Automatica最新文献

英文中文

A recursive filtering approach to power harmonic detection with stochastic communication delays: Tackling amplify-and-forward relays 利用随机通信延迟进行功率谐波检测的递归滤波方法：解决放大-前向中继问题

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2024-10-03 DOI: 10.1016/j.automatica.2024.111968

Guhui Li , Zidong Wang , Xingzhen Bai , Zhongyi Zhao , Yezheng Wang

This paper focuses on the power harmonic detection problem in smart grids with relay transmissions and stochastic communication delays. A model is established using an orthogonal vector to capture the dynamics of harmonic signals with direct current attenuation components. For the assurance of reliable information delivery, a strategy employing an amplify-and-forward relay with stochastic transmission power is used to schedule data from sensors to the remote filter. Furthermore, a set of random variables that obey Bernoulli distributions is used to characterize the stochastic nature of the communication delays. With the goal of achieving accurate power harmonic detection, a recursive filtering algorithm is aimed to be designed in the presence of the amplify-and-forward relay strategy and stochastic communication delays, which ensures that the desired filter gain parameter is derived recursively by minimizing the upper bound on the filtering error covariance. Ultimately, the effectiveness of the proposed filtering algorithm is demonstrated through simulation experiments on power harmonic detection, thereby verifying its capability in tracking harmonic dynamics.

本文重点研究了智能电网中的电力谐波检测问题，该问题具有中继传输和随机通信延迟。本文利用正交向量建立了一个模型，以捕捉带有直流衰减成分的谐波信号的动态变化。为确保可靠的信息传输，采用了一种具有随机传输功率的放大-前向中继策略，将数据从传感器调度到远程滤波器。此外，还使用了一组服从伯努利分布的随机变量来描述通信延迟的随机性质。为了实现精确的功率谐波检测，我们设计了一种递归滤波算法，在存在放大-前向中继策略和随机通信延迟的情况下，确保通过最小化滤波误差协方差的上界，递归得出所需的滤波增益参数。最后，通过功率谐波检测仿真实验证明了所提滤波算法的有效性，从而验证了其跟踪谐波动态的能力。

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引用次数: 0

Robust finite-time stabilization of linear systems with limited state quantization 具有有限状态量化的线性系统的稳健有限时间稳定

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2024-10-03 DOI: 10.1016/j.automatica.2024.111967

Yu Zhou, Andrey Polyakov, Gang Zheng

This paper investigates the robust asymptotic stabilization of a linear time-invariant (LTI) system by static feedback with a static state quantization. It is shown that the controllable LTI system can be stabilized to zero in a finite time by means of nonlinear feedback with a quantizer having a limited (finite) number of values (quantization seeds) even when all parameters of the controller and the quantizer are time-invariant. The control design is based on generalized homogeneity. A homogeneous spherical quantizer is introduced. The static homogeneous feedback is shown to be a local (or global) finite-time stabilizer for any controllable linear system (depending on the system matrix). The tuning rules for both the quantizer and the feedback law are obtained in the form of Linear Matrix Inequalities (LMIs). The closed-loop system is proven to be robust with respect to some bounded matched or vanishing mismatched perturbations. Theoretical results are supported by numerical simulations.

本文研究了通过静态反馈与静态状态量化对线性时不变（LTI）系统进行稳健渐近稳定的问题。结果表明，即使控制器和量化器的所有参数都是时间不变的，通过非线性反馈和具有有限（有限）数值（量化种子）的量化器，也能在有限时间内将可控 LTI 系统稳定为零。控制设计基于广义均匀性。引入了同质球形量化器。静态同质反馈被证明是任何可控线性系统的局部（或全局）有限时间稳定器（取决于系统矩阵）。以线性矩阵不等式（LMI）的形式获得了量化器和反馈规律的调整规则。闭环系统对于某些有界匹配或消失的不匹配扰动具有鲁棒性。数值模拟为理论结果提供了支持。

引用次数: 0

Parallelized robust distributed model predictive control in the presence of coupled state constraints 存在耦合状态约束时的并行稳健分布式模型预测控制

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2024-10-03 DOI: 10.1016/j.automatica.2024.111952

Adrian Wiltz, Fei Chen, Dimos V. Dimarogonas

In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed control scheme, all subsystems solve their local optimization problem in parallel and neighbor-to-neighbor communication suffices. The approach relies on consistency constraints which define a neighborhood around each subsystem’s reference trajectory where the state of the subsystem is guaranteed to stay in. Contrary to related approaches, the reference trajectories are improved consecutively. In order to ensure the controller’s robustness against bounded uncertainties, we employ tubes. The presented approach can be considered as a time-efficient alternative to the well-established sequential DMPC. In the end, we briefly comment on an iterative extension. The effectiveness of the proposed DMPC scheme is demonstrated with simulations, and its performance is compared to other DMPC schemes.

本文针对受状态约束、耦合状态约束和输入约束影响的动态解耦非线性系统，提出了一种鲁棒分布式模型预测控制（DMPC）方案。在所提出的控制方案中，所有子系统并行地解决它们的局部优化问题，邻近系统之间的通信就足够了。该方法依赖于一致性约束，一致性约束定义了每个子系统参考轨迹周围的一个邻域，在该邻域中，子系统的状态保证保持不变。与相关方法不同的是，参考轨迹是连续改进的。为了确保控制器对有界不确定性的鲁棒性，我们使用了管子。最后，我们对迭代扩展进行了简要评述。我们通过模拟演示了所提出的 DMPC 方案的有效性，并将其性能与其他 DMPC 方案进行了比较。

引用次数: 0

A generalized projection estimation algorithm 通用投影估算算法

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2024-10-02 DOI: 10.1016/j.automatica.2024.111942

Patrizio Tomei, Riccardo Marino

Given a linear regression model in discrete-time containing a vector of

p

constant uncertain parameters, this paper addresses the problem of designing an exponentially convergent parameter estimation algorithm, even when the regressor vector is not persistently exciting (not even in a finite time interval). On the basis of the definition of lack of persistency of excitation of order

q

for the regressor vector,

0 \leq q \leq p

(which coincides with the classical definition of persistency of excitation when

q = 0

), a generalized projection estimation algorithm is proposed which guarantees global exponential convergence of the parameter estimation error and allows for the on-line computation of the order

q

of the lack of persistency of excitation. When the lack of persistency of excitation is of order zero, global exponential convergence to zero of the parameter estimation error is obtained, recovering a well-known result and the projection estimation algorithm as a special case.

给定一个离散时间线性回归模型，其中包含 p 个常数不确定参数矢量，本文要解决的问题是设计一种指数收敛的参数估计算法，即使在回归矢量没有持续激励（甚至在有限时间间隔内也没有）的情况下也是如此。根据对回归矢量的 q 阶缺乏持续激励的定义 0≤q≤p（这与 q=0 时激励持续性的经典定义相吻合），提出了一种广义投影估计算法，它能保证参数估计误差的全局指数收敛，并允许在线计算缺乏持续激励的 q 阶。当激励持续性不足的阶数为零时，参数估计误差会全局指数收敛为零，这恢复了一个众所周知的结果，投影估计算法是一个特例。

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引用次数: 0

Reconfigurability evaluation and design for control systems with actuator fault and saturation 执行器故障和饱和情况下控制系统的可重构性评估和设计

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2024-10-02 DOI: 10.1016/j.automatica.2024.111941

Yuanyuan Tu , Dayi Wang , Chengrui Liu , Xiangyan Zhang

The issue of reconfiguration-based fault-tolerant control for systems with actuator fault and saturation is addressed. The basic idea behind this work is to evaluate the system reconfigurability to guide the reconfiguration scheme and system structure design. First, a reconfigurability criterion is derived and utilized to quantify the degree of reconfigurability. On this basis, a passive/active combined reconfiguration method is proposed to balance the effectiveness and implementation complexity of the reconfiguration scheme. Moreover, the system structure is optimized to further improve the comprehensive performance of the system. Finally, the effectiveness of the proposed method is illustrated through an application example of the satellite attitude control system.

本文探讨了针对存在执行器故障和饱和的系统的基于重新配置的容错控制问题。这项工作的基本思想是评估系统的可重构性，以指导重构方案和系统结构设计。首先，推导出一个可重构性标准，并利用该标准量化可重构性的程度。在此基础上，提出了一种被动/主动相结合的重新配置方法，以平衡重新配置方案的有效性和实施复杂性。此外，还优化了系统结构，进一步提高了系统的综合性能。最后，通过卫星姿态控制系统的应用实例说明了所提方法的有效性。

引用次数: 0

Edges’ Riemannian energy analysis for synchronization of multi-agent nonlinear systems over undirected weighted graphs 无向加权图上多代理非线性系统同步的边的黎曼能量分析

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2024-10-02 DOI: 10.1016/j.automatica.2024.111950

Alexandre Cellier-Devaux , Daniele Astolfi , Vincent Andrieu

In this note we investigate the problem of global exponential synchronization of multi-agent systems described by non-linear input affine dynamics. We consider the case of networks described by undirected connected graphs possibly without leader. We present a set of sufficient conditions based on a Riemannian metric approach in order to design a state-feedback distributed control law. Then, we study the convergence properties of the overall network. By exploiting the properties of the edge Laplacian we construct a Lyapunov function that allows to conclude global exponential synchronization of the overall network.

在本论文中，我们研究了由非线性输入仿射动力学描述的多代理系统的全局指数同步问题。我们考虑了可能没有领导者的无向连接图描述的网络情况。我们提出了一系列基于黎曼度量方法的充分条件，以便设计状态反馈分布式控制法。然后，我们研究了整个网络的收敛特性。通过利用边缘拉普拉斯的特性，我们构建了一个 Lyapunov 函数，从而得出了整个网络的全局指数同步性结论。

引用次数: 0

Remote state estimation with privacy against active eavesdroppers 针对主动窃听者的隐私远程状态估计

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2024-10-02 DOI: 10.1016/j.automatica.2024.111932

Matthew J. Crimson, Justin M. Kennedy, Daniel E. Quevedo

This paper considers a cyber–physical system under an active eavesdropping attack. A remote legitimate user estimates the state of a linear plant from the state information received from a sensor. Transmissions from the sensor occur via an insecure and unreliable network. An active eavesdropper may perform an attack during system operation. The eavesdropper intercepts transmissions from the sensor, whilst simultaneously sabotaging the data transfer from the sensor to the remote legitimate user to harm its estimation performance. To maintain state confidentiality, we propose an encoding scheme that is activated on the detection of an eavesdropper. Our scheme transmits noise based on a pseudo-random indicator, pre-arranged at the legitimate user and sensor. The transmission of noise harms the eavesdropper’s performance, more than that of the legitimate user. Using the proposed encoding scheme, we impair the eavesdropper’s expected estimation performance, whilst minimizing expected performance degradation at the legitimate user. We explore the trade-off between state confidentiality and legitimate user performance degradation by selecting the probability that the sensor transmits noise. Under certain design choices, the trace of the expected estimation error covariance of the eavesdropper is greater than that of the legitimate user. Numerical examples are provided to illustrate the proposed encoding scheme.

本文研究了一个受到主动窃听攻击的网络物理系统。远程合法用户根据从传感器接收到的状态信息估计线性工厂的状态。传感器通过不安全、不可靠的网络进行传输。主动窃听者可能会在系统运行期间实施攻击。窃听者拦截传感器的传输，同时破坏从传感器到远程合法用户的数据传输，从而损害其估算性能。为了保持状态的机密性，我们提出了一种在检测到窃听者时激活的编码方案。我们的方案基于伪随机指标传输噪声，该指标在合法用户和传感器之间预先设定。与合法用户相比，噪声的传输对窃听者的性能损害更大。利用所提出的编码方案，我们可以在最大限度地降低合法用户预期性能下降的同时，损害窃听者的预期估计性能。我们通过选择传感器传输噪声的概率来探索状态保密性与合法用户性能下降之间的权衡。在某些设计选择下，窃听者的预期估计误差协方差的迹线大于合法用户的迹线。本文提供了数值示例来说明所提出的编码方案。

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引用次数: 0

Rendezvous analysis and control design for multiple mobile agents with preserved network connectivity on hyperboloid 双曲面上保留网络连接的多移动代理的交会分析与控制设计

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2024-10-02 DOI: 10.1016/j.automatica.2024.111965

Xiaoyu Li , Yuhu Wu , Lining Ru

This paper studies the rendezvous problem for a second-order multi-agent system on the hyperboloid under a proximity-based communication topology. Using the Riemannian geometrical structure on the hyperboloid, we design a nonlinear feedback control law in which each agent has a limited sensing range. By analyzing the switching behavior of the communication topology, we show that the switching time of the resulting closed-loop system is finite, and the connectivity of the communication topology is preserved if the initial network is connected. In addition, we also provide an analysis of the asymptotic behavior of the second-order closed-loop system on the hyperboloid and prove that the proposed feedback control law enables all agents to converge to the same position.

本文研究了基于近距离通信拓扑结构的双曲面上二阶多代理系统的会合问题。利用双曲面上的黎曼几何结构，我们设计了一种非线性反馈控制法则，其中每个代理的感知范围都是有限的。通过分析通信拓扑的切换行为，我们证明了由此产生的闭环系统的切换时间是有限的，而且如果初始网络是连通的，通信拓扑的连通性是保留的。此外，我们还分析了双曲面上二阶闭环系统的渐近行为，并证明所提出的反馈控制法则能使所有代理收敛到相同位置。

引用次数: 0

Stable reduced-rank VAR identification 稳定的缩减秩 VAR 识别

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2024-10-02 DOI: 10.1016/j.automatica.2024.111961

Xinhui Rong, Victor Solo

The vector autoregression (VAR) has been widely used in system identification, econometrics, natural science, and many other areas. However, when the state dimension becomes large the parameter dimension explodes. So rank reduced modelling is attractive and is well developed. But a fundamental requirement in almost all applications is stability of the fitted model. And this has not been addressed in the rank reduced case. Here, we develop, for the first time, a closed-form formula for an estimator of a rank reduced transition matrix which is guaranteed to be stable. We show that our estimator is consistent and asymptotically statistically efficient and illustrate it in comparative simulations.

向量自回归（VAR）已被广泛应用于系统识别、计量经济学、自然科学等诸多领域。然而，当状态维度变大时，参数维度也会爆炸。因此，秩缩减建模很有吸引力，也得到了很好的发展。但几乎所有应用的一个基本要求是拟合模型的稳定性。而这一点在秩缩减模型中尚未得到解决。在这里，我们首次提出了秩缩减过渡矩阵估计器的闭式公式，并保证其稳定性。我们证明了我们的估计器在统计上是一致和渐进有效的，并通过比较模拟进行了说明。

引用次数: 0

Semi-global synchronization of stochastic mixed time-delay systems with Lévy Noise under aperiodic intermittent delayed sampled-data control 在非周期性间歇延迟采样数据控制下具有莱维噪声的随机混合时延系统的半全局同步化

IF 4.8 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Automatica

Pub Date : 2024-10-02 DOI: 10.1016/j.automatica.2024.111963

Ning Zhang , Zheng Wang , Ju H. Park , Wenxue Li

This article studies the semi-globally exponential synchronization of stochastic mixed time-delay systems with Lévy noise (SMTDSLN) under aperiodic intermittent delayed sampled-data control (AIDSC). Thereinto, a new aperiodic intermittent sampled-data control, which is aperiodically intermittent and samples at a past interval but not a moment, is proposed. Secondly, considering the coupling factor, we utilize the vertex Lyapunov–Krasovskii (L–K) functional and combine the graph theory method to construct the global L–K functional and give its properties. This construction method is introduced for the first time in studying the semi-globally exponential synchronization of SMTDSLN. Next, combined with Halanay inequality, sufficient conditions for semi-global synchronization of SMTDSLN under AIDSC are given, including estimations of the non-control rate and the relationship between the initial condition range and AIDSC. Finally, we apply these results to bidirectional associative memory neural networks (BAMNNs) and give two corresponding numerical examples to demonstrate the validity of the theoretical results.

本文研究了在非周期性间歇延迟采样数据控制（AIDSC）下，具有莱维噪声的随机混合时延系统（SMTDSLN）的半全局指数同步问题。在此基础上，我们提出了一种新的非周期性间歇采样数据控制，它是一种非周期性间歇控制，采样间隔是过去的，而不是现在的。其次，考虑到耦合因素，我们利用顶点 Lyapunov-Krasovskii（L-K）函数并结合图论方法构建了全局 L-K 函数并给出了其性质。这种构造方法是在研究 SMTDSLN 的半全局指数同步时首次引入的。接着，结合哈拉内不等式，给出了 SMTDSLN 在 AIDSC 下半全局同步的充分条件，包括非控制率的估计以及初始条件范围与 AIDSC 之间的关系。最后，我们将这些结果应用于双向关联记忆神经网络（BAMNN），并给出了两个相应的数值示例，以证明理论结果的正确性。

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