Pub Date : 2025-12-03DOI: 10.1109/LCSYS.2025.3640191
Pio Ong;Haejoon Lee;Tamas G. Molnar;Dimitra Panagou;Aaron D. Ames
This letter investigates the problem of composing multiple control barrier functions (CBFs)—and matrix control barrier functions (MCBFs)—through logical and combinatorial operations. Standard CBF formulations naturally enable conjunctive (AND) combinations, but disjunctive (OR) and more general logical structures introduce nonsmoothness and possibly a combinatorial blow-up in the number of logical combinations. We introduce the framework of combinatorial CBFs that addresses p-choose-r safety specifications and their nested composition. The proposed framework ensures safety for the exact safe set in a scalable way, using the original number of primitive constraints. We establish theoretical guarantees on safety under these compositions, and we demonstrate their use on a patrolling problem in a multi-agent system.
{"title":"Combinatorial Control Barrier Functions: Nested Boolean and p-Choose-r Compositions of Safety Constraints","authors":"Pio Ong;Haejoon Lee;Tamas G. Molnar;Dimitra Panagou;Aaron D. Ames","doi":"10.1109/LCSYS.2025.3640191","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3640191","url":null,"abstract":"This letter investigates the problem of composing multiple control barrier functions (CBFs)—and matrix control barrier functions (MCBFs)—through logical and combinatorial operations. Standard CBF formulations naturally enable conjunctive (AND) combinations, but disjunctive (OR) and more general logical structures introduce nonsmoothness and possibly a combinatorial blow-up in the number of logical combinations. We introduce the framework of combinatorial CBFs that addresses p-choose-r safety specifications and their nested composition. The proposed framework ensures safety for the exact safe set in a scalable way, using the original number of primitive constraints. We establish theoretical guarantees on safety under these compositions, and we demonstrate their use on a patrolling problem in a multi-agent system.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2705-2710"},"PeriodicalIF":2.0,"publicationDate":"2025-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145729397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-03DOI: 10.1109/LCSYS.2025.3640192
James Berneburg;Michael Dorothy;Daigo Shishika
Reach-avoid games model scenarios where an attacker seeks to reach a target region that a defender aims to protect. The challenge compared to pursuit-evasion games is that a defender cannot simply capture an attacker, but is concerned with what points the attacker can reach before it is captured. We consider for the first time, to the best of our knowledge, a reach-avoid game played in a graph environment with simultaneous actions. We solve the game of kind played on an obstacle-free 2-dimensional grid world between a single Attacker and a single Defender. We find Attacker has a winning strategy when it can reach any point in the target before Defender, and Defender has a winning strategy in the complementary case, provided Defender’s tagging radius is positive, despite players having equal speeds so Defender cannot guarantee capture. We additionally provide minor results and discussion to connect this to more general problems, such as with multiple defenders and attackers.
{"title":"Reach-Avoid Games in a Grid World","authors":"James Berneburg;Michael Dorothy;Daigo Shishika","doi":"10.1109/LCSYS.2025.3640192","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3640192","url":null,"abstract":"Reach-avoid games model scenarios where an attacker seeks to reach a target region that a defender aims to protect. The challenge compared to pursuit-evasion games is that a defender cannot simply capture an attacker, but is concerned with what points the attacker can reach before it is captured. We consider for the first time, to the best of our knowledge, a reach-avoid game played in a graph environment with simultaneous actions. We solve the game of kind played on an obstacle-free 2-dimensional grid world between a single Attacker and a single Defender. We find Attacker has a winning strategy when it can reach any point in the target before Defender, and Defender has a winning strategy in the complementary case, provided Defender’s tagging radius is positive, despite players having equal speeds so Defender cannot guarantee capture. We additionally provide minor results and discussion to connect this to more general problems, such as with multiple defenders and attackers.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2735-2740"},"PeriodicalIF":2.0,"publicationDate":"2025-12-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145729374","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-01DOI: 10.1109/LCSYS.2025.3639213
Lei Ding;Chengnian Long;Jing Wu
False Data Injection (FDI) attack is one of critical threats to the reliability of power systems, where moving target defense (MTD) is an effective proactive detection defense strategy. Existing MTD studies have primarily concentrated on transmission networks through Distributed Flexible AC Transmission System (D-FACTS) devices. However, those methods cannot be extended to distribution networks due to significantly limited D-FACTS deployment. To detect FDI attacks in distribution networks, a topology-control-based moving target defense (TC-MTD) approach is proposed. Unlike D-FACTS-based MTD that alters line impedances, TC-MTD perturbs the system topology through switch operations and the rank of the admittance matrix difference is employed as a performance metric which indicates the extent of perturbation. Furthermore, a heuristic algorithm is developed to reconfigure the system topology, aiming to maximize detection performance and minimize power loss with the fewest switch operations. Case studies conducted on both modified and standard distribution networks validate the effectiveness of TC-MTD.
{"title":"Topology-Control-Based Moving Target Defense Against False Data Injection in Distribution Networks","authors":"Lei Ding;Chengnian Long;Jing Wu","doi":"10.1109/LCSYS.2025.3639213","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3639213","url":null,"abstract":"False Data Injection (FDI) attack is one of critical threats to the reliability of power systems, where moving target defense (MTD) is an effective proactive detection defense strategy. Existing MTD studies have primarily concentrated on transmission networks through Distributed Flexible AC Transmission System (D-FACTS) devices. However, those methods cannot be extended to distribution networks due to significantly limited D-FACTS deployment. To detect FDI attacks in distribution networks, a topology-control-based moving target defense (TC-MTD) approach is proposed. Unlike D-FACTS-based MTD that alters line impedances, TC-MTD perturbs the system topology through switch operations and the rank of the admittance matrix difference is employed as a performance metric which indicates the extent of perturbation. Furthermore, a heuristic algorithm is developed to reconfigure the system topology, aiming to maximize detection performance and minimize power loss with the fewest switch operations. Case studies conducted on both modified and standard distribution networks validate the effectiveness of TC-MTD.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2687-2692"},"PeriodicalIF":2.0,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145729417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this letter, we provide Lyapunov-based conditions for assessing the global asymptotic stability of nonlinear discrete-time Lur’e systems under incremental-like restrictions. The proposed results invoke dissipation arguments for the linear and nonlinear components of the dynamics and rely on a Lyapunov function with a few parameters and integral terms. The proof of the main result does not require any approximations of the integral terms. The numerical result are compared with recent results from the literature.
{"title":"Global Asymptotic Stability Certificates for Discrete-Time Lur’e Systems Under Incremental-Like Restrictions","authors":"Gioia Montana;Andrea Cristofaro;Mattia Mattioni;Giorgio Valmorbida","doi":"10.1109/LCSYS.2025.3637172","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3637172","url":null,"abstract":"In this letter, we provide Lyapunov-based conditions for assessing the global asymptotic stability of nonlinear discrete-time Lur’e systems under incremental-like restrictions. The proposed results invoke dissipation arguments for the linear and nonlinear components of the dynamics and rely on a Lyapunov function with a few parameters and integral terms. The proof of the main result does not require any approximations of the integral terms. The numerical result are compared with recent results from the literature.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2621-2626"},"PeriodicalIF":2.0,"publicationDate":"2025-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145674721","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-25DOI: 10.1109/LCSYS.2025.3637013
Shai Bleu Bernard;Michaëlle N. Mayalu
Spatiotemporal self-organization is an emergent phenomenon governing cellular behavior across diverse living systems with key implications for biological functionality. Understanding the biomolecular mechanisms governing intercellular coordination would allow for the design, optimization, and prediction of these systems. Recent advances combine genetic engineering with PDE models to study the spatiotemporal dynamics of bacterial colonies, while engineered bacteria also function as bioreporters linking environmental detection to observable responses. We propose a design that extends prior frameworks by coupling genetic systems governing cell density–mediated motility to an external target substance, enabling its spatial encoding. Unlike earlier PDE models where motility depends only on cell density, our approach introduces indirect dual regulation in which the target substance modulates the quorum-sensing signal controlling density-dependent motility, converting spatial self-organization into an input–output mapping. We present a PDE model capturing spatiotemporal feedback signaling and introduce geometric metrics quantifying substance-induced pattern perturbations. Using this model, we show that the system encodes information about the concentration of a target substance through predictable spatiotemporal patterns that can be used to infer properties of that substance. The overall goal is to motivate new approaches for diagnosis and substance detection and highlight the importance of model-guided design for genetically programmable feedback control of spatiotemporal behaviors.
{"title":"Design and Modeling of Engineered Self-Organized Bacterial Colonies Exhibiting Substance-Responsive Pattern Perturbations","authors":"Shai Bleu Bernard;Michaëlle N. Mayalu","doi":"10.1109/LCSYS.2025.3637013","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3637013","url":null,"abstract":"Spatiotemporal self-organization is an emergent phenomenon governing cellular behavior across diverse living systems with key implications for biological functionality. Understanding the biomolecular mechanisms governing intercellular coordination would allow for the design, optimization, and prediction of these systems. Recent advances combine genetic engineering with PDE models to study the spatiotemporal dynamics of bacterial colonies, while engineered bacteria also function as bioreporters linking environmental detection to observable responses. We propose a design that extends prior frameworks by coupling genetic systems governing cell density–mediated motility to an external target substance, enabling its spatial encoding. Unlike earlier PDE models where motility depends only on cell density, our approach introduces indirect dual regulation in which the target substance modulates the quorum-sensing signal controlling density-dependent motility, converting spatial self-organization into an input–output mapping. We present a PDE model capturing spatiotemporal feedback signaling and introduce geometric metrics quantifying substance-induced pattern perturbations. Using this model, we show that the system encodes information about the concentration of a target substance through predictable spatiotemporal patterns that can be used to infer properties of that substance. The overall goal is to motivate new approaches for diagnosis and substance detection and highlight the importance of model-guided design for genetically programmable feedback control of spatiotemporal behaviors.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2627-2632"},"PeriodicalIF":2.0,"publicationDate":"2025-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145674692","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-25DOI: 10.1109/LCSYS.2025.3637107
S. Jahangiri;H. Aghaeinia;H. A. Talebi
This letter addresses the problem of estimating a discrete-time vector Gauss-Markov source over a Multiple-Input Multiple-Output (MIMO) Gaussian channel with feedback, where the encoder preprocesses the source and has access to the channel output. We present two key contributions. First, we establish the necessary and sufficient conditions for the existence of linear encoders and decoders that can estimate the source with finite Mean Squared Error (MSE) over MIMO Gaussian channels. We also propose a method for achieving finite MSE estimation using Kalman filtering. Additionally, we propose a coding scheme that can be used to transmit any data, not just a Gauss-Markov source, by applying the method developed in the first part.
{"title":"Finite MSE Estimation of Vector Gauss-Markov Source Over MIMO Gaussian Channels With Feedback","authors":"S. Jahangiri;H. Aghaeinia;H. A. Talebi","doi":"10.1109/LCSYS.2025.3637107","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3637107","url":null,"abstract":"This letter addresses the problem of estimating a discrete-time vector Gauss-Markov source over a Multiple-Input Multiple-Output (MIMO) Gaussian channel with feedback, where the encoder preprocesses the source and has access to the channel output. We present two key contributions. First, we establish the necessary and sufficient conditions for the existence of linear encoders and decoders that can estimate the source with finite Mean Squared Error (MSE) over MIMO Gaussian channels. We also propose a method for achieving finite MSE estimation using Kalman filtering. Additionally, we propose a coding scheme that can be used to transmit any data, not just a Gauss-Markov source, by applying the method developed in the first part.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2633-2638"},"PeriodicalIF":2.0,"publicationDate":"2025-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145674770","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-25DOI: 10.1109/LCSYS.2025.3637014
Yue Guan;Dipankar Maity;Panagiotis Tsiotras
This letter studies the strategic concealment of environment representations used by players in competitive games. We consider a defense scenario in which one player (the Defender) seeks to infer and exploit the representation used by the other player (the Attacker). The interaction between the two players is modeled as a Bayesian game: the Defender infers the Attacker’s representation from its trajectory and places barriers to counteract, while the Attacker obfuscates its representation type to mislead the Defender. We solve for the Perfect Bayesian Equilibrium via a bilinear program that integrates Bayesian inference, strategic planning, and belief manipulation. Simulations show that purposeful concealment naturally emerges: the Attacker randomizes its trajectory to manipulate the Defender’s belief, inducing suboptimal barrier selections and thereby gaining a strategic advantage.
{"title":"Strategic Concealment of Environment Representations in Competitive Games","authors":"Yue Guan;Dipankar Maity;Panagiotis Tsiotras","doi":"10.1109/LCSYS.2025.3637014","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3637014","url":null,"abstract":"This letter studies the strategic concealment of environment representations used by players in competitive games. We consider a defense scenario in which one player (the Defender) seeks to infer and exploit the representation used by the other player (the Attacker). The interaction between the two players is modeled as a Bayesian game: the Defender infers the Attacker’s representation from its trajectory and places barriers to counteract, while the Attacker obfuscates its representation type to mislead the Defender. We solve for the Perfect Bayesian Equilibrium via a bilinear program that integrates Bayesian inference, strategic planning, and belief manipulation. Simulations show that purposeful concealment naturally emerges: the Attacker randomizes its trajectory to manipulate the Defender’s belief, inducing suboptimal barrier selections and thereby gaining a strategic advantage.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2609-2614"},"PeriodicalIF":2.0,"publicationDate":"2025-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145674663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this letter, we consider a bilevel optimization problem in which the outer-level objective function is strongly convex, whereas the inner-level problem consists of a finite sum of convex functions. Bilevel optimization problems arise in situations where the inner-level problem does not have a unique solution. This has led to the idea of introducing an outer-level objective function to select a solution with the specific desired properties. We propose an iterative method that combines an incremental algorithm with a broadcast algorithm, both based on the principles of federated learning. Under appropriate assumptions, we establish the convergence results of the proposed algorithm. To demonstrate its performance, we present two numerical examples related to binary classification and a location problem.
{"title":"Federated Incremental Subgradient Method for Convex Bilevel Optimization Problems","authors":"Sudkobfa Boontawee;Mootta Prangprakhon;Nimit Nimana","doi":"10.1109/LCSYS.2025.3636376","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3636376","url":null,"abstract":"In this letter, we consider a bilevel optimization problem in which the outer-level objective function is strongly convex, whereas the inner-level problem consists of a finite sum of convex functions. Bilevel optimization problems arise in situations where the inner-level problem does not have a unique solution. This has led to the idea of introducing an outer-level objective function to select a solution with the specific desired properties. We propose an iterative method that combines an incremental algorithm with a broadcast algorithm, both based on the principles of federated learning. Under appropriate assumptions, we establish the convergence results of the proposed algorithm. To demonstrate its performance, we present two numerical examples related to binary classification and a location problem.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2585-2590"},"PeriodicalIF":2.0,"publicationDate":"2025-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145612067","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-21DOI: 10.1109/LCSYS.2025.3636377
Devansh R. Agrawal;Haejoon Lee;Dimitra Panagou
Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these conditions are essential to ensure the existence and uniqueness of the system’s trajectory. Here we propose a general method to convert a Quadratic Program (QP) into a Second-Order Cone Problem (SOCP), which is shown to be Lipschitz continuous. Key features of our approach are that (i) the regularity of the resulting formulation does not depend on the structural properties of the constraints, such as the linear independence of their gradients; and (ii) it admits a closed-form solution under some assumptions, which is not available for general QPs with multiple constraints, enabling faster computation. We support our method with rigorous analysis and examples https://github.com/joonlee16/Lipschitz-controllers.
{"title":"Reformulations of Quadratic Programs for Lipschitz Continuity","authors":"Devansh R. Agrawal;Haejoon Lee;Dimitra Panagou","doi":"10.1109/LCSYS.2025.3636377","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3636377","url":null,"abstract":"Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these conditions are essential to ensure the existence and uniqueness of the system’s trajectory. Here we propose a general method to convert a Quadratic Program (QP) into a Second-Order Cone Problem (SOCP), which is shown to be Lipschitz continuous. Key features of our approach are that (i) the regularity of the resulting formulation does not depend on the structural properties of the constraints, such as the linear independence of their gradients; and (ii) it admits a closed-form solution under some assumptions, which is not available for general QPs with multiple constraints, enabling faster computation. We support our method with rigorous analysis and examples <uri>https://github.com/joonlee16/Lipschitz-controllers</uri>.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2603-2608"},"PeriodicalIF":2.0,"publicationDate":"2025-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145674739","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-21DOI: 10.1109/LCSYS.2025.3635697
Mahesh Kumar Pal;Pyari Mohan Pradhan
This letter proposes to use the quaternion hyperbolic tangent Gemen-McClure (QHTGM) cost function to develop a variant of the quaternion Kalman filter (QKF). The proposed filter is named as the hyperbolic tangent Geman-McClure quaternion Kalman filter (HTGMQKF). Two case studies are used to examine the effectiveness of the proposed HTGMQKF. A three-dimensional (3-D) target tracking problem, which considers the process noise with different distributions such as Gaussian, Gaussian-mixture, and Laplacian, while the measurement noise is considered as a Gaussian-mixture distribution. The proposed HTGMQKF performs well for the three types of noise in terms of root mean square error (RMSE) and average RMSE (ARMSE). The second case study deals with the filtering of a quaternion signal, in which the proposed HTGMQKF is found to outperform the state-of-the-art quaternion filters.
{"title":"Development of Hyperbolic Tangent Geman–McClure Quaternion Kalman Filter for 3D Tracking Applications","authors":"Mahesh Kumar Pal;Pyari Mohan Pradhan","doi":"10.1109/LCSYS.2025.3635697","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3635697","url":null,"abstract":"This letter proposes to use the quaternion hyperbolic tangent Gemen-McClure (QHTGM) cost function to develop a variant of the quaternion Kalman filter (QKF). The proposed filter is named as the hyperbolic tangent Geman-McClure quaternion Kalman filter (HTGMQKF). Two case studies are used to examine the effectiveness of the proposed HTGMQKF. A three-dimensional (3-D) target tracking problem, which considers the process noise with different distributions such as Gaussian, Gaussian-mixture, and Laplacian, while the measurement noise is considered as a Gaussian-mixture distribution. The proposed HTGMQKF performs well for the three types of noise in terms of root mean square error (RMSE) and average RMSE (ARMSE). The second case study deals with the filtering of a quaternion signal, in which the proposed HTGMQKF is found to outperform the state-of-the-art quaternion filters.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2597-2602"},"PeriodicalIF":2.0,"publicationDate":"2025-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145612080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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