Pub Date : 2025-12-27DOI: 10.1016/j.sysconle.2025.106337
Hongru Wang, Jinzhi Wang
This paper addresses the consensus control problem for general constrained linear multiagent systems (MAS) with inter-agent communication distance limitations. A novel distributed model predictive control (DMPC) algorithm is proposed that guarantees consensus while ensuring that neighboring agents remain in a predefined range, which is formulated as coupled state constraints in the control problem. Within a leader–follower framework, the cost function of the DMPC optimization problem is carefully designed to include the tracking error with respect to the leader, the consensus error among followers, and the control input effort. By using the optimal trajectories from the previous time step as pseudo-references and introducing individual constraints, the originally coupled state constraint is transformed into decoupled local constraints for each agent, enabling a fully distributed solution. Theoretical analysis based on Lyapunov stability establishes consensus convergence and the connectivity preservation between agents is proved. Finally, simulation results validate the effectiveness of the proposed approach.
{"title":"Distributed model predictive consensus control for linear multiagent system with coupled state constraints","authors":"Hongru Wang, Jinzhi Wang","doi":"10.1016/j.sysconle.2025.106337","DOIUrl":"10.1016/j.sysconle.2025.106337","url":null,"abstract":"<div><div>This paper addresses the consensus control problem for general constrained linear multiagent systems (MAS) with inter-agent communication distance limitations. A novel distributed model predictive control (DMPC) algorithm is proposed that guarantees consensus while ensuring that neighboring agents remain in a predefined range, which is formulated as coupled state constraints in the control problem. Within a leader–follower framework, the cost function of the DMPC optimization problem is carefully designed to include the tracking error with respect to the leader, the consensus error among followers, and the control input effort. By using the optimal trajectories from the previous time step as pseudo-references and introducing individual constraints, the originally coupled state constraint is transformed into decoupled local constraints for each agent, enabling a fully distributed solution. Theoretical analysis based on Lyapunov stability establishes consensus convergence and the connectivity preservation between agents is proved. Finally, simulation results validate the effectiveness of the proposed approach.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"208 ","pages":"Article 106337"},"PeriodicalIF":2.5,"publicationDate":"2025-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840079","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-24DOI: 10.1016/j.sysconle.2025.106335
Éva Gyurkovics , Tibor Takács
This paper investigates infinite horizon, discrete-time, non-cooperative dynamic games, where players have vector-valued payoff functions. The uncertainties of the system dynamics are modeled by deterministic functions. A new Pareto–Nash equilibrium concept is introduced, avoiding the often-applied method of scalarizing the players’ objective functions. Due to uncertainties, we define cost guaranteeing strategies, which are given in state feedback form. In the general nonlinear case, the sufficient condition of cost-guaranteeing strategies is given by Hamilton–Jacobi–Isaacs type inequalities. The result is specified for quadratic-linear games, where the uncertainties/nonlinearities are modeled by a common quadratically constrained function. The monetary–fiscal game illustrates the results.
{"title":"Pareto–Nash guaranteed cost solution for infinite horizon multiobjective non-cooperative discrete-time uncertain/nonlinear dynamic games","authors":"Éva Gyurkovics , Tibor Takács","doi":"10.1016/j.sysconle.2025.106335","DOIUrl":"10.1016/j.sysconle.2025.106335","url":null,"abstract":"<div><div>This paper investigates infinite horizon, discrete-time, non-cooperative dynamic games, where players have vector-valued payoff functions. The uncertainties of the system dynamics are modeled by deterministic functions. A new Pareto–Nash equilibrium concept is introduced, avoiding the often-applied method of scalarizing the players’ objective functions. Due to uncertainties, we define cost guaranteeing strategies, which are given in state feedback form. In the general nonlinear case, the sufficient condition of cost-guaranteeing strategies is given by Hamilton–Jacobi–Isaacs type inequalities. The result is specified for quadratic-linear games, where the uncertainties/nonlinearities are modeled by a common quadratically constrained function. The monetary–fiscal game illustrates the results.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"208 ","pages":"Article 106335"},"PeriodicalIF":2.5,"publicationDate":"2025-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-23DOI: 10.1016/j.sysconle.2025.106330
Zhaoxin Wang, Jianchang Liu
This paper proposes a cooperative regulation strategy with the global dynamic compensation control mechanism for random communication link failures among multiple agents to address asymptotic consensus issues in time-varying nonlinear multi-agent systems. The distributed dynamic stochastic bridging compensator is established with certain elements that can be flexibly adjusted depending on different scenarios. The stochastic bridging error variables are developed, where the bridging compensator can be viewed as a bridging intermediary for asymptotically tracking both the leader and the follower. These bridging error variables continuously monitor the disparity in information states between the compensator and the agent. The global dynamic compensation control mechanism is created based on the dynamic equations of the proposed bridging error variables. The cooperative regulation strategy, consisting of the distributed stochastic bridging controller generated by the above created control mechanism, is designed and applied to achieve coordination consensus. A novel stability analysis method is formulated based on the bridging error variables to demonstrate the effectiveness of the proposed cooperative regulation strategy. Finally, the feasibility of the strategy is further validated through the presentation of specific cases and conducting simulation experiments.
{"title":"Cooperative regulation with global dynamic compensation control mechanism for random communication link failures among multiple time-varying nonlinear agents","authors":"Zhaoxin Wang, Jianchang Liu","doi":"10.1016/j.sysconle.2025.106330","DOIUrl":"10.1016/j.sysconle.2025.106330","url":null,"abstract":"<div><div>This paper proposes a cooperative regulation strategy with the global dynamic compensation control mechanism for random communication link failures among multiple agents to address asymptotic consensus issues in time-varying nonlinear multi-agent systems. The distributed dynamic stochastic bridging compensator is established with certain elements that can be flexibly adjusted depending on different scenarios. The stochastic bridging error variables are developed, where the bridging compensator can be viewed as a bridging intermediary for asymptotically tracking both the leader and the follower. These bridging error variables continuously monitor the disparity in information states between the compensator and the agent. The global dynamic compensation control mechanism is created based on the dynamic equations of the proposed bridging error variables. The cooperative regulation strategy, consisting of the distributed stochastic bridging controller generated by the above created control mechanism, is designed and applied to achieve coordination consensus. A novel stability analysis method is formulated based on the bridging error variables to demonstrate the effectiveness of the proposed cooperative regulation strategy. Finally, the feasibility of the strategy is further validated through the presentation of specific cases and conducting simulation experiments.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"208 ","pages":"Article 106330"},"PeriodicalIF":2.5,"publicationDate":"2025-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840075","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-22DOI: 10.1016/j.sysconle.2025.106328
Zhipeng Niu , Jun Moon , Qingxin Meng
This paper investigates the optimal control problem for a class of nonlinear fully coupled forward–backward stochastic difference equations (FBSEs). Under the convexity assumption of the control domain, we establish a variational formula for the cost functional involving the Hamiltonian system and adjoint equations, deriving both necessary and sufficient optimality conditions via the Pontryagin maximum principle. Innovatively, we employ a generalized monotonicity framework to ensure the existence and uniqueness of solutions for nonlinear systems and directly derive variational inequalities through the convexity properties of the Hamiltonian function, simplifying the analysis of fully coupled systems. As an application, we formulate a linear-quadratic (LQ) optimal control problem inspired by energy storage scheduling (a real-world example) to demonstrate the effectiveness of our theoretical results. The study reveals that discrete-time FBSEs models offer significant computational advantages for practical systems with future-dependent constraints, such as power dispatch and financial decision-making, providing a new theoretical foundation for high-dimensional optimal control problems.
{"title":"Stochastic maximum principle for fully coupled nonlinear FBSΔEs under generalized monotonicity and LQ control applications","authors":"Zhipeng Niu , Jun Moon , Qingxin Meng","doi":"10.1016/j.sysconle.2025.106328","DOIUrl":"10.1016/j.sysconle.2025.106328","url":null,"abstract":"<div><div>This paper investigates the optimal control problem for a class of nonlinear fully coupled forward–backward stochastic difference equations (FBS<span><math><mi>Δ</mi></math></span>Es). Under the convexity assumption of the control domain, we establish a variational formula for the cost functional involving the Hamiltonian system and adjoint equations, deriving both necessary and sufficient optimality conditions via the Pontryagin maximum principle. Innovatively, we employ a generalized monotonicity framework to ensure the existence and uniqueness of solutions for nonlinear systems and directly derive variational inequalities through the convexity properties of the Hamiltonian function, simplifying the analysis of fully coupled systems. As an application, we formulate a linear-quadratic (LQ) optimal control problem inspired by energy storage scheduling (a real-world example) to demonstrate the effectiveness of our theoretical results. The study reveals that discrete-time FBS<span><math><mi>Δ</mi></math></span>Es models offer significant computational advantages for practical systems with future-dependent constraints, such as power dispatch and financial decision-making, providing a new theoretical foundation for high-dimensional optimal control problems.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"208 ","pages":"Article 106328"},"PeriodicalIF":2.5,"publicationDate":"2025-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840179","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-22DOI: 10.1016/j.sysconle.2025.106326
Haoyu Yin, Xudong Chen, Bruno Sinopoli
Replicator dynamics have been widely used in evolutionary game theory to model how strategy frequencies evolve over time in large populations. The so-called payoff matrix encodes the pairwise fitness that each strategy obtains when interacting with every other strategy, and it solely determines the replicator dynamics. If the payoff matrix is unknown, we show in this paper that it cannot be inferred from observed strategy frequencies alone — distinct payoff matrices can induce the same replicator dynamics. We thus look for a canonical representative of the payoff matrix in the equivalence class. The main result of the paper is to show that for every polynomial replicator dynamics (i.e., the vector field is a polynomial), there always exists a skew-symmetric, polynomial payoff matrix that can induce the given dynamics.
{"title":"On zero-sum game representation for replicator dynamics","authors":"Haoyu Yin, Xudong Chen, Bruno Sinopoli","doi":"10.1016/j.sysconle.2025.106326","DOIUrl":"10.1016/j.sysconle.2025.106326","url":null,"abstract":"<div><div>Replicator dynamics have been widely used in evolutionary game theory to model how strategy frequencies evolve over time in large populations. The so-called payoff matrix encodes the pairwise fitness that each strategy obtains when interacting with every other strategy, and it solely determines the replicator dynamics. If the payoff matrix is unknown, we show in this paper that it cannot be inferred from observed strategy frequencies alone — distinct payoff matrices can induce the same replicator dynamics. We thus look for a canonical representative of the payoff matrix in the equivalence class. The main result of the paper is to show that for every polynomial replicator dynamics (i.e., the vector field is a polynomial), there always exists a skew-symmetric, polynomial payoff matrix that can induce the given dynamics.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"208 ","pages":"Article 106326"},"PeriodicalIF":2.5,"publicationDate":"2025-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840180","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-22DOI: 10.1016/j.sysconle.2025.106333
Xiaoling Liang , Dan Bao , Shuzhi Sam Ge
This paper has investigated the stability proof, robustness design and applications on practical adaptive control for state constraints. Even though adaptive control and backstepping have been around for a while and are generally regarded as stable at this point, there is still a lot of work being done to improve them and apply them to new scenarios. The theoretical challenge of this topic lies in identifying methods to mitigate the effects of area adaptation dynamics, while the practical significance of this issue arises from the fact that constraints are ubiquitous in physical and technical systems. Motivated by the idea of zone barrier Lyapunov function, the control of strict feedback systems is studied along with full and partial states constraints scenarios wherein parametric uncertainties. In contrast to traditional Lyapunov functions, which are well-defined over the whole domain and radially unbounded for global stability, adaptive zone barrier Lyapunov function (zBLF) not only has the unique property of finite escape if the values of their arguments approach certain bounds, but also offers more freedom space for the states. For the presence of uncertainty in the nonlinear system, under specific feasibility criteria, a practical area is obtained regarding the scenario involving full-state constraints. The zone stability and robustness design guarantee non-violation of constraints via rigorous theory proof. Furthermore, it has been demonstrated that feasibility conditions for partial state constraints with linearly parameterized system nonlinearities exist and similar results of practical stability can be achieved with state satisfactions. Numerical simulations are conducted to validate the theoretical findings obtained.
{"title":"Practical adaptive control of state constrained system via zone barrier Lyapunov function","authors":"Xiaoling Liang , Dan Bao , Shuzhi Sam Ge","doi":"10.1016/j.sysconle.2025.106333","DOIUrl":"10.1016/j.sysconle.2025.106333","url":null,"abstract":"<div><div>This paper has investigated the stability proof, robustness design and applications on practical adaptive control for state constraints. Even though adaptive control and backstepping have been around for a while and are generally regarded as stable at this point, there is still a lot of work being done to improve them and apply them to new scenarios. The theoretical challenge of this topic lies in identifying methods to mitigate the effects of area adaptation dynamics, while the practical significance of this issue arises from the fact that constraints are ubiquitous in physical and technical systems. Motivated by the idea of zone barrier Lyapunov function, the control of strict feedback systems is studied along with full and partial states constraints scenarios wherein parametric uncertainties. In contrast to traditional Lyapunov functions, which are well-defined over the whole domain and radially unbounded for global stability, adaptive zone barrier Lyapunov function (zBLF) not only has the unique property of finite escape if the values of their arguments approach certain bounds, but also offers more freedom space for the states. For the presence of uncertainty in the nonlinear system, under specific feasibility criteria, a practical area is obtained regarding the scenario involving full-state constraints. The zone stability and robustness design guarantee non-violation of constraints via rigorous theory proof. Furthermore, it has been demonstrated that feasibility conditions for partial state constraints with linearly parameterized system nonlinearities exist and similar results of practical stability can be achieved with state satisfactions. Numerical simulations are conducted to validate the theoretical findings obtained.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"208 ","pages":"Article 106333"},"PeriodicalIF":2.5,"publicationDate":"2025-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840078","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-22DOI: 10.1016/j.sysconle.2025.106331
Kexing Yan, Shigen Gao
This paper investigates an adaptive fixed-time containment control problem for a class of inherently nonlinear dynamical multi-agent systems (MASs) in the presence of irregularly external disturbances. The inherent nonlinearity of the considered MASs arises from nonlinear functions that cannot be addressed through a simple Lipschitz continuous assumption. To address irregularly external disturbances, a novel non-eternally (NE) adaptive distributed fixed-time observer and tracking controller are designed with constrained leader states. The concept of NE refers to a system where, by employing an instinct-inspired convergence confirmed-or-not logic, pioneering adaptive fixed-time containment control (AFTCC) can switch to deterministic mode, maintaining the MASs’ adaptive parameters as constant values and enabling the online monitoring of control performance metrics. Once poor control performance is detected, signaling an irregular disturbance, the system reverts from deterministic fixed-time containment control (DFTCC) to AFTCC to promptly handle the disturbance. Theoretical analysis shows that the proposed controller achieves containment control within a fixed-time period, independent of the initial states, even in the presence of external disturbances. In addition, the proposed approach circumvents high-frequency chattering. Comparative simulation results are provided to validate the effectiveness and advantages of the proposed non-eternally adaptive estimation-based fixed-time containment control scheme.
{"title":"Fixed-time containment control by non-eternally adaptive estimation for nonlinear dynamical systems with irregular disturbance","authors":"Kexing Yan, Shigen Gao","doi":"10.1016/j.sysconle.2025.106331","DOIUrl":"10.1016/j.sysconle.2025.106331","url":null,"abstract":"<div><div>This paper investigates an adaptive fixed-time containment control problem for a class of inherently nonlinear dynamical multi-agent systems (MASs) in the presence of irregularly external disturbances. The inherent nonlinearity of the considered MASs arises from nonlinear functions that cannot be addressed through a simple Lipschitz continuous assumption. To address irregularly external disturbances, a novel non-eternally (NE) adaptive distributed fixed-time observer and tracking controller are designed with constrained leader states. The concept of NE refers to a system where, by employing an instinct-inspired convergence confirmed-or-not logic, pioneering adaptive fixed-time containment control (AFTCC) can switch to deterministic mode, maintaining the MASs’ adaptive parameters as constant values and enabling the online monitoring of control performance metrics. Once poor control performance is detected, signaling an irregular disturbance, the system reverts from deterministic fixed-time containment control (DFTCC) to AFTCC to promptly handle the disturbance. Theoretical analysis shows that the proposed controller achieves containment control within a fixed-time period, independent of the initial states, even in the presence of external disturbances. In addition, the proposed approach circumvents high-frequency chattering. Comparative simulation results are provided to validate the effectiveness and advantages of the proposed non-eternally adaptive estimation-based fixed-time containment control scheme.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"208 ","pages":"Article 106331"},"PeriodicalIF":2.5,"publicationDate":"2025-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840077","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-12-22DOI: 10.1016/j.sysconle.2025.106323
Salim Zekraoui, Daniele Astolfi, Vincent Andrieu
Building upon the recently developed “stubborn” observer construction for finite-dimensional systems, we present a novel observer structure for abstract linear infinite-dimensional systems. A key feature of our design is the use of nonlinear output injection terms with an adjustable dynamical saturation function. This approach not only ensures the input-to-state stability (ISS) of the error system in the presence of measurement disturbances but also demonstrates significant resilience to impulsive noise. We illustrate the effectiveness of our method by applying it to a class of parabolic partial differential equations (PDEs).
{"title":"Stubborn observers for infinite-dimensional systems in abstract form with application to parabolic PDEs with boundary measurement","authors":"Salim Zekraoui, Daniele Astolfi, Vincent Andrieu","doi":"10.1016/j.sysconle.2025.106323","DOIUrl":"10.1016/j.sysconle.2025.106323","url":null,"abstract":"<div><div>Building upon the recently developed “stubborn” observer construction for finite-dimensional systems, we present a novel observer structure for abstract linear infinite-dimensional systems. A key feature of our design is the use of nonlinear output injection terms with an adjustable dynamical saturation function. This approach not only ensures the input-to-state stability (ISS) of the error system in the presence of measurement disturbances but also demonstrates significant resilience to impulsive noise. We illustrate the effectiveness of our method by applying it to a class of parabolic partial differential equations (PDEs).</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"208 ","pages":"Article 106323"},"PeriodicalIF":2.5,"publicationDate":"2025-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145840178","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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