Pub Date : 2024-10-14DOI: 10.1016/j.sysconle.2024.105934
E. Gershon , L.I. Allerhand , U. Shaked
Linear, state-delayed, discrete-time, stochastic, switched systems are considered, where the problems of stochastic -gain and state-feedback control designs are treated and solved. We first develop a special version of a bounded real lemma for the said systems for the nominal case.
Based on the this lemma we derive state-feedback gains for nominal systems where in our solution method, to each subsystem of the switched system, a Lyapunov function is assigned that is non-increasing at the switching instants and where a dwell time constrain is imposed on the system. The assigned Lyapunov function is allowed to vary piecewise linearly in time, starting at the end of the previous switch instant, and it becomes time-invariant after the dwell. Based on the solution of the state-feedback control for nominal systems and exploiting the fact that this solution is affine in the system matrices, a state-feedback control is derived for the polytopic case. We bring a numerical example that demonstrates the solvability and tractability of our solution method.
{"title":"Robust control of time-delayed stochastic switched systems with dwell","authors":"E. Gershon , L.I. Allerhand , U. Shaked","doi":"10.1016/j.sysconle.2024.105934","DOIUrl":"10.1016/j.sysconle.2024.105934","url":null,"abstract":"<div><div>Linear, state-delayed, discrete-time, stochastic, switched systems are considered, where the problems of stochastic <span><math><msub><mrow><mi>l</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span>-gain and state-feedback control designs are treated and solved. We first develop a special version of a bounded real lemma for the said systems for the nominal case.</div><div>Based on the this lemma we derive state-feedback gains for nominal systems where in our solution method, to each subsystem of the switched system, a Lyapunov function is assigned that is non-increasing at the switching instants and where a dwell time constrain is imposed on the system. The assigned Lyapunov function is allowed to vary piecewise linearly in time, starting at the end of the previous switch instant, and it becomes time-invariant after the dwell. Based on the solution of the state-feedback control for nominal systems and exploiting the fact that this solution is affine in the system matrices, a state-feedback control is derived for the polytopic case. We bring a numerical example that demonstrates the solvability and tractability of our solution method.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"193 ","pages":"Article 105934"},"PeriodicalIF":2.1,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142433853","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 : 2024-10-10DOI: 10.1016/j.sysconle.2024.105932
Minh Vu , Yunshen Huang , Shen Zeng
While data-driven control has shown its potential for solving complex tasks, current algorithms such as reinforcement learning are still data-intensive and often limited to simulated environments. Model-based learning is a promising approach to reducing the amount of data required in practical implementations, yet it suffers from a critical issue known as model exploitation. In this paper, we present a sequential approach to model-based learning that avoids model exploitation and achieves stable system behaviors during learning with minimal exploration. The advocated control design utilizes estimates of the system’s local dynamics to step-by-step improve the control. During the process, when additional data is required, the program pauses the control synthesis to collect data in the surrounding area and updates the model accordingly. The local and sequential nature of this approach is the key component to regulating the system’s exploration in the state–action space and, at the same time, avoiding the issue of model exploitation, which are the main challenges in model-based learning control. Through simulated examples and physical experiments, we demonstrate that the proposed approach can quickly learn a desirable control from scratch, with just a small number of trials.
{"title":"Data-driven control of nonlinear systems: An online sequential approach","authors":"Minh Vu , Yunshen Huang , Shen Zeng","doi":"10.1016/j.sysconle.2024.105932","DOIUrl":"10.1016/j.sysconle.2024.105932","url":null,"abstract":"<div><div>While data-driven control has shown its potential for solving complex tasks, current algorithms such as reinforcement learning are still data-intensive and often limited to simulated environments. Model-based learning is a promising approach to reducing the amount of data required in practical implementations, yet it suffers from a critical issue known as model exploitation. In this paper, we present a sequential approach to model-based learning that avoids model exploitation and achieves stable system behaviors during learning with minimal exploration. The advocated control design utilizes estimates of the system’s local dynamics to step-by-step improve the control. During the process, when additional data is required, the program pauses the control synthesis to collect data in the surrounding area and updates the model accordingly. The local and sequential nature of this approach is the key component to <em>regulating the system’s exploration in the state–action space</em> and, at the same time, <em>avoiding the issue of model exploitation</em>, which are the main challenges in model-based learning control. Through simulated examples and physical experiments, we demonstrate that the proposed approach can quickly learn a desirable control from scratch, with just a small number of trials.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"193 ","pages":"Article 105932"},"PeriodicalIF":2.1,"publicationDate":"2024-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142426246","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-10-04DOI: 10.1016/j.sysconle.2024.105940
Giovanni Fusco , Monica Motta , Richard Vinter
For impulse control systems described by a measure driven differential equation, depending linearly on the measure, it is customary to interpret the state trajectory corresponding to an impulse control, specified by a measure, as the limit of state trajectories associated with some sequence of conventional controls approximating the measure. It is known that, when the measure is vector valued, it is possible that different choices of approximating sequences for the measure give rise to different limiting state trajectories. If the measure is scalar valued, however, there is a unique limiting trajectory. Now consider impulse control systems, in which the right side of the measure driven differential equation depends on both the current and delayed states. In recent work by the authors it has been shown that, for such impulse control systems with time delay, the state trajectory corresponding to a given measure may be non-unique, even when the measure is scalar valued. It was also shown that each limiting state trajectory can be identified with the unique state trajectory associated with some measure together with a family of ‘attached controls’. (The attached controls capture the nature of the measure approximation.) The authors also derived a maximum principle governing minimizers for a general class of impulse optimal control problems with time delay, in which the domain of the optimization problem comprises measures coupled with a family of ‘attached controls’. The purpose of this paper is both to illustrate, by means of an example, this newly discovered non-uniqueness phenomenon and to provide the first application of the new maximum principle, to investigate minimizers for scalar input impulse optimal control problems with time delay, in circumstances when limiting state trajectories associated with a given measure control are not unique. The example is an optimal control problem, for which the underlying control system is a forced harmonic oscillator, with scalar impulse control, in which the control gain is a nonlinear function of the current and delayed states.
{"title":"Optimal impulse control problems with time delays: An illustrative example","authors":"Giovanni Fusco , Monica Motta , Richard Vinter","doi":"10.1016/j.sysconle.2024.105940","DOIUrl":"10.1016/j.sysconle.2024.105940","url":null,"abstract":"<div><div>For impulse control systems described by a measure driven differential equation, depending linearly on the measure, it is customary to interpret the state trajectory corresponding to an impulse control, specified by a measure, as the limit of state trajectories associated with some sequence of conventional controls approximating the measure. It is known that, when the measure is vector valued, it is possible that different choices of approximating sequences for the measure give rise to different limiting state trajectories. If the measure is scalar valued, however, there is a unique limiting trajectory. Now consider impulse control systems, in which the right side of the measure driven differential equation depends on both the current and delayed states. In recent work by the authors it has been shown that, for such impulse control systems with time delay, the state trajectory corresponding to a given measure may be non-unique, even when the measure is scalar valued. It was also shown that each limiting state trajectory can be identified with the unique state trajectory associated with some measure together with a family of ‘attached controls’. (The attached controls capture the nature of the measure approximation.) The authors also derived a maximum principle governing minimizers for a general class of impulse optimal control problems with time delay, in which the domain of the optimization problem comprises measures coupled with a family of ‘attached controls’. The purpose of this paper is both to illustrate, by means of an example, this newly discovered non-uniqueness phenomenon and to provide the first application of the new maximum principle, to investigate minimizers for scalar input impulse optimal control problems with time delay, in circumstances when limiting state trajectories associated with a given measure control are not unique. The example is an optimal control problem, for which the underlying control system is a forced harmonic oscillator, with scalar impulse control, in which the control gain is a nonlinear function of the current and delayed states.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"193 ","pages":"Article 105940"},"PeriodicalIF":2.1,"publicationDate":"2024-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142426245","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 : 2024-10-04DOI: 10.1016/j.sysconle.2024.105936
Hamed Jabbari Asl, Eiji Uchibe
In this study, we considered the problem of inverse reinforcement learning or estimating the cost function of expert players in multi-player differential games. We proposed two online data-driven solutions for linear–quadratic games that are applicable to systems that fulfill a specific dimension criterion or whose unknown matrices in the cost function conform to a diagonal condition. The first method, which is partially model-free, utilizes the trajectories of expert agents to solve the problem. The second method is entirely model-free and employs the trajectories of both expert and learner agents. We determined the conditions under which the solutions are applicable and identified the necessary requirements for the collected data. We conducted numerical simulations to establish the effectiveness of the proposed methods.
{"title":"Inverse reinforcement learning methods for linear differential games","authors":"Hamed Jabbari Asl, Eiji Uchibe","doi":"10.1016/j.sysconle.2024.105936","DOIUrl":"10.1016/j.sysconle.2024.105936","url":null,"abstract":"<div><div>In this study, we considered the problem of inverse reinforcement learning or estimating the cost function of expert players in multi-player differential games. We proposed two online data-driven solutions for linear–quadratic games that are applicable to systems that fulfill a specific dimension criterion or whose unknown matrices in the cost function conform to a diagonal condition. The first method, which is partially model-free, utilizes the trajectories of expert agents to solve the problem. The second method is entirely model-free and employs the trajectories of both expert and learner agents. We determined the conditions under which the solutions are applicable and identified the necessary requirements for the collected data. We conducted numerical simulations to establish the effectiveness of the proposed methods.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"193 ","pages":"Article 105936"},"PeriodicalIF":2.1,"publicationDate":"2024-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142426249","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-10-03DOI: 10.1016/j.sysconle.2024.105937
Lucas F.M. Rodrigues , Gustavo H.C. Oliveira , Lucas P.R.K. Ihlenfeld , Ricardo Schumacher , Paul M.J. Van den Hof
We develop a novel frequency-domain approach to address the important open issue of estimating passive local modules within dynamic networks. The method applies an approach based on two stages, a non-parametric and a parametric one. The parametric stage is an extension of the vector fitting technique that incorporates energy consistency conditions as a fundamental component of the identification procedure, forming a path of the passive model in the Sanathanan–Koerner iterations. The approach includes a formulation via linear matrix inequalities to enforce energy-balance conditions resulting in a convex optimization problem. The approach is practical even under weak assumptions on noise, enabling real-world applications. Numerical simulations illustrate the potential of the developed method to effectively estimate local passive modules in dynamic networks.
{"title":"Frequency domain identification of passive local modules in linear dynamic networks","authors":"Lucas F.M. Rodrigues , Gustavo H.C. Oliveira , Lucas P.R.K. Ihlenfeld , Ricardo Schumacher , Paul M.J. Van den Hof","doi":"10.1016/j.sysconle.2024.105937","DOIUrl":"10.1016/j.sysconle.2024.105937","url":null,"abstract":"<div><div>We develop a novel frequency-domain approach to address the important open issue of estimating passive local modules within dynamic networks. The method applies an approach based on two stages, a non-parametric and a parametric one. The parametric stage is an extension of the vector fitting technique that incorporates energy consistency conditions as a fundamental component of the identification procedure, forming a path of the passive model in the Sanathanan–Koerner iterations. The approach includes a formulation via linear matrix inequalities to enforce energy-balance conditions resulting in a convex optimization problem. The approach is practical even under weak assumptions on noise, enabling real-world applications. Numerical simulations illustrate the potential of the developed method to effectively estimate local passive modules in dynamic networks.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"193 ","pages":"Article 105937"},"PeriodicalIF":2.1,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142426248","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 : 2024-10-03DOI: 10.1016/j.sysconle.2024.105938
Jianing Yang , Liqi Zhou , Jian Liu , Jianxiang Xi , Yuanshi Zheng
This paper studies the min–max group consensus of discrete-time multi-agent systems under a directed random graph, where the presence of each directed edge is randomly determined by a probability and independent of the presence of other edges. Firstly, we propose a min–max consensus protocol without memory, and give the necessary and sufficient conditions to ensure that the multi-agent system can achieve the min–max group consensus in the sense of almost sure and mean square, respectively. Secondly, we design a novel consensus protocol with memory and a behavior mechanism. Using the stochastic analysis theory and the extremal algebra, some necessary and sufficient conditions are obtained for achieving the min–max group consensus in the sense of almost sure and mean square, respectively. It is shown that the protocol with memory can solve the loss problem of the maximum and minimum initial states. Finally, the effectiveness of the two group consensus protocols and the behavior mechanism is verified by four numerical simulations.
{"title":"Min–max group consensus of discrete-time multi-agent systems under directed random networks","authors":"Jianing Yang , Liqi Zhou , Jian Liu , Jianxiang Xi , Yuanshi Zheng","doi":"10.1016/j.sysconle.2024.105938","DOIUrl":"10.1016/j.sysconle.2024.105938","url":null,"abstract":"<div><div>This paper studies the min–max group consensus of discrete-time multi-agent systems under a directed random graph, where the presence of each directed edge is randomly determined by a probability and independent of the presence of other edges. Firstly, we propose a min–max consensus protocol without memory, and give the necessary and sufficient conditions to ensure that the multi-agent system can achieve the min–max group consensus in the sense of almost sure and mean square, respectively. Secondly, we design a novel consensus protocol with memory and a behavior mechanism. Using the stochastic analysis theory and the extremal algebra, some necessary and sufficient conditions are obtained for achieving the min–max group consensus in the sense of almost sure and mean square, respectively. It is shown that the protocol with memory can solve the loss problem of the maximum and minimum initial states. Finally, the effectiveness of the two group consensus protocols and the behavior mechanism is verified by four numerical simulations.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"193 ","pages":"Article 105938"},"PeriodicalIF":2.1,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142426247","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 : 2024-10-01DOI: 10.1016/j.sysconle.2024.105935
Xinrong Yang, Haitao Li
This paper analyzes the local set stability of probabilistic Boolean networks (PBNs), including local finite-time set stability with probability one (FSSPO) and local asymptotic set stability with probability one (ASSPO). Firstly, a necessary and sufficient condition is proposed for the local FSSPO of PBNs. Then, a reachable set with probability one is constructed, based on which, the largest domain of attraction for the local FSSPO of PBNs is determined. Secondly, by constructing two parameterized sets, the transition probability matrix of PBNs is properly partitioned, and the largest domain of attraction for the ASSPO is depicted. Finally, for PBNs which are locally stable, the target control is introduced to achieve the global FSSPO and global ASSPO of PBNs, respectively.
{"title":"Local set stability and target control of probabilistic Boolean networks","authors":"Xinrong Yang, Haitao Li","doi":"10.1016/j.sysconle.2024.105935","DOIUrl":"10.1016/j.sysconle.2024.105935","url":null,"abstract":"<div><div>This paper analyzes the local set stability of probabilistic Boolean networks (PBNs), including local finite-time set stability with probability one (FSSPO) and local asymptotic set stability with probability one (ASSPO). Firstly, a necessary and sufficient condition is proposed for the local FSSPO of PBNs. Then, a reachable set with probability one is constructed, based on which, the largest domain of attraction for the local FSSPO of PBNs is determined. Secondly, by constructing two parameterized sets, the transition probability matrix of PBNs is properly partitioned, and the largest domain of attraction for the ASSPO is depicted. Finally, for PBNs which are locally stable, the target control is introduced to achieve the global FSSPO and global ASSPO of PBNs, respectively.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"193 ","pages":"Article 105935"},"PeriodicalIF":2.1,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142426918","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 : 2024-10-01DOI: 10.1016/j.sysconle.2024.105939
Dong Ding , Ze Tang , Chuanbo Wen , Zhicheng Ji , Ju H. Park
This work is concerned with the synchronization issue of complex networks suffering from Denial-of-Service (DoS) attacks. The derivative coupling has been proposed to model the nodes which are capable of perceiving state changing. An overarching handling procedure is initially introduced to convert derivatively coupled dynamic networks into a general form. To offset the information missing resulting from DoS attacks, an intricately crafted memory-based self-triggered impulsive controller (MBSTIC) is devised. The introduced scheme involves the meticulous collection of nodes’ historical state information. By jointly considering Lyapunov stability theorem and mathematical deduction approach, sufficient conditions for ensuring synchronous behavior for controlled networks are derived. A numerical example is given to demonstrate that the proposed method exhibits considerable performance when facing DoS attacks.
这项工作关注的是遭受拒绝服务（DoS）攻击的复杂网络的同步问题。我们提出了导数耦合来模拟能够感知状态变化的节点。最初引入了一个总体处理程序，将衍生耦合动态网络转换为一般形式。为了抵消 DoS 攻击造成的信息缺失，设计了一种复杂的基于内存的自触发脉冲控制器（MBSTIC）。引入的方案涉及对节点历史状态信息的细致收集。通过联合考虑 Lyapunov 稳定性定理和数学演绎法，得出了确保受控网络同步行为的充分条件。通过一个数值示例，证明了所提出的方法在面对 DoS 攻击时表现出了相当可观的性能。
{"title":"Secure impulsive synchronization for derivatively coupled networks against DoS attacks: A memory-compensated strategy","authors":"Dong Ding , Ze Tang , Chuanbo Wen , Zhicheng Ji , Ju H. Park","doi":"10.1016/j.sysconle.2024.105939","DOIUrl":"10.1016/j.sysconle.2024.105939","url":null,"abstract":"<div><div>This work is concerned with the synchronization issue of complex networks suffering from Denial-of-Service (DoS) attacks. The derivative coupling has been proposed to model the nodes which are capable of perceiving state changing. An overarching handling procedure is initially introduced to convert derivatively coupled dynamic networks into a general form. To offset the information missing resulting from DoS attacks, an intricately crafted memory-based self-triggered impulsive controller (MBSTIC) is devised. The introduced scheme involves the meticulous collection of nodes’ historical state information. By jointly considering Lyapunov stability theorem and mathematical deduction approach, sufficient conditions for ensuring synchronous behavior for controlled networks are derived. A numerical example is given to demonstrate that the proposed method exhibits considerable performance when facing DoS attacks.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"193 ","pages":"Article 105939"},"PeriodicalIF":2.1,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142426919","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 : 2024-09-27DOI: 10.1016/j.sysconle.2024.105930
Yuanqi Lin , Yixin Ai , Lipo Mo , Peng Lin , Yingmin Jia
This paper is devoted to the nonconvex control input constrained containment control problem for multi-agent systems with non-particle leaders, switching topologies, and communication delays. A decentralized algorithm is adopted for followers with discrete-time high-order dynamics. Through model transformations and by analyzing the convergence of the maximum distance from the followers to the convex hull, it is demonstrated that each follower finally moves into the convex hull created by the leaders, even in the presence of nonconvex input constraints, non-particle leaders, switching topologies, and communication delays. Finally, numerical examples demonstrate the effectiveness of the theoretical conclusions.
{"title":"Containment control for high-order multi-agent systems with nonconvex control input constraints and non-particle leaders","authors":"Yuanqi Lin , Yixin Ai , Lipo Mo , Peng Lin , Yingmin Jia","doi":"10.1016/j.sysconle.2024.105930","DOIUrl":"10.1016/j.sysconle.2024.105930","url":null,"abstract":"<div><div>This paper is devoted to the nonconvex control input constrained containment control problem for multi-agent systems with non-particle leaders, switching topologies, and communication delays. A decentralized algorithm is adopted for followers with discrete-time high-order dynamics. Through model transformations and by analyzing the convergence of the maximum distance from the followers to the convex hull, it is demonstrated that each follower finally moves into the convex hull created by the leaders, even in the presence of nonconvex input constraints, non-particle leaders, switching topologies, and communication delays. Finally, numerical examples demonstrate the effectiveness of the theoretical conclusions.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"193 ","pages":"Article 105930"},"PeriodicalIF":2.1,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142326636","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 : 2024-09-27DOI: 10.1016/j.sysconle.2024.105933
Bowen Yi , Ian R. Manchester
The inertial measurement unit (IMU) preintegration approach nowadays is widely used in various robotic applications. In this article, we revisit the preintegration theory and propose a novel interpretation to understand it from a nonlinear observer perspective, specifically the parameter estimation-based observer (PEBO). We demonstrate that the preintegration approach can be viewed as a recursive implementation of PEBO in moving horizons, and that the two approaches are equivalent with perfect measurements. We then discuss how these findings can be used to tackle practical challenges in estimation problems. As byproducts, our results lead to a novel hybrid sampled-data observer design and an approach to address statistical optimality for PEBO in the presence of noise.
{"title":"On IMU preintegration: A nonlinear observer viewpoint and its applications","authors":"Bowen Yi , Ian R. Manchester","doi":"10.1016/j.sysconle.2024.105933","DOIUrl":"10.1016/j.sysconle.2024.105933","url":null,"abstract":"<div><div>The inertial measurement unit (IMU) preintegration approach nowadays is widely used in various robotic applications. In this article, we revisit the preintegration theory and propose a novel interpretation to understand it from a nonlinear observer perspective, specifically the parameter estimation-based observer (PEBO). We demonstrate that the preintegration approach can be viewed as a recursive implementation of PEBO in moving horizons, and that the two approaches are equivalent with perfect measurements. We then discuss how these findings can be used to tackle practical challenges in estimation problems. As byproducts, our results lead to a novel hybrid sampled-data observer design and an approach to address statistical optimality for PEBO in the presence of noise.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"193 ","pages":"Article 105933"},"PeriodicalIF":2.1,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142326635","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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