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LMI-Driven Reachability Analysis for Fuzzy Model-Based Nonlinear Systems Subject to Norm-Bounded Input Perturbations 范数有界输入扰动下模糊模型非线性系统lmi驱动的可达性分析
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-29 DOI: 10.1109/LCSYS.2026.3659159
Sounghwan Hwang;Minhyun Cho;Inseok Hwang
{"title":"LMI-Driven Reachability Analysis for Fuzzy Model-Based Nonlinear Systems Subject to Norm-Bounded Input Perturbations","authors":"Sounghwan Hwang;Minhyun Cho;Inseok Hwang","doi":"10.1109/LCSYS.2026.3659159","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3659159","url":null,"abstract":"In this letter, we study the reachability analysis of fuzzy model-based nonlinear systems subject to norm-bounded input perturbations. While reachability analysis has been extensively studied in safety-critical control and verification, computing reachable sets for nonlinear systems remains challenging due to inherent computational and analytical complexities. To address this issue, we propose a Lyapunov-based reachability framework formulated via linear matrix inequalities (LMIs) within fuzzy modeling techniques. This framework represents a nonlinear system as a weighted summation of linear subsystems, while explicitly accounting for norm-bounded model approximation errors, enabling the effective application of linear control techniques. The proposed LMI-driven framework yields a Lyapunov function whose level sets provide an ellipsoidal over-approximated reachable set under both model approximation errors and norm-bounded perturbations. The effectiveness of the proposed framework is demonstrated using the attitude dynamics of a quadrotor unmanned aerial vehicle (UAV).","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"55-60"},"PeriodicalIF":2.0,"publicationDate":"2026-01-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146175703","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Learning Constraints From Stochastic Partially- Observed Closed-Loop Demonstrations 从随机部分观察闭环演示中学习约束
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-26 DOI: 10.1109/LCSYS.2026.3657991
Chih-Yuan Chiu;Zhouyu Zhang;Glen Chou
{"title":"Learning Constraints From Stochastic Partially- Observed Closed-Loop Demonstrations","authors":"Chih-Yuan Chiu;Zhouyu Zhang;Glen Chou","doi":"10.1109/LCSYS.2026.3657991","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3657991","url":null,"abstract":"We present a method for learning unknown parametric constraints from locally-optimal input-output trajectory data. We assume the data is generated by rollouts of stochastic nonlinear dynamics, under a single state or output feedback law and initial condition but distinct noise realizations, to robustly satisfy underlying constraints despite worst-case noise outcomes. We encode the Karush-Kuhn-Tucker (KKT) conditions of this robust optimal feedback control problem within a feasibility problem to recover constraints consistent with the local optimality of the demonstrations. We prove that our constraint learning method (i) accurately recovers the demonstrator’s policy, and (ii) conservatively estimates the set of policies that ensure constraint satisfaction despite worst-case noise realizations. Moreover, we perform sensitivity analysis, proving that when demonstrations are corrupted by transmission error, the inaccuracy in the learned feedback law scales linearly in the error magnitude. Empirically, our method accurately recovers unknown constraints from simulated noisy, closed-loop demonstrations generated using dynamics, both linear and nonlinear, (e.g., unicycle and quadrotor) and a range of feedback mechanisms.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"43-48"},"PeriodicalIF":2.0,"publicationDate":"2026-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146175709","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Finite-Time Stability of Nonlinear Systems Subject to Impulsive Disturbances 脉冲扰动下非线性系统的有限时间稳定性
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-26 DOI: 10.1109/LCSYS.2026.3658298
Shuchen Wu;Xiaodi Li;Xinzhi Liu;Emmanuel Moulay
{"title":"Finite-Time Stability of Nonlinear Systems Subject to Impulsive Disturbances","authors":"Shuchen Wu;Xiaodi Li;Xinzhi Liu;Emmanuel Moulay","doi":"10.1109/LCSYS.2026.3658298","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3658298","url":null,"abstract":"This letter addresses the problem of finite-time stability (FTS) in nonlinear systems subject to impulsive disturbances. It extends and builds upon previous research on impulsive systems. The system under consideration is affected by impulsive disturbances, and is constrained within a more general continuous-time dynamic framework. Based on Lyapunov approach, several FTS conditions with the corresponding settling-time estimations are proposed, where a relationship between the strength of impulsive disturbances, the impulsive interval, and the continuous dynamic is established. Compared with the existing results, the results presented here not only offer broader applicability but also provide more accurate settling-time estimations. Two numerical examples, including one related to finite-time control of spacecraft experiencing impulsive disturbances, are provided together with simulations to show the effectiveness of the presented solutions.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"49-54"},"PeriodicalIF":2.0,"publicationDate":"2026-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146175789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Distributionally Robust GMM Steering Under Wasserstein Ambiguity Sets Wasserstein模糊集下分布鲁棒GMM转向
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-26 DOI: 10.1109/LCSYS.2026.3657859
Yutang Li;Songzhou Li;Di Zhou;Zhen He
{"title":"Distributionally Robust GMM Steering Under Wasserstein Ambiguity Sets","authors":"Yutang Li;Songzhou Li;Di Zhou;Zhen He","doi":"10.1109/LCSYS.2026.3657859","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3657859","url":null,"abstract":"This letter addresses the problem of steering a discrete-time linear system from an initial Gaussian Mixture Model (GMM) distribution, where the component weights are uncertain, to a prescribed terminal Gaussian distribution. We formulate a distributionally robust optimal control (DRO) problem by modeling the weight uncertainty via a Wasserstein-type ambiguity set. The resulting non-convex min-max problem is shown to be equivalently transformed into a tractable, deterministic Semidefinite Program (SDP) by leveraging duality theory and convex lifting techniques. The standard nominal (non-robust) controller can fail to satisfy terminal constraints under plausible worst-case weight distributions within the ambiguity set. In contrast, the proposed DRO controller successfully guarantees constraint satisfaction in these scenarios, demonstrating its improved robustness.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"13-18"},"PeriodicalIF":2.0,"publicationDate":"2026-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146175708","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Derivative Free Data-Driven Stabilization of Continuous-Time Linear Systems From Input-Output Data 基于输入-输出数据的连续时间线性系统无导数数据驱动镇定
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-26 DOI: 10.1109/LCSYS.2026.3658297
Corrado Possieri
{"title":"Derivative Free Data-Driven Stabilization of Continuous-Time Linear Systems From Input-Output Data","authors":"Corrado Possieri","doi":"10.1109/LCSYS.2026.3658297","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3658297","url":null,"abstract":"This letter presents a data-driven framework for the design of stabilizing controllers from input-output data in the continuous-time, linear, and time-invariant domain. Rather than relying on measurements or reliable estimates of input and output time derivatives, the proposed approach uses filters to derive a parameterization of the system dynamics. This parameterization is amenable to the application of linear matrix inequalities enabling the design of stabilizing output feedback controllers from input-output data and the knowledge of the order of the system.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"67-72"},"PeriodicalIF":2.0,"publicationDate":"2026-01-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11364254","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146175610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Frequency-Shaped Primal-Dual Optimization for Distributed Model Predictive Control of Nonlinear Multi-Agent Systems 非线性多智能体系统分布模型预测控制的频率型原对偶优化
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-22 DOI: 10.1109/LCSYS.2026.3657295
Hayato Dan;Daisuke Kurabayashi
{"title":"Frequency-Shaped Primal-Dual Optimization for Distributed Model Predictive Control of Nonlinear Multi-Agent Systems","authors":"Hayato Dan;Daisuke Kurabayashi","doi":"10.1109/LCSYS.2026.3657295","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3657295","url":null,"abstract":"This letter proposes a distributed model predictive control (DMPC) method for multi-agent systems with smooth nonlinear dynamics and constraints, including pairwise distance constraints for collision avoidance. We cast the finite-horizon DMPC problem as a coupled optimization and apply a fully distributed generalized primal-dual gradient method that requires only neighbor-to-neighbor communication to solve the optimization problem. The update law for the optimization is built from diagonal transfer-function blocks that enable frequency-domain shaping of the iteration dynamics to mitigate oscillations and improve convergence. We show that any equilibrium satisfies the Karush-Kuhn-Tucker (KKT) conditions of the original DMPC problem and prove local convergence under a strong monotonicity assumption around a KKT-point. In a four-robot example, frequency-shaped tuning reduces KKT residuals by one to two orders of magnitude and yields collision-free trajectories comparable to a centralized MPC benchmark.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"25-30"},"PeriodicalIF":2.0,"publicationDate":"2026-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11361029","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146175619","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Stabilization of Time-Varying Networked System Over Fading Channels and Its Application 时变网络系统在衰落信道上的镇定及其应用
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-21 DOI: 10.1109/LCSYS.2026.3656826
Jianying Di;Ge Guo;Cheng Tan
{"title":"Stabilization of Time-Varying Networked System Over Fading Channels and Its Application","authors":"Jianying Di;Ge Guo;Cheng Tan","doi":"10.1109/LCSYS.2026.3656826","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3656826","url":null,"abstract":"This letter focuses on the problem of exponential mean-square stabilization for time-varying networked control systems over fading channels (NCSs-FCs). A novel spectral analysis framework is proposed by introducing the concepts of the generalized operator spectrum and the adjoint operator spectrum. Two necessary and sufficient conditions for exponential mean-square stabilization are established based on the criterion that the spectral radius is strictly less than one. In contrast to conventional Lyapunov-based or stochastic approximation methods, the proposed approach offers a new spectral perspective for analyzing system stability. The theoretical results are validated through both remote control of an RLC circuit and comprehensive numerical simulation.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"19-24"},"PeriodicalIF":2.0,"publicationDate":"2026-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146175704","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Data-Driven LPV Tracking Control Design and Application to Partially Unknown Nonlinear Systems 部分未知非线性系统的数据驱动LPV跟踪控制设计与应用
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-19 DOI: 10.1109/LCSYS.2026.3655239
Michelangelo Faleschini;Andrea Cristofaro
{"title":"Data-Driven LPV Tracking Control Design and Application to Partially Unknown Nonlinear Systems","authors":"Michelangelo Faleschini;Andrea Cristofaro","doi":"10.1109/LCSYS.2026.3655239","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3655239","url":null,"abstract":"This letter addresses the problem of data-driven control design for systems with partially known dynamics. We first present a generalized data-driven LPV algorithm capable of tracking time-varying reference trajectories with practical stability. This formulation extends existing data-driven approaches, which typically focus on regulation or constant reference tracking, by explicitly handling bounded, time-varying signals. Building on this result, we illustrate how the proposed method can be applied to the stabilization of nonlinear systems in strict-feedback form, where part of the dynamics is known and part is unknown, without involving any model reconstruction. As a motivating case study, we consider a marine vessel with partially known dynamics. Simulation results confirm the effectiveness of the proposed approach, demonstrating both accurate time-varying reference tracking and successful stabilization of the nonlinear vessel model.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"7-12"},"PeriodicalIF":2.0,"publicationDate":"2026-01-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11357955","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146175735","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
An Iterative LMI-Based Approach for Reduced-Order H∞ Filtering of Discrete-Time Hidden Markov Jump Linear Systems 基于迭代lmi的离散隐马尔可夫跳变线性系统降阶H∞滤波方法
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-14 DOI: 10.1109/LCSYS.2026.3654509
Marco A. Granato;Oswaldo L. V. Costa
{"title":"An Iterative LMI-Based Approach for Reduced-Order H∞ Filtering of Discrete-Time Hidden Markov Jump Linear Systems","authors":"Marco A. Granato;Oswaldo L. V. Costa","doi":"10.1109/LCSYS.2026.3654509","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3654509","url":null,"abstract":"This letter addresses the reduced-order <inline-formula> <tex-math>${mathcal {H}}_{infty }$ </tex-math></inline-formula> filtering problem for discrete-time Markov jump linear systems where the jump parameter cannot be directly measured and only detector-based estimates are available to the filter. Necessary and sufficient synthesis conditions are established in terms of bilinear matrix inequalities, for which a sufficient suboptimal solution is obtained via an iterative approach based on linear matrix inequality. A numerical example illustrates the effectiveness of the method and highlights performance improvements over existing results.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"31-36"},"PeriodicalIF":2.0,"publicationDate":"2026-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146175736","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Mesoscopic Digital Control for Disturbance String Stability via Constant Time-Headway Spacing Policies 基于恒时距策略的扰动弦稳定性的介观数字控制
IF 2
IEEE Control Systems Letters Pub Date : 2026-01-13 DOI: 10.1109/LCSYS.2026.3654020
Pietro Bonsanto;Mattia Mattioni;Alessio Iovine;Elena De Santis;Maria Domenica Di Benedetto
{"title":"Mesoscopic Digital Control for Disturbance String Stability via Constant Time-Headway Spacing Policies","authors":"Pietro Bonsanto;Mattia Mattioni;Alessio Iovine;Elena De Santis;Maria Domenica Di Benedetto","doi":"10.1109/LCSYS.2026.3654020","DOIUrl":"https://doi.org/10.1109/LCSYS.2026.3654020","url":null,"abstract":"This letter addresses the enforcement of Disturbance String Stability (DSS) in connected autonomous vehicle platoons subject to asynchronous communication, sampling, and quantization in case of a constant time headway spacing policy. Building on a mesoscopic control framework, we design digital controllers that guarantee DSS despite external disturbances and device limitations. Simulation results demonstrate the effectiveness of the proposed approach.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"10 ","pages":"37-42"},"PeriodicalIF":2.0,"publicationDate":"2026-01-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146175707","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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