the process. However, input design for nonlinear models is a challenging task because it usually involves optimizing a problem with a large number of free variables, which is computationally heavy. The first contribution of this paper is to demonstrate that the majority of these free variables are zero. Consequently, there is no necessity to optimize all of them. The second contribution is to identify the non-zero variables within this set of free variables associated with input design. To address this, we propose an alternating minimization approach. In the first step, we compute the per-sample Fisher Information Matrix (FIM). Then, in the second phase, we estimate the positions of the non-zero elements within the vector of free variables using the previously derived per-sample FIM. Additionally, in the later phase, we calculate the Lagrangian multipliers in our optimization problem using the Karush–Kuhn–Tucker conditions and derive an upper bound for the hyperparameter, which promotes sparsity. This bound ensures the maximum required number of non-zero variables to represent the per-sample FIM. Following this, the original input design problem is streamlined to optimize the cost function only with respect to the non-zero elements, resulting in a significant reduction in computational time. To assess the effectiveness of our proposed method, we conduct a comprehensive numerical performance evaluation by comparing it to state-of-the-art input design algorithms.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"182 ","pages":"Article 112557"},"PeriodicalIF":5.9,"publicationDate":"2025-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144902487","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

Improved stochastic estimator of time-varying autoregressive models with heteroscedastic variance process and application 具有异方差过程的时变自回归模型的改进随机估计及其应用

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-27 DOI: 10.1016/j.automatica.2025.112542

Maria V. Kulikova, Gennady Yu. Kulikov

{"title":"Improved stochastic estimator of time-varying autoregressive models with heteroscedastic variance process and application","authors":"Maria V. Kulikova, Gennady Yu. Kulikov","doi":"10.1016/j.automatica.2025.112542","DOIUrl":"10.1016/j.automatica.2025.112542","url":null,"abstract":"<div><div>Motivated by modern research trends in econometric discipline, we propose the derivative-free extended Kalman filtering (DF-EKF) method appropriate for estimating the nonlinear state-space models with multiplicative noise scenario and/or space-dependent diffusion terms. In particular, an autoregressive process with the heteroscedastic variance assumption modeled by a stochastic volatility specification yields such models’ structure and requires a development of effective estimation methods. The discussed models are widely used for estimating the hidden volatility process, that is, usually regarded as a measure of risk. The novel DF-EKF allows to estimate the sophisticated nonlinear SV models’ specifications without derivatives computation and, more importantly, in case of non-additive noise scenario both in the process and measurement equations. The numerical tests substantiate the estimation method developed in this work. Empirical study concerns U.S. market volatility estimation by using S&P500 index in period from November 1927 to June 2020, which includes the U.S. Great Depression and the 2008–2009 global financial crisis.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"182 ","pages":"Article 112542"},"PeriodicalIF":5.9,"publicationDate":"2025-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144902490","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

Stability of extremum seeking for maps that are strictly but not strongly convex 严格但非强凸映射极值搜索的稳定性

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-27 DOI: 10.1016/j.automatica.2025.112536

Patrick McNamee , Miroslav Krstić , Zahra Nili Ahmadabadi

{"title":"Stability of extremum seeking for maps that are strictly but not strongly convex","authors":"Patrick McNamee , Miroslav Krstić , Zahra Nili Ahmadabadi","doi":"10.1016/j.automatica.2025.112536","DOIUrl":"10.1016/j.automatica.2025.112536","url":null,"abstract":"<div><div>For a map that is strictly but not strongly convex, model-based gradient extremum seeking has an eigenvalue of zero at the extremum, i.e., it fails at exponential convergence. Interestingly, perturbation-based model-free extremum seeking has a negative Jacobian, in the average, meaning that its (practical) convergence is exponential, even though the map’s Hessian is zero at the extremum. Although these observations for gradient-based extremum seeking control (GESC) are not trivial, in this paper we focus on an even more nontrivial study of the same phenomenon for Newton-based extremum seeking control (NESC). NESC is a second-order method which corrects for the unknown Hessian of the unknown map, not only in order to speed up parameter convergence, but also (1) to make the convergence rate user-assignable in spite of the unknown Hessian, and (2) to equalize the convergence rates in different directions for multivariable maps. Previous NESC work established stability only for maps whose Hessians are strictly positive definite everywhere, so the Hessian is invertible everywhere. For a scalar map, we establish the rather unexpected property that, even when the map is strictly convex but not strongly convex, i.e., when the Hessian may be zero, NESC guarantees practical asymptotic stability, semiglobally. While a model-based Newton-based algorithm would run into non-invertibility of the Hessian, the perturbation-based NESC, surprisingly, avoids this challenge by leveraging the fact that the average of the perturbation-based Hessian estimate is always positive, even though the actual Hessian may be zero. However, these stability results for the NESC, and even for the GESC, do not hold for multivariable maps. We show that these ESCs can be locally destabilized for certain symmetric maps by highly asymmetric dither choices. Thus, we present unexpected robustness of NESC on maps that are scalar and strictly but not necessarily strongly convex.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"182 ","pages":"Article 112536"},"PeriodicalIF":5.9,"publicationDate":"2025-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144902553","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

Trajectory elongation strategies with minimum curvature discontinuities for a Dubins vehicle 杜宾飞行器曲率不连续最小的轨迹延伸策略

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-27 DOI: 10.1016/j.automatica.2025.112550

Aditya Krishna Rao, Twinkle Tripathy

{"title":"Trajectory elongation strategies with minimum curvature discontinuities for a Dubins vehicle","authors":"Aditya Krishna Rao, Twinkle Tripathy","doi":"10.1016/j.automatica.2025.112550","DOIUrl":"10.1016/j.automatica.2025.112550","url":null,"abstract":"<div><div>In this paper, we present strategies for designing curvature-bounded trajectories of any desired length between any two given oriented points. The proposed trajectory is constructed by the concatenation of three circular arcs of varying radii. Such a trajectory guarantees a complete coverage of the maximum set of reachable lengths while minimising the number of changeover points in the trajectory to a maximum of two under all scenarios. Additionally by using the notion of internally tangent circles, we expand the set of Circle-Circle-Circle trajectories to eight kinds, consisting of <span><math><mrow><mo>{</mo><mi>L</mi><mi>L</mi><mi>L</mi><mo>,</mo><mi>L</mi><mi>L</mi><mi>R</mi><mo>,</mo><mi>L</mi><mi>R</mi><mi>R</mi><mo>,</mo><mi>L</mi><mi>R</mi><mi>L</mi><mo>,</mo><mi>R</mi><mi>R</mi><mi>L</mi><mo>,</mo><mi>R</mi><mi>L</mi><mi>L</mi><mo>,</mo><mi>R</mi><mi>L</mi><mi>R</mi><mo>,</mo><mi>R</mi><mi>R</mi><mi>R</mi><mo>}</mo></mrow></math></span> paths. The paper presents a mathematical formulation of the proposed trajectory and the conditions for the existence and classification of each kind of trajectory. We also analyse the variation of the length of the trajectory using suitable elongation strategies and derive the set of reachable lengths for all pairs of oriented points. Moreover, we highlight the conditions required for the existence of multiple trajectories of any feasible desired length Finally, the results of this paper are illustrated using numerical simulations.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"182 ","pages":"Article 112550"},"PeriodicalIF":5.9,"publicationDate":"2025-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144902488","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

Multivalued Hamiltonian systems with sliding motions: Analysis of the backward-Euler discretisation 具有滑动运动的多值哈密顿系统：后向欧拉离散化分析

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-27 DOI: 10.1016/j.automatica.2025.112567

Fernando Castaños , Félix Miranda-Villatoro , Bernard Brogliato

引用次数: 0

A time-domain estimation of the ν-gap metric and stability margin with its application to attack defense in cyber-physical systems 空间间隔度量和稳定裕度的时域估计及其在网络物理系统攻击防御中的应用

IF 5.9 2区计算机科学

Automatica Pub Date : 2025-08-27 DOI: 10.1016/j.automatica.2025.112549

Hao Luo , Shimeng Wu , Linlin Li

引用次数: 0