Pub Date : 2025-02-01DOI: 10.1016/j.sysconle.2024.105973
Patricio Guzmán, Esteban Hernández
In this paper we prove the rapid stabilization of an unstable heat equation subjected to an unknown disturbance, which is assumed to be acting at the flux boundary condition. To that end, we design a multivalued feedback law by employing the backstepping method, Lyapunov techniques and the sign multivalued operator, which is used to handle the effects of the unknown disturbance. The well-posedness of the closed-loop system, which is a differential inclusion, is shown with the maximal monotone operator theory.
{"title":"Rapid stabilization of an unstable heat equation with disturbance at the flux boundary condition","authors":"Patricio Guzmán, Esteban Hernández","doi":"10.1016/j.sysconle.2024.105973","DOIUrl":"10.1016/j.sysconle.2024.105973","url":null,"abstract":"<div><div>In this paper we prove the rapid stabilization of an unstable heat equation subjected to an unknown disturbance, which is assumed to be acting at the flux boundary condition. To that end, we design a multivalued feedback law by employing the backstepping method, Lyapunov techniques and the sign multivalued operator, which is used to handle the effects of the unknown disturbance. The well-posedness of the closed-loop system, which is a differential inclusion, is shown with the maximal monotone operator theory.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 105973"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183244","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 : 2025-02-01DOI: 10.1016/j.sysconle.2025.106020
Romeo Ortega , Bowen Yi , Alexey Bobtsov , Anton Pyrkin , Madina Sinetova
We are interested in this paper in the problem of designing a globally convergent adaptive observer for nonlinear systems that contain nonlinear terms in the unmeasurable part of the state. Therefore, they do not fit into the category of state-affine systems for which several adaptive observers have been reported. Furthermore, the system is not in a normal triangular form, hence it is not amenable for high-gain observer designs. To solve the problem we introduce two new technical tools, first, the construction of a mixed linear regression equation, dependent on the unmeasurable state and the unknown parameters. Second, the proof that the error dynamics can be immersed in a lower dimension target dynamics with the desired convergence characteristics. Although it is assumed that the derivative of the unmeasurable part of the state is known, it is shown in the paper that this is the case for several practical examples. Simulation results with a van der Pol-like system are used to illustrate the performance of the proposed adaptive observer.
我们在本文中关注的问题是为非线性系统设计全局收敛的自适应观测器，这些系统的状态不可测量部分包含非线性项。因此，这些系统不属于状态-非线性系统的范畴，目前已有一些自适应观测器被报道过。此外，该系统不是正常的三角形形式，因此不适合高增益观测器的设计。为了解决这个问题，我们引入了两个新的技术工具：第一，构建一个混合线性回归方程，该方程取决于不可测量的状态和未知参数。其次，证明误差动力学可以沉浸在具有理想收敛特性的低维度目标动力学中。虽然本文假定状态不可测部分的导数是已知的，但在几个实际例子中都证明了这一点。本文用一个类似于 van der Pol 的系统的仿真结果来说明所提出的自适应观测器的性能。
{"title":"Adaptive state observers for a class of nonlinear systems: The non-triangular and non-state-affine case","authors":"Romeo Ortega , Bowen Yi , Alexey Bobtsov , Anton Pyrkin , Madina Sinetova","doi":"10.1016/j.sysconle.2025.106020","DOIUrl":"10.1016/j.sysconle.2025.106020","url":null,"abstract":"<div><div>We are interested in this paper in the problem of designing a globally convergent adaptive observer for nonlinear systems that contain nonlinear terms in the <em>unmeasurable</em> part of the state. Therefore, they do not fit into the category of state-affine systems for which several adaptive observers have been reported. Furthermore, the system is not in a normal triangular form, hence it is not amenable for high-gain observer designs. To solve the problem we introduce two new technical tools, first, the construction of a <em>mixed</em> linear regression equation, dependent on the unmeasurable state and the unknown parameters. Second, the proof that the error dynamics can be <em>immersed</em> in a lower dimension target dynamics with the desired convergence characteristics. Although it is assumed that the derivative of the unmeasurable part of the state is known, it is shown in the paper that this is the case for several practical examples. Simulation results with a van der Pol-like system are used to illustrate the performance of the proposed adaptive observer.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106020"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182058","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 : 2025-02-01DOI: 10.1016/j.sysconle.2025.106022
Lulu Li , Haodong Chen , Yuchi Guo , Jianquan Lu
This paper addresses the parameter estimation of probabilistic Boolean control networks (PBCNs) that exhibit unknown and time-varying switching probability distributions (SPDs). We begin by transforming PBCNs with time-varying SPDs into an algebraic form within the framework of algebraic state-space representation (ASSR). In contrast to traditional PBCNs, our investigation incorporates uncertainty through variable switching probabilities. We propose an optimization-based approach for estimating the unknown and time-varying SPD of PBCNs. While existing methods typically focus on estimating Boolean networks (BNs) states, our approach targets the more challenging task of estimating time-varying SPDs. We validate the effectiveness of the proposed method using a simplified apoptosis network model.
{"title":"Parameter estimation of probabilistic Boolean control networks: An optimization-based approach","authors":"Lulu Li , Haodong Chen , Yuchi Guo , Jianquan Lu","doi":"10.1016/j.sysconle.2025.106022","DOIUrl":"10.1016/j.sysconle.2025.106022","url":null,"abstract":"<div><div>This paper addresses the parameter estimation of probabilistic Boolean control networks (PBCNs) that exhibit unknown and time-varying switching probability distributions (SPDs). We begin by transforming PBCNs with time-varying SPDs into an algebraic form within the framework of algebraic state-space representation (ASSR). In contrast to traditional PBCNs, our investigation incorporates uncertainty through variable switching probabilities. We propose an optimization-based approach for estimating the unknown and time-varying SPD of PBCNs. While existing methods typically focus on estimating Boolean networks (BNs) states, our approach targets the more challenging task of estimating time-varying SPDs. We validate the effectiveness of the proposed method using a simplified apoptosis network model.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106022"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182439","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 : 2025-02-01DOI: 10.1016/j.sysconle.2024.106008
Shenyu Liu , Sonia Martinez
This work introduces a distributed algorithm for finding least squares (LS) solutions of linear algebraic equations (LAEs). Unlike the methods studied in the literature, we assume that our distributed algorithm has limited computation power and network bandwidth, in the sense that each agent can only solve small-scale LAEs and the group of agents can only exchange messages of small size at a time. Our algorithm contains two layers of nested loops. A part of the solution is updated by a consensus algorithm in the inner loop, while an scheduling sequence in the outer loop decides which part of the solution to be updated. By appealing to the alternating projection theorem, we prove convergence of the proposed algorithm when the scheduling sequence is both spanning and periodic. The accuracy of our algorithm is verified through a numerical example.
{"title":"Solving linear algebraic equations with limited computational power and network bandwidth","authors":"Shenyu Liu , Sonia Martinez","doi":"10.1016/j.sysconle.2024.106008","DOIUrl":"10.1016/j.sysconle.2024.106008","url":null,"abstract":"<div><div>This work introduces a distributed algorithm for finding least squares (LS) solutions of linear algebraic equations (LAEs). Unlike the methods studied in the literature, we assume that our distributed algorithm has limited computation power and network bandwidth, in the sense that each agent can only solve small-scale LAEs and the group of agents can only exchange messages of small size at a time. Our algorithm contains two layers of nested loops. A part of the solution is updated by a consensus algorithm in the inner loop, while an scheduling sequence in the outer loop decides which part of the solution to be updated. By appealing to the alternating projection theorem, we prove convergence of the proposed algorithm when the scheduling sequence is both spanning and periodic. The accuracy of our algorithm is verified through a numerical example.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106008"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182992","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 : 2025-02-01DOI: 10.1016/j.sysconle.2025.106021
HongSheng QI
Vehicle safety is crucial for the development of autonomous vehicles. The concept of RSS (responsibility sensitive safety) is proposed as a formal method to guarantee safety, and several longitudinal RSS formulations are proposed. However, even for highly accurate autonomous vehicles, its dynamics is stochastic, and may lead to the RSS violation due to disturbances. This research investigates the stochasticity of the adaptive cruise control empirically, and proposes a robust RSS regarding longitudinal driving. We firstly show that there exists certain time-variant stochasticity in the ACC controlled vehicle using real world dataset, and numerically calculated the probability that the RSS may be violated when the noise is considered, which reveals that RSS violation is inevitable under certain scenarios. Then, an explicit solution of the noise disturbed ACC is derived. Next, a robust RSS framework is established, by employing the Markov chain derived from the Euler-Maruyama scheme of the stochastic ACC system. The research extends the conventional RSS framework.
{"title":"Robust responsibility-sensitive safety: Noise disturbed adaptive cruise control","authors":"HongSheng QI","doi":"10.1016/j.sysconle.2025.106021","DOIUrl":"10.1016/j.sysconle.2025.106021","url":null,"abstract":"<div><div>Vehicle safety is crucial for the development of autonomous vehicles. The concept of RSS (responsibility sensitive safety) is proposed as a formal method to guarantee safety, and several longitudinal RSS formulations are proposed. However, even for highly accurate autonomous vehicles, its dynamics is stochastic, and may lead to the RSS violation due to disturbances. This research investigates the stochasticity of the adaptive cruise control empirically, and proposes a robust RSS regarding longitudinal driving. We firstly show that there exists certain time-variant stochasticity in the ACC controlled vehicle using real world dataset, and numerically calculated the probability that the RSS may be violated when the noise is considered, which reveals that RSS violation is inevitable under certain scenarios. Then, an explicit solution of the noise disturbed ACC is derived. Next, a robust RSS framework is established, by employing the Markov chain derived from the Euler-Maruyama scheme of the stochastic ACC system. The research extends the conventional RSS framework.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106021"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183651","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 : 2025-02-01DOI: 10.1016/j.sysconle.2024.105988
Xiaojuan Li
In this paper, we study a stochastic optimal control problem under degenerate -expectation. By using implied partition method, we show that the approximation result for admissible controls still hold. Based on this result, we obtain the dynamic programming principle, and prove that the value function is the unique viscosity solution to the related HJB equation under degenerate case.
{"title":"Dynamic programming principle for stochastic optimal control problem under degenerate G-expectation","authors":"Xiaojuan Li","doi":"10.1016/j.sysconle.2024.105988","DOIUrl":"10.1016/j.sysconle.2024.105988","url":null,"abstract":"<div><div>In this paper, we study a stochastic optimal control problem under degenerate <span><math><mi>G</mi></math></span>-expectation. By using implied partition method, we show that the approximation result for admissible controls still hold. Based on this result, we obtain the dynamic programming principle, and prove that the value function is the unique viscosity solution to the related HJB equation under degenerate case.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 105988"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183240","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 : 2025-02-01DOI: 10.1016/j.sysconle.2024.105985
Bin Zhang , Yingying Ren , Cuijuan An , Da-Wei Ding
This paper investigates the optimal tracking performance (OTP) of networked control systems (NCSs) with time delay subjected to multiplicative false data injection (FDI) attacks. An auxiliary model is proposed to preserve the influences of the first and second moments of the attacked channel output through a supplementary additive process. By employing a two-degree-of-freedom control (TDOF) scheme and a frequency-domain analysis approach, a display expression for the OTP of NCSs is derived. It is shown that the OTP has a close relation with the intrinsic characteristic of the plant, time delay, and statistical characteristics of multiplicative false data. Finally, a numerical example is provided to validate the results.
{"title":"Optimal tracking performance of networked control systems with time delay under multiplicative false data injection attacks","authors":"Bin Zhang , Yingying Ren , Cuijuan An , Da-Wei Ding","doi":"10.1016/j.sysconle.2024.105985","DOIUrl":"10.1016/j.sysconle.2024.105985","url":null,"abstract":"<div><div>This paper investigates the optimal tracking performance (OTP) of networked control systems (NCSs) with time delay subjected to multiplicative false data injection (FDI) attacks. An auxiliary model is proposed to preserve the influences of the first and second moments of the attacked channel output through a supplementary additive process. By employing a two-degree-of-freedom control (TDOF) scheme and a frequency-domain analysis approach, a display expression for the OTP of NCSs is derived. It is shown that the OTP has a close relation with the intrinsic characteristic of the plant, time delay, and statistical characteristics of multiplicative false data. Finally, a numerical example is provided to validate the results.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 105985"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183239","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 : 2025-02-01DOI: 10.1016/j.sysconle.2024.106011
Alexander von Rohr, Dmitrii Likhachev, Sebastian Trimpe
We propose a data-driven control method for systems with aleatoric uncertainty, such as robot fleets with variations between agents. Our method leverages shared trajectory data to increase the robustness of the designed controller and thus facilitate transfer to new variations without the need for prior parameter and uncertainty estimation. In contrast to existing work on experience transfer for performance, our approach focuses on robustness and uses data collected from multiple realizations to guarantee generalization to unseen ones. Our method is based on scenario optimization combined with recent formulations for direct data-driven control. We derive upper bounds on the minimal amount of data required to provably achieve quadratic stability for probabilistic systems with aleatoric uncertainty and demonstrate the benefits of our data-driven method through a numerical example. We find that the learned controllers generalize well to high variations in the dynamics even when based on only a few short open-loop trajectories. Robust experience transfer enables the design of safe and robust controllers that work “out of the box” without additional learning during deployment.
{"title":"Robust direct data-driven control for probabilistic systems","authors":"Alexander von Rohr, Dmitrii Likhachev, Sebastian Trimpe","doi":"10.1016/j.sysconle.2024.106011","DOIUrl":"10.1016/j.sysconle.2024.106011","url":null,"abstract":"<div><div>We propose a data-driven control method for systems with aleatoric uncertainty, such as robot fleets with variations between agents. Our method leverages shared trajectory data to increase the robustness of the designed controller and thus facilitate transfer to new variations without the need for prior parameter and uncertainty estimation. In contrast to existing work on experience transfer for performance, our approach focuses on robustness and uses data collected from multiple realizations to guarantee generalization to unseen ones. Our method is based on scenario optimization combined with recent formulations for direct data-driven control. We derive upper bounds on the minimal amount of data required to provably achieve quadratic stability for probabilistic systems with aleatoric uncertainty and demonstrate the benefits of our data-driven method through a numerical example. We find that the learned controllers generalize well to high variations in the dynamics even when based on only a few short open-loop trajectories. Robust experience transfer enables the design of safe and robust controllers that work “out of the box” without additional learning during deployment.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106011"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183650","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 : 2025-02-01DOI: 10.1016/j.sysconle.2024.106001
Thiem V. Pham, Quynh T. Thanh Nguyen
This article addresses the attacker’s perspective on an induced attack strategy against wide-area networks of clustered multi-agent systems. In contrast to most existing attacks, our suggested approach may force the wide-area network to follow a specified coordination trajectory. A hybrid ecosystem is first introduced for the induced attack model, which allows us to generate a particular synchronization trajectory. Next, an induced attack protocol is proposed that utilizes the induced attack model among partial agents and a dynamic event-triggered technique. It shows that the induced attack protocol is fully distributed, with each agent using only local information and that of its neighbors. An explicit expression is derived for the specified synchronization trajectory, which characterizes the movement trajectory of the wide-area network of clustered multi-agent systems under the induced attack. The resilient approach is used to provide design criteria for the induced attack generation ecosystem. Finally, simulation examples are provided to illustrate the practical implementation of the proposed methodology.
{"title":"Induced attack on synchronization trajectory against a wide-area network with hybrid event-triggered communication","authors":"Thiem V. Pham, Quynh T. Thanh Nguyen","doi":"10.1016/j.sysconle.2024.106001","DOIUrl":"10.1016/j.sysconle.2024.106001","url":null,"abstract":"<div><div>This article addresses the attacker’s perspective on an induced attack strategy against wide-area networks of clustered multi-agent systems. In contrast to most existing attacks, our suggested approach may force the wide-area network to follow a specified coordination trajectory. A hybrid ecosystem is first introduced for the induced attack model, which allows us to generate a particular synchronization trajectory. Next, an induced attack protocol is proposed that utilizes the induced attack model among partial agents and a dynamic event-triggered technique. It shows that the induced attack protocol is fully distributed, with each agent using only local information and that of its neighbors. An explicit expression is derived for the specified synchronization trajectory, which characterizes the movement trajectory of the wide-area network of clustered multi-agent systems under the induced attack. The resilient <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> approach is used to provide design criteria for the induced attack generation ecosystem. Finally, simulation examples are provided to illustrate the practical implementation of the proposed methodology.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106001"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183643","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}
This paper considers target tracking based on a beacon signal’s time-difference-of-arrival (TDOA) to a group of cooperating sensors. The sensors receive a reflected signal from the target where the time-of-arrival (TOA) renders the distance information. The existing approaches include: (i) classic centralized solutions which gather and process the target data at a central unit, (ii) distributed solutions which assume that the target data is observable in the dense neighborhood of each sensor (to be filtered locally), and (iii) double time-scale distributed methods with high rates of communication/consensus over the network. This work, in order to reduce the network connectivity in (i)-(ii) and communication rate in (iii), proposes a distributed single time-scale technique, which can also handle heterogeneous constant data-exchange delays over the static sensor network. This work assumes only distributed observability (in contrast to local observability in some existing works categorized in (ii)), i.e., the target is observable globally over a (strongly) connected network. The (strong) connectivity further allows for survivable network and -redundant observer design. Each sensor locally shares information and processes the received data in its immediate neighborhood via local linear-matrix-inequalities (LMI) feedback gains to ensure tracking error stability. The same gain matrix works in the presence of heterogeneous delays with no need of redesigning algorithms. Since most existing distributed estimation scenarios are linear (based on consensus), many works use linearization of the existing nonlinear TDOA measurement models where the output matrix is a function of the target position. As the exact target position is unknown, the existing works use estimated position in the output matrix (and for the gain design) at every time step. This makes their algorithm more complex and less accurate. Instead, this work provides a modified linear TDOA measurement model with a constant output matrix that is independent of target position and more practical in distributed linear setups.
{"title":"Distributed target tracking based on localization with linear time-difference-of-arrival measurements: A delay-tolerant networked estimation approach","authors":"Mohammadreza Doostmohammadian , Themistoklis Charalambous","doi":"10.1016/j.sysconle.2024.106009","DOIUrl":"10.1016/j.sysconle.2024.106009","url":null,"abstract":"<div><div>This paper considers target tracking based on a beacon signal’s time-difference-of-arrival (TDOA) to a group of cooperating sensors. The sensors receive a reflected signal from the target where the time-of-arrival (TOA) renders the distance information. The existing approaches include: (i) classic centralized solutions which gather and process the target data at a central unit, (ii) distributed solutions which assume that the target data is observable in the dense neighborhood of each sensor (to be filtered locally), and (iii) double time-scale distributed methods with high rates of communication/consensus over the network. This work, in order to reduce the network connectivity in (i)-(ii) and communication rate in (iii), proposes a distributed single time-scale technique, which can also handle heterogeneous constant data-exchange delays over the static sensor network. This work assumes only <em>distributed observability</em> (in contrast to local observability in some existing works categorized in (ii)), i.e., the target is observable globally over a (strongly) connected network. The (strong) connectivity further allows for <em>survivable network</em> and <span><math><mi>q</mi></math></span><em>-redundant observer design</em>. Each sensor locally shares information and processes the received data in its immediate neighborhood via local linear-matrix-inequalities (LMI) feedback gains to ensure tracking error stability. The same gain matrix works in the presence of heterogeneous delays with no need of redesigning algorithms. Since most existing distributed estimation scenarios are linear (based on consensus), many works use <em>linearization</em> of the existing <em>nonlinear TDOA measurement models</em> where the output matrix is a function of the target position. As the exact target position is unknown, the existing works use <em>estimated</em> position in the output matrix (and for the gain design) at every time step. This makes their algorithm more complex and less accurate. Instead, this work provides a <em>modified</em> linear TDOA measurement model with a <em>constant</em> output matrix that is independent of target position and more practical in distributed linear setups.</div></div>","PeriodicalId":49450,"journal":{"name":"Systems & Control Letters","volume":"196 ","pages":"Article 106009"},"PeriodicalIF":2.1,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182991","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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