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On stability of model predictive control with finite-control-set constraints and disturbances 论具有有限控制集约束和干扰的模型预测控制的稳定性
IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-10-18 DOI: 10.1016/j.automatica.2024.111982
Yimeng Li , Jun Yang , Jinhao Liu , Xinming Wang , Shihua Li
This paper investigates the stability issues of model predictive control (MPC) for discrete-time linear systems with state and finite control set (FCS) constraints subject to time-varying disturbances. A new FCS-MPC design and analysis framework is developed using the disturbance estimation approaches and the tool of robust positive invariant (RPI) set sequence. It encompasses a discrete-time exogenous signal observer that helps characterize the estimated dynamics within well-defined bounds and a quantized control law that adheres to both state and input constraints. The practical asymptotical stability of the resulting closed-loop system is shown to be guaranteed, and the tracking error remains uniformly bounded. Finally, simulation results of a numerical example validate the effectiveness of the proposed method.
本文研究了具有状态和有限控制集(FCS)约束、受时变扰动影响的离散时间线性系统的模型预测控制(MPC)的稳定性问题。本文利用扰动估计方法和鲁棒正不变(RPI)集序列工具,建立了一个新的 FCS-MPC 设计和分析框架。该框架包含一个离散时间外生信号观测器(有助于在定义明确的边界内描述估计动态)和一个量化控制法则(同时遵守状态和输入约束)。结果表明,闭环系统的实际渐近稳定性得到了保证,跟踪误差保持均匀有界。最后,一个数值实例的仿真结果验证了所提方法的有效性。
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引用次数: 0
Deadzone-Adapted Disturbance Suppression Control for strict-feedback systems 严格反馈系统的死区适应性干扰抑制控制
IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-10-16 DOI: 10.1016/j.automatica.2024.111986
Iasson Karafyllis , Miroslav Krstic , Alexandros Aslanidis
In this paper we extend our recently proposed Deadzone-Adapted Disturbance Suppression (DADS) Control approach from systems with matched uncertainties to general systems in parametric strict feedback form. The DADS approach prevents gain and state drift regardless of the size of the disturbance and unknown parameter and achieves an attenuation of the plant output to an assignable small level, despite the presence of persistent disturbances and unknown parameters of arbitrary and unknown bounds. The controller is designed by means of a step-by-step backstepping procedure which can be applied in an algorithmic fashion. Examples are provided which illustrate the efficiency of the DADS controller compared to existing adaptive control schemes.
在本文中,我们将最近提出的死区适应干扰抑制(DADS)控制方法从具有匹配不确定性的系统扩展到参数严格反馈形式的一般系统。无论干扰和未知参数的大小如何,DADS 方法都能防止增益和状态漂移,并在存在持续干扰和任意未知参数的情况下,将工厂输出衰减到一个可分配的小水平。该控制器是通过逐步反步进程序设计的,可按算法方式应用。本文提供的示例说明了 DADS 控制器与现有自适应控制方案相比的效率。
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引用次数: 0
Time-extended consensus for multi-agent non-interactive collaboration 多代理非交互式协作的延时共识
IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-10-16 DOI: 10.1016/j.automatica.2024.111985
Weiran Yao , Haoyu Tian , Jianxing Liu , Ligang Wu , Yu Sun
Plan-based coordination, which can fill the vacancy of control during the communication silent periods, improves the ability of agents’ independence and reduces the requirement of communication resources. This paper presents a generalized form of plan-based coordination, namely the time-extended consensus problem, which is applicable to multi-agent systems entering non-interaction state. Conditions for achieving time-extended consensus are described for systems subject to the Lipschitz condition. A control protocol for time-extended consensus is constructed using linear superposition of drag vector fields. The convergence process of time-extended states based on the proposed control protocol is investigated in terms of the speed of approaching consensus. Simulation results demonstrate the advantages and limitations of the proposed method for time-extended consensus and how it compares to conventional multi-agent state synchronization.
基于计划的协调可以填补通信静默期的控制空缺,提高代理的独立能力,降低对通信资源的要求。本文提出了基于计划的协调的一种广义形式,即时间扩展共识问题,它适用于进入非交互状态的多代理系统。本文描述了在 Lipschitz 条件下系统实现延时共识的条件。利用拖曳矢量场的线性叠加构建了时间扩展共识的控制协议。研究了基于所提控制协议的时间扩展状态的收敛过程,即接近共识的速度。仿真结果表明了所提出的延时共识方法的优势和局限性,以及它与传统多代理状态同步的比较。
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引用次数: 0
Data-driven stabilization of switched and constrained linear systems 数据驱动的开关和约束线性系统稳定化
IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-10-11 DOI: 10.1016/j.automatica.2024.111974
Mattia Bianchi , Sergio Grammatico , Jorge Cortés
We consider the design of state feedback control laws for both the switching signal and the continuous input of an unknown switched linear system, given past noisy input-state trajectories measurements. Based on Lyapunov–Metzler inequalities and on a matrix S-lemma, we derive data-dependent bilinear programs, whose solution directly returns a provably stabilizing controller and ensures H2 or H performance. We further present relaxations that considerably reduce the computational cost, still without requiring stabilizability of any of the switching modes. Finally, we showcase the flexibility of our approach on the constrained stabilization problem for an unknown perturbed linear system. We validate our theoretical findings numerically, demonstrating the favorable trade-off between conservatism and tractability achieved by the proposed relaxations.
我们考虑的是在给定过去噪声输入-状态轨迹测量值的情况下,为未知开关线性系统的开关信号和连续输入设计状态反馈控制律。基于 Lyapunov-Metzler 不等式和矩阵 S 困境,我们得出了与数据相关的双线性程序,其解直接返回可证明的稳定控制器,并确保 H2 或 H∞ 性能。我们还进一步提出了可大大降低计算成本的松弛方法,但仍不要求任何切换模式具有稳定性。最后,我们展示了在未知扰动线性系统的受限稳定问题上我们方法的灵活性。我们通过数值验证了我们的理论发现,证明了所提出的松弛方法在保守性和可操作性之间实现了有利的权衡。
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引用次数: 0
Schatten-p radius: Optimality criterion and optimization for basic ellipsotopes with application to zonotopes and ellipsoids Schatten-p 半径基本椭球的最优性标准和优化,以及对带状椭球和椭球的应用
IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-10-11 DOI: 10.1016/j.automatica.2024.111926
Chengrui Wang, Houde Liu, Sanchuan Chen, Feng Xu
Optimizing a parameterized zonotope or ellipsoid is a common task in robust state estimation, fault diagnosis and reachability analysis. Recent studies have unified ellipsoids and zonotopes into basic ellipsotopes, which support precise representation for more nonlinear boundaries and constraints in practical applications. However, there are currently no available optimality criteria and optimization techniques for general basic ellipsotopes. In this paper, we introduce a novel optimality criterion called Schatten-p radius for basic ellipsotopes. Based on this criterion, we develop a set of methods to minimize the Schatten-p radius under convex constraints for arbitrary 0< p <, which also implies new available tools for minimizing zonotopes and ellipsoids. The effectiveness of the Schatten-p radius optimization is demonstrated on several numerical examples.
在鲁棒状态估计、故障诊断和可达性分析中,优化参数化的等值线或椭圆是一项常见任务。最近的研究将椭圆和等值线统一为基本椭圆,从而支持在实际应用中精确表示更多非线性边界和约束条件。然而,目前还没有适用于一般基本椭圆的最优性标准和优化技术。在本文中,我们为基本椭圆形引入了一种名为 Schatten-p radius 的新优化准则。基于这一标准,我们开发了一套方法,在任意 0< p <∞ 的凸约束条件下最小化 Schatten-p 半径,这也意味着最小化带状椭圆和椭圆体的新工具可用。我们通过几个数值实例证明了 Schatten-p 半径优化的有效性。
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引用次数: 0
Randomized greedy methods for weak submodular sensor selection with robustness considerations 考虑鲁棒性的弱亚模态传感器选择随机贪婪方法
IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-10-09 DOI: 10.1016/j.automatica.2024.111984
Ege Can Kaya , Michael Hibbard , Takashi Tanaka , Ufuk Topcu , Abolfazl Hashemi
We study a pair of budget- and performance-constrained weak submodular maximization problems. For computational efficiency, we explore the use of stochastic greedy algorithms which limit the search space via random sampling instead of the standard greedy procedure which explores the entire feasible search space. We propose a pair of stochastic greedy algorithms, namely, Modified Randomized Greedy (MRG) and Dual Randomized Greedy (DRG) to approximately solve the budget- and performance-constrained problems, respectively. For both algorithms, we derive approximation guarantees that hold with high probability. We then examine the use of DRG in robust optimization problems wherein the objective is to maximize the worst-case of a number of weak submodular objectives and propose the Randomized Weak Submodular Saturation Algorithm (Random-WSSA). We further derive a high-probability guarantee for when Random-WSSA successfully constructs a robust solution. Finally, we showcase the effectiveness of these algorithms in a variety of relevant uses within the context of Earth-observing LEO constellations which estimate atmospheric weather conditions and provide Earth coverage.
我们研究了一对预算和性能受限的弱亚模块最大化问题。为了提高计算效率,我们探索使用随机贪心算法,通过随机抽样来限制搜索空间,而不是采用探索整个可行搜索空间的标准贪心程序。我们提出了一对随机贪婪算法,即修正随机贪婪算法(MRG)和双随机贪婪算法(DRG),分别用于近似解决预算和性能受限问题。对于这两种算法,我们都得出了高概率成立的近似保证。然后,我们研究了 DRG 在稳健优化问题中的应用,其中的目标是最大化若干弱次模态目标的最坏情况,并提出了随机弱次模态饱和算法(Random-WSSA)。我们进一步推导出了 Random-WSSA 成功构建稳健解的高概率保证。最后,我们展示了这些算法在地球观测低地球轨道星座的各种相关应用中的有效性,这些星座可估算大气气象条件并提供地球覆盖。
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引用次数: 0
Control of max-plus linear systems using feedback cycle shaping 利用反馈周期整形控制最大加线性系统
IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-10-09 DOI: 10.1016/j.automatica.2024.111980
Vinicius Mariano Gonçalves , Prashanth Krishnamurthy , Anthony Tzes , Farshad Khorrami
For “Timed Event Graphs”, linear equations can be written in the max-plus algebra that describe the firing dynamics. In some cases, independent events/inputs can be used to influence the system dynamics in order to achieve a desired specification. In this setting, significant attention has been devoted to the mathematical development of controllers that achieve these desired specifications. In this article, a methodology is provided for solving a max-plus linear control problem as an extension of the result in Gonçalves et al. (2017). A condition is provided that induces into the system a periodic behavior in steady state and also shapes the response to comply with the specifications. Furthermore, the controller’s causality is addressed.
对于 "定时事件图",可以用 max-plus 代数编写线性方程来描述发射动态。在某些情况下,独立事件/输入可用于影响系统动态,以实现所需的规范。在这种情况下,人们将大量精力投入到实现这些期望规格的控制器的数学开发上。本文提供了一种求解最大加线性控制问题的方法,作为 Gonçalves 等人(2017 年)研究成果的扩展。本文提供了一种条件,它能使系统在稳态时具有周期性行为,并能使响应符合规范。此外,还解决了控制器的因果关系问题。
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引用次数: 0
OL-NE for LQ differential games: A Port-Controlled Hamiltonian system perspective and some computational strategies LQ 微分博弈的 OL-NE:端口控制哈密尔顿系统视角和一些计算策略
IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-10-09 DOI: 10.1016/j.automatica.2024.111953
Mario Sassano , Thulasi Mylvaganam , Alessandro Astolfi
Linear Quadratic differential games and their Open-Loop Nash Equilibrium (OL-NE) strategies are studied with a threefold objective. First, it is shown that the state/costate lifted system (arising from the application of Pontryagin’s Minimum Principle) is such that its behaviour restricted to the equilibrium subspace can be interpreted as the (non-power-preserving) interconnection of two cyclo-passive Port-Controlled Hamiltonian systems. Such PCH systems constitute the best response generators for each player, thus mimicking and extending the corresponding interpretation of (single-player) optimal control problems. Second, by realizing that the behaviour of the lifted dynamics off the equilibrium subspace is “irrelevant” for generating the equilibrium strategies, it is shown that such an invariant subspace can be rendered, via a suitably constructed virtual input, externally asymptotically stable while preserving the OL-NE. Finally, based on these premises we provide a closed-form gradient-descent method to solve the asymmetric coupled Riccati equations characterizing the OL-NE strategies.
研究线性二次微分博弈及其开环纳什均衡(OL-NE)策略有三重目的。首先,研究表明,状态/状态提升系统(源于庞特里亚金最小原则的应用)的行为局限于均衡子空间,可以解释为两个环被动端口控制哈密顿系统的(非保权)互连。这种 PCH 系统构成了每个玩家的最佳响应生成器,从而模仿并扩展了(单人)最优控制问题的相应解释。其次,通过认识到平衡子空间外的提升动力学行为与平衡策略的生成 "无关",我们证明了可以通过适当构造的虚拟输入,使这种不变子空间在外部渐近稳定,同时保持 OL-NE 。最后,基于这些前提,我们提供了一种闭式梯度下降方法,用于求解表征 OL-NE 策略的非对称耦合 Riccati 方程。
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引用次数: 0
Hierarchical lane-changing control for vehicle platoons in prescribed performance 规定性能下车辆排的分层变道控制
IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-10-09 DOI: 10.1016/j.automatica.2024.111972
Wei-Wei Che , Lili Zhang , Chao Deng , Zheng-Guang Wu
This paper proposes a hierarchical control approach to solve the prescribed performance lane-changing control problem for nonlinear vehicle platoons. By incorporating the collision avoidance and comfort assurance conditions specifically tailored for vehicle platoons, the value range of the safe lane-changing completion time (LCCT) can be calculated. Based on which, the longitudinal and lateral reference displacements are determined for the leader vehicle, respectively. Further, to safely achieve the prescribed performance lane changing in the operational layer, a class of more practical performance functions is designed based on the calculated LCCT as the key technology for proposing the neural network longitudinal and lateral control protocols. The developed lane-changing control strategies guarantee that the vehicle platoon can track the obtained reference trajectory while avoiding inter-platoon and intra-platoon collisions. Furthermore, the safe lane-changing maneuver can be achieved within the predefined LCCT with the preset accuracy. Finally, the availability of the proposed hierarchical algorithm is checked through two simulation examples with comparisons.
本文提出了一种分层控制方法来解决非线性车辆排的规定性能变道控制问题。通过结合专为车辆编队定制的避免碰撞和舒适性保证条件,可以计算出安全变道完成时间(LCCT)的取值范围。在此基础上,分别确定领头车辆的纵向和横向参考位移。此外,为了在操作层安全地实现规定性能的变道,基于计算出的 LCCT 设计了一类更实用的性能函数,作为提出神经网络纵向和横向控制协议的关键技术。所开发的变道控制策略可保证车辆编队能够跟踪所获得的参考轨迹,同时避免编队间和编队内的碰撞。此外,还能在预定的 LCCT 范围内以预设精度实现安全变道机动。最后,通过两个仿真实例的对比,检验了所提出的分层算法的可用性。
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引用次数: 0
Lifted time stable inversion based feedforward control for linear non-minimum phase systems 基于提升时间稳定反演的线性非最小相位系统前馈控制
IF 4.8 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-10-09 DOI: 10.1016/j.automatica.2024.111979
Xiaoqiang Ji , Shaoqin Zhu , Yangsheng Xu , Richard W. Longman
The feedforward control strategy exhibits substantial capability and high-precision control for output tracking tasks. However, the feedforward control action obtained through solving the inverse problem is unstable for non-minimum phase systems. In this paper, a novel stable inversion method is presented, termed lifted time stable inversion. Compared to the existing method, the proposed method does not necessitate infinite window to accomplish the tracking tasks. A comprehensive analysis of the developed method is provided, focusing on analysis of finite time stability and input–output finite time stability, aspects that have garnered limited attention in the literature on feedforward control. Furthermore, the relationship with existing stable inversion method is illustrated by constructing a linear transformation of the initial conditions for both inversions. Simulation results substantiate the validity of the finite time bounds and demonstrate the superior tracking advantage of the proposed method relative to the existing method. The performance of the proposed method is further displayed experimentally on a piezoelectric ceramic positioning platform.
前馈控制策略在输出跟踪任务中表现出强大的能力和高精度控制。然而,对于非最小相位系统,通过求解逆问题得到的前馈控制动作并不稳定。本文提出了一种新的稳定反演方法,称为提升时间稳定反演。与现有方法相比,所提出的方法无需使用无限窗口来完成跟踪任务。本文对所开发的方法进行了全面分析,重点分析了有限时间稳定性和输入输出有限时间稳定性,这些方面在前馈控制文献中关注有限。此外,通过构建两种反演初始条件的线性变换,说明了与现有稳定反演方法的关系。仿真结果证实了有限时间界限的有效性,并证明了与现有方法相比,所提方法具有更优越的跟踪优势。在一个压电陶瓷定位平台上进一步实验展示了所提方法的性能。
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引用次数: 0
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Automatica
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