Systems & Control Letters最新文献

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Structure-preserving discretization and model order reduction of boundary-controlled 1D port-Hamiltonian systems 边界控制一维端口-哈密尔顿系统的保结构离散化和模型阶数降低

IF 2.1 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2024-10-30 DOI: 10.1016/j.sysconle.2024.105947

Jesus-Pablo Toledo-Zucco , Denis Matignon , Charles Poussot-Vassal , Yann Le Gorrec

This paper presents a systematic methodology for the discretization and reduction of a class of one-dimensional Partial Differential Equations (PDEs) with inputs and outputs collocated at the spatial boundaries. The class of system that we consider is known as Boundary-Controlled Port-Hamiltonian Systems (BC-PHSs) and covers a wide class of Hyperbolic PDEs with a large type of boundary inputs and outputs. This is, for instance, the case of waves and beams with Neumann, Dirichlet, or mixed boundary conditions. Based on a Partitioned Finite Element Method (PFEM), we develop a numerical scheme for the structure-preserving spatial discretization for the class of one-dimensional BC-PHSs. We show that if the initial PDE is passive (or Impedance Energy Preserving), the discretized model also is. In addition and since the discretized model or Full Order Model (FOM) can be of large dimension, we recall the standard Loewner framework for the Model Order Reduction (MOR) using frequency domain interpolation. We recall the main steps to produce a Reduced Order Model (ROM) that approaches the FOM in a given range of frequencies. We summarize the steps to follow in order to obtain a ROM that preserves the passive structure as well. Finally, we provide a constructive way to build a projector that allows to recover the physical meaning of the state variables from the ROM to the FOM. We use the one-dimensional wave equation and the Timoshenko beam as examples to show the versatility of the proposed approach.

本文提出了一种系统方法，用于离散化和还原一类输入和输出均位于空间边界的一维偏微分方程（PDEs）。我们考虑的这一类系统被称为 "边界控制端口-哈密顿系统（BC-PHSs）"，涵盖了一大类具有大量边界输入和输出的双曲 PDEs。例如，具有 Neumann、Dirichlet 或混合边界条件的波和梁就是这种情况。基于分区有限元法（PFEM），我们开发了一种用于一维 BC-PHS 的结构保持空间离散化的数值方案。我们证明，如果初始 PDE 是被动的（或阻抗能量守恒），离散化模型也是被动的。此外，由于离散化模型或全阶模型（FOM）的维度可能很大，我们回顾了使用频域插值进行模型阶次缩减（MOR）的标准 Loewner 框架。我们回顾了在给定频率范围内生成接近全阶模型（FOM）的降阶模型（ROM）的主要步骤。我们还总结了获得保留被动结构的 ROM 所需的步骤。最后，我们提供了一种建立投影器的建设性方法，该投影器可将状态变量的物理意义从 ROM 恢复到 FOM。我们以一维波方程和季莫申科光束为例，展示了所提方法的多功能性。

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引用次数: 0

Optimal control of port-Hamiltonian systems: Energy, entropy, and exergy 端口-哈密尔顿系统的最优控制：能量、熵和放能

IF 2.1 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2024-10-26 DOI: 10.1016/j.sysconle.2024.105942

Friedrich M. Philipp , Manuel Schaller , Karl Worthmann , Timm Faulwasser , Bernhard Maschke

We consider irreversible and coupled reversible–irreversible nonlinear port-Hamiltonian systems and the respective sets of thermodynamic equilibria. In particular, we are concerned with optimal state transitions and output stabilization on finite-time horizons. We analyze a class of optimal control problems, where the performance functional can be interpreted as a linear combination of energy supply, entropy generation, or exergy supply. Our results establish the integral turnpike property towards the set of thermodynamic equilibria providing a rigorous connection of optimal system trajectories to optimal steady states. Throughout the paper, we illustrate our findings by means of two examples: a network of heat exchangers and a gas-piston system.

我们考虑了不可逆和耦合可逆-不可逆非线性端口-哈密尔顿系统以及各自的热力学平衡集。我们特别关注有限时间水平上的最优状态转换和输出稳定。我们分析了一类最优控制问题，其中的性能函数可以解释为能量供应、熵生成或放能供应的线性组合。我们的结果建立了热力学平衡集的积分岔道特性，提供了最优系统轨迹与最优稳定状态之间的严格联系。在整篇论文中，我们通过两个例子来说明我们的发现：一个热交换器网络和一个气体活塞系统。

引用次数: 0

Simultaneous fault-tolerant consensus control and disturbance suppression for multi-agent systems with polynomial form fault under switching topology 开关拓扑结构下具有多项式形式故障的多代理系统的同步容错共识控制与干扰抑制

IF 2.1 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2024-10-24 DOI: 10.1016/j.sysconle.2024.105946

Dongxin Ren , Guochen Pang , Xiaojian Mou , Xiangyong Chen , Jianlong Qiu , Jinde Cao

For continuous-time linear leader-follower multi-agent systems with polynomial faults, the problem of fault-tolerant state consensus under switching topologies is studied. firstly, the average dwell time method is introduced, and observers are designed for different topologies to observe faults and disturbances. Secondly, according to the observed estimated value, the corresponding fault-tolerant control consensus protocol is proposed considering the switching situation of the communication topology. Finally, both theoretical analysis and simulation examples verify that the proposed design scheme can compensate faults and disturbance rejection.

首先，引入了平均停留时间法，并针对不同的拓扑结构设计了观测器来观测故障和干扰。其次，根据观测到的估计值，考虑通信拓扑的切换情况，提出相应的容错控制共识协议。最后，理论分析和仿真实例验证了所提出的设计方案能够补偿故障和抑制干扰。

引用次数: 0

Cluster consensus of finite-field networks with stochastic communication topology 具有随机通信拓扑的有限场网络的集群共识

IF 2.1 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2024-10-24 DOI: 10.1016/j.sysconle.2024.105944

Yalu Li , Gaoxi Xiao , Haitao Li

Most of the multi-agent systems (MASs) in real life are with limited storage and communication capabilities; studies on such systems, including consensus problem, however have been mainly based on real number field models. In this article, the cluster consensus problem of MASs with stochastic communication topology over finite-field known as the cluster consensus of finite-field networks (FFNs), is considered. Using the semi-tensor product of matrices, the dynamics of FFNs with stochastic communication topology are equivalently converted into a logical algebraic form, which facilitates further studies. Then a permutation system is introduced. The relationship between cluster consensus of FFNs with stochastic communication topology and the set stability with probability one (SSPO) of the permutation system is revealed. In such an approach, some verifiable criteria can be derived for the cluster consensus of FFNs with stochastic communication topology, without requesting the connectivity of the whole network. Finally, an example is presented to validate the main results.

现实生活中的大多数多代理系统（MAS）的存储和通信能力都很有限；然而，对这类系统（包括共识问题）的研究主要基于实数场模型。本文考虑的是有限场上具有随机通信拓扑的 MAS 的集群共识问题，即有限场网络（FFN）的集群共识。利用矩阵的半张量积，可以将具有随机通信拓扑的 FFNs 的动力学等效地转换为逻辑代数形式，从而为进一步的研究提供了便利。然后引入了一个置换系统。揭示了具有随机通信拓扑结构的 FFNs 的集群共识与置换系统的概率一集稳定性（SSPO）之间的关系。在这种方法中，可以为具有随机通信拓扑的 FFNs 的簇共识推导出一些可验证的标准，而无需要求整个网络的连通性。最后，我们将通过一个实例来验证主要结果。

引用次数: 0

An integrated decision-execution framework of cooperative control for multi-agent systems via reinforcement learning 通过强化学习实现多代理系统协同控制的综合决策-执行框架

IF 2.1 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2024-10-23 DOI: 10.1016/j.sysconle.2024.105949

Mai-Kao Lu , Ming-Feng Ge , Zhi-Chen Yan , Teng-Fei Ding , Zhi-Wei Liu

Cooperative control is both a crucial and hot research topic for multi-agent systems (MASs). However, most existing cooperative control strategies guarantee tracking stability under various non-ideal conditions, while the path decision capability is often ignored. In this paper, the integrated decision-execution (IDE) framework is newly presented for cooperative control of multi-agent systems (MASs) to accomplish the integrated task of path decision and cooperative execution. This framework includes a decision layer and a control layer. The decision layer generates a continuous trajectory for the virtual leader to reach the target from its initial position in an unknown environment. To achieve the goal of this layer, (1) the Step-based Adaptive Search Q-learning (SASQ-learning) algorithm is proposed based on reinforcement learning to efficiently find the discrete path, (2) an Axis-based Trajectory Fitting (ATF) method is developed to convert the discrete path into a continuous trajectory for mobile agents. In the control layer, this trajectory is used to regulate the following MASs to achieve cooperative tracking control with the presence of input saturation. Simulation experiments are presented to demonstrate the effectiveness of this framework.

协同控制是多代理系统（MAS）的一个重要而热门的研究课题。然而，现有的合作控制策略大多只能保证在各种非理想条件下的跟踪稳定性，而路径决策能力往往被忽视。本文针对多代理系统（MAS）的合作控制提出了新的集成决策-执行（IDE）框架，以完成路径决策和合作执行的集成任务。该框架包括决策层和控制层。决策层为虚拟领导者生成一条连续的轨迹，使其从未知环境中的初始位置到达目标。为实现该层的目标，(1) 提出了基于强化学习的步进式自适应搜索 Q-learning 算法（SASQ-learning），以有效地找到离散路径；(2) 开发了基于轴的轨迹拟合（ATF）方法，将离散路径转换为移动代理的连续轨迹。在控制层，该轨迹用于调节后续的 MAS，以实现输入饱和情况下的合作跟踪控制。仿真实验证明了这一框架的有效性。

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引用次数: 0

Spectrum computation and optimization for controllability Gramian of networked Laplacian systems with limited control placement 具有有限控制位置的网络拉普拉斯系统可控性格拉米安的频谱计算与优化

IF 2.1 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2024-10-23 DOI: 10.1016/j.sysconle.2024.105945

Yuexin Cao , Yibei Li , Zhuo Zou , Xiaoming Hu

This paper investigates the problem of placing a given number of controls to optimize energy efficiency for a family of linear dynamical systems, whose structure is induced by the Laplacian of a square-grid network. To quantify the performance of control combinations, several metrics have been proposed based on the spectrum of the controllability Gramian. But commonly used algorithms to compute the spectrum are usually time-consuming. In this paper, we first classify five anchor symmetries of the network systems. Then motivated by various advantages of symmetric control combinations, we provide a method to compute the eigenvalues and eigenvectors of their controllability Gramians more efficiently. Specifically, we show that they can be expressed by those of two lower-dimensional matrices. Furthermore, our method can be applied for non-symmetric cases to provide upper and lower bounds for the spectrum of the controllability Gramians. Finally, by employing the sum of eigenvalues, i.e., the trace of controllability Gramian, as the objective function, we provide a closed-form algorithm to the spectrum optimization problem with a given number of controls subject to system controllability.

本文研究的问题是，为优化线性动力系统族的能效，如何设置给定数量的控制，该系统的结构是由方形网格网络的拉普拉矢量诱导的。为了量化控制组合的性能，人们提出了几种基于可控性格拉米安频谱的指标。但计算频谱的常用算法通常都很耗时。本文首先对网络系统的五种锚对称性进行了分类。然后，基于对称控制组合的各种优势，我们提供了一种更高效地计算其可控性格拉米安特征值和特征向量的方法。具体来说，我们证明它们可以用两个低维矩阵的特征值和特征向量来表示。此外，我们的方法还可用于非对称情况，为可控性格拉米安的频谱提供上下限。最后，通过采用特征值之和（即可控性格拉米安的迹线）作为目标函数，我们提供了一种闭式算法来解决在系统可控性条件下具有给定控制数的频谱优化问题。

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引用次数: 0

Stability analysis of systems with time-varying delays for conservatism and complexity reduction 对具有时变延迟的系统进行稳定性分析，以减少保守性和复杂性

IF 2.1 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2024-10-23 DOI: 10.1016/j.sysconle.2024.105948

Yu-Long Fan , Chuan-Ke Zhang , Yun-Fan Liu , Yong He , Qing-Guo Wang

This paper is concerned with the stability analysis of systems with time-varying delays via the Lyapunov–Krasovskii functional (LKF) method. Unlike the most existing works primarily on conservatism reduction, this paper aims to establish stability criteria with less conservatism as well as low complexity, based on a relatively simple LKF with improved derivative treatments. For this purpose, a fragmented-component-based integral inequality is developed through matrix-separation and mixed estimation of the augmented integral term, which tights the estimation gap and contributes to conservatism reduction; and a novel linearized transformation method is proposed by stripping-simplification and matrix-injection, which handles nonlinear delay-itself-related terms at a low complexity cost. Then, a novel stability criterion as well as several comparative criteria are obtained for linear time-delay systems. Finally, the superiority of the proposed methods is demonstrated via two benchmark examples and a load frequency control system.

本文关注通过 Lyapunov-Krasovskii 函数（LKF）方法对具有时变延迟的系统进行稳定性分析。与大多数以降低保守性为主要目的的现有著作不同，本文旨在基于相对简单的 LKF 和改进的导数处理方法，建立保守性较小且复杂性较低的稳定性标准。为此，本文通过矩阵分离和对增强积分项的混合估计，开发了一种基于片段成分的积分不等式，它弥补了估计差距，有助于降低保守性；并通过剥离简化和矩阵注入，提出了一种新型线性化变换方法，它能以较低的复杂度成本处理非线性延迟自相关项。然后，针对线性时延系统提出了一种新的稳定性准则和几种比较准则。最后，通过两个基准实例和一个负载频率控制系统证明了所提方法的优越性。

引用次数: 0

Near optimality of Lipschitz and smooth policies in controlled diffusions 受控扩散中的利普切茨和平稳政策的近最优性

IF 2.1 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2024-10-23 DOI: 10.1016/j.sysconle.2024.105943

Somnath Pradhan , Serdar Yüksel

For optimal control of diffusions under several criteria, due to computational or analytical reasons, many studies have a apriori assumed control policies to be Lipschitz or smooth, often with no rigorous analysis on whether this restriction entails loss. While optimality of Markov/stationary Markov policies for expected finite horizon/infinite horizon (discounted/ergodic) cost and cost-up-to-exit time optimal control problems can be established under certain technical conditions, an optimal solution is typically only measurable in the state (and time, if the horizon is finite) with no apriori additional structural properties. In this paper, building on our recent work (Pradhan and Yüksel, 2024) establishing the regularity of optimal cost on the space of control policies under the Borkar control topology for a general class of controlled diffusions in

R^{d}

, we establish near optimality of smooth or Lipschitz continuous policies for optimal control under expected finite horizon, infinite horizon discounted, infinite horizon average, and up-to-exit time cost criteria. Under mild assumptions, we first show that smooth/Lipschitz continuous policies are dense in the space of Markov/stationary Markov policies under the Borkar topology. Then utilizing the continuity of optimal costs as a function of policies on the space of Markov/stationary policies under the Borkar topology, we establish that optimal policies can be approximated by smooth/Lipschitz continuous policies with arbitrary precision. While our results are extensions of our recent work, the practical significance of an explicit statement and accessible presentation dedicated to Lipschitz and smooth policies, given their prominence in the literature, motivates our current paper.

对于若干标准下的扩散最优控制，由于计算或分析方面的原因，许多研究都先验地假定控制策略是立普齐兹或平滑的，但往往没有严格分析这种限制是否会带来损失。虽然在某些技术条件下，可以建立马尔可夫/稳态马尔可夫政策对预期有限视界/无限视界（贴现/迭代）成本和成本-退出时间最优控制问题的最优性，但最优解通常只在状态（和时间，如果视界是有限的）上可测量，而没有先验的附加结构特性。在本文中，我们在近期工作（Pradhan and Yüksel, 2024）的基础上，针对 Rd 中的一类受控扩散，建立了 Borkar 控制拓扑下控制策略空间上最优成本的正则性，并在预期有限视界、无限视界贴现、无限视界平均和直至退出时间成本准则下，为最优控制建立了平滑或 Lipschitz 连续策略的近似最优性。在温和的假设条件下，我们首先证明在博尔卡拓扑下，平滑/利普斯奇兹连续政策在马尔可夫/静态马尔可夫政策空间中是密集的。然后，利用博尔卡拓扑结构下马尔可夫/稳态政策空间中最优成本作为政策函数的连续性，我们确定最优政策可以用任意精度的平滑/边缘连续政策近似。虽然我们的结果是对我们近期工作的扩展，但鉴于利普斯基茨和平稳政策在文献中的突出地位，对它们进行明确的陈述和易懂的介绍对我们当前的论文具有实际意义。

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引用次数: 0

Periodic event-triggered data-driven control for networked control systems with time-varying delays 具有时变延迟的网络控制系统的周期性事件触发数据驱动控制

IF 2.1 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2024-10-23 DOI: 10.1016/j.sysconle.2024.105951

Zi-Jie Wei , Kun-Zhi Liu , Yan-Wei Wang , Zhuo-Rui Pan , Si-Xin Wen , Xi-Ming Sun

This article focuses on data-driven analysis and controller design for networked control systems (NCSs) with network-induced delays. The study considers a linear time-invariant (LTI) system controlled through a periodic event-triggering mechanism. First, by leveraging data-based representations, we establish data-based stability conditions for NCSs with time-varying delays. Furthermore, we propose the data-based method for co-designing the controller and the periodic event-triggering scheme. In addition, we present novel data-based conditions for verifying dissipativity properties of NCSs. The effectiveness of our proposed methods is validated through a simulation and a turbofan engine hardware-in-the-loop (HIL) experiment.

本文的重点是对具有网络延迟的网络控制系统（NCS）进行数据驱动分析和控制器设计。研究考虑了通过周期性事件触发机制控制的线性时不变（LTI）系统。首先，通过利用基于数据的表示法，我们为具有时变延迟的 NCS 建立了基于数据的稳定性条件。此外，我们还提出了基于数据的方法，用于共同设计控制器和周期性事件触发方案。此外，我们还提出了基于数据的新条件，用于验证 NCS 的耗散特性。我们通过仿真和涡扇发动机硬件在环（HIL）实验验证了所提方法的有效性。

引用次数: 0

Joint identification of system parameter and noise parameters in quantized systems 量化系统中系统参数和噪声参数的联合识别

IF 2.1 3区计算机科学 Q3 AUTOMATION & CONTROL SYSTEMS

Systems & Control Letters

Pub Date : 2024-10-21 DOI: 10.1016/j.sysconle.2024.105941

Jieming Ke, Yanlong Zhao, Ji-Feng Zhang

This paper investigates the joint identification problem of unknown system parameter and noise parameters in quantized systems when the noises involved are Gaussian with unknown variance and mean value. Under such noises, previous investigations show that the unknown system parameter and noise parameters are not jointly identifiable in the single-threshold quantizer case. The joint identifiability in the multi-threshold quantizer case still remains an open problem. This paper proves that the unknown system parameter, the noise variance and the mean value are jointly identifiable if and only if there are at least two thresholds. Then, a decomposition-recombination identification algorithm is proposed to jointly identify the unknown system parameter and noise parameters. Firstly, a technique is designed to convert the identification problem with unknown noise parameters into an extended parameter identification problem with standard Gaussian noises. Secondly, the extended parameter is identified by a stochastic approximation method for quantized systems. For the effectiveness, this paper obtains the strong consistency and the

L^{p}

convergence for the algorithm under non-persistently exciting inputs and without any a priori knowledge on the range of the unknown system parameter. The almost sure convergence rate is also obtained. Furthermore, when the mean value is known, the unknown system parameter and noise variance can be jointly identified under weaker conditions on the inputs and the quantizer. Finally, the effectiveness of the proposed algorithm is demonstrated by simulation.

本文研究了量化系统中未知系统参数和噪声参数的联合识别问题，当涉及的噪声是方差和均值未知的高斯噪声时。以往的研究表明，在这种情况下，未知系统参数和噪声参数在单门限量化器情况下是不可联合识别的。多门限量化器情况下的联合可识别性仍是一个悬而未决的问题。本文证明，当且仅当至少有两个阈值时，未知系统参数、噪声方差和均值是可联合识别的。然后，本文提出了一种分解-组合识别算法来联合识别未知系统参数和噪声参数。首先，设计了一种技术，将未知噪声参数的识别问题转换为标准高斯噪声的扩展参数识别问题。其次，通过量化系统的随机逼近方法来识别扩展参数。在有效性方面，本文获得了算法在非持续激励输入下的强一致性和 Lp 收敛性，并且不需要任何关于未知系统参数范围的先验知识。同时还获得了几乎确定的收敛速率。此外，当平均值已知时，在输入和量化器的较弱条件下，未知系统参数和噪声方差可以被联合识别。最后，通过仿真证明了所提算法的有效性。

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