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Data-Driven Analysis of T-Product-Based Dynamical Systems 基于 T-Product 的动态系统的数据驱动分析
IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-01-21 DOI: 10.1109/LCSYS.2025.3532470
Xin Mao;Anqi Dong;Ziqin He;Yidan Mei;Shenghan Mei;Ren Wang;Can Chen
A wide variety of data can be represented using third-order tensors. Applications of these tensors include chemometrics, psychometrics, and image/video processing. However, traditional data-driven frameworks are not naturally equipped to process tensors without first unfolding or flattening the data, which can result in a loss of crucial higher-order structural information. In this letter, we introduce a novel framework for data-driven analysis of T-product-based dynamical systems (TPDSs), where the system evolution is governed by the T-product between a third-order dynamic tensor and a third-order state tensor. In particular, we examine the data informativity of TPDSs concerning system identification, stability, controllability, and stabilizability and illustrate significant computational improvements over unfolding-based approaches by leveraging the unique properties of the T-product. The effectiveness of our framework is demonstrated through both synthetic and real-world examples.
使用三阶张量可以表示各种各样的数据。这些张量的应用包括化学计量学、心理计量学和图像/视频处理。然而,传统的数据驱动框架不具备处理张量的自然条件,无法在不首先展开或扁平化数据的情况下处理张量,这可能会导致关键的高阶结构信息丢失。在这封信中,我们介绍了一种基于 T-Product 的动态系统(TPDSs)数据驱动分析新框架,其中系统演化受三阶动态张量和三阶状态张量之间的 T-Product 控制。特别是,我们研究了 TPDSs 在系统识别、稳定性、可控性和可稳定性方面的数据信息性,并利用 T-乘积的独特属性,说明了与基于展开的方法相比,TPDSs 在计算方面的显著改进。我们的框架通过合成和真实世界的例子证明了其有效性。
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引用次数: 0
Novel Sufficient Conditions for Stabilization of Linear Positive Discrete-Time Systems Using Event-Triggered Control
IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-01-17 DOI: 10.1109/LCSYS.2025.3531039
Nguyen Huu Sau;Mai Viet Thuan
This letter investigates stabilizing discrete-time systems with delays using an event-triggered control (ETC) approach. Novel event-triggering conditions are proposed to ensure system positivity and stability thresholds. Sufficient conditions are derived to guarantee that the closed-loop system remains positive and exponentially stable, with criteria easily verifiable in MATLAB. We also address the nontriviality of the sequence of event instants to ensure the practical effectiveness of the proposed method. Two numerical examples are presented to illustrate the effectiveness of the proposed method.
这封信研究了利用事件触发控制(ETC)方法稳定有延迟的离散时间系统。本文提出了新的事件触发条件,以确保系统的正向性和稳定性阈值。推导出充分条件,保证闭环系统保持正向和指数稳定,其标准可在 MATLAB 中轻松验证。我们还解决了事件瞬时序列的非琐碎性问题,以确保所提方法的实际有效性。我们通过两个数值示例来说明所提方法的有效性。
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引用次数: 0
Modified Finite-Time and Prescribed-Time Convergence Parameter Estimators via the DREM Method
IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-01-17 DOI: 10.1109/LCSYS.2025.3531212
Wenrui Shi;Christodoulos Keliris;Mingzhe Hou;Marios M. Polycarpou
This letter proposes a class of modified continuous-time (CT) and discrete-time (DT) finite-time convergence (FTC) estimators based on the dynamic regressor extension and mixing (DREM) method, additionally the same two estimators with alertness preservation and, finally CT and DT prescribed-time convergence (PTC) estimators. In contrast to previously designed FTC estimators based on the DREM method, by introducing the integration and the summation operations, the proposed ones possess the following features: (i) the convergence rate is improved; (ii) the FTC property can be maintained even for a weaker excitation signal. Additionally, the proposed PTC estimators ensure that under certain conditions the estimate converges to the unknown parameter in the prescribed time.
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引用次数: 0
Refined Eigenvalue Decay Bounds for Controllability Gramians of Sparsely-Actuated Symmetric LTI Systems
IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-01-16 DOI: 10.1109/LCSYS.2025.3530636
Chenyan Zhu;Sandip Roy
Refined bounds are obtained for the eigenvalues of the controllability Gramian for a linear system with a Hurwitz, symmetric state matrix. The new bounds are phrased in terms of partial condition numbers (ratios of intermediate eigenvalues) of the state matrix. The bounds are found to compare favorably with existing results for several examples, particularly in cases where the system has time-scale separations or multiple eigenvalues in narrow bands.
对于具有 Hurwitz 对称状态矩阵的线性系统,获得了可控性格拉米安特征值的改进边界。新的界限以状态矩阵的部分条件数(中间特征值的比率)来表述。在几个例子中,特别是在系统具有时间尺度分离或在窄带中具有多个特征值的情况下,发现这些边界与现有结果相比效果更佳。
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引用次数: 0
Distributed Thompson Sampling Under Constrained Communication 受限通信条件下的分布式汤普森采样
IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-01-02 DOI: 10.1109/LCSYS.2024.3525096
Saba Zerefa;Zhaolin Ren;Haitong Ma;Na Li
In Bayesian optimization, a black-box function is maximized via the use of a surrogate model. We apply distributed Thompson sampling, using a Gaussian process as a surrogate model, to approach the multi-agent Bayesian optimization problem. In our distributed Thompson sampling implementation, each agent receives sampled points from neighbors, where the communication network is encoded in a graph; each agent utilizes their own Gaussian process to model the objective function. We demonstrate theoretical bounds on Bayesian average regret and Bayesian simple regret, where the bound depends on the structure of the communication graph. Unlike in batch Bayesian optimization, this bound is applicable in cases where the communication graph amongst agents is constrained. When compared to sequential single-agent Thompson sampling, our bound guarantees faster convergence with respect to time as long as the communication graph is connected. We confirm the efficacy of our algorithm with numerical simulations on traditional optimization test functions, demonstrating the significance of graph connectivity on improving regret convergence.
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引用次数: 0
Robust and Exponential Stability in Barrier-Certified Systems via Contracting Piecewise Smooth Dynamics 基于分段收缩平滑动力学的障碍认证系统鲁棒性和指数稳定性
IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-12-31 DOI: 10.1109/LCSYS.2024.3524369
Zahra Marvi;Francesco Bullo;Andrew G. Alleyne
In this letter, we address the critical trade-off between safety and performance in control systems by establishing the contractivity of a class of nonlinear systems driven by control barrier function (CBF)-based online feedback optimization. First, we derive a closed-form solution for the control system driven by a CBF-based controller with vector-valued safety constraints. Next, we introduce sufficient design conditions based on the properties of a baseline controller and CBF parameters to ensure both safety and contractivity of the closed-loop system. Under these conditions, we demonstrate the existence of an exponentially stable equilibrium within the safe set and provide an explicit term for the rate of convergence. Building upon these results, we propose a feedback motion planning algorithm that guarantees a global region of attraction within non-convex search areas through a tree of contractive controllers. The contractive nature of our approach ensures robustness against perturbations, making it suitable for dynamic and uncertain environments.
在这封信中,我们通过建立一类由基于控制障碍函数(CBF)的在线反馈优化驱动的非线性系统的收缩性来解决控制系统中安全性和性能之间的关键权衡。首先,我们推导了由基于cbf的具有向量值安全约束的控制器驱动的控制系统的封闭解。接下来,我们根据基线控制器和CBF参数的特性引入足够的设计条件,以确保闭环系统的安全性和可收缩性。在这些条件下,我们证明了安全集中存在一个指数稳定平衡点,并给出了收敛速度的一个显式项。在这些结果的基础上,我们提出了一种反馈运动规划算法,该算法通过收缩控制器树保证在非凸搜索区域内的全局吸引区域。我们的方法的收缩性质确保了对扰动的鲁棒性,使其适用于动态和不确定的环境。
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引用次数: 0
Robust NMPC for Uncalibrated IBVS Control of AUVs 基于鲁棒NMPC的auv非校准IBVS控制
IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-12-30 DOI: 10.1109/LCSYS.2024.3524063
Hang Gu;Chao Shen
Image-based visual servoing (IBVS) applications for autonomous underwater vehicles (AUVs) face significant challenges, including frequent recalibration and lack of constraint handling ability. This letter introduces a novel nonlinear model predictive control (NMPC) approach that integrates the Broyden method for uncalibrated IBVS and incorporates the min-max strategy to tolerate the errors in Jacobian matrix estimation. Our proposed min-max NMPC-IBVS framework estimates the Jacobian matrix online, allowing for continuous adaptation to the underwater environment without the need for prior calibration. This approach significantly enhances computational efficiency and robust control performance, enabling real-time uncalibrated applications. A rigorous proof of recursive feasibility is provided in this letter, ensuring that our NMPC-IBVS method consistently finds feasible optimal solutions that satisfy all constraints over time. Simulation results show that the proposed method is able to respect all design constraints in the AUV IBVS control and achieve robust stability with boosted computational efficiency.
基于图像的视觉伺服(IBVS)应用于自主水下航行器(auv)面临着重大挑战,包括频繁的重新校准和缺乏约束处理能力。本文介绍了一种新的非线性模型预测控制(NMPC)方法,该方法集成了用于未校准IBVS的Broyden方法,并结合了最小-最大策略来容忍雅可比矩阵估计中的误差。我们提出的最小-最大NMPC-IBVS框架在线估计雅可比矩阵,允许连续适应水下环境,而无需事先校准。该方法显著提高了计算效率和鲁棒控制性能,实现了实时非校准应用。这封信中提供了递归可行性的严格证明,确保我们的NMPC-IBVS方法始终能够找到满足所有约束条件的可行最优解。仿真结果表明,该方法能够满足水下航行器控制中的所有设计约束条件,在提高计算效率的同时实现鲁棒稳定性。
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引用次数: 0
PID Control of MIMO Nonlinear Uncertain Systems With Low Relative Degrees 低相对度非线性不确定MIMO系统的PID控制
IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-12-30 DOI: 10.1109/LCSYS.2024.3524056
Jingru Zhu;Cheng Zhao
This letter studies control problems for a class of multi-input multi-output (MIMO) strongly coupled nonlinear uncertain systems with mixed relative degrees one and two. We will design an uncoupled PID controller, where each component of the input vector is determined only by a component of the system output regulation error. Under some suitable conditions on the system nonlinear uncertain functions, we will show that the proposed controller can ensure global stability of the closed-loop system while guaranteeing that the output regulation error converges to zero at an exponential rate. We will also demonstrate that the PID parameters can be chosen from an open and unbounded set constructed based on some prior knowledge regarding the nonlinear functions of the system, and that the designed PID controller exhibits two-sided robustness in terms of the uncertain system structure and the selection of controller parameters. A simulation will be provided to verify the theoretical findings.
本文研究一类混合相对度为1和2的多输入多输出(MIMO)强耦合非线性不确定系统的控制问题。我们将设计一个解耦PID控制器,其中输入向量的每个分量仅由系统输出调节误差的一个分量决定。在系统非线性不确定函数的适当条件下,我们将证明所提出的控制器可以保证闭环系统的全局稳定性,同时保证输出调节误差以指数速率收敛于零。我们还将证明PID参数可以从基于系统非线性函数的一些先验知识构建的开放无界集合中选择,并且所设计的PID控制器在不确定的系统结构和控制器参数的选择方面具有双边鲁棒性。将提供一个模拟来验证理论结果。
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引用次数: 0
Mittag-Leffler Stability of Homogeneous Fractional-Order Systems With Delay 具有时滞齐次分数阶系统的Mittag-Leffler稳定性
IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-12-27 DOI: 10.1109/LCSYS.2024.3523432
Nguyen Thi Lien;Le Van Hien;Nguyen Nhu Thang
This note is concerned with a class of homogeneous cooperative systems with bounded time-varying delays described by the Caputo fractional derivative. We focus on the existence, uniqueness, and Mittag-Leffler stability of positive solutions when the associated vector fields are homogeneous with a degree less than or equal to one. Specifically, the solvability is first exploited through the fixed point theory, leveraging the homogeneity of nonlinear terms. Then, a delay-independent condition for Mittag-Leffler stability is established by utilizing the properties of Mittag-Leffler functions and the comparison principle. Finally, the theoretical results are validated by a given numerical example.
研究一类由Caputo分数阶导数所描述的具有有界时变时滞的齐次合作系统。研究了相关向量场齐次小于等于1时正解的存在性、唯一性和Mittag-Leffler稳定性。具体而言,首先通过不动点理论利用非线性项的齐次性来利用可解性。然后,利用Mittag-Leffler函数的性质和比较原理,建立了Mittag-Leffler稳定性的时滞无关条件。最后,通过算例对理论结果进行了验证。
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引用次数: 0
Spiking Nonlinear Opinion Dynamics (S-NOD) for Agile Decision-Making 面向敏捷决策的非线性意见动力学(S-NOD)
IF 2.4 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-12-27 DOI: 10.1109/LCSYS.2024.3523845
Charlotte Cathcart;Ian Xul Belaustegui;Alessio Franci;Naomi Ehrich Leonard
We present, analyze, and illustrate a first-of-its-kind model of two-dimensional excitable (spiking) dynamics for decision-making over two options. The model, Spiking Nonlinear Opinion Dynamics (S-NOD), provides superior agility, characterized by fast, flexible, and adaptive response to rapid and unpredictable changes in context, environment, or information received about available options. S-NOD derives through the introduction of a single extra term to the previously presented Nonlinear Opinion Dynamics (NOD) for fast and flexible multi-agent decision-making behavior. The extra term is inspired by the fast-positive, slow-negative mixed-feedback structure of excitable systems. The agile behaviors brought about by the new excitable nature of decision-making driven by S-NOD are analyzed in a general setting and illustrated in an application to multi-robot navigation around human movers.
我们提出,分析,并说明了第一个二维可激发(尖峰)动力学的两种选择的决策模型。该模型名为spike非线性意见动力学(S-NOD),提供了卓越的敏捷性,其特点是对上下文、环境或收到的有关可用选项的信息的快速和不可预测的变化做出快速、灵活和自适应的响应。S-NOD通过在之前提出的非线性意见动力学(NOD)中引入一个额外的术语来实现快速灵活的多智能体决策行为。附加项的灵感来自于可激系统的快正、慢负混合反馈结构。在一般情况下分析了S-NOD驱动下新的决策可兴奋性所带来的敏捷行为,并以多机器人绕人导航为例进行了说明。
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引用次数: 0
期刊
IEEE Control Systems Letters
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