Automatica最新文献_第8页

Robust event-triggered tracking control for an unmanned aerial vehicle with non-vanishing disturbances

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-21 DOI: 10.1016/j.automatica.2025.112123

Linghuan Kong , Wei He , Carlos Silvestre

{"title":"Robust event-triggered tracking control for an unmanned aerial vehicle with non-vanishing disturbances","authors":"Linghuan Kong , Wei He , Carlos Silvestre","doi":"10.1016/j.automatica.2025.112123","DOIUrl":"10.1016/j.automatica.2025.112123","url":null,"abstract":"<div><div>This paper addresses the trajectory tracking problem of unmanned aerial vehicles (UAVs) in the presence of unknown external disturbances. It deviates from conventional dynamic surface control (DSC) techniques by introducing a new auxiliary variable for compensating filtering errors and using backstepping, and the desired thrust is then designed. Additionally, it presents a dynamic event-triggered strategy that incorporates error compensation, aiming to lessen communication burdens in developing angular velocity commands. The key feature of the proposed method is two-fold: firstly, two auxiliary variables are designed resorting to a filtering mechanism to compensate for the errors induced by the DSC and the event-triggered mechanism, thereby improving tracking accuracy. Secondly, it proposes a novel disturbance compensation approach to effectively manage non-vanishing, time-varying disturbances without requiring the a prior knowledge of their derivatives. This method efficiently saves communication resources, particularly by avoiding Zeno behavior, while maintaining high-accuracy tracking control of the UAV. Simulation results are presented to demonstrate the efficacy of the proposed approach and validate the theoretical findings.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112123"},"PeriodicalIF":4.8,"publicationDate":"2025-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130888","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 disturbance rejection for uncertain linear system with time-varying exo-system: A disturbance observer approach

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-21 DOI: 10.1016/j.automatica.2024.112100

Hyuntae Kim , Gyunghoon Park , Hyungbo Shim

引用次数: 0

Finite-time convergent discrete-time algorithms: From explicit to backward schemes

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-21 DOI: 10.1016/j.automatica.2024.112080

Felix A. Miranda-Villatoro , Fernando Castaños , Bernard Brogliato

引用次数: 0

Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-21 DOI: 10.1016/j.automatica.2024.112106

Riccardo Bertollo , Gianni Lunardi , Andrea Del Prete , Luca Zaccarian

{"title":"Hybrid Lyapunov-based feedback stabilization of bipedal locomotion based on reference spreading","authors":"Riccardo Bertollo , Gianni Lunardi , Andrea Del Prete , Luca Zaccarian","doi":"10.1016/j.automatica.2024.112106","DOIUrl":"10.1016/j.automatica.2024.112106","url":null,"abstract":"<div><div>We propose a hybrid formulation of the linear inverted pendulum model for bipedal locomotion, where the foot switches are triggered based on the center of mass position, removing the need for pre-defined footstep timings. Using a concept similar to reference spreading, we define nontrivial tracking error coordinates induced by our hybrid model. These coordinates enjoy desirable linear flow dynamics and rather elegant jump dynamics perturbed by a suitable extended class <span><math><msub><mrow><mi>K</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> function of the position error. We stabilize this hybrid error dynamics using a saturated feedback controller, selecting its gains by solving a convex optimization problem. We prove local asymptotic stability of the tracking error and provide a certified estimate of the basin of attraction, comparing it with a numerical estimate obtained from the integration of the closed-loop dynamics. Simulations on a full-body model of a real robot show the practical applicability of the proposed framework and its advantages with respect to a standard model predictive control formulation.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112106"},"PeriodicalIF":4.8,"publicationDate":"2025-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130727","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

Robust value iteration for optimal control of discrete-time linear systems

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-21 DOI: 10.1016/j.automatica.2025.112121

Jing Lai , Junlin Xiong

引用次数: 0

Data-driven control performance degradation recovery as an extension of loop transfer recovery

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-21 DOI: 10.1016/j.automatica.2025.112110

Yunsong Xu , Zhengen Zhao , Hao Luo , Linlin Li

{"title":"Data-driven control performance degradation recovery as an extension of loop transfer recovery","authors":"Yunsong Xu , Zhengen Zhao , Hao Luo , Linlin Li","doi":"10.1016/j.automatica.2025.112110","DOIUrl":"10.1016/j.automatica.2025.112110","url":null,"abstract":"<div><div>This article investigates the problem of data-driven control performance degradation recovery from performance degradation modeling and a concrete control structure associated with data-driven implementation methods. The control performance degradation recovery problem is inspired by and serves as an extension of the classical loop transfer recovery (LTR). In the first part, a loop performance degradation model is proposed where performance degradation is quantized, between the “ideal” full state-feedback control and the “real” dynamic output feedback control scenarios, by the error at the plant input and output. It is demonstrated that control performance degradation recovery is consistent with optimizing the robust stability, promoting the ability of disturbance rejection and improving the fault detectability. This consistency promises various applications of the model, for instance, to the design of fault-tolerant control systems. In the second part, a concrete realization of the control performance degradation recovery problem is presented as optimizing an <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> norm that is dependent of the Youla parameter system. Data-driven formulation of the problem is introduced together with data-driven <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> norm estimation involved in it. In the third part, data-driven optimization method for the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> norm is developed for real-time performance degradation recovery. The data-driven <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> norm estimation and optimization method also links the classical model-based <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> norm optimization to the data-driven field.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112110"},"PeriodicalIF":4.8,"publicationDate":"2025-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130892","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 analysis of continuous-time linear systems equipped with aperiodic sampled-data dynamic output-feedback controllers

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-20 DOI: 10.1016/j.automatica.2024.112098

Chuan-Ke Zhang, Yun-Fan Liu, Du Xiong, Yu-Long Fan, Yong He

{"title":"Stability analysis of continuous-time linear systems equipped with aperiodic sampled-data dynamic output-feedback controllers","authors":"Chuan-Ke Zhang, Yun-Fan Liu, Du Xiong, Yu-Long Fan, Yong He","doi":"10.1016/j.automatica.2024.112098","DOIUrl":"10.1016/j.automatica.2024.112098","url":null,"abstract":"<div><div>This paper is concerned with the stability analysis of continuous-time linear systems controlled by sampled-data controllers working in the aperiodic sampling mode. Different from previous works mostly focusing on linear state-feedback (LSF) control, this paper concentrates on a general case of dynamic output-feedback (DOF) control, which includes both the well-studied LSF control and the commonly used proportion integration output-feedback (PIOF) control. Firstly, by introducing a virtual state vector, the closed-loop system under the DOF controller is represented as an augmented linear sampled-data system. Then, a so-called weakly constrained hybrid Lyapunov functional, which encompasses the existing looped functionals as special cases, is proposed to analyze the stability of the sampled-data system. Next, a system-equation-based bounding inequality is developed to estimate integral terms in the derivative of the functional with conservatism and complexity reduction. As a result, several stability criteria, respectively for the DOF-based system and the LSF/PIOF-based system, are derived through these techniques. Finally, several numerical and application examples demonstrate the effectiveness and the advantages of the proposed methods.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112098"},"PeriodicalIF":4.8,"publicationDate":"2025-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130598","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

Optimal tracking performance of MISO systems in the presence of temporally correlated multiplicative uncertainty

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-20 DOI: 10.1016/j.automatica.2025.112112

Junhui Li , Wei Chen , Jieying Lu , Weizhou Su

{"title":"Optimal tracking performance of MISO systems in the presence of temporally correlated multiplicative uncertainty","authors":"Junhui Li , Wei Chen , Jieying Lu , Weizhou Su","doi":"10.1016/j.automatica.2025.112112","DOIUrl":"10.1016/j.automatica.2025.112112","url":null,"abstract":"<div><div>This paper investigates the optimal tracking performance of a discrete-time linear time-invariant (LTI) multi-input and single-output (MISO) plant responding to a step reference signal, in the presence of temporally correlated multiplicative uncertainty. By temporally correlated, we mean the uncertainty has a practical structure of finite impulse response (FIR) and certain dynamical first and second moments, which includes multiplicative white noises and significant network-induced uncertainties. A two-degree-of-freedom (2DOF) controller is adopted and the tracking performance is measured by the expected energy of the tracking error. By a projection lemma, the criterion of achievability of asymptotic tracking is proposed in an innovative form, which explicitly characterizes how the plant properties (i.e., the potentially repeated unstable output poles, nonminimum phase output zeros, and relative degree) and the uncertainty property (captured by a rational function) may affect the performance limitation. It turns out that, when the achievability condition holds, the minimal achievable tracking performance of the closed-loop system with the uncertainty is proportional to the tracking performance limit of the system without uncertainty, made worse by a quantity related to the inverse of the largest stability margin of the closed-loop system against the uncertainty. In addition, some well-known criteria are reproduced by applying the result to the systems with random packet dropout or multiplicative white uncertainty. Several simulations are also conducted to validate the results.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112112"},"PeriodicalIF":4.8,"publicationDate":"2025-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130482","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

Bettering adaptive iterative learning for rotation maneuvers of rigid bodies via segment-wise rectification

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-20 DOI: 10.1016/j.automatica.2025.112125

Fan Zhang, Deyuan Meng

{"title":"Bettering adaptive iterative learning for rotation maneuvers of rigid bodies via segment-wise rectification","authors":"Fan Zhang, Deyuan Meng","doi":"10.1016/j.automatica.2025.112125","DOIUrl":"10.1016/j.automatica.2025.112125","url":null,"abstract":"<div><div>This paper proposes a segment-wise rectification method to enhance the learning efficacy of iterative learning control (ILC), which is suitable for repetitive tracking tasks of rigid bodies. Despite the conventional paradigm of adaptive ILC, two challenges persist in adaptive ILC for rotation maneuvers: the unboundedness problem, characterized by the unbounded nature of estimates and input amplitudes, and the temporal coupling problem, involving the unnecessary impact of the past tracking performance on the current tracking performance along the time axis. Either of the two issues may cause undesirable overestimation. To address the unboundedness problem, we propose a learning mechanism based on segment division, facilitating the continuous evolution of estimates within each segment throughout iterations. This mechanism naturally ensures the boundedness of all system signals, mitigating overestimation risks. Moreover, to resolve the temporal coupling problem, we develop the segment-wise rectification method regardless of the unity constraint of states. By leveraging these methodologies, we establish an innovative adaptive ILC framework that achieves quasi-perfect (respectively, perfect) attitude tracking when initial state errors are non-zero (respectively, zero). Furthermore, the proposed adaptive ILC is applied to the repetitive attitude tracking tasks of rigid bodies, demonstrating exceptional tracking and learning performance in the presence of uncertainties.</div></div>","PeriodicalId":55413,"journal":{"name":"Automatica","volume":"174 ","pages":"Article 112125"},"PeriodicalIF":4.8,"publicationDate":"2025-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143130484","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

Resilient adaptive backstepping tracking control of nonlinear systems without a priori knowledge of DoS attacks

IF 4.8 2区计算机科学

Automatica Pub Date : 2025-01-20 DOI: 10.1016/j.automatica.2025.112119

Liwei An , Can Zhao , Lili Zhang

引用次数: 0