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自动化学报（英文版）
中国自动化学会、中国科学院自动化研究所、中国科技出版传媒股份有限公司
自动化学报（英文版）

中国自动化学会、中国科学院自动化研究所、中国科技出版传媒股份有限公司

双月刊

2329-9266

yan.ou@ia.ac.cn

010-82544459

自动化学报（英文版）/Journal IEEE/CAA Journal of Automatica SinicaCSCDCSTPCD北大核心SCI
查看更多>>《自动化学报》（英文版），刊名为 IEEE/CAA Journal of Automatica Sinica (JAS)，创刊于2014年，由中国自动化学会、中国科学院自动化研究所主办，与IEEE合作，报道自动控制、人工智能、机器人等领域热点和前沿方向的研究成果。JAS被SCI, EI, Scopus等数据库收录，是ESI刊源期刊，也是自动化与控制系统领域唯一的中国主办Q1区SCI期刊。2019年首个JCR影响因子5.129，在自动化与控制领域全球63种SCI期刊中排名第11（前17%），位列Q1区。2019年CiteScore为8.3，位于所属各领域Q1区前列；国内外综合他引影响因子为6.688，在自动化、计算机领域的中国英文期刊中排名第1。
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    Nonlinear Filtering With Sample-Based Approxi-mation Under Constrained Communication:Progress,Insights and Trends

    Weihao SongZidong WangZhongkui LiJianan Wang...
    1539-1556页
    查看更多>>摘要：The nonlinear filtering problem has enduringly been an active research topic in both academia and industry due to its ever-growing theoretical importance and practical significance.The main objective of nonlinear filtering is to infer the states of a nonlinear dynamical system of interest based on the available noisy measurements.In recent years,the advance of network communication technology has not only popularized the net-worked systems with apparent advantages in terms of installation,cost and maintenance,but also brought about a series of chal-lenges to the design of nonlinear filtering algorithms,among which the communication constraint has been recognized as a dominating concern.In this context,a great number of investiga-tions have been launched towards the networked nonlinear filter-ing problem with communication constraints,and many sample-based nonlinear filters have been developed to deal with the highly nonlinear and/or non-Gaussian scenarios.The aim of this paper is to provide a timely survey about the recent advances on the sample-based networked nonlinear filtering problem from the perspective of communication constraints.More specifically,we first review three important families of sample-based filtering methods known as the unscented Kalman filter,particle filter,and maximum correntropy filter.Then,the latest developments are surveyed with stress on the topics regarding incomplete/imperfect information,limited resources and cyber security.Finally,several challenges and open problems are highlighted to shed some lights on the possible trends of future research in this realm.
      原文链接:
    • 国家科技期刊平台
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    Prescribed Performance Tracking Control of Time-Delay Nonlinear Systems With Output Constraints

    Jin-Xi ZhangKai-Di XuQing-Guo Wang
    1557-1565页
    查看更多>>摘要：The problem of prescribed performance tracking control for unknown time-delay nonlinear systems subject to out-put constraints is dealt with in this paper.In contrast with related works,only the most fundamental requirements,i.e.,bounded-ness and the local Lipschitz condition,are assumed for the allow-able time delays.Moreover,we focus on the case where the refer-ence is unknown beforehand,which renders the standard pre-scribed performance control designs under output constraints infeasible.To conquer these challenges,a novel robust prescribed performance control approach is put forward in this paper.Herein,a reverse tuning function is skillfully constructed and automatically generates a performance envelop for the tracking error.In addition,a unified performance analysis framework based on proof by contradiction and the barrier function is estab-lished to reveal the inherent robustness of the control system against the time delays.It turns out that the system output tracks the reference with a preassigned settling time and good accuracy,without constraint violations.A comparative simulation on a two-stage chemical reactor is carried out to illustrate the above theo-retical findings.
      原文链接:
    • 国家科技期刊平台
    • NETL
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    Ultimately Bounded Output Feedback Control for Networked Nonlinear Systems With Unreliable Communication Channel:A Buffer-Aided Strategy

    Yuhan ZhangZidong WangLei ZouYun Chen...
    1566-1578页
    查看更多>>摘要：This paper concerns ultimately bounded output-feedback control problems for networked systems with unknown nonlinear dynamics.Sensor-to-observer signal transmission is facilitated over networks that has communication constraints.These transmissions are carried out over an unreliable communi-cation channel.In order to enhance the utilization rate of mea-surement data,a buffer-aided strategy is novelly employed to store historical measurements when communication networks are inaccessible.Using the neural network technique,a novel observer-based controller is introduced to address effects of sig-nal transmission behaviors and unknown nonlinear dynamics.Through the application of stochastic analysis and Lyapunov sta-bility,a joint framework is constructed for analyzing resultant system performance under the introduced controller.Subse-quently,existence conditions for the desired output-feedback con-troller are delineated.The required parameters for the observer-based controller are then determined by resolving some specific matrix inequalities.Finally,a simulation example is showcased to confirm method efficacy.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    Interpolated Bumpless Transfer Control for Asynchronously Switched Linear Systems

    Shengao LuTong WuLixian ZhangJianan Yang...
    1579-1590页
    查看更多>>摘要：This paper revisits the problem of bumpless transfer control(BTC)for discrete-time nondeterministic switched linear systems.The general case of asynchronous switching is consid-ered for the first time in the field of BTC for switched systems.A new approach called interpolated bumpless transfer control(IBTC)is proposed,where the bumpless transfer controllers are formulated with the combination of the two adjacent mode-dependent controller gains,and are interpolated for finite steps once the switching is detected.In contrast with the existing approaches,IBTC does not necessarily run through the full inter-val of subsystems,as well as possesses the time-varying controller gains(with more flexibility and less conservatism)achieved from a control synthesis allowing for the stability and other perfor-mance of the whole switched system.Sufficient conditions ensur-ing stability and H∞ performance of the underlying system by IBTC are developed,and numerical examples verify the theoreti-cal findings.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    Discovering Latent Variables for the Tasks With Confounders in Multi-Agent Reinforcement Learning

    Kun JiangWenzhang LiuYuanda WangLu Dong...
    1591-1604页
    查看更多>>摘要：Efficient exploration in complex coordination tasks has been considered a challenging problem in multi-agent rein-forcement learning(MARL).It is significantly more difficult for those tasks with latent variables that agents cannot directly observe.However,most of the existing latent variable discovery methods lack a clear representation of latent variables and an effective evaluation of the influence of latent variables on the agent.In this paper,we propose a new MARL algorithm based on the soft actor-critic method for complex continuous control tasks with confounders.It is called the multi-agent soft actor-critic with latent variable(MASAC-LV)algorithm,which uses varia-tional inference theory to infer the compact latent variables rep-resentation space from a large amount of offline experience.Besides,we derive the counterfactual policy whose input has no latent variables and quantify the difference between the actual policy and the counterfactual policy via a distance function.This quantified difference is considered an intrinsic motivation that gives additional rewards based on how much the latent variable affects each agent.The proposed algorithm is evaluated on two collaboration tasks with confounders,and the experimental results demonstrate the effectiveness of MASAC-LV compared to other baseline algorithms.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据

    Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises:A Distributed Approach

    Yufeng LianXingtian XiaoJiliang ZhangLong Jin...
    1605-1620页
    查看更多>>摘要：This paper presents a distributed scheme with lim-ited communications,aiming to achieve cooperative motion con-trol for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs.Specifically,squeeze-free cooperative load transporta-tion is achieved for the end-effectors of MOMMs by incorporat-ing cooperative repetitive motion planning(CRMP),while guid-ing each individual to desired poses.Then,the distributed scheme is formulated as a time-varying quadratic programming(QP)and solved online utilizing a noise-tolerant zeroing neural network(NTZNN).Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise.Finally,the effectiveness of the control design is demon-strated by numerical simulations and physical platform experi-ments.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
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    Distributed Optimal Variational GNE Seeking in Merely Monotone Games

    Wangli HeYanzhen Wang
    1621-1630页
    查看更多>>摘要：In this paper,the optimal variational generalized Nash equilibrium(v-GNE)seeking problem in merely monotone games with linearly coupled cost functions is investigated,in which the feasible strategy domain of each agent is coupled through an affine constraint.A distributed algorithm based on the hybrid steepest descent method is first proposed to seek the optimal v-GNE.Then,an accelerated algorithm with relaxation is proposed and analyzed,which has the potential to further improve the convergence speed to the optimal v-GNE.Some suf-ficient conditions in both algorithms are obtained to ensure the global convergence towards the optimal v-GNE.To illustrate the performance of the algorithms,numerical simulation is con-ducted based on a networked Nash-Cournot game with bounded market capacities.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
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    Self-Triggered Set Stabilization of Boolean Control Networks and Its Applications

    Rong ZhaoJun-e FengDawei Zhang
    1631-1642页
    查看更多>>摘要：Set stabilization is one of the essential problems in engineering systems,and self-triggered control(STC)can save the storage space for interactive information,and can be successfully applied in networked control systems with limited communica-tion resources.In this study,the set stabilization problem and STC design of Boolean control networks are investigated via the semi-tensor product technique.On the one hand,the largest con-trol invariant subset is calculated in terms of the strongly con-nected components of the state transition graph,by which a graph-theoretical condition for set stabilization is derived.On the other hand,a characteristic function is exploited to determine the triggering mechanism and feasible controls.Based on this,the minimum-time and minimum-triggering open-loop,state-feed-back and output-feedback STCs for set stabilization are designed,respectively.As classic applications of self-triggered set stabiliza-tion,self-triggered synchronization,self-triggered output tracking and self-triggered output regulation are discussed as well.Addi-tionally,several practical examples are given to illustrate the effectiveness of theoretical results.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
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    Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells

    Meng ZhouZihao WangJing WangZhengcai Cao...
    1643-1655页
    查看更多>>摘要：This work proposes an online collaborative hunting strategy for multi-robot systems based on obstacle-avoiding Voronoi cells in a complex dynamic environment.This involves firstly designing the construction method using a support vector machine(SVM)based on the definition of buffered Voronoi cells(BVCs).Based on the safe collision-free region of the robots,the boundary weights between the robots and the obstacles are dynamically updated such that the robots are tangent to the buffered Voronoi safety areas without intersecting with the obsta-cles.Then,the robots are controlled to move within their own buffered Voronoi safety area to achieve collision-avoidance with other robots and obstacles.The next step involves proposing a hunting method that optimizes collaboration between the pur-suers and evaders.Some hunting points are generated and dis-tributed evenly around a circle.Next,the pursuers are assigned to match the optimal points based on the Hungarian algorithm.Then,a hunting controller is designed to improve the contain-ment capability and minimize containment time based on colli-sion risk.Finally,simulation results have demonstrated that the proposed cooperative hunting method is more competitive in terms of time and travel distance.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
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    Finite-Time Stabilization for Constrained Discrete-time Systems by Using Model Predictive Control

    Bing ZhuXiaozhuoer YuanLi DaiZhiwen Qiang...
    1656-1666页
    查看更多>>摘要：In this paper,a model predictive control(MPC)framework is proposed for finite-time stabilization of linear and nonlinear discrete-time systems subject to state and control con-straints.The proposed MPC framework guarantees the finite-time convergence property by assigning the control horizon equal to the dimension of the overall system,and only penalizing the terminal cost in the optimization,where the stage costs are not penalized explicitly.A terminal inequality constraint is added to guarantee the feasibility and stability of the closed-loop system.Initial feasibility can be improved via augmentation.The finite-time convergence of the proposed MPC is proved theoretically,and is supported by simulation examples.
      原文链接:
    • 国家科技期刊平台
    • NETL
    • NSTL
    • 万方数据