Systems & Control Letters最新文献

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Constructive method for unbiased extremum seeking of static maps in the presence of delays 存在时滞的静态映射无偏极值求的构造方法

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

Systems & Control Letters

Pub Date : 2025-10-04 DOI: 10.1016/j.sysconle.2025.106256

Adam Jbara , Emilia Fridman , Xuefei Yang

In this paper, we study the unbiased extremum seeking (ES) algorithm for n-dimensional uncertain quadratic static maps in the presence of time-varying measurement delays. For the first time, we present a quantitative analysis of the unbiased ES. We consider delays with a large known constant part and a small time-varying uncertainty. Such delays may arise when measurements together with a time stamp are transmitted to ES controller via communication network. For the quantitative bounds, we assume that the Hessian is uncertain from a known range. By applying a delay-free transformation, explicit quantitative conditions in terms of simple scalar inequalities depending on the tuning parameters are established which ensure the exponential unbiased convergence of the ES system. Moreover, the corresponding results for the classical ES are presented. For globally quadratic maps, our results are semi-global, whereas for locally quadratic static maps, we provide a bound for the region of convergence. Appropriate ES parameters can be found for any large known delay and small enough delay uncertainty. Two numerical examples from the literature illustrate the efficiency of the proposed method.

本文研究了存在时变测量延迟的n维不确定二次静态映射的无偏极值搜索算法。本文首次对无偏ES进行了定量分析。我们考虑具有较大的已知常数部分和较小的时变不确定性的时滞。当测量值与时间戳一起通过通信网络传输到ES控制器时，可能会出现这种延迟。对于定量界限，我们假设黑森在已知范围内是不确定的。通过应用无延迟变换，建立了依赖于调谐参数的简单标量不等式的明确定量条件，保证了ES系统的指数无偏收敛。并给出了经典ES的相应结果。对于全局二次映射，我们的结果是半全局的，而对于局部二次静态映射，我们给出了收敛区域的界。对于任何已知的大延迟和足够小的延迟不确定性，都可以找到合适的ES参数。文献中的两个数值算例说明了所提方法的有效性。

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引用次数: 0

Leak detection, size estimation and localization in tree-shaped pipe flow networks 树形管网泄漏检测、尺寸估计与定位

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

Systems & Control Letters

Pub Date : 2025-10-04 DOI: 10.1016/j.sysconle.2025.106255

Nils Christian Aars Wilhelmsen, Ole Morten Aamo

A novel distributed parameter systems approach for detecting and diagnosing leaks in any tree-shaped pipe flow network is provided, requiring only pressure and flow sensors at the network inlet and outlet boundaries. Modelling the pressure and flow transients in the network via linearized transmission line PDEs (partial differential equations), it is shown how the network may be represented by an interconnection (cascade) of systems of linear hyperbolic PDEs, with a depth determined by the network topological radius and width the number of network inlets and outlets. Information about leaks in the network is summarized in a structured way in an unknown additive vector parameter entering the distal boundary of the last PDE system. It is shown how the leak parameter may be used to compute the total amount leaking from the network regardless of how leaks are distributed in the network, and in the event of point leaks entering the network sequentially, pinpoint the location of the leaks in the network. Two methods are provided to estimate the leak parameter: (1) An algebraic calculation for when the system is in steady-state and (2) an adaptive boundary observer for the interconnected system of PDEs with asymptotic convergence guarantees for transient dynamics. A simulation example is provided to demonstrate the leak detection method with transient data.

本文提出了一种新的分布参数系统方法，用于检测和诊断任何树形管网中的泄漏，该方法只需要在管网入口和出口边界安装压力和流量传感器。通过线性化传输线偏微分方程（偏微分方程）对网络中的压力和流量瞬态进行建模，显示了网络如何由线性双曲偏微分方程系统的互连（级联）表示，其深度由网络拓扑半径和宽度决定。将网络中泄漏的信息以一种结构化的方式总结为未知的加性矢量参数进入最后一个PDE系统的远端边界。它显示了如何使用泄漏参数来计算网络泄漏的总量，而不管泄漏在网络中的分布如何，并且在点泄漏依次进入网络的情况下，精确定位网络中泄漏的位置。给出了两种估计泄漏参数的方法：(1)系统处于稳态时的代数计算；(2)具有渐近收敛保证的PDEs互联系统的自适应边界观测器。最后给出了一个仿真实例，对瞬态数据的泄漏检测方法进行了验证。

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引用次数: 0

Event-triggered active disturbance rejection control for uncertain random nonlinear systems 不确定随机非线性系统的事件触发自抗扰控制

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

Systems & Control Letters

Pub Date : 2025-09-30 DOI: 10.1016/j.sysconle.2025.106254

Ze-Hao Wu , Feiqi Deng , Pengyu Zeng , Hua-Cheng Zhou , Hongyi Li

In this paper, event-triggered active disturbance rejection control (ADRC) is first addressed for a class of uncertain random nonlinear systems driven by bounded noise and colored noise. The event-triggered extended state observer (ESO) and ADRC controller are designed, where two respective event-triggering mechanisms with a positive constant lower bound for the inter-execution times are proposed. The random total disturbance encompassing the coupling of nonlinear unmodeled dynamics, external deterministic disturbance, bounded noise, and colored noise is estimated in real time by the event-triggered ESO and compensated in the event-triggered feedback loop. The mean square practical convergence of the closed-loop systems are shown with rigorous theoretical analysis. Finally, some numerical simulations are implemented to validate the proposed control scheme and confirm the theoretical result.

本文首先研究了一类由有界噪声和有色噪声驱动的不确定随机非线性系统的事件触发自抗扰控制问题。设计了事件触发扩展状态观测器（ESO）和自抗扰控制器（ADRC），分别提出了两种具有正常数下界的事件触发机制。随机总扰动包括非线性未建模动力学、外部确定性扰动、有界噪声和有色噪声的耦合，由事件触发ESO实时估计，并在事件触发反馈回路中进行补偿。通过严密的理论分析，证明了闭环系统的均方实际收敛性。最后，通过数值仿真验证了所提出的控制方案和理论结果。

引用次数: 0

Optimal covariance control for partially observed linear stochastic systems under chance constraints 机会约束下部分观测线性随机系统的最优协方差控制

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

Systems & Control Letters

Pub Date : 2025-09-29 DOI: 10.1016/j.sysconle.2025.106249

Dipankar Maity , Panagiotis Tsiotras

We consider the optimal control problem of a partially observed discrete-time linear stochastic system with chance constraints on the state and control trajectories, while simultaneously controlling the first and second order moments of the state. Using a distribution-independent approximation of the chance constraints, we show that the class of affine controllers contains the optimal controller. Furthermore, this distribution-independent approximation is carried out while ensuring that any feasible solution for the approximated problem is also feasible for the original problem. Finally, we design a convex optimization problem to solve offline for the optimal controller for the approximated problem.

研究一类部分观测离散线性随机系统的最优控制问题，该系统的状态和控制轨迹都有机会约束，同时控制系统的一阶矩和二阶矩。利用机会约束的分布无关的近似，我们证明了仿射控制器类包含最优控制器。此外，在保证近似问题的任何可行解对原问题也是可行的情况下，进行了这种与分布无关的近似。最后，我们设计了一个凸优化问题来离线求解对于逼近问题的最优控制器。

引用次数: 0

Distributed generalized Nash equilibrium seeking approach via surrogate functions for noncooperative nonconvex games 基于代理函数的非合作非凸对策的分布式广义纳什均衡寻求方法

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

Systems & Control Letters

Pub Date : 2025-09-28 DOI: 10.1016/j.sysconle.2025.106251

Yuexin Liu , Jie Zhong , Yan Wang , Wenyin Xu

This paper addresses distributed generalized Nash equilibrium seeking in noncooperative nonconvex games, where the decisions of players are subject to coupled nonconvex constraints and bound constraints. To address the limitations of existing approaches that either cannot handle bound constraints or require external augmentation terms (which incur high computational costs), a multi-agent system based on surrogate functions for nonconvex games is proposed. The convergence of the multi-agent system to a local variational generalized Nash equilibrium is proven. To demonstrate the effectiveness of the proposed multi-agent system, three numerical examples are presented to validate the main theoretical results.

本文研究了非合作非凸对策中的分布式广义纳什均衡寻求问题，其中参与者的决策受到非凸约束和有界约束的耦合。为了解决现有方法的局限性，即不能处理有界约束或需要外部增强项（这会产生高计算成本），提出了一种基于代理函数的非凸博弈多智能体系统。证明了多智能体系统收敛于局部变分广义纳什均衡。为了证明所提出的多智能体系统的有效性，给出了三个数值算例来验证主要理论结果。

引用次数: 0

Dynamic event-triggered control for leader-following consensus of second-order multi-agent systems with disturbance 二阶扰动多智能体系统的领导-跟随一致性的动态事件触发控制

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

Systems & Control Letters

Pub Date : 2025-09-27 DOI: 10.1016/j.sysconle.2025.106248

Wei Zheng , Cong Liu , Xiaopeng Yang , Hak-Keung Lam , Fuchun Sun

In this paper, the leader-following consensus problem of second-order multi-agent systems (MASs) with bounded disturbance under the undirected graph is investigated. Firstly, the distributed fixed-time observers are proposed to estimate the tracking errors between leader and follower. Then, with the help of observer and dynamic event-triggered mechanism, the consensus controller is designed to guarantee MASs for achieving the asymptotically consensus, in which the controller is designed based on backstepping approach and only need local cooperative information. Meanwhile, the Zeno behavior can be excluded. Finally, a second-order MASs example is used to verify the event-triggered controller in this paper.

研究了无向图下具有有界扰动的二阶多智能体系统的领导-跟随一致性问题。首先，提出了分布式固定时间观测器来估计领导者和追随者之间的跟踪误差。在此基础上，利用观测器和动态事件触发机制，设计了基于回溯法的共识控制器，该控制器只需要局部协作信息，以保证实现渐近共识的质量。同时，可以排除芝诺行为。最后，用一个二阶质量算例对事件触发控制器进行了验证。

引用次数: 0

An optimal sequence for sub-Markov decision processes with risk sensitivity 具有风险敏感性的子马尔可夫决策过程的最优序列

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

Systems & Control Letters

Pub Date : 2025-09-24 DOI: 10.1016/j.sysconle.2025.106245

Tanhao Huang, Jinwen Chen

This paper deals with sub-Markov decision processes with risk-sensitivity. The processes are not assumed to be communicating, thus the optimal average reward

J^{*} (x)

may depend on the initial state

x

. The aim of this paper is to characterize this dependence. It is shown that the values of

J^{*}

are determined by a system of Poisson equations. By partitioning the state space in a proper way we derive such equations and obtain the associated optimal sequence. The partition of the state space is constructive which is closely related to the state communication, transience or absorption.

本文研究具有风险敏感性的子马尔可夫决策过程。这些过程不被假设为通信，因此最优平均奖励J * (x)可能依赖于初始状态x。本文的目的是表征这种依赖性。证明了J *的值是由泊松方程组决定的。通过对状态空间进行适当的划分，导出了这些方程，并得到了相应的最优序列。状态空间的划分是建设性的，与状态的传播、暂态或吸收密切相关。

引用次数: 0

Riccati equations and LQ-optimal control for a class of hyperbolic PDEs 一类双曲偏微分方程的Riccati方程和lq -最优控制

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

Systems & Control Letters

Pub Date : 2025-09-22 DOI: 10.1016/j.sysconle.2025.106244

Anthony Hastir , Birgit Jacob , Hans Zwart

We derive an explicit solution to the operator Riccati equation solving the Linear–Quadratic (LQ) optimal control problem for a class of boundary controlled hyperbolic partial differential equations (PDEs) defined on a one-dimensional spatial domain. Different descriptions of the system are used to obtain different representations of the operator Riccati equation. By means of an example, we illustrate the importance of considering an extended operator Riccati equation to solve the LQ-optimal control problem for our class of systems.

本文给出了一类边界控制双曲型偏微分方程线性二次最优控制问题的算子Riccati方程的显式解。使用不同的系统描述来获得算子Riccati方程的不同表示。通过一个例子，我们说明了考虑扩展算子Riccati方程来解决这类系统的lq -最优控制问题的重要性。

引用次数: 0

A Bayesian update method for exponential family projection filters with non-conjugate likelihoods 非共轭似然指数族投影滤波器的贝叶斯更新方法

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

Systems & Control Letters

Pub Date : 2025-09-19 DOI: 10.1016/j.sysconle.2025.106234

Muhammad Fuady Emzir

The projection filter is one of the approximations to the solution of the optimal filtering problem. It approximates the filtering density by projecting the dynamics of the square-root filtering density onto the tangent space of the square-root parametric density manifold. While the projection filters for exponential and mixture families with continuous measurement processes have been well studied, the continuous-discrete projection filtering algorithm for non-conjugate priors has received less attention. In this paper, we introduce a simple Riemannian optimization method to be used for the Bayesian update step in the continuous-discrete projection filter for exponential families. Specifically, we show that the Bayesian update can be formulated as an optimization problem of

α

-Rényi divergence, where the corresponding Riemannian gradient can be easily computed. We demonstrate the effectiveness of the proposed method via two highly non-Gaussian Bayesian update problems.

投影滤波器是求解最优滤波问题的一种近似方法。它通过将平方根滤波密度的动态投影到平方根参数密度流形的切空间来近似滤波密度。虽然针对连续测量过程的指数族和混合族的投影滤波算法已经得到了很好的研究，但针对非共轭先验的连续离散投影滤波算法却很少受到关注。本文介绍了一种简单的黎曼优化方法，用于指数族连续离散投影滤波器的贝叶斯更新步骤。具体来说，我们证明了贝叶斯更新可以被表述为α- rsamnyi散度的优化问题，其中相应的黎曼梯度可以很容易地计算出来。我们通过两个高度非高斯贝叶斯更新问题证明了所提出方法的有效性。

引用次数: 0

Adaptive boundary estimation for uncertain cascaded hyperbolic PDE-ODEs 不确定级联双曲pde - ode的自适应边界估计

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

Systems & Control Letters

Pub Date : 2025-09-18 DOI: 10.1016/j.sysconle.2025.106243

Chen Yang, Yan Zhao, Shengyuan Xu, Baoyong Zhang

The paper is concerned with the adaptive boundary estimation problem for a class of hyperbolic partial differential equations (PDEs) cascaded with a set of ordinary differential equations (ODEs). The cascade system consists of

n \times n

coupled hyperbolic PDEs, subject to uncertain parameters in domain and the ODEs entering the PDEs through the left boundary of the PDEs. The adaptive boundary observer is designed to estimate the system state and the unknown parameters. In order to facilitate the design of the observer, the observer error system is transformed into a target system by a Volterra integral transformation and a state transformation, and then a swapping filter design method is proposed by combining the method of least-squares with a variable forgetting factor. The stability analysis shows the exponential convergence of both the state estimation error and the parameter estimation error under the persistent excitation condition of the filter. Finally, the obtained theoretical results are applied to the linearized Aw–Rascle–Zhang (ARZ) traffic flow model involving the in-domain relaxation time and the boundary flux fluctuation uncertainties, which verifies the effectiveness of the proposed method.

研究了一类常微分方程与双曲型偏微分方程级联的自适应边界估计问题。级联系统由n×n耦合双曲偏微分方程组成，该系统受域内参数不确定的约束，偏微分方程通过偏微分方程的左边界进入偏微分方程。设计了自适应边界观测器来估计系统状态和未知参数。为了便于观测器的设计，通过Volterra积分变换和状态变换将观测器误差系统转化为目标系统，并结合最小二乘法和可变遗忘因子提出了一种交换滤波器设计方法。稳定性分析表明，在持续激励条件下，滤波器的状态估计误差和参数估计误差都具有指数收敛性。最后，将所得理论结果应用于考虑域内松弛时间和边界通量波动不确定性的线性化的ar - rascle - zhang （ARZ）交通流模型，验证了该方法的有效性。

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Systems & Control Letters

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