Automatica最新文献

英文中文

A linearly convergent distributed heavy-ball GNE seeking algorithm for aggregative games over weight-unbalanced digraphs via finite-time consensus 基于有限时间共识的权重不平衡有向图上聚集博弈的线性收敛分布式重球GNE搜索算法

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2026-04-01 Epub Date: 2026-01-15 DOI: 10.1016/j.automatica.2026.112830

Xiaomeng Chen , Kemi Ding , Subhrakanti Dey , Ling Shi

In this paper, we study the generalized Nash equilibrium (GNE) seeking problem for aggregative games with affine coupling constraints in a partial-decision information scenario. In this scenario, all players attempt to seek the GNE by exchanging messages with neighbors over strongly connected and weight-unbalanced directed graphs. To overcome the challenges posed by the asymmetric nature of communication matrices, we propose a novel accelerated distributed discrete-time primal–dual algorithm, which integrates finite-time exact ratio consensus (FTERC) and heavy-ball acceleration. Moreover, it is designed to accommodate uncoordinated stepsizes and momentum parameters, enhancing convergence rate. Despite the challenges introduced by uncoordinated elements and an additional momentum term, we present a rigorous analysis demonstrating that the proposed primal–dual algorithm achieves linear convergence to the GNE with constant uncoordinated stepsizes. Finally, we validate our theoretical results with numerical examples on two different communication graphs, demonstrating the effectiveness of the algorithm and how the momentum term enhances acceleration.

研究了部分决策信息场景下具有仿射耦合约束的聚集对策的广义纳什均衡问题。在这种情况下，所有玩家都试图通过与邻居在强连接和权重不平衡的有向图上交换信息来寻找GNE。为了克服通信矩阵的不对称特性带来的挑战，我们提出了一种新的加速分布式离散时间原对偶算法，该算法集成了有限时间精确比率一致性（FTERC）和重球加速。此外，该方法还可以适应不协调的步长和动量参数，提高收敛速度。尽管不协调元素和额外的动量项带来了挑战，但我们提出了一个严格的分析，表明所提出的原始对偶算法在恒定的不协调步长下实现了对GNE的线性收敛。最后，我们在两个不同的通信图上用数值例子验证了我们的理论结果，证明了算法的有效性以及动量项如何增强加速度。

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引用次数: 0

Guaranteed bounds on the H2 performance of uncertain linear systems 不确定线性系统H2性能的保证界

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2026-04-01 Epub Date: 2026-02-02 DOI: 10.1016/j.automatica.2026.112853

Tommaso Casati , Clément Roos , Jean-Marc Biannic , Hélène Evain

The

H_{2}

norm is a fundamental metric in many control applications, and it is important to assess how this norm varies in the presence of model uncertainties. This paper proposes sufficient conditions to compute guaranteed lower and upper bounds on the

H_{2}

performance of uncertain linear systems. The proposed approach is particularly interesting as it can be applied to both deterministic and probabilistic evaluation of the

H_{2}

norm on continuous or discrete-time models. The main idea to compute guaranteed

H_{2}

-norm bounds consists in solving a SemiDefinite Program characterized by Linear Matrix Inequalities at each point of a frequency grid. A Hamiltonian-based technique is then adopted to validate the results on a continuous frequency range. The method initially developed for deterministic

H_{2}

analysis is then integrated into a Branch and Bound scheme to compute hard bounds on the probability that the

H_{2}

performance of an uncertain system is either satisfied or violated. The developed algorithms are eventually applied to test cases of increasing complexity.

H2规范是许多控制应用中的基本指标，在模型不确定性存在的情况下，评估该规范如何变化是很重要的。本文给出了计算不确定线性系统H2性能保证下界和上界的充分条件。所提出的方法特别有趣，因为它可以应用于连续或离散时间模型上H2范数的确定性和概率评估。计算保证h2 -范数边界的主要思想是在频率网格的每个点上求解一个以线性矩阵不等式为特征的半定规划。然后采用基于哈密顿的技术在连续频率范围内验证结果。将最初用于确定性H2分析的方法集成到分支定界方案中，以计算不确定系统满足或违反H2性能的概率的硬界。所开发的算法最终应用于越来越复杂的测试用例。

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引用次数: 0

Sign-perturbed sums method for multivariate ARX systems 多元ARX系统的符号摄动和方法

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2026-04-01 Epub Date: 2026-02-02 DOI: 10.1016/j.automatica.2026.112848

Masanori Oshima , Sanghong Kim , Yuri A.W. Shardt , Ken-Ichiro Sotowa

Assessing the accuracy of the dynamic model obtained using system identification is important before using it in a model-based control system. In practical situations, only finite-sample data is available to assess model accuracy, that is, it is not guaranteed that asymptotic theory, which assumes infinite-sample data, precisely assesses the model accuracy. The sign-perturbed sums (SPS) method can exactly assess the model accuracy using finite-sample, input–output data. The SPS method calculates the confidence region of the model parameters using the multiple data sets that are generated by randomly perturbing the signs of the noise innovations. This paper proposes an extended SPS method that can handle both open-loop and closed-loop multivariate systems with an autoregressive exogenous input (ARX) structure. Moreover, it is mathematically proved that the extension of the SPS method preserves the exactness of the confidence region. As well, the features of the SPS confidence region, such as star convexity and boundedness, are theoretically discussed for the case where the regressor is uncorrelated with the noise innovations. Finally, a numerical example is considered to show other features of the SPS confidence region, such as the degree of losing the exactness in the presence of violated assumptions and the change of the boundary as a function of the number of samples.

在将系统辨识得到的动态模型应用于基于模型的控制系统之前，对其准确性进行评估是非常重要的。在实际情况中，只有有限样本的数据可以用来评估模型的精度，也就是说，不能保证假设无限样本数据的渐近理论能够精确地评估模型的精度。符号摄动和（SPS）方法可以在有限样本的输入输出数据中准确地评估模型的精度。该方法利用随机扰动噪声创新符号产生的多个数据集计算模型参数的置信区域。本文提出了一种扩展的SPS方法，该方法可以处理具有自回归外源输入（ARX）结构的开环和闭环多变量系统。此外，从数学上证明了该方法的扩展保留了置信区域的准确性。同时，从理论上讨论了回归量与噪声创新不相关情况下SPS置信区域的星形凸性和有界性等特征。最后，考虑了一个数值例子来显示SPS置信区域的其他特征，例如在违反假设的情况下失去准确性的程度以及作为样本数量的函数的边界变化。

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引用次数: 0

Privacy-preserving distributed state estimation: A modified Paillier cryptosystem-based approach 保护隐私的分布式状态估计：一种改进的基于Paillier密码系统的方法

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2026-04-01 Epub Date: 2026-02-06 DOI: 10.1016/j.automatica.2026.112863

Xingquan Fu , Guanghui Wen , Dan Zhao , Christoforos N. Hadjicostis

Privacy protection in distributed state estimation for multi-agent systems faces significant challenges due to its vulnerability to external eavesdropping and/or internal honest-but-curious (HBC) agents. Traditional methods often fail to adequately address these dual threats, leading to compromised privacy and communication overhead. To address these issues, this paper introduces a novel privacy-preserving distributed state estimation algorithm based on a modified Paillier cryptosystem. Compared with most existing privacy-preserving distributed state estimation algorithms, the proposed algorithm incorporates a secure covariance intersection fusion process that effectively reduces communication frequency while ensuring strong privacy protection. Specifically designed to defend against both external eavesdroppers and colluding HBC agents, the proposed estimator is shown to posses strong privacy guarantees under these threat models. Furthermore, rigorous mathematical proofs confirm the stability of the estimator by establishing that information matrices and estimation errors remain bounded under mild assumptions. Numerical simulations substantiate the algorithm’s effectiveness and superiority, highlighting enhanced estimation accuracy compared to existing privacy-preserving methods.

多智能体分布式状态估计中的隐私保护由于容易受到外部窃听和/或内部诚实但好奇（HBC）代理的攻击而面临重大挑战。传统的方法往往不能充分解决这双重威胁，导致隐私和通信开销受损。为了解决这些问题，本文提出了一种基于改进的Paillier密码系统的分布式状态估计算法。与现有的大多数保护隐私的分布式状态估计算法相比，该算法采用了安全的协方差交叉融合过程，在保证强隐私保护的同时有效降低了通信频率。专门设计用于防御外部窃听者和串通的HBC代理，所提出的估计器在这些威胁模型下具有很强的隐私保证。此外，通过建立信息矩阵和估计误差在温和假设下保持有界，严格的数学证明证实了估计器的稳定性。数值模拟验证了该算法的有效性和优越性，与现有的隐私保护方法相比，该算法的估计精度得到了提高。

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引用次数: 0

Informativity conditions for multiple signals: Properties, experimental design, and applications 多信号的信息性条件：性质、实验设计和应用

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2026-04-01 Epub Date: 2026-02-06 DOI: 10.1016/j.automatica.2026.112868

Ao Cao, Fuyong Wang

Recent studies highlight the importance of the persistently exciting condition in a single signal sequence for model identification and data-driven control techniques. However, maintaining prolonged excitation in control signals introduces significant challenges, as continuous excitation can reduce the lifetime of mechanical devices. In this paper, we introduce three informativity conditions for various types of multi-signal data, each augmented with weight factors. We explore the interrelations between these conditions and their rank properties in linear time-invariant systems. All three conditions can extend Willems’ fundamental lemma and are utilized to assess the properties of the system. Furthermore, we introduce open-loop experimental design methods tailored to each of the three conditions, which can synthesize the required excitation conditions either offline or online, even in the presence of limited information within each signal segment. Illustrative examples confirm that these conditions yield satisfactory outcomes in both least-squares identification and the construction of data-driven controllers.

最近的研究强调了单信号序列中持续激励条件对模型识别和数据驱动控制技术的重要性。然而，在控制信号中保持长时间的激励会带来重大挑战，因为持续的激励会减少机械设备的使用寿命。本文对不同类型的多信号数据引入了三个信息性条件，每个条件都增加了权重因子。我们探讨了线性定常系统中这些条件及其秩性质之间的相互关系。这三个条件都可以扩展Willems的基本引理，并用于评估系统的性质。此外，我们引入了针对这三种条件的开环实验设计方法，即使在每个信号段中存在有限信息的情况下，也可以离线或在线合成所需的激励条件。实例证明，这些条件在最小二乘识别和数据驱动控制器的构造方面都产生了令人满意的结果。

引用次数: 0

New insights into opacity verification in timed discrete-event systems 时间离散事件系统中不透明度验证的新见解

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2026-04-01 Epub Date: 2026-02-06 DOI: 10.1016/j.automatica.2026.112869

Weilin Deng , Daowen Qiu , Jingkai Yang

This paper investigates the verification of opacity in timed discrete-event systems (DESs) modeled as timed automata (TA), a problem known to be undecidable in general. We first address a theoretical gap left by recent work of An et al. (FM 2024) by establishing necessary and sufficient conditions for the decidability of current-location timed opacity (CLTO) in TA. As an instantiation of these conditions combined with known results on language inclusion, we show that CLTO is decidable for a subclass of TA, namely timed automata with integer resets (IRTA), and we also provide a corresponding verification algorithm. To enable decidability for general TA, we explore how to reduce the observational power of the intruder model in a way that remains realistic while ensuring decidability. Under the assumption that the intruder can only observe time in discrete units, we introduce the notion of current-location timed opacity against intruders with discrete-time precision (CLTO-IDTP) and develop a corresponding verification algorithm. These results provide a theoretical foundation for the security analysis of timed systems, offering a balance between modeling expressiveness and computational tractability.

本文研究了以时间自动机（TA）建模的时间离散事件系统（DESs）的不透明性的验证，这是一个已知的一般不可判定的问题。我们首先通过建立TA中当前位置时间不透明性（CLTO）的可判定性的必要和充分条件，解决了An等人（FM 2024）最近工作留下的理论空白。作为这些条件的实例，结合语言包含的已知结果，我们证明了对于TA的一个子类，即带整数重置的时间自动机（IRTA）， CLTO是可决定的，并提供了相应的验证算法。为了实现一般TA的可判决性，我们探讨了如何在保证可判决性的同时，以一种保持现实的方式降低入侵者模型的观察能力。在假定入侵者只能以离散单元观察时间的前提下，我们引入了针对具有离散时间精度的入侵者的电流位置时间不透明性（CLTO-IDTP）概念，并开发了相应的验证算法。这些结果为定时系统的安全性分析提供了理论基础，在建模表达性和计算可追溯性之间取得了平衡。

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引用次数: 0

Payload trajectory tracking control for aerial transportation systems with cable length online optimization 基于电缆长度在线优化的航空运输系统有效载荷轨迹跟踪控制

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2026-04-01 Epub Date: 2026-02-05 DOI: 10.1016/j.automatica.2026.112864

Hai Yu, Zhichao Yang, Wei He, Jianda Han, Yongchun Fang, Xiao Liang

Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system equipped with variable-length cable, promising broader application potential. Compared to systems with fixed-length cables, introducing the variable-length cable adds a new degree of freedom. However, it also results in increased nonlinearity and more complex dynamic coupling among the multirotor, the cable and the payload, posing significant challenges in control design. This paper introduces a backstepping control strategy tailored for aerial transportation systems with variable-length cable, designed to precisely track the payload trajectory while dynamically adjusting cable length. Then, a cable length generator has been developed that achieves online optimization of the cable length while satisfying state constraints, thus balancing the multirotor’s motion and cable length changes without the need for manual trajectory planning. The asymptotic stability of the closed-loop system is guaranteed through Lyapunov techniques and the growth restriction condition. Finally, simulation results confirm the efficacy of the proposed method in managing trajectory tracking and cable length adjustments effectively.

悬索空中运输系统广泛应用于各个行业。灵活调整多旋翼和有效载荷之间相对位置的能力激发了人们对配备变长电缆的系统的兴趣，具有更广泛的应用潜力。与固定长度电缆的系统相比，变长电缆的引入增加了新的自由度。然而，它也导致多旋翼、缆索和载荷之间的非线性增加和更复杂的动态耦合，对控制设计提出了重大挑战。本文介绍了一种针对航空运输变长缆索系统的反步控制策略，该策略可以在动态调整缆索长度的同时精确跟踪载荷轨迹。然后，开发了一种缆绳长度生成器，在满足状态约束的情况下实现缆绳长度的在线优化，从而实现多旋翼运动和缆绳长度变化的平衡，无需人工进行轨迹规划。通过Lyapunov技术和生长约束条件，保证了闭环系统的渐近稳定性。最后，仿真结果验证了该方法在控制轨迹跟踪和电缆长度调整方面的有效性。

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引用次数: 0

Authors’ reply to ’Comment on ”Innovative non-asymptotic and robust estimation method using auxiliary modulating dynamical systems” [Automatica, 152(2023) 110953]’ 对“基于辅助调制动力系统的创新非渐近鲁棒估计方法”的评注[自动化学报，152(2023)110953]

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2026-04-01 Epub Date: 2026-02-13 DOI: 10.1016/j.automatica.2026.112866

Jie Liu, Da-Yan Liu, Driss Boutat, Xuefeng Zhang, Ze-Hao Wu

引用次数: 0

Varying horizon learning economic MPC with unknown costs of disturbed nonlinear systems 扰动非线性系统的未知成本变视界学习经济MPC

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2026-04-01 Epub Date: 2026-02-03 DOI: 10.1016/j.automatica.2026.112856

Weiliang Xiong , Defeng He , Haiping Du , Jianbin Mu

This paper proposes a novel varying horizon economic model predictive control (EMPC) scheme without terminal state constraints for constrained nonlinear systems with additive disturbances and unknown economic costs. The general regression learning framework with mixed kernels is first used to reconstruct the unknown cost. Then an online iterative procedure is developed to adjust the horizon adaptively. Again, an elegant horizon-dependent contraction constraint is designed to ensure the convergence of the closed-loop system to a neighborhood of the desired steady state. Moreover, sufficient conditions ensuring recursive feasibility and input-to-state stability are established for the system in closed-loop with the EMPC. The merits of the proposed scheme are verified by the simulations of a continuous stirred tank reactor and a four-tank system in terms of robustness, economic performance and online computational burden.

针对具有加性扰动和未知经济成本的非线性约束系统，提出了一种无终端状态约束的变视界经济模型预测控制方案。首先采用混合核回归学习框架对未知代价进行重构。在此基础上，提出了一种自适应调整视界的在线迭代方法。再次，设计了一个优雅的依赖于水平的收缩约束，以确保闭环系统收敛到理想稳态的邻域。同时，建立了系统在闭环状态下保证递归可行性和输入状态稳定的充分条件。通过连续搅拌槽式反应器和四槽式系统的仿真，验证了该方案的鲁棒性、经济性和在线计算量。

引用次数: 0

Designated-time fault-tolerant stabilization for planar nonlinear systems with unknown time-varying powers and deferred constraints 具有未知时变功率和延迟约束的平面非线性系统的指定时间容错镇定

IF 5.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2026-04-01 Epub Date: 2026-02-03 DOI: 10.1016/j.automatica.2026.112852

Zong-Yao Sun , Shiji Ren , Zhuo Wang , Chih-Chiang Chen

This paper investigates the stabilization for a class of uncertain planar nonlinear systems with unknown time-varying powers and deferred output constraints. The innovation lies in removing the condition on the relative magnitudes of unknown time-varying powers and providing a unified scheme which ensures that the system state enters an adjustable neighborhood of the origin within an arbitrarily designated time instant and ultimately converges to the origin. The effectiveness of our strategy is demonstrated via the stabilization of the dynamical model of a boiler-turbine unit.

研究了一类具有未知时变功率和延迟输出约束的不确定平面非线性系统的镇定问题。其创新之处在于消除了未知时变功率相对大小的条件，提供了一种统一的方案，保证系统状态在任意指定的时间瞬间进入原点的可调邻域，并最终收敛到原点。通过对锅炉汽轮机组动力学模型的稳定化验证了该策略的有效性。

引用次数: 0

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