JournalTOCs

IEEE Transactions on Automatic Control
Journal Prestige (SJR): 3.433

Citation Impact (citeScore): 6
Number of Followers: 70

Hybrid journal (It can contain Open Access articles)
ISSN (Print) 0018-9286
Published by IEEE

[228 journals]

IEEE Control Systems Society Information
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Pages: C3 - C3
  Abstract: null
  PubDate: MON, 29 JUL 2024 09:17:31 -04
  Issue No: Vol. 69, No. 8 (2024)
IEEE Control Systems Society Information
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Pages: C2 - C2
  Abstract: null
  PubDate: MON, 29 JUL 2024 09:17:30 -04
  Issue No: Vol. 69, No. 8 (2024)
Differentially Private Distributed Algorithms for Aggregative Games With
Guaranteed Convergence
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Yongqiang Wang;Angelia Nedić;
  Pages: 5168 - 5183
  Abstract: The distributed computation of a Nash equilibrium in aggregative games is gaining increased attention in recent years. Of particular interest is the coordinator-free scenario where individual players only observe the decisions of their neighbors due to practical constraints. Given the noncooperative relationship among participating players, protecting the privacy of individual players becomes imperative when sensitive information is involved. We propose a fully distributed equilibrium-seeking approach for aggregative games that can achieve both rigorous differential privacy and guaranteed computation accuracy of the Nash equilibrium. This is in sharp contrast to existing differential-privacy solutions for aggregative games that have to either sacrifice the accuracy of equilibrium computation to gain rigorous privacy guarantees or allow the cumulative privacy budget to grow unbounded, hence, losing privacy guarantees as iteration proceeds. Our approach uses independent noises across players, thus making it effective even when adversaries have access to all shared messages as well as the underlying algorithm structure. The encryption-free nature of the proposed approach also ensures efficiency in computation and communication. The approach is also applicable in stochastic aggregative games, able to ensure both rigorous differential privacy and guaranteed computation accuracy of the Nash equilibrium when individual players only have stochastic estimates of their pseudogradient mappings. Numerical comparisons with existing counterparts confirm the effectiveness of the proposed approach.
  PubDate: MON, 08 JAN 2024 09:23:27 -04
  Issue No: Vol. 69, No. 8 (2024)
Model Predictive Control for Quadcopters With Almost Global Trajectory
Tracking Guarantees
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: A. R. P. Andriën;E. Lefeber;D. J. Antunes;W. P. M. H. Heemels;
  Pages: 5216 - 5230
  Abstract: This article provides a new method for trajectory tracking for quadcopters following a cascaded control approach with formal closed-loop tracking guarantees. An outer-loop model predictive controller generates twice differentiable acceleration references, which provide attitude, angular velocity, and acceleration references for a nonlinear inner-loop controller. The model predictive controller allows for tracking of references while explicitly considering that the thrust of the quadcopter is upper and lower limited. It is proven that the overall strategy renders the trajectory tracking errors uniformly almost globally asymptotically stable. Via a numerical case study, the advantages of the novel method are highlighted.
  PubDate: MON, 01 JAN 2024 09:20:13 -04
  Issue No: Vol. 69, No. 8 (2024)
Resilient Control of Dynamic Flow Networks Subject to Stochastic
Cyber-Physical Disruptions
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Yu Tang;Li Jin;
  Pages: 5246 - 5261
  Abstract: Modern network systems, such as transportation and communication systems, are prone to cyber-physical disruptions and thus suffer efficiency loss. This article studies network resiliency, in terms of throughput, and develops resilient control to improve throughput. We consider single-commodity networks that admit congestion propagation. We also apply a Markov process to model disruption switches. For throughput analysis, we first use insights into congestion spillback to propose novel Lyapunov functions and then exploit monotone network dynamics to reduce computational costs of verifying stability conditions. For control design, we show that 1) for a network with infinite link storage space, there exists an open-loop control that attains the min-expected-cut capacity; 2) for a network with observable disruptions that restrict maximum sending and/or receiving flows, there exists a mode-dependent control that attains the expected-min-cut capacity; 3) for general networks, there exists a closed-loop control with throughput guarantees. We also derive lower bounds of resiliency scores for a set of numerical examples and verify resiliency improvement with our method.
  PubDate: WED, 03 JAN 2024 09:20:09 -04
  Issue No: Vol. 69, No. 8 (2024)
Singular Perturbation Analysis for a Coupled KdV–ODE System
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Swann Marx;Eduardo Cerpa;
  Pages: 5326 - 5337
  Abstract: Asymptotic stability is with no doubts an essential property to be studied for any system. This analysis often becomes very difficult for coupled systems and even harder when different time-scales appear. The singular perturbation method allows to decouple a full system into what are called the reduced-order system and the boundary layer system to get simpler stability conditions for the original system. In the infinite-dimensional setting, we do not have a general result making sure this strategy works. This article is devoted to this analysis for some systems coupling the Korteweg-de Vries equation and an ordinary differential equation with different time scales. More precisely, we obtain stability results and Tikhonov-type theorems.
  PubDate: MON, 29 JAN 2024 09:17:26 -04
  Issue No: Vol. 69, No. 8 (2024)
Attainability, Lyapunov Reducibility, and Assignability of Lyapunov
Invariants of Linear Discrete-Time Systems
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Adam Czornik;Evgeniĭ K. Makarov;Michał Niezabitowski;Svetlana Popova;Vasilii Zaitsev;
  Pages: 5338 - 5351
  Abstract: In this article, we consider a linear discrete time-invariant control system with linear time-varying state feedback. Our main goal is to determine what types of asymptotic dynamics are possible for this system. We introduce and investigate certain discrete-time analogs for notions of global attainability, global Lyapunov reducibility, and global assignability of Lyapunov invariants currently known in the continuous-time case. We prove that uniform complete controllability of the open-loop system is necessary for uniform global nonsingular attainability of the closed-loop system and is sufficient if the coefficients of the open-loop system are time invariant. From here, we demonstrate that if a given discrete-time linear time-invariant system is completely controllable, then, by choosing a suitable time-varying feedback, it is possible to yield a dynamic equivalence between the closed-loop system and an arbitrary discrete time-varying linear system, which has a Lyapunov sequence as its coefficient matrix.
  PubDate: MON, 01 JAN 2024 09:20:13 -04
  Issue No: Vol. 69, No. 8 (2024)
Input-Constrained Funnel Control of Nonlinear Systems
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Thomas Berger;
  Pages: 5368 - 5382
  Abstract: We study tracking control for uncertain nonlinear multi-input, multi-output systems modeled by $r$th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input constraints. The objective is to guarantee the evolution of the tracking error within a performance funnel with prescribed asymptotic shape (thus achieving desired transient and asymptotic accuracy objectives), for any sufficiently smooth reference signal. We design a novel funnel controller which, in order to satisfy the input constraints, contains a dynamic component, which widens the funnel boundary whenever the input saturation is active. This design is model-free, of low-complexity and extends earlier funnel control approaches. We present a simulation where the controller is compared with these approaches.
  PubDate: WED, 10 JAN 2024 09:18:35 -04
  Issue No: Vol. 69, No. 8 (2024)
Open-Loop Chance Constrained Stochastic Optimal Control via the One-Sided
Vysochanskij–Petunin Inequality
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Isabella Pacula;Meeko Oishi;
  Pages: 5383 - 5395
  Abstract: While many techniques have been developed for chance constrained stochastic optimal control with Gaussian disturbance processes, far less is known about computationally efficient methods to handle non-Gaussian processes. In this article, we develop a method for solving chance constrained stochastic optimal control problems for linear time-invariant systems with general additive disturbances with finite moments and unimodal chance constraints. We propose an open-loop control scheme for multivehicle planning, with both target sets and collision avoidance constraints. Our method relies on the one-sided Vysochanskij–Petunin inequality, a tool from statistics used to bound tail probabilities of unimodal random variables. Using the one-sided Vysochanskij–Petunin inequality, we reformulate each chance constraint in terms of the expectation and standard deviation. While the reformulated bounds are conservative with respect to the original bounds, they have a simple and closed form, and are amenable to difference of convex optimization techniques. We demonstrate our approach on a multisatellite rendezvous problem.
  PubDate: MON, 08 APR 2024 09:18:26 -04
  Issue No: Vol. 69, No. 8 (2024)
Strategically Revealing Intentions in General Lotto Games
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Keith Paarporn;Rahul Chandan;Dan Kovenock;Mahnoosh Alizadeh;Jason R. Marden;
  Pages: 5396 - 5407
  Abstract: Strategic decision-making in uncertain and adversarial environments is crucial for the security of modern systems and infrastructures. A salient feature of many optimal decision-making policies is a level of unpredictability, or randomness, which helps to keep an adversary uncertain about the system's defensive strategies. This article seeks to explore decision-making policies on the other end of the spectrum—namely, whether there are benefits in revealing one's strategic intentions to an opponent before engaging in competition. We study these scenarios in a well-studied model of competitive resource allocation problem known as General Lotto games. In the classic formulation, two competing players simultaneously allocate their assets to a set of battlefields, and the resulting payoffs are derived in a zero-sum fashion. Here, we consider a three-stage extension where one of the players has the option to publicly precommit assets in a binding fashion to battlefields before play begins. In response, the opponent decides which of these battlefields to secure (or abandon) by matching the precommitment with its own assets. They then engage in a General Lotto game over the remaining set of battlefields. Interestingly, this article highlights many scenarios where strategically revealing intentions in this fashion can actually significantly improve one's payoff. Thus, we show precommitments can serve as alternate decision-making policies that contrast with conventional policies where randomness is the central component of strategy in adversarial environments.
  PubDate: TUE, 20 FEB 2024 09:16:47 -04
  Issue No: Vol. 69, No. 8 (2024)
Distributed Supervision Strategies for Cyber-Physical Systems With Varying
Network Topology
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Francesco Tedesco;Alessandro Casavola;
  Pages: 5408 - 5423
  Abstract: This article presents a novel distributed constrained monitoring strategy for cyber-physical systems that focuses on enforcing point-in-time set-membership coordination constraints among the subsystem evolutions. The proposed scheme extends previous solutions by allowing the handling of time-varying dynamic interconnections, including the online addition/removal of subsystems (plug-and-play) during normal system operations. This approach ensures global coordination of the subsystems while effectively handling corresponding changes in the underlying constraint topology. The coordination is achieved by determining a distributed feasible set-point for each subsystem when the nominal set-point becomes unfeasible due to topological changes in the system, resulting in constraints violation. In order to address this challenge, this article generalizes the distributed command governor (CG) theory to handle online requests for structural changes in the system and/or in the coordination constraints. An add-on module is provided for each local CG to process the coordination constraints and appropriately schedule the topology changes when certain formal conditions are satisfied. This ensures that the coordination constraints are satisfied even during the topological changes. Case studies are presented by evaluating the proposed strategy on the coordination of a formation of moving vehicles and a water distribution network. These simulations are used to evaluate the effectiveness and performance of the approach.
  PubDate: TUE, 06 FEB 2024 09:19:46 -04
  Issue No: Vol. 69, No. 8 (2024)
Optimal Control of Two-Dimensional Roesser Model: Solution Based on
Reinforcement Learning
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Linwei Ye;Zhonggai Zhao;Fei Liu;
  Pages: 5424 - 5430
  Abstract: This article addresses the infinite-region linear quadratic regulation problem of the discrete two-dimensional (2-D) Roesser model, drawing inspiration from reinforcement learning principles. It introduces a novel proof establishing that expressing the optimal control law in 2-D through state feedback is unattainable. Subsequently, a policy iteration framework is proposed to derive suboptimal state feedback, followed by an exploration of the true optimal policy through value iteration. The efficacy of these methodologies is demonstrated via two numerical examples, enhancing the practical understanding of these innovative approaches.
  PubDate: TUE, 23 JAN 2024 09:18:32 -04
  Issue No: Vol. 69, No. 8 (2024)
Linearly Convergent Second-Order Distributed Optimization Algorithms
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Zhihai Qu;Xiuxian Li;Li Li;Yiguang Hong;
  Pages: 5431 - 5438
  Abstract: This article studies distributed optimization problems whose goal is to minimize the sum of cost functions located among agents in a network, where communications are described by a connected and undirected graph. Two novel second-order methods with adapt-then-combine strategy are developed. For the algorithms, explicit convergence rates are established under strongly convex and the Lipschitz gradient assumptions. Finally, numerical examples demonstrate the efficiency of algorithms and are in line with theoretical results.
  PubDate: TUE, 30 JAN 2024 09:17:43 -04
  Issue No: Vol. 69, No. 8 (2024)
A Tractable Truthful Profit Maximization Mechanism Design With Autonomous
Agents
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Mina Montazeri;Hamed Kebriaei;Babak N. Araabi;
  Pages: 5439 - 5445
  Abstract: Task allocation is a crucial process in modern systems, but it is often challenged by incomplete information about the utilities of participating agents. In this article, we propose a new profit maximization mechanism for the task allocation problem, where the task publisher seeks an optimal incentive function to maximize its own profit and simultaneously ensure the truthful announcing of the agent's private information (type) and its participation in the task, while an autonomous agent aims at maximizing its own utility function by deciding on its participation level and announced type. Our mechanism stands out from the classical contract theory-based truthful mechanisms as it empowers agents to make their own decisions about their level of involvement, making it more practical for many real-world task allocation scenarios. It has been proven that by considering a linear form of incentive function consisting of two decision functions for the task publisher the mechanism's goals are met. The proposed mechanism is initially modeled as a nonconvex functional optimization with the double continuum of constraints, nevertheless, we demonstrate that by deriving an equivalent form of the incentive constraints, it can be reformulated as a tractable convex optimal control problem. Further, we propose a numerical algorithm to obtain the solution.
  PubDate: TUE, 30 JAN 2024 09:17:43 -04
  Issue No: Vol. 69, No. 8 (2024)
Consensus Performance of First-Order Agents
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Yanling Ding;Hui Peng;Tian Qi;Jie Chen;
  Pages: 5446 - 5453
  Abstract: This article concerns consensus problems of linear time-invariant systems with stochastic noises and deterministic disturbances. We consider first-order dynamic agents interconnected by a directed graph network subject to interagent time delay, and we seek to determine the error performance achievable by the consensus feedback protocol, whereas the performance quantifies the disruption of consensus by noises and disturbances. The $\mathcal {H}_{2}$ and $\mathcal {H}_\infty$ norms of the multiagent system transfer function matrices are employed as measures of the consensus error. For the $\mathcal {H}_{2}$ consensus performance, we obtain an analytical expression of the consensus error, while for the $\mathcal {H}_\infty$ consensus performance, we show that it can be determined by solving a sequence of independent unimodal quasi-convex problems. The results help demonstrate how, in the presence of stochastic noises and deterministic disturbances, the agent's unstable dynamics may interact over a delayed network to limit the consensus performance attainable.
  PubDate: TUE, 06 FEB 2024 09:19:46 -04
  Issue No: Vol. 69, No. 8 (2024)
Adaptive Event-Triggered Prescribed-Time Stabilization of Uncertain
Nonlinear Systems With Asymmetric Time-Varying Output Constraint
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Zong-Yao Sun;Jiao-Jiao Li;Changyun Wen;Chih-Chiang Chen;
  Pages: 5454 - 5461
  Abstract: This article aims to solve two intricate problems in nonlinear control: 1) the singularity caused by driving the control to infinity at the prescribed time and 2) the stabilization via adaptive event-triggered feedback for a class of uncertain nonlinear systems with asymmetric time-varying output constraints. The difficulty is how to dominate the implicit time in the system and the parameter error multiplied by an adaptive law without breaking the time-varying output constraint. To overcome the difficulty, we develop an event-triggered adaptive stabilizing controller comprising a time-varying scaling function and an exponential decay term, which is bounded on the whole-time interval and ensures that the states converge to the origin after entering a prescribed compact set within a prescribed finite time. Superior to the existing event-triggered schemes, the new triggered rule with a time-varying threshold guarantees that the designed controller is not only more robust against more serious uncertainties but also unifies the design in dealing with both constrained and unconstrained systems without constructing barrier functions associated with the output constraint. Finally, a practical simulation example is provided to illustrate and verify the effectiveness of the proposed approach.
  PubDate: FRI, 02 FEB 2024 09:16:49 -04
  Issue No: Vol. 69, No. 8 (2024)
Event-Triggered Consensus of Multiagent Systems With Prescribed
Performance
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Wenfeng Hu;Yahui Hou;Zhiyong Chen;Chunhua Yang;Weihua Gui;
  Pages: 5462 - 5469
  Abstract: In this article, we address the event-triggered consensus problem for single-integrator multiagent systems by introducing a novel nonlinear control protocol. With the proposed consensus protocol, convergence with prescribed transient performance of the closed-loop system can be guaranteed while control execution is triggered by a delicately designed edge-based event-triggering mechanism. The protocol also ensures that no agent exhibits Zeno behavior. Moreover, the method can be extended to the design of a self-triggered algorithm that is able to determine the triggering time sequence without continuously accessing the network states.
  PubDate: THU, 08 FEB 2024 09:18:55 -04
  Issue No: Vol. 69, No. 8 (2024)
Stochastic Lyapunov-Barrier Functions for Robust Probabilistic
Reach-Avoid-Stay Specifications
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Yiming Meng;Jun Liu;
  Pages: 5470 - 5477
  Abstract: Stability and safety are crucial in safety-critical control of dynamical systems. The reach-avoid-stay objectives for deterministic dynamical systems can be effectively handled by formal methods as well as Lyapunov methods with soundness and approximate completeness guarantees. However, for continuous-time stochastic dynamical systems, probabilistic reach-avoid-stay problems are viewed as challenging tasks. Motivated by the recent surge of applications in characterizing safety-critical properties using Lyapunov-barrier functions, we aim to provide a stochastic version for probabilistic reach-avoid-stay problems in consideration of robustness. To this end, based on the weak topology, we first establish a connection between probabilistic stability with safety constraints and reach-avoid-stay specifications. We, then, prove that stochastic Lyapunov-barrier functions provide sufficient conditions for the target objectives. We apply Lyapunov-barrier conditions in control synthesis for reach-avoid-stay specifications, and show its effectiveness in a case study.
  PubDate: THU, 22 FEB 2024 09:18:33 -04
  Issue No: Vol. 69, No. 8 (2024)
Ensuring Both Almost Sure Convergence and Differential Privacy in Nash
Equilibrium Seeking on Directed Graphs
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Yongqiang Wang;Tamer Başar;
  Pages: 5478 - 5485
  Abstract: We propose a distributed Nash equilibrium seeking approach that can achieve both almost sure convergence and rigorous differential privacy with finite cumulative privacy budget, which is in sharp contrast to existing differential-privacy solutions for networked games that have to trade provable convergence for differential privacy. The approach is applicable when the communication graph is directed and unbalanced. Numerical comparison results with existing counterparts confirm the effectiveness of the proposed approach.
  PubDate: WED, 14 FEB 2024 09:17:38 -04
  Issue No: Vol. 69, No. 8 (2024)
Final Set Adjustment in Barrier Function Adaptation Exploiting Properties
of Signed Power-Based Controllers
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Andrés González;Luis Ovalle;Leonid Fridman;
  Pages: 5486 - 5491
  Abstract: Barrier function adaptation for sliding-mode controllers ensures not only that the system trajectories belong to the barrier function width but also the solutions, after a finite time, belong to a smaller positively invariant subset of the barrier function width whose size depends on the upper bound of the perturbations. In this article, the barrier function methodology is extended to a class of signed power-based controllers. It turns out that, whenever the upper bound of the perturbation is smaller than one, powers smaller than zero produce a smaller size of the positively invariant final set, and when the upper bound of the perturbation is bigger than one, the size of the final set for the same controllers is bigger. Finally, we propose a bipowered extension of the methodology to adjust the size of the final set for any value of the upper bound of the perturbation.
  PubDate: MON, 19 FEB 2024 09:19:18 -04
  Issue No: Vol. 69, No. 8 (2024)
Feedback Control for Distributed Ledgers: An Attack Mitigation Policy for
DAG-Based DLTs
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Pietro Ferraro;Andreas Penzkofer;Christopher King;Robert Shorten;
  Pages: 5492 - 5499
  Abstract: In this article, we present a feedback approach to the design of an attack mitigation policy for directed acyclic graph (DAG)-based distributed ledgers. We develop a model to analyze the behavior of the ledger under the so-called Tips Inflation Attack, which endangers the liveness of transactions, and we design a control strategy to counteract this attack strategy. The efficacy of this approach is showcased through a theoretical analysis, in the form of two theorems about the stability properties of the ledger with and without the controller, and extensive Monte Carlo simulations of an agent-based model of the distributed ledger.
  PubDate: MON, 04 MAR 2024 09:17:33 -04
  Issue No: Vol. 69, No. 8 (2024)
Fault-Tolerant Prescribed Performance Control of Wheeled Mobile Robots: A
Mixed-Gain Adaption Approach
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Jin-Xi Zhang;Jinliang Ding;Tianyou Chai;
  Pages: 5500 - 5507
  Abstract: This article is concerned with the trajectory tracking control problem for the wheeled mobile robots (WMRs) subject to actuator faults. The challenge lies in the partial loss of effectiveness of the actuated wheels which results in the loss of strong controllability of the WMR, rendering the classical fault-tolerant control methods infeasible. To overcome this obstacle, a novel mixed-gain adaption technique is put forward and is skillfully combined with the robust prescribed performance control method. The resulting control achieves trajectory tracking of the WMR with the predefined settling time and accuracy, against the actuator faults, the model uncertainties, and the disturbances. Moreover, it exhibits significant simplicity, without parameter identification, function approximation, disturbance estimation, or fault estimation. The theoretical findings are illustrated by a comparative simulation.
  PubDate: TUE, 13 FEB 2024 09:19:48 -04
  Issue No: Vol. 69, No. 8 (2024)
Distributed Fault Diagnosis in Discrete Event Systems With Transmission
Delay Impairments
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Jiwei Wang;Simone Baldi;Wenwu Yu;Xiang Yin;
  Pages: 5508 - 5515
  Abstract: This note studies the distributed fault diagnosis problem in partially-observed discrete event systems, where the system is monitored by a group of agents to cooperatively diagnose faults within a finite number of steps. The novelty of this work is the creation of a methodology to verify when the faults can be diagnosed even in the presence of transmission delay impairments. To address this scenario, a new distributed diagnosability condition is proposed, which extends decentralized diagnosability conditions proposed in the literature. Such distributed diagnosability condition is then verified via a novel structure named delay recorder and a new diagnosis function. Theoretical analysis shows that the verification method can successfully determine whether the faults can be diagnosed.
  PubDate: FRI, 23 FEB 2024 09:17:11 -04
  Issue No: Vol. 69, No. 8 (2024)
Fixed-Time Consensus Control of General Linear Multiagent Systems
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Yang Liu;Zongyu Zuo;Jia Song;Wenling Li;
  Pages: 5516 - 5523
  Abstract: In this article, the fixed-time consensus control is addressed for general linear multiagent systems guided by a dynamic leader with control inputs. A new fixed-time consensus protocol is proposed based on the specific coordinate transformation and a distributed observer to estimate the leader's state information, provided that each agent in the group is controllable. It is proved that the consensus can be realized within a finite time, and an upper bound of the convergence time is also given that is independent of initial conditions. Some simulations on multiple F-18 aircrafts are done to illustrate the effectiveness of the developed fixed-time protocol.
  PubDate: WED, 14 FEB 2024 09:17:39 -04
  Issue No: Vol. 69, No. 8 (2024)
Output Discernibility of Topological Variations in Linear Dynamical
Networks
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Ziye Fan;Xiaoqun Wu;Bing Mao;Jinhu Lü;
  Pages: 5524 - 5530
  Abstract: The conditions under which topological variations in networked linear dynamical systems can be discerned from their outputs are investigated. The output-indiscernible space is completely characterized without conditions imposed on the topology matrix. It is demonstrated that a topological change can be output-indiscernible even if the original and the altered topology matrices share no common eigenvalues. Furthermore, the necessary and sufficient condition for output discernibility is proposed, which is based on the observation matrix and the Jordan chains of the topology matrices. In addition, a necessary condition distinct from discernibility conditions and two sufficient conditions for easy verification are derived. Examples on consensus dynamics are provided, highlighting the potential of our results in guiding sensor node allocation and initial value selection for detecting topological changes.
  PubDate: THU, 15 FEB 2024 09:18:23 -04
  Issue No: Vol. 69, No. 8 (2024)
Rejection of Sinusoidal Disturbances With Unknown Slowly Time-Varying
Frequencies for Linear Time-Invariant Systems
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Jacob Stewart;Petros Ioannou;
  Pages: 5531 - 5537
  Abstract: In recent years, adaptive schemes have been developed to reject sinusoidal disturbances with unknown frequencies, phases, and amplitudes. However, the analysis methods typically used are only suitable for sinusoidal disturbances with piecewise constant frequencies, ignoring smooth continuous variations. This note proposes a robust adaptive scheme to reject output disturbances dominated by sinusoidal terms with unknown time-varying frequencies. The performance is first analyzed in the ideal case where all the frequencies and their derivatives are known exactly to establish a performance baseline. Then, a computationally tractable adaptive algorithm is proposed and analyzed for the more realistic unknown frequency case, and simulations are used to demonstrate the performance of the adaptive scheme.
  PubDate: TUE, 20 FEB 2024 09:16:47 -04
  Issue No: Vol. 69, No. 8 (2024)
Distributed Model Predictive Consensus of MASs Against False Data
Injection Attacks and Denial-of-Service Attacks
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Zhengcai Li;Yang Shi;Shengyuan Xu;Huiling Xu;Lewei Dong;
  Pages: 5538 - 5545
  Abstract: This article provides a secure distributed output feedback model predictive control (DOFMPC) solution for the leader-following consensus problems of homogeneous linear disturbed multi-agent systems against multiple cyber attacks. The false data injection (FDI) attacks on the sensor-controller communication channel and denial-of-service (DoS) attacks on the controller-actuator communication channel occur simultaneously. To defend against dual-channel multiple attacks, we propose a secure DOFMPC scheme consisting of three modules. First, a robust multivariate observer is built to separate FDI attacks from uncompromised states. Second, a distributed output feedback model predictive controller is designed to generate effective control sequences. Third, a buffered actuator is added to realize adequate compensation to defend against DoS attacks. The proposed secure DOFMPC scheme ensures the recursive feasibility of the formulated OCP and achieves the leader-following consensus of the multiagent system. Finally, an illustrative example is presented to demonstrate the secure performance of the proposed DOFMPC scheme.
  PubDate: THU, 29 FEB 2024 09:16:46 -04
  Issue No: Vol. 69, No. 8 (2024)
Hybrid Feedback for Affine Nonlinear Systems With Application to Global
Obstacle Avoidance
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Miaomiao Wang;Abdelhamid Tayebi;
  Pages: 5546 - 5553
  Abstract: This article explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from the commonly used synergistic hybrid approaches. The key idea involves the construction of a generalized synergistic Lyapunov function whose switching variable can either remain constant or dynamically change between jumps. Based on this new hybrid mechanism, a generalized synergistic hybrid feedback control scheme, endowed with global asymptotic stability guarantees, is proposed. This hybrid control scheme is then improved through a smoothing mechanism that eliminates discontinuities in the feedback term. Moreover, the smooth hybrid feedback is further extended to a larger class of systems through the integrator backstepping approach. The proposed hybrid feedback schemes are applied to solve the global obstacle avoidance problem using a new concept of synergistic navigation functions. Finally, numerical simulation results are presented to illustrate the performance of the proposed hybrid controllers.
  PubDate: FRI, 01 MAR 2024 09:16:40 -04
  Issue No: Vol. 69, No. 8 (2024)
Differentially Private Consensus Control for Discrete-Time Multiagent
Systems: Encoding–Decoding Schemes
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Chen Gao;Zidong Wang;Xiao He;Yang Liu;Dong Yue;
  Pages: 5554 - 5561
  Abstract: This article is concerned with the differentially private consensus control (DPCC) problem for linear discrete-time multiagent systems (MASs) under dynamic encoding–decoding schemes (EDSs), where the agents' initial states are the sensitive data to be protected from potential eavesdroppers. The EDS is deployed on each agent to compress the data before transmission so as to better utilize the limited network bandwidth. Differential privacy, as a performance metric, is introduced to evaluate the level of privacy, and an EDS-based DPCC scheme is proposed to ensure the ultimate mean-square consensus with preserved differential privacy. A set of criteria is first established for the EDS-embedded DPCC problem in terms of the performance of consensus, the size of transmitted data, and the level of privacy. Subsequently, the codesign issue is discussed for the EDS, the differentially private mechanism, and the consensus controller. Finally, the effectiveness of the developed algorithm is illustrated via numerical simulations.
  PubDate: TUE, 20 FEB 2024 09:16:47 -04
  Issue No: Vol. 69, No. 8 (2024)
Mixed Populations of Coordinators, Anticoordinators, and Imitators:
Stochastic Stability
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Mohaddeseh Rajaee;Pouria Ramazi;
  Pages: 5562 - 5568
  Abstract: Decision-making mechanisms are typically either of imitation, that is, to copy the action of successful fellows, coordination, that is, to take an action if enough fellows have done so, or anticoordination, that is to take an action if few fellows have done so. The resulting decision-making dynamics of a mixture of individuals following these three mechanisms may either eventually reach an equilibrium state where no one tends to switch strategies or enter a nonsingleton positively invariant set, where perpetual switches of strategies will take place. In reality, however, the decisions are subject to mistakes or perturbations. Will any of the equilibrium states “survive” under the perturbed dynamics' That is, will they be visited infinitely often with a nonvanishing frequency under vanishing perturbations. We approach this problem by performing stochastic stability analysis for a population of individuals choosing between cooperation and defection, accordingly earning payoffs based on their payoff matrices, and updating their decisions by following one of the above three mechanisms provided that with a certain probability they may choose the opposite action to what the mechanism puts forward. We find that if an equilibrium consisting of both imitating cooperators and defectors is stochastically stable, so is an extreme equilibrium, where all or none of the imitators cooperate. This highlights the robustness of extreme equilibria and in turn the role of imitation in decision-making dynamics.
  PubDate: FRI, 01 MAR 2024 09:16:40 -04
  Issue No: Vol. 69, No. 8 (2024)
New Duality Relations in Linear Systems and Optimal Control Under Bounded
Disturbances
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Alexey Peregudin;Igor Furtat;
  Pages: 5569 - 5576
  Abstract: In this article, we introduce novel duality relations that complement the well-known invariant ellipsoids method. These relations yield ellipsoids with newly established geometrical interpretations and connections to linear system norms. The established duality leads to the optimal synthesis results for state-feedback control, filtering, and output-feedback control problems in the presence of bounded disturbances. The proposed output-feedback control solution is demonstrated to be optimal and surpass prior suboptimal results.
  PubDate: WED, 28 FEB 2024 09:17:15 -04
  Issue No: Vol. 69, No. 8 (2024)
Robust Adaptive Average Consensus Over a Time-Varying and Nonbalanced
Environment
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Javier A. Gallegos;Constanza Schlotterbeck;Felipe Núñez;
  Pages: 5577 - 5583
  Abstract: Average consensus is a fundamental problem in distributed control that still lacks a general solution when the agents face nonideal conditions and uncertain environments. This note contributes to the topic by addressing average consensus in networks of agents that: 1) interact over a time-varying and nonbalanced environment and 2) face parametric and nonparametric disturbances. It is shown that an adaptive strategy, which combines surplus variables and virtual agents, effectively solves the exact average consensus problem in this nonideal and uncertain setup. A numerical example is presented to illustrate the potential of the proposed approach.
  PubDate: TUE, 20 FEB 2024 09:16:47 -04
  Issue No: Vol. 69, No. 8 (2024)
The Non-Strict Projection Lemma
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Tomas J. Meijer;Tobias Holicki;Sebastiaan van den Eijnden;Carsten W. Scherer;W.P.M.H. Maurice Heemels;
  Pages: 5584 - 5590
  Abstract: The projection lemma (often also referred to as the elimination lemma) is one of the most powerful and useful tools in the context of linear matrix inequalities for system analysis and control. In its traditional formulation, the projection lemma only applies to strict inequalities, however, in many applications, we naturally encounter non-strict inequalities. As such, we present, in this article, a non-strict projection lemma that generalizes both its original strict formulation as well as an earlier non-strict version. We demonstrate several applications of our result in robust linear matrix inequality–based marginal stability analysis and stabilization, a matrix S-lemma, which is useful in (direct) data-driven control applications, and matrix dilation.
  PubDate: WED, 28 FEB 2024 09:17:15 -04
  Issue No: Vol. 69, No. 8 (2024)
Log-Linear Dynamic Inversion Control With Provable Safety Guarantees in
Lie Groups
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Li-Yu Lin;James Goppert;Inseok Hwang;
  Pages: 5591 - 5597
  Abstract: In this article, we use the derivative of the exponential map to derive the exact evolution of the logarithm of the tracking error for mixed-invariant systems, a class of systems capable of describing rigid body tracking problems in Lie groups. In addition, we design a log-linear dynamic inversion-based control law to remove the nonlinearities due to spatial curvature and enhance the robustness of the controller. We apply linear matrix inequalities to bound the tracking error given a bounded disturbance amplified by the distortion matrix and leverage the tracking error bound to create flow pipes. To demonstrate the usefulness of our method, we show its application with urban air mobility) scenarios using a simplified kinematic aircraft model and polynomial-based path planning methods.
  PubDate: FRI, 23 FEB 2024 09:17:11 -04
  Issue No: Vol. 69, No. 8 (2024)
Robust Data-Driven Moving Horizon Estimation for Linear Discrete-Time
Systems
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Tobias M. Wolff;Victor G. Lopez;Matthias A. Müller;
  Pages: 5598 - 5604
  Abstract: In this article, a robust data-driven moving horizon estimation (MHE) scheme for linear time-invariant discrete-time systems is introduced. The scheme solely relies on offline collected data without employing any system identification step. We prove practical robust exponential stability for the setting where both the online measurements and the offline collected data are corrupted by nonvanishing and bounded noise. The behavior of the novel robust data-driven MHE scheme is illustrated by means of simulation examples and compared with a standard model-based MHE scheme, where the model is identified using the same offline data as for the data-driven MHE scheme.
  PubDate: THU, 29 FEB 2024 09:16:46 -04
  Issue No: Vol. 69, No. 8 (2024)
Passivity-Based Sliding Mode Control for Mechanical Port-Hamiltonian
Systems
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Naoki Sakata;Kenji Fujimoto;Ichiro Maruta;
  Pages: 5605 - 5612
  Abstract: In this work, we propose a new passivity-based sliding mode control (PBSMC) method for mechanical port-Hamiltonian systems. PBSMC is unification of sliding mode control and passivity-based control. It achieves sliding mode control and Lyapunov stability simultaneously by employing an energy-based Lyapunov function. The proposed method gives a family of stabilizing controllers that smoothly interpolates passivity-based control and sliding mode control with design parameters. The freedom is useful to adjust the tradeoff between robustness against external disturbances and undesired chattering vibration. In addition, this article relaxes the restrictive condition, which is required in the authors' former result. As a result, we can apply the proposed PBSMC method to trajectory tracking control problems. Furthermore, the robustness of the proposed controller against matched and unmatched disturbances is investigated. Numerical examples demonstrate the effectiveness of the proposed method.
  PubDate: THU, 29 FEB 2024 09:16:46 -04
  Issue No: Vol. 69, No. 8 (2024)
Synchronization and Subsynchronization Problems for Switching Max-Plus
Systems: Structural Solvability Conditions
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Davide Animobono;Elena Zattoni;David Scaradozzi;Anna Maria Perdon;Giuseppe Conte;
  Pages: 5613 - 5619
  Abstract: Switching linear systems over the max-plus algebra can be used to model production plants where different choices in resource allocation are possible. In such a case, internal and external variables represent the time instants at which internal or external events occur. In particular, output variables represent the time instants at which lots of manufactured goods are released to the market. Here, we consider the problems of system synchronization and subsynchronization, which consist of forcing the output of a system to equal or anticipate the output of a given model. Their solution in the max-plus framework provides a viable strategy to control a given production plant in such a way as to comply with a desired production time schedule. Using structural methods and introducing novel structural notions, necessary and sufficient solvability conditions are given. Practical methods to construct solutions are illustrated and discussed.
  PubDate: WED, 21 FEB 2024 09:17:14 -04
  Issue No: Vol. 69, No. 8 (2024)
Modified Implicit Discretization of the Super-Twisting Controller
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Benedikt Andritsch;Lars Watermann;Stefan Koch;Markus Reichhartinger;Johann Reger;Martin Horn;
  Pages: 5620 - 5626
  Abstract: In this article, a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to be independent of the controller gains. It only depends on the sampling time and the unknown disturbance. The proposed discrete-time controller is evaluated comparative to previously published discrete-time super-twisting controllers by means of the controller structure and in extensive simulation studies. The continuous-time super-twisting controller is capable of rejecting any unknown Lipschitz-continuous perturbation and converges in finite time. Furthermore, the convergence time decreases, if any of the gains is increased. The simulations demonstrate that the closed-loop systems with each of the known controllers lose one of these properties, introduce discretization-chattering, or do not yield the same accuracy level as with the proposed controller. The proposed controller, in contrast, is beneficial in terms of the above described properties.
  PubDate: TUE, 27 FEB 2024 09:17:12 -04
  Issue No: Vol. 69, No. 8 (2024)
Average Consensus for Expressed and Private Opinions
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Jing Zhang;Jianquan Lu;Christoforos N. Hadjicostis;
  Pages: 5627 - 5634
  Abstract: In this article, we study the problem of privacy-preserving average consensus from a different perspective. Previous research has mainly focused on designing privacy augmentation mechanisms for classical average consensus algorithms, which can lead to overhead (in the form of parameters exchanged between agents or extra privacy operations). Motivated by the framework of expressed and private opinions within social networks, we propose an alternative iterative algorithm to simultaneously update two state variables. One of these variables is used to transmit and interact among the network, while the other variable represents the real state evolution of agents and is not directly visible to other agents. We demonstrate that the algorithm can achieve the same performance as the well-known Laplacian consensus algorithm, but without the overhead of extra privacy protection operations. Furthermore, our algorithm is viable on general strongly connected digraphs, and does not require the topology to be undirected or balanced, nor does it require nodes to know their out-neighbors, thus, greatly weakening the topological requirements. Finally, we validate the effectiveness of the proposed algorithm via numerical simulations.
  PubDate: TUE, 19 MAR 2024 09:21:20 -04
  Issue No: Vol. 69, No. 8 (2024)
Exponentially Stable Adaptive Observation for Systems Parameterized by
Unknown Physical Parameters
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Anton Glushchenko;Konstantin Lastochkin;
  Pages: 5635 - 5642
  Abstract: The method to design exponentially stable adaptive observers is proposed for linear time-invariant systems parameterized by unknown physical parameters. Unlike existing adaptive solutions, the system state-space matrices A, B are not restricted to be represented in the observer canonical form to implement the observer. The original system description is used instead, and, consequently, the original state vector is obtained. The class of systems for which the method is applicable is identified via four assumptions related to: first, the boundedness of a control signal and all system trajectories, second, the identifiability of the physical parameters of A and B from the numerator and denominator polynomials of a system input/output transfer function, third, the complete observability of system states, and four, the parametrizability of a linear regression equations with respect to system matrices and Luenberger correction gain. In case they are met and the regressor is finitely exciting, the proposed adaptive observer, which is based on the known GPEBO and DREM procedures, ensures exponential convergence of both system parameters and states estimates to their true values. Detailed analysis for stability and convergence has been provided along with simulation results to validate the developed theory.
  PubDate: MON, 08 APR 2024 09:18:26 -04
  Issue No: Vol. 69, No. 8 (2024)
Linear Quadratic Path-Following via Online Trajectory Speed Optimization
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Duarte J. Antunes;
  Pages: 5643 - 5650
  Abstract: Consider a linear system subject to stochastic disturbances and a path to be followed by a system's output. The path-following problem is posed here as choosing both the control input and the speed along the path to minimize the expected value of a quadratic function of the control input and of the error between the output and the resulting trajectory. The optimal control input policy for the deterministic version (no stochastic disturbances) is first provided and shown to be the sum of linear state feedback and path-dependent components, as for the twin linear quadratic trajectory-tracking problem. This policy is proven to also be optimal for the original stochastic problem when the path is a straight line. For general paths, it acts as a certainty equivalent policy that is shown to improve the cost of the optimal trajectory-tracking policy for any given trajectory, both when it can be exactly computed and when proposed approximate methods are used otherwise.
  PubDate: THU, 18 APR 2024 09:16:52 -04
  Issue No: Vol. 69, No. 8 (2024)
Event-Triggered Finite-Dimensional Observer-Based Output Feedback
Stabilization of Reaction–Diffusion PDEs
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Hugo Lhachemi;
  Pages: 5651 - 5657
  Abstract: This article addresses the topic of event-triggered output feedback stabilization of reaction–diffusion partial differential equations (PDEs). The control applies at the boundary while the output is distributed. The control strategy consists of a finite-dimensional controller augmented with an adequate event-triggered mechanism. This event-triggered mechanism dictates the time instants at which the applied control input needs to be updated based on the occurrence of specific events monitored by the control law. The reported stability analysis relies on the use of two small gain arguments. A first small gain argument is used to establish that the employed finite-dimensional observer-based control strategy with continuous application of the control input (i.e., without triggering mechanism) satisfies an input-to-state stability (ISS) estimate with respect to an additive perturbation of the control input. Then, taking advantage of this latter ISS estimate along with the introduction of an adequate triggering mechanism, a second small-gain argument is developed to establish the exponential decay of the resulting closed-loop system trajectories. Finally, the feasibility of the reported event-triggered control approach is assessed through the establishment of a minimal dwell-time between two triggering instants.
  PubDate: TUE, 19 MAR 2024 09:21:20 -04
  Issue No: Vol. 69, No. 8 (2024)
Static Output Feedback Sliding Mode Control With Structured Sliding
Surface Matrices
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Jenq-Lang Wu;
  Pages: 5658 - 5665
  Abstract: On the basis of the barrier method, a unified approach for the static output feedback sliding mode control of linear control systems with matched uncertainty is addressed. Without coordinate transformations, a structured static output feedback sliding surface matrix is obtained by solving a constrained minimization problem, and then, a globally stabilizing static output feedback sliding mode controller can be constructed directly. The Lagrange multiplier method is used to derive the necessary conditions for the optimal solution of the minimization problem. An iterative gradient descent algorithm is established to search for a (local) optimal solution. Finally, for validation, a numerical example is proposed.
  PubDate: TUE, 12 MAR 2024 09:16:31 -04
  Issue No: Vol. 69, No. 8 (2024)
On Equivalence of Lyapunov–Razumikhin Conditions and ISS for a Class
of Time-Delay Systems
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: D. Efimov;A. Aleksandrov;
  Pages: 5666 - 5671
  Abstract: For a retarded nonlinear system with a Lipschitz nonlinearity on bounded sets outside the origin, this article proposes necessary conditions for application of the Lyapunov–Razumikhin method. The presented conditions are illustrated on the classes of linear and nonlinear homogeneous systems.
  PubDate: THU, 28 MAR 2024 09:18:16 -04
  Issue No: Vol. 69, No. 8 (2024)
Connections Between Integral Quadratic Constraints and Dissipativity
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Sei Zhen Khong;Alexander Lanzon;
  Pages: 5672 - 5677
  Abstract: We show that a recent dissipativity approach to feedback stability analysis of potentially open-loop unstable systems, which encompasses the classical soft integral quadratic constraint (IQC) theorem, may be recovered by hard IQC theory. The latter is known to be subsumable by the more general soft IQC theory endowed with homotopies that are continuous in the gap topology. In addition, we demonstrate how the aforementioned classical soft IQC theorem, initially introduced for the analysis of a feedback interconnection of a nonlinear component and a linear system, may be recast to analyze the stability of a feedback interconnection of two nonlinear systems. This generates a frequency-dependent $(Q(\omega), S(\omega), R(\omega))$-dissipativity result.
  PubDate: TUE, 19 MAR 2024 09:21:20 -04
  Issue No: Vol. 69, No. 8 (2024)
Adaptive Event-Triggered Fixed-Time Practical Tracking Control for
Uncertain Nonlinear Systems
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Qian Ma;Yingkang Xie;
  Pages: 5678 - 5685
  Abstract: This article investigates adaptive fixed-time practical tracking control for nonlinear systems with uncertainties. First, a novel switch function is given, based on which a continuous error compensation system is proposed. The virtual control laws and the adaptive laws are then designed via command filter-based backstepping technique. It is worth noting that the second-order derivability of the proposed virtual control laws is guaranteed by the designed switch function, namely, the validness of the used command filter is ensured. Under the proposed event-triggered control scheme, all signals of the closed-loop system are proved to be bounded and the system output can track the desired signal in fixed time. At last, the effectiveness of the theoretical results is illustrated through simulation.
  PubDate: TUE, 05 MAR 2024 09:19:28 -04
  Issue No: Vol. 69, No. 8 (2024)
Composite Boundary Structure-Based Tracking Control for Nonlinear
State-Dependent Constrained Systems
- Free pre-print version: Loading...
  Rate this result: What is this?
  
  Please help us test our new pre-print finding feature by giving the pre-print link a rating.
  A 5 star rating indicates the linked pre-print has the exact same content as the published article.
  
  Authors: Dapeng Li;Hong-Gui Han;Jun-Fei Qiao;
  Pages: 5686 - 5693
  Abstract: In this article, the tracking control problem is investigated for uncertain nonlinear multiple constrained systems. The constraints on tracking error and system states are considered as asymmetric, time-varying, and state-dependent case, which is more general and appropriately unsolved at the present stage. To deal with constraint problem, an adaptive constraint control method based on composite boundary structure is proposed in this article. The state-dependent mapping is introduced to ensure the tracking error and full system states within the asymmetric and state-dependent constraint regions without involved feasibility condition on virtual controllers. Meanwhile, the singularity problem caused by the constrained variables approaching the constraint boundaries is considered in this article. The composite boundary structure is incorporated into controller design to avoid the control signals and adaptive laws tending to infinity. The advantage and availability of the developed control method are exhibited by simulation validation and results analysis.
  PubDate: MON, 04 MAR 2024 09:17:33 -04
  Issue No: Vol. 69, No. 8 (2024)

HOME > Browse the 73 Subjects covered by JournalTOCs
Subject	Total Journals