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Structure-Preserving Unscented Kalman Filter for Planar Mobile Robots 平面移动机器人的保结构无气味卡尔曼滤波
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-22 DOI: 10.1109/LCSYS.2025.3601664
Tianzhi Li;Jinzhi Wang;Zhisheng Duan
{"title":"Structure-Preserving Unscented Kalman Filter for Planar Mobile Robots","authors":"Tianzhi Li;Jinzhi Wang;Zhisheng Duan","doi":"10.1109/LCSYS.2025.3601664","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3601664","url":null,"abstract":"Constrained robots play an important role in industrial processes and delivery tasks. To improve the numerical accuracy of robot state estimation, many filtering methods including the well-known unscented Kalman filter (UKF) have been widely studied. However, most conventional propagation schemes in UKF are based on a direct discretization of the continuous-time equations, which suffer from the problem of ignoring physical structures and properties of a robot (such as physical constraints, energy conservation, and manifold structure preservation) due to the numerical dissipation of the time discretization scheme. In this letter, we introduce a structure-preserving unscented Kalman filter (SP-UKF) for mobile robots. By using differential geometry, the resulting time propagation step of the proposed filter shows the benefit of preserving the no-slip constraint of a mobile robot and at the same time respecting key structures and physical laws of the system. Numerical results validate the efficiency and the structure-preserving properties of the proposed approach.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2157-2162"},"PeriodicalIF":2.0,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145005474","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
Time Delay Control for Robot Manipulators With Prescribed Performance 具有预定性能的机械臂时滞控制
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-22 DOI: 10.1109/LCSYS.2025.3601662
Pu Yang;Haifeng Zhang;Xiang Meng;Qinchuan Li
{"title":"Time Delay Control for Robot Manipulators With Prescribed Performance","authors":"Pu Yang;Haifeng Zhang;Xiang Meng;Qinchuan Li","doi":"10.1109/LCSYS.2025.3601662","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3601662","url":null,"abstract":"This letter proposes a novel prescribed performance time delay control (PTDC) strategy for trajectory tracking in robot manipulators with uncertain dynamics. By integrating prescribed performance control (PPC) into the time delay control (TDC) framework, the proposed PTDC ensures prescribed performance, featuring bounded transient behavior with low overshoot and improved steady-state accuracy, without requiring detailed knowledge of system dynamics. The control algorithm features a simple structure, low computational overhead, and easy deployment on real-time robotic platforms. Lyapunov’s stability theory and Barbalat’s lemma are applied to rigorously prove global asymptotic stability and prescribed performance guarantees. Both simulations and SCARA robot experiments demonstrate that PTDC significantly outperforms existing TDC schemes in position tracking accuracy and transient performance.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2205-2210"},"PeriodicalIF":2.0,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145141709","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
Input-Output Extension of Underactuated Nonlinear Systems 欠驱动非线性系统的输入-输出扩展
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-22 DOI: 10.1109/LCSYS.2025.3601657
Mirko Mizzoni;Amr Afifi;Antonio Franchi
{"title":"Input-Output Extension of Underactuated Nonlinear Systems","authors":"Mirko Mizzoni;Amr Afifi;Antonio Franchi","doi":"10.1109/LCSYS.2025.3601657","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3601657","url":null,"abstract":"This letter proposes a method to integrate auxiliary actuators that enhance the task-space capabilities of commercial underactuated systems leaving internal certified low-level controller untouched. The additional actuators are combined with a feedback-linearizing outer loop controller, enabling full-pose tracking. We provide the conditions under which legacy high-level commands and new actuator inputs can be cohesively coordinated to achieve decoupled control of all degrees of freedom. A comparative study with a standard quadrotor–originally not designed for physical interaction–demonstrates that the proposed modified platform remains stable under contact, while the baseline system diverges. Additionally, simulation results under parameter uncertainty illustrate the approach’s robustness.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2163-2168"},"PeriodicalIF":2.0,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145011314","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
Social Planning With the Replicator Dynamics 与复制动力学的社会规划
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-19 DOI: 10.1109/LCSYS.2025.3600384
Anand Siththaranjan;Claire J. Tomlin
{"title":"Social Planning With the Replicator Dynamics","authors":"Anand Siththaranjan;Claire J. Tomlin","doi":"10.1109/LCSYS.2025.3600384","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3600384","url":null,"abstract":"Approaches to social planning tend to assume that the behaviour of agents is at an equilibrium, yet in practice people’s behaviour gradually adapts to their experiences. In this letter, a model of social planning under the replicator dynamics is studied. This model allows for a social planner to control the learning process of agents by influencing the relative fitness of different strategies. The desiderata that such a social planner would ideally achieve – exponential stability and budget-balance – are described. Existence of a solution for any full-support distribution, as well as an analysis of its properties, are shown constructively by leveraging classical tools from geometric control theory. Though the solution is optimal in an environment without transfer costs, this may not generally hold otherwise. We formulate a relevant optimal control problem to model this setting, and determine performance guarantees based in our original solution.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2139-2144"},"PeriodicalIF":2.0,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144934399","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 Multi-Agent Target Tracking on Riemannian Manifolds via Sliding Mode Control 滑模控制黎曼流形的有限时间多智能体目标跟踪
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-18 DOI: 10.1109/LCSYS.2025.3599726
Hyunjin Ahn
{"title":"Finite-Time Multi-Agent Target Tracking on Riemannian Manifolds via Sliding Mode Control","authors":"Hyunjin Ahn","doi":"10.1109/LCSYS.2025.3599726","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3599726","url":null,"abstract":"This letter investigates a novel control strategy for finite-time target tracking on Riemannian manifolds, building upon the asymptotic tracking dynamics proposed in existing works. While conventional geometric feedback controllers guarantee asymptotic convergence to the target, such approaches may fall short in practical scenarios where finite-time convergence is desired. To address this limitation, we incorporate a sliding mode control (SMC) mechanism into the existing geometric dynamics to enable finite-time convergence to a preassigned target on Riemannian manifolds. The proposed feedback controller is intrinsically defined with respect to the underlying manifold geometry and ensures rapid convergence. Numerical simulations are presented to validate the theoretical findings. This letter provides a new theoretical framework for finite-time target tracking in Riemannian geometric settings.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2151-2156"},"PeriodicalIF":2.0,"publicationDate":"2025-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145005456","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
Least Squares Identification and Adaptive Control of Stochastic High-Order Nonlinear Systems 随机高阶非线性系统的最小二乘辨识与自适应控制
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-18 DOI: 10.1109/LCSYS.2025.3599721
Wuquan Li;Yuke Li;Hui Wang
{"title":"Least Squares Identification and Adaptive Control of Stochastic High-Order Nonlinear Systems","authors":"Wuquan Li;Yuke Li;Hui Wang","doi":"10.1109/LCSYS.2025.3599721","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3599721","url":null,"abstract":"This letter investigates the least-squares identification and adaptive control problem for stochastic high-order nonlinear systems. Noting that none of the existing adaptive designs on stochastic high-order nonlinear systems considers least-squares identification, the merits of our design are that all parameter estimates converge at similar rates, leading to more stable and predictable system behavior. Specifically, we first propose a novel least-squares identification method that uses an unfiltered regressor, then a new adaptive controller is designed to ensure that all system states converge to zero almost surely and that the closed-loop system is globally stable in probability. Moreover, by selecting appropriate estimator parameters, the convergence of the proposed estimator is ensured. Finally, two simulation examples, including Chua’s circuit system, are provided to validate the effectiveness of the proposed designs.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2145-2150"},"PeriodicalIF":2.0,"publicationDate":"2025-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144934534","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
Online Safety Under Multiple Constraints and Input Bounds Using gatekeeper: Theory and Applications 多约束和输入边界下的网络安全：理论与应用
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-18 DOI: 10.1109/LCSYS.2025.3599718
Devansh R. Agrawal;Dimitra Panagou
{"title":"Online Safety Under Multiple Constraints and Input Bounds Using gatekeeper: Theory and Applications","authors":"Devansh R. Agrawal;Dimitra Panagou","doi":"10.1109/LCSYS.2025.3599718","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3599718","url":null,"abstract":"This letter presents an approach to guarantee online safety of a cyber-physical system under multiple state and input constraints. Our proposed framework, called <monospace>gatekeeper</monospace>, recursively guarantees the existence of an infinite-horizon trajectory that satisfies all constraints and system dynamics. Such trajectory is constructed using a backup controller, which we define formally in this letter. <monospace>gatekeeper</monospace> relies on a small number of verifiable assumptions, and is computationally efficient since it requires optimization over a single scalar variable. We make two primary contributions in this letter. (A) First, we develop the theory of <monospace>gatekeeper</monospace>: we derive a sub-optimality bound relative to a full nonlinear trajectory optimization problem, and show how this can be used in runtime to validate performance. This also informs the design of the backup controllers and sets. (B) Second, we demonstrate in detail an application of <monospace>gatekeeper</monospace> for multi-agent formation flight, where each Dubins agent must avoid multiple obstacles and weapons engagement zones, both of which are nonlinear, nonconvex constraints.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2309-2314"},"PeriodicalIF":2.0,"publicationDate":"2025-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145255842","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
Anti-Windup Adaptive PID Control for Trajectory Tracking in Input-Constrained Power Converters 输入受限功率变换器轨迹跟踪的抗绕组自适应PID控制
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-12 DOI: 10.1109/LCSYS.2025.3597926
Mizraim Martinez-Lopez;Michele Cucuzzella;Josep M. Guerrero;Javier Moreno-Valenzuela
{"title":"Anti-Windup Adaptive PID Control for Trajectory Tracking in Input-Constrained Power Converters","authors":"Mizraim Martinez-Lopez;Michele Cucuzzella;Josep M. Guerrero;Javier Moreno-Valenzuela","doi":"10.1109/LCSYS.2025.3597926","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3597926","url":null,"abstract":"This letter presents a novel anti-windup adaptive PID controller for trajectory tracking in input-constrained DC-DC buck converters supplying resistive and current loads under parametric uncertainty. The proposed control scheme extends the classical PID architecture by incorporating nonlinear integral action, an adaptive law for online parameter estimation, and a back-calculation-based anti-windup mechanism to address actuator saturation. A Lyapunov-based design framework is employed to establish global asymptotic stability, even in the presence of time-varying references and saturation constraints. Notably, anti-windup strategies grounded in Lyapunov theory for time-varying nonlinear systems are seldom available, making this contribution a significant advancement. Experimental validation on a laboratory buck converter confirms improved tracking accuracy and transient performance compared to conventional PID control, particularly under aggressive parameter variations and saturation-induced nonlinearities.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2187-2192"},"PeriodicalIF":2.0,"publicationDate":"2025-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145061977","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
Erratum to “Leader-Centric Time-Varying Formation Tracking Control for Multi-Agent Systems via Event-Triggered Mechanism” “基于事件触发机制的多智能体系统以领导者为中心的时变队形跟踪控制”的勘误
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-12 DOI: 10.1109/LCSYS.2025.3595662
Ankush Thakur;Ravi Kiran Akumalla;Tushar Jain
{"title":"Erratum to “Leader-Centric Time-Varying Formation Tracking Control for Multi-Agent Systems via Event-Triggered Mechanism”","authors":"Ankush Thakur;Ravi Kiran Akumalla;Tushar Jain","doi":"10.1109/LCSYS.2025.3595662","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3595662","url":null,"abstract":"Presents corrections to the paper, (Erratum to “Leader-Centric Time-Varying Formation Tracking Control for Multi-Agent Systems via Event-Triggered Mechanism”).","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2024-2024"},"PeriodicalIF":2.0,"publicationDate":"2025-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11122898","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144831780","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
Random Reverse Multi-Encoding Mechanism on Remote State Estimation 远程状态估计的随机反向多重编码机制
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-12 DOI: 10.1109/LCSYS.2025.3597918
Jie Wang;Wen Yang;Longyu Li;Shiyu Jin
{"title":"Random Reverse Multi-Encoding Mechanism on Remote State Estimation","authors":"Jie Wang;Wen Yang;Longyu Li;Shiyu Jin","doi":"10.1109/LCSYS.2025.3597918","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3597918","url":null,"abstract":"This letter studies a reverse multi-encoding mechanism based on Markov model to resist eavesdropping attacks for remote state estimation in cyber-physical systems. The innovation is transmitted between the sensor and the remote state estimation over insecure and unreliable networks. An eavesdropper collects the transmitted innovation data from the eavesdropping network. To maintain the confidentiality of the transmitted innovation, a reverse multi-encoding mechanism based on Markov model is proposed to resist eavesdropping attacks, where the Markov model is pre-set at the sensor and remote state estimation. Based on the open-loop performance and the Markov model, a lower bound on the transmission probability of the encoded innovation is given, which can effectively ensure that the estimation error covariance for the eavesdropper is higher than that for the legitimate user. An uncrewed aerial vehicle is used to illustrate the effectiveness and practicality of the proposed reverse multi-encoding mechanism based on the Markov model.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2127-2132"},"PeriodicalIF":2.0,"publicationDate":"2025-08-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144914178","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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