Systems & Control Letters最新文献

英文中文

Prescribed-time output feedback for linear systems in normal form: Robustness analysis and digital implementation under measurement noise 标准线性系统的规定时间输出反馈：测量噪声下的鲁棒性分析和数字实现

IF 2.5 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2026-01-06 DOI: 10.1016/j.sysconle.2026.106344

Yury Orlov , Miguel Arambula , Denis Efimov

The well-known prescribed-time stabilizing design faces the need of using time-varying high gains which escape to infinity as time approaches the desired instant. In the presence of external disturbances and measurement noise, the corresponding state response is significantly amplified as well that leads to the lack of robustness in the closed-loop implementation. For eliminating this drawback, the implicit Euler discretization was recently developed for state feedback and observer design. The resulting implementation conserved desired robustness properties beyond the prescribed-time interval and also ensured bounded state dynamics in the presence of measurement noise. In the present work, the proposed robust prescribed-time design is further developed towards its output feedback extension the separation principle is not valid in this setting). The effectiveness of the design is additionally supported by numerical experiments.

众所周知的规定时间稳定设计面临着使用时变高增益的需要，当时间接近所需时刻时，高增益会逃逸到无穷大。在存在外部干扰和测量噪声的情况下，相应的状态响应也会被显著放大，导致闭环实现缺乏鲁棒性。为了消除这一缺点，隐式欧拉离散化最近被发展用于状态反馈和观测器设计。结果实现在规定的时间间隔之外保持所需的鲁棒性，并且在存在测量噪声的情况下确保有界状态动态。在本工作中，所提出的鲁棒规定时间设计进一步发展到其输出反馈扩展（分离原则在此设置下无效）。数值实验进一步验证了设计的有效性。

引用次数: 0

Balanced truncation for discrete time-delay systems with inhomogeneous initial conditions 非齐次初始条件下离散时滞系统的平衡截断

IF 2.5 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2026-01-05 DOI: 10.1016/j.sysconle.2026.106343

Xiaolong Wang , Kejia Xu , Xiaoli Wang

We investigate balanced truncation for model order reduction of discrete time-delay systems with inhomogeneous initial conditions. The superposition principle is exploited to achieve a decomposition of the original systems, but each subsystem cannot be simplified directly via the standard balanced truncation approach. To this end, we first introduce a couple of auxiliary subsystems based on the particular structure of transfer functions, and Lyapunov matrices are defined properly for each auxiliary subsystem to facilitate the execution of balanced truncation. Two methodologies are proposed for our purpose. The first one reduces each subsystem independently by using a suitable balanced truncation procedure, and the full-order output is approximated by superposition. The second methodology is designed to conduct a balanced truncated procedure directly based on the summation of the individual Lyapunov matrices of each subsystem, leading to structure-preserving reduced models. In addition, we provide a low-rank approximation to Lyapunov matrices based on the discrete Laguerre polynomials, which enables an efficient execution of our approach. Numerical examples confirm the feasibility and effectiveness of the proposed methods.

研究了具有非齐次初始条件的离散时滞系统模型降阶的平衡截断方法。利用叠加原理实现原始系统的分解，但不能通过标准平衡截断方法直接简化每个子系统。为此，我们首先根据传递函数的特定结构引入了几个辅助子系统，并为每个辅助子系统定义了适当的Lyapunov矩阵，以便于平衡截断的执行。为了我们的目的，提出了两种方法。第一种方法采用适当的平衡截断方法，对各子系统进行独立化简，并用叠加法逼近全阶输出；第二种方法旨在直接基于每个子系统的单个李雅普诺夫矩阵的总和进行平衡截断过程，从而导致结构保持的简化模型。此外，我们提供了一个基于离散拉盖尔多项式的李雅普诺夫矩阵的低秩近似，这使得我们的方法能够有效地执行。数值算例验证了所提方法的可行性和有效性。

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引用次数: 0

Bearing-based formation control of higher-order multi-agent systems over periodic switching graphs 周期交换图上高阶多智能体系统的方位编队控制

IF 2.5 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2026-01-01 DOI: 10.1016/j.sysconle.2025.106332

Haoshu Cheng , Yamin Yan , Tao Liu

Most studies on bearing-based formation control have been concerned with single-integrator or double-integrator multi-agent systems over static graphs. This paper extends the research to higher-order multi-agent systems over periodic switching graphs, allowing the interactions among agents to change periodically. The trajectories of leaders can take the form of trigonometric functions, polynomial functions, or their finite combinations, thereby including step and ramp functions as special cases. The followers are modeled as higher-order integrators, hence including single and double integrators as special cases. To determine the desired positions for the followers, we develop a bearing-based localization technique specifically for periodic switching graphs. Then, we propose a switched bearing-based distributed control law to stabilize the closed-loop system and drive the formation toward the target formation. Moreover, to avoid collisions during the formation evolution, we derive a sufficient condition based on the initial formation. Finally, we present a numerical example to illustrate the effectiveness of our design.

大多数基于方位的编队控制研究都涉及静态图上的单积分或双积分多智能体系统。本文将研究扩展到周期交换图上的高阶多智能体系统，允许智能体之间的交互周期性变化。领导者的轨迹可以采用三角函数、多项式函数或它们的有限组合的形式，从而包括阶跃函数和斜坡函数作为特殊情况。追随者被建模为高阶积分器，因此包括单和双积分器作为特殊情况。为了确定跟踪者的理想位置，我们开发了一种基于方位的定位技术，专门用于周期切换图。然后，我们提出了一种基于切换方位的分布式控制律，以稳定闭环系统并驱动编队向目标编队前进。此外，为了避免地层演化过程中的碰撞，我们在初始地层的基础上推导了一个充分条件。最后，给出了一个数值算例来说明设计的有效性。

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引用次数: 0

Passivity-based attack identification and mitigation via event-triggered observer feedback 通过事件触发的观察者反馈来识别和缓解基于被动的攻击

IF 2.5 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2026-01-01 DOI: 10.1016/j.sysconle.2025.106341

Pushkal Purohit, Anoop Jain

This paper addresses the problem of output consensus in linear passive multi-agent systems under the False Data Injection (FDI) attacks. Our formulation relies on an event-based cryptographic authentication scheme for sensor integrity and considers FDI attacks at the actuator end, inspired by their practical nature and usages. For secure consensus, we propose (i) a passivity-based approach for detecting FDI attacks on the system and (ii) a Zeno-free event-triggered observer-based switching controller, which switches between the normal and the defense modes following an attack detection. We show that the closed-loop system achieves practical consensus under the controller’s action in the defense mode. Two case studies are provided to support the theoretical findings.

研究了线性被动多智能体系统在虚假数据注入攻击下的输出一致性问题。我们的公式依赖于基于事件的传感器完整性加密认证方案，并考虑了执行器端的FDI攻击，灵感来自它们的实际性质和用法。对于安全共识，我们提出(i)一种基于被动的方法来检测系统上的FDI攻击，以及（ii）一种无zeno事件触发的基于观测器的切换控制器，该控制器在攻击检测后在正常模式和防御模式之间切换。结果表明，在控制器的作用下，闭环系统在防御模式下达到了实际共识。本文提供了两个案例研究来支持理论发现。

引用次数: 0

Finite-time stabilization for a chaos wave equation with disturbance 具有扰动的混沌波动方程的有限时间镇定

IF 2.5 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2026-01-01 DOI: 10.1016/j.sysconle.2025.106336

Meng-Yuan Lou, Hua-Cheng Zhou

In this article, we investigate the output feedback finite-time stabilization for a chaotic wave equation with a superlinear boundary condition and with boundary total disturbance. Using two boundary measurements as output signals, a disturbance estimator is designed to estimate the boundary total disturbance, ensuring finite-time convergence of the estimation error. Based on the estimated disturbance, an observer is proposed such that its state converges to the state of the original system in finite-time. Finally, via the active disturbance rejection control strategy, we derive an observer-based output feedback control law that stabilizes the system and compensates the total disturbance. The resulting closed-loop system is proven to be finite-time stable, while the disturbance estimator is bounded, which essentially improves the results of Feng (2016) and Xiang (2024). Numerical simulations are performed to confirm the effectiveness of the proposed approach.

本文研究了一类具有超线性边界条件和边界全扰动的混沌波动方程的输出反馈有限时间镇定问题。利用两个边界测量值作为输出信号，设计了一个干扰估计器来估计边界总扰动，保证了估计误差的有限时间收敛。基于估计的扰动，提出了一种观测器，使其状态在有限时间内收敛于原系统的状态。最后，通过自抗扰控制策略，导出了一种基于观测器的输出反馈控制律，使系统稳定并补偿总扰动。由此得到的闭环系统被证明是有限时间稳定的，而干扰估计器是有界的，这从本质上改进了Feng（2016）和Xiang（2024）的结果。通过数值仿真验证了该方法的有效性。

引用次数: 0

Distributed model predictive consensus control for linear multiagent system with coupled state constraints 耦合状态约束线性多智能体系统的分布式模型预测一致性控制

IF 2.5 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2025-12-27 DOI: 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.

本文研究了具有智能体间通信距离限制的一般约束线性多智能体系统（MAS）的共识控制问题。提出了一种新的分布式模型预测控制（DMPC）算法，该算法在保证相邻智能体保持在预定义范围内的同时保证一致性，并将其表述为控制问题中的耦合状态约束。在领导者-追随者框架中，DMPC优化问题的代价函数被精心设计为包含与领导者相关的跟踪误差、追随者之间的共识误差和控制输入努力。通过使用前一时间步的最优轨迹作为伪参考，并引入单个约束，将原始耦合状态约束转换为每个智能体的解耦局部约束，实现了完全分布式解决方案。基于Lyapunov稳定性的理论分析证明了agent间的一致性收敛性和连通性保持性。最后，仿真结果验证了该方法的有效性。

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引用次数: 0

Pareto–Nash guaranteed cost solution for infinite horizon multiobjective non-cooperative discrete-time uncertain/nonlinear dynamic games 无穷视界多目标非合作离散不确定/非线性动态对策Pareto-Nash保代价解

IF 2.5 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2025-12-24 DOI: 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.

研究了具有向量值收益函数的无限视界离散时间非合作动态博弈。系统动力学的不确定性用确定性函数来建模。引入了一种新的帕累托-纳什均衡概念，避免了通常应用的参与者目标函数的标量化方法。由于存在不确定性，我们定义了以状态反馈形式给出的成本保证策略。在一般非线性情况下，用Hamilton-Jacobi-Isaacs型不等式给出了成本保证策略的充分条件。结果被指定为二次线性游戏，其中的不确定性/非线性是由一个常见的二次约束函数建模。货币-财政博弈说明了结果。

引用次数: 0

Cooperative regulation with global dynamic compensation control mechanism for random communication link failures among multiple time-varying nonlinear agents 基于全局动态补偿控制机制的多时变非线性智能体随机通信链路故障协同调节

IF 2.5 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2025-12-23 DOI: 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.

针对时变非线性多智能体系统中的渐近共识问题，提出了一种具有全局动态补偿控制机制的多智能体随机通信链路故障协同调节策略。建立了分布式动态随机桥接补偿器，该补偿器具有一定的可根据不同场景灵活调整的单元。建立了随机桥接误差变量，其中桥接补偿器可以看作是一个桥接中介，用于渐近跟踪领导者和追随者。这些桥接误差变量持续监视补偿器和代理之间信息状态的差异。基于所提出的桥接误差变量的动力学方程，建立了全局动态补偿控制机制。设计并应用由上述创建的控制机制生成的分布式随机桥接控制器组成的协同调节策略，实现协调共识。通过建立基于桥接误差变量的稳定性分析方法，验证了所提出的协同调节策略的有效性。最后，通过具体案例的介绍和仿真实验，进一步验证了该策略的可行性。

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引用次数: 0

Stochastic maximum principle for fully coupled nonlinear FBSΔEs under generalized monotonicity and LQ control applications 全耦合非线性FBSΔEs在广义单调性下的随机极大值原理及LQ控制应用

IF 2.5 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2025-12-22 DOI: 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 (FBS

Δ

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

Δ

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.

本文研究了一类非线性全耦合正反向随机差分方程的最优控制问题（FBSΔEs）。在控制域的凸性假设下，我们建立了包含哈密顿系统和伴随方程的代价泛函的变分公式，并利用庞特里亚金极大值原理推导了必要最优性和充分最优性条件。创新地采用广义单调框架来保证非线性系统解的存在唯一性，并利用哈密顿函数的凸性直接导出变分不等式，简化了全耦合系统的分析。作为一个应用，我们建立了一个受储能调度启发的线性二次（LQ）最优控制问题（一个现实世界的例子）来证明我们的理论结果的有效性。研究表明，对于具有未来依赖约束的实际系统，如电力调度和财务决策，离散时间FBSΔEs模型具有显著的计算优势，为高维最优控制问题提供了新的理论基础。

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引用次数: 0

On zero-sum game representation for replicator dynamics 复制因子动力学的零和博弈表征

IF 2.5 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2025-12-22 DOI: 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.

复制因子动力学已被广泛应用于进化博弈论，以模拟策略频率如何随时间在大群体中演变。所谓的收益矩阵编码了每个策略在与其他策略相互作用时获得的成对适应度，它仅决定复制因子的动态。如果收益矩阵是未知的，我们在本文中表明，它不能从观察到的策略频率单独推断-不同的收益矩阵可以诱导相同的复制因子动力学。因此，我们在等价类中寻找报酬矩阵的典型代表。本文的主要结果是证明了对于每一个多项式复制子动力学（即向量场是一个多项式），总是存在一个斜对称的多项式收益矩阵，可以诱导给定的动力学。

引用次数: 0

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