European Journal of Control最新文献

英文中文

Novel criteria for exponential stability in mean square of stochastic delay differential equations with Markovian switching 马尔可夫切换随机延迟微分方程均方差指数稳定性的新标准

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-06-28 DOI: 10.1016/j.ejcon.2024.101074

Ky Quan Tran , Pham Huu Anh Ngoc

This paper addresses the exponential stability in mean square of nonlinear stochastic delay differential equations with Markovian switching. Using a novel approach, we present new explicit criteria for exponential stability in mean square. A discussion and two examples are given to illustrate the effectiveness of our criteria.

本文探讨了具有马尔可夫切换的非线性随机延迟微分方程的均方指数稳定性问题。我们采用一种新方法，提出了新的均方指数稳定性显式准则。本文通过讨论和两个实例说明了我们的标准的有效性。

引用次数: 0

Resilient leaderless and leader–follower consensus over random networks through ℓ-hop communication 通过ℓ-hop通信在随机网络上达成有弹性的无领导者和领导者-追随者共识

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-06-26 DOI: 10.1016/j.ejcon.2024.101075

Yilun Shang

This paper studies the resilient consensus problems under $ℓ$ -hop communication over directed random networks. We develop novel multi-hop protocols to tackle both leaderless and leader–follower consensus with a single leader when the multiagent system is under both attack from Byzantine agents and failure of communication edges. Our unified framework features a multiple-input multiple-output system design, and generalizes the weighted mean subsequence reduced algorithms, in which extremal values in the $ℓ$ -hop neighborhood of a cooperative agent are censored based on the notion of minimum message cover. We establish conditions on dynamical network structures, under which secure consensus with vector states can be achieved in the sense of almost sure convergence.

本文研究了有向随机网络上ℓ-hop 通信条件下的弹性共识问题。我们开发了新颖的多跳协议，以解决多代理系统同时受到拜占庭代理攻击和通信边缘失效时的无领导者共识和领导者-跟随者共识。我们的统一框架以多输入多输出系统设计为特色，并对加权平均子序列缩减算法进行了概括，其中合作代理ℓ-hop邻域中的极值会根据最小信息覆盖的概念进行删减。我们建立了动态网络结构的条件，在这些条件下，可以在几乎确定收敛的意义上实现矢量状态的安全共识。

引用次数: 0

Supervisory control under delayed observations of events and states 事件和状态延迟观测下的监督控制

IF 3.4 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-06-26 DOI: 10.1016/j.ejcon.2024.101069

Jiayuan Liang, Yanwei Zang, Wenbiao Zhang, Chaohui Gong, Lachlan L.H. Andrew, Hanran Zhang, Weilin Wang

In discrete event systems, it is often convenient and possible to observe directly whether or not the system is in a subset of the state space, typically after some delay, even if some event occurrences leading to the current state were not observed. We model supervisory control with the delayed observations of events and states and investigate the existence of a supervisor to obtain a given desired language accordingly. An existence verifier with polynomial run time is presented.

在离散事件系统中，直接观察系统是否处于状态空间的一个子集通常是非常方便和可行的，通常会经过一定的延迟，即使没有观察到导致当前状态的某些事件发生。我们利用对事件和状态的延迟观测来建立监督控制模型，并相应地研究监督者的存在性，以获得给定的期望语言。我们提出了一个运行时间为多项式的存在性验证器。

引用次数: 0

Observer design for visual-inertial estimation of pose, linear velocity and gravity direction in planar environments 平面环境中姿态、线速度和重力方向视觉惯性估算的观测器设计

IF 3.4 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-06-25 DOI: 10.1016/j.ejcon.2024.101067

Tarek Bouazza, Tarek Hamel, Claude Samson

Vision-aided inertial navigation systems combine data from a camera and an IMU to estimate the position, orientation, and linear velocity of a moving vehicle. In planar environments, existing methods assume knowledge of the vertical direction and ground plane to exploit accelerometer measurements. This paper presents a new solution that extends the estimation to arbitrary planar environments. A deterministic Riccati observer is designed to estimate the direction of gravity along with the vehicle pose, linear velocity, and the normal direction to the plane by fusing bearing correspondences from an image sequence with angular velocity and linear acceleration data. Comprehensive observability and stability analysis establishes an explicit persistent excitation condition under which local exponential stability of the observer is achieved. Simulation and real-world experimental results illustrate the performance and robustness of the proposed approach.

视觉辅助惯性导航系统结合摄像头和 IMU 的数据来估计移动车辆的位置、方向和线速度。在平面环境中，现有方法假定需要了解垂直方向和地平面，才能利用加速度计测量数据。本文提出了一种新的解决方案，可将估算扩展到任意平面环境。本文设计了一个确定性里卡提观测器，通过将图像序列中的方位对应关系与角速度和线性加速度数据融合，在估算重力方向的同时估算车辆姿态、线速度和平面法线方向。全面的可观测性和稳定性分析确立了一个明确的持续激励条件，在此条件下，观测器可实现局部指数稳定性。仿真和实际实验结果表明了所提方法的性能和稳健性。

引用次数: 0

Regret optimal control for uncertain stochastic systems 不确定随机系统的遗憾优化控制

IF 3.4 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-06-25 DOI: 10.1016/j.ejcon.2024.101051

Andrea Martin, Luca Furieri, Florian Dörfler, John Lygeros, Giancarlo Ferrari-Trecate

We consider control of uncertain linear time-varying stochastic systems from the perspective of regret minimization. Specifically, we focus on the problem of designing a feedback controller that minimizes the loss relative to a clairvoyant optimal policy that has foreknowledge of both the system dynamics and the exogenous disturbances. In this competitive framework, establishing robustness guarantees proves challenging as, differently from the case where the model is known, the clairvoyant optimal policy is not only inapplicable, but also impossible to compute without knowledge of the system parameters. To address this challenge, we embrace a scenario optimization approach, and we propose minimizing regret robustly over a finite set of randomly sampled system parameters. We prove that this policy optimization problem can be solved through semidefinite programming, and that the corresponding solution retains strong probabilistic out-of-sample regret guarantees in face of the uncertain dynamics. Our method naturally extends to include satisfaction of safety constraints with high probability. We validate our theoretical results and showcase the potential of our approach by means of numerical simulations.

我们从遗憾最小化的角度来考虑不确定线性时变随机系统的控制问题。具体来说，我们关注的问题是设计一个反馈控制器，使其相对于预知系统动态和外生扰动的 "千里眼 "最优策略的损失最小。在这一竞争框架中，建立鲁棒性保证具有挑战性，因为与已知模型的情况不同，千里眼最优策略不仅不适用，而且在不知道系统参数的情况下也无法计算。为了应对这一挑战，我们采用了一种情景优化方法，并建议在随机取样的有限系统参数集上稳健地最小化遗憾。我们证明，这个策略优化问题可以通过半定量编程来解决，而且面对不确定的动态，相应的解决方案仍能保持较强的概率样本外遗憾保证。我们的方法可自然扩展到高概率安全约束的满足。我们通过数值模拟验证了我们的理论结果，并展示了我们方法的潜力。

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引用次数: 0

Optimal control of linear cost networks 线性成本网络的优化控制

IF 3.4 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-06-24 DOI: 10.1016/j.ejcon.2024.101068

David Ohlin, Emma Tegling, Anders Rantzer

We present a method for optimal control with respect to a linear cost function for positive linear systems with coupled input constraints. We show that the Bellman equation giving the optimal cost function and resulting sparse state feedback for these systems can be stated explicitly, with the solution given by a linear program. Our framework admits a range of network routing problems with underlying linear dynamics. These dynamics can be used to model traditional graph-theoretical problems like shortest path as a special case, but can also capture more complex behaviors. We provide an asynchronous and distributed value iteration algorithm for obtaining the optimal cost function and control law.

我们提出了一种针对具有耦合输入约束条件的正线性系统的线性成本函数的最优控制方法。我们证明，这些系统的贝尔曼方程给出了最优成本函数和由此产生的稀疏状态反馈，可以用线性规划给出解。我们的框架适用于一系列具有基本线性动力学的网络路由问题。这些动力学可以用来模拟传统的图论问题，如作为特例的最短路径，也可以捕捉更复杂的行为。我们提供了一种异步分布式值迭代算法，用于获得最佳成本函数和控制法则。

引用次数: 0

Efficient demand management for the on-time arrival problem: A convexified multi-objective approach assuming macroscopic traffic dynamics 准时到达问题的高效需求管理：假设宏观交通动态的凸化多目标方法

IF 3.4 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-06-24 DOI: 10.1016/j.ejcon.2024.101057

C. Menelaou, S. Timotheou, P. Kolios, C.G. Panayiotou

This work proposes a novel solution approach to address the On-Time Arrival (OTA) problem, considering macroscopic traffic dynamics. In this context, all drivers who intend to use the road infrastructure are required to communicate their origin–destination pair and desired arrival time to a central scheduler prior to starting their trip. In response, the scheduler assigns a departure time and a multi-regional route to each driver to make possible their on-time arrival at the destination. The OTA problem is formulated as a nonconvex, nonlinear, multi-objective optimization problem considering two objective criteria. The first criterion aims at minimizing the travel time of all drivers in the network to prevent congestion, while the second criterion seeks to minimize the discrepancy between the desired and actual arrival time. The proposed formulation is solved efficiently through an approximated convex solution that leverages the Normal Boundary Intersection (NBI) method to efficiently generate a representative sample of the Pareto Front. Additionally, two solution methodologies based on “knee” solution and the Nash Bargaining Game is proposed which can be used to select a unique solution across all the Pareto points, that offers a reasonable trade-off between the two objective criteria. Finally, simulation results demonstrate that the proposed solution can significantly reduce congestion while ensuring that most drivers will arrive at their destination on their desired time.

考虑到宏观交通动态，本研究提出了一种解决准时到达（OTA）问题的新方法。在这种情况下，所有打算使用道路基础设施的司机都必须在开始行程之前，将其出发地-目的地配对和期望到达时间告知中央调度员。作为回应，调度员会为每位司机分配出发时间和多区域路线，使他们能够准时到达目的地。OTA 问题是一个非凸、非线性、多目标优化问题，考虑到两个目标标准。第一个标准旨在最大限度地减少网络中所有司机的旅行时间，以防止拥堵；第二个标准旨在最大限度地减少理想到达时间与实际到达时间之间的差异。通过近似凸解，利用法线边界交叉（NBI）方法有效生成帕累托前沿的代表性样本，从而高效解决所提出的问题。此外，还提出了基于 "膝 "解和纳什讨价还价博弈的两种求解方法，可用于在所有帕累托点中选择一个唯一的解决方案，在两个目标标准之间进行合理权衡。最后，模拟结果表明，所提出的解决方案可以显著减少拥堵，同时确保大多数驾驶员能在预期时间内到达目的地。

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引用次数: 0

Frequency-adaptive odd-harmonic repetitive control scheme for three-phase shunt active power filters 三相并联有源电力滤波器的频率自适应奇次谐波重复控制方案

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-06-22 DOI: 10.1016/j.ejcon.2024.101078

Feng Gao, Zhifeng Bai

Repetitive control (RC), which can track the periodic input or suppress the periodic disturbance with a zero steady-state error, is a promising control strategy for shunt active power filters (SAPF). However, the conventional RC (CRC) scheme will suffer a severe performance degradation caused by the grid frequency variations. In this article, a frequency-adaptive odd-harmonic repetitive control scheme with a single and fixed sampling rate is proposed for SAPF to deal with grid frequency variations and provide fast transient response for RC system. The frequency-adaptability of proposed repetitive control scheme can be implemented by updating the coefficients of the approximate expression for the delay unit in repetitive controller. The FIR filter based on Lagrange linear interpolation is used to transform the multirate repetitive control system into single-rate repetitive control system to address the problems caused by the multirate repetitive control system. Moreover, a fractional-order linear compensator with a simple structure is designed to compensate the magnitude and phase of the system accurately. Compared with other classical repetitive control strategies, the proposed repetitive control scheme can provide a better adaptation to the steady-state deviation and dynamic variation of grid frequency and ensure the control performance of SAPF system. Simulation and experimental results verify the effectiveness of the proposed control scheme.

重复控制（RC）可跟踪周期性输入或抑制周期性干扰，且稳态误差为零，是并联有源电力滤波器（SAPF）的一种有前途的控制策略。然而，传统的 RC（CRC）方案会因电网频率变化而导致性能严重下降。本文针对 SAPF 提出了一种频率自适应奇次谐波重复控制方案，该方案具有单一且固定的采样率，可应对电网频率变化并为 RC 系统提供快速瞬态响应。通过更新重复控制器中延迟单元近似表达式的系数，可以实现所提出的重复控制方案的频率适应性。针对多速率重复控制系统带来的问题，利用基于拉格朗日线性插值的 FIR 滤波器将多速率重复控制系统转换为单速率重复控制系统。此外，还设计了结构简单的分数阶线性补偿器，以精确补偿系统的幅值和相位。与其他经典的重复控制策略相比，所提出的重复控制方案能更好地适应电网频率的稳态偏差和动态变化，确保 SAPF 系统的控制性能。仿真和实验结果验证了所提控制方案的有效性。

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引用次数: 0

Safe platooning and merging control using constructive barrier feedback 利用建设性障碍物反馈进行安全排线和并线控制

IF 3.4 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-06-22 DOI: 10.1016/j.ejcon.2024.101060

Xiao Chen, Zhiqi Tang, Karl H. Johansson, Jonas Mårtensson

This paper proposes a novel formation control design for safe platooning and merging of a group of vehicles in multi-lane road scenarios. Provided a leader vehicle is independently controlled, the objective is controlling the follower vehicles to drive in the desired lane with a constant desired distance behind the neighboring (preceding) vehicle while preventing collisions with both the neighboring vehicle and the road’s edges. Inspired by the recent concept of constructive barrier feedback, the proposed controller for each follower vehicle is composed of two parts: one is the nominal controller that ensures its tracking of the neighboring vehicle; another is for collision avoidance by using divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring vehicle and road edges without compromising the nominal controller’s performance. The key contribution of this work is that the proposed control method ensures collision-free platooning and merging control in multi-lane road scenarios with computational efficiency and systematic stability analysis. Simulation results are provided to demonstrate the effectiveness of the proposed algorithms.

本文提出了一种新颖的编队控制设计，用于在多车道道路场景中对一组车辆进行安全排查和合并。在对领头车辆进行独立控制的前提下，目标是控制跟随车辆在所需车道上行驶，与相邻（前方）车辆保持一定距离，同时防止与相邻车辆和道路边缘发生碰撞。受最近提出的建设性障碍反馈概念的启发，为每辆跟车提出的控制器由两部分组成：一部分是标称控制器，确保其跟踪邻近车辆；另一部分是用于避免碰撞的发散流耗散项，在不影响标称控制器性能的情况下，减缓邻近车辆和道路边缘方向的相对速度。这项工作的主要贡献在于，所提出的控制方法通过计算效率和系统稳定性分析，确保了多车道道路场景下的无碰撞排线和并线控制。仿真结果证明了所提算法的有效性。

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引用次数: 0

On controllability of temporal networks 论时空网络的可控性

IF 3.4 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2024-06-20 DOI: 10.1016/j.ejcon.2024.101046

Luca Claude Gino Lebon, Francesco Lo Iudice, Claudio Altafini

Temporality has been recently identified as a useful feature to exploit when controlling a complex network. Empirical evidence has in fact shown that, with respect to their static counterparts, temporal networks (i) are often endowed with larger reachable sets and (ii) require less control energy when steered towards an arbitrary target state. However, to date, we lack conditions guaranteeing that the dimension of the controllable subspace of a temporal network is larger than that of its static counterpart. In this work, we consider the case in which a static network is input connected but not controllable. We show that when the structure of the graph underlying the temporal network remains the same throughout each temporal snapshot while the (nonvanishing) edge weights vary, then the temporal network will be completely controllable almost always, even when its static counterpart is not. An upper bound on the number of snapshots needed to achieve controllability is also provided.

最近，人们发现时间性是控制复杂网络时可以利用的一个有用特征。经验证据表明，与静态网络相比，时态网络(i) 通常具有更大的可到达集，(ii) 在导向任意目标状态时所需的控制能量更少。然而，迄今为止，我们还缺乏保证时态网络可控子空间维度大于静态网络可控子空间维度的条件。在这项研究中，我们考虑了静态网络具有输入连接但不可控的情况。我们的研究表明，当时态网络底层图的结构在每个时态快照中保持不变，而（非消失）边的权重发生变化时，时态网络几乎总是完全可控的，即使其静态对应网络并不可控。此外，还提供了实现可控性所需的快照数量上限。

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全部化学•材料生命科学医学物理工程技术环境•农林材料科学地球科学法学管理学化学环境科学与生态学计算机科学教育学经济学农林科学人文科学生物学数学物理与天体物理心理学综合性期刊其他工业工程理学历史学农学文学信息工程

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