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Disturbance-Induced Fault Detection of Boolean Control Networks 布尔控制网络的扰动诱发故障检测
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-11 DOI: 10.1109/LCSYS.2025.3597671
Shenglin Zhang;Yan Wang;Xiang Liu;Zhicheng Ji
{"title":"Disturbance-Induced Fault Detection of Boolean Control Networks","authors":"Shenglin Zhang;Yan Wang;Xiang Liu;Zhicheng Ji","doi":"10.1109/LCSYS.2025.3597671","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3597671","url":null,"abstract":"This letter investigates the fault detection problem of Boolean control networks (BCNs) induced by disturbance nodes. Firstly, the state transition matrix of the BCNs is decomposed into an interpretable sub-block structure, based on which a stability criterion for the system state space is formulated. By analyzing the mapping between input nodes and sub-blocks, a new anti-disturbance matrix is constructed to solve the system disturbance problem. Subsequently, a rank-based fault detection method is proposed, together with a verification matrix that enables the identification of disturbance-induced faults in the BCNs. Compared with existing methods, our approach significantly reduces the space complexity. Finally, the effectiveness and practicality of the proposed method are validated through an industrial sorting and packaging case study.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2109-2114"},"PeriodicalIF":2.0,"publicationDate":"2025-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144896797","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
Robust Adaptive Nonlinear KF Under Hierarchically Gaussian Outliers 层次高斯离群值下的鲁棒自适应非线性KF
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-11 DOI: 10.1109/LCSYS.2025.3597306
Haoqing Li;Jordi Vilà-Valls;Pau Closas
{"title":"Robust Adaptive Nonlinear KF Under Hierarchically Gaussian Outliers","authors":"Haoqing Li;Jordi Vilà-Valls;Pau Closas","doi":"10.1109/LCSYS.2025.3597306","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3597306","url":null,"abstract":"Standard state estimation techniques are designed under the assumption that the system is perfectly known, which does not typically hold in practice. Under model mismatch the filter performance is significantly degraded, reason why robust estimators are relevant. In this contribution we address the nonlinear filtering problem under outliers, for which a skewed Gaussian scale mixture distribution is considered to obtain a flexible description that allows for a conditionally Gaussian representation. A variational Bayesian approach is used to approximate the joint posterior distribution of the states and latent variables, designing a robust nonlinear filter, where the skewness parameters are estimated by online expectation-maximization. An illustrative navigation example is provided to show the new filter’s advantages and limitations.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2121-2126"},"PeriodicalIF":2.0,"publicationDate":"2025-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144909200","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
Force-Dependent Variable Impedance Controller for Contact-Rich Tasks Under Reference Trajectory Uncertainty 参考轨迹不确定条件下多接触任务的力相关变阻抗控制器
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-11 DOI: 10.1109/LCSYS.2025.3597334
Kithmi N. D. Widanage;Rizuwana Parween;Hareesh Godaba;Nicolas Herzig;Romeo Glovnea;Yanan Li
{"title":"Force-Dependent Variable Impedance Controller for Contact-Rich Tasks Under Reference Trajectory Uncertainty","authors":"Kithmi N. D. Widanage;Rizuwana Parween;Hareesh Godaba;Nicolas Herzig;Romeo Glovnea;Yanan Li","doi":"10.1109/LCSYS.2025.3597334","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3597334","url":null,"abstract":"In robotic manipulation, performing force-tracking tasks in an uncertain environment poses the risk of the robot and the environment encountering high contact forces. While learning control methods are used when interacting with uncertain environments, the robots generally take some time to learn the correct reference path in such scenarios. During this process, it is important to reduce the contact forces until the environment properties are learned to ensure the safety of the interaction. To this end, this letter proposes a force-dependent variable impedance controller (FVIC) that provides compliance in the presence of reference uncertainty and improves the position tracking accuracy as the certainty of the reference position increases. In this FVIC, the stiffness and damping of the robot are defined as functions of force and force rate, respectively, to ensure compliance and stability. The proposed method is validated via simulations and experiments conducted using the Kinova Gen3 7DOF robot. The results show that, unlike the traditional variable impedance control (VIC) methods, this method ensures stability without compromising the desired impedance characteristics. It is further demonstrated that with this method, the contact forces can be maintained significantly low when there’s a reference uncertainty, thus ensuring safety.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2279-2284"},"PeriodicalIF":2.0,"publicationDate":"2025-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145255866","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
Optimal Fidelity Selection for Human-Supervised Search 人类监督搜索的最优保真度选择
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-11 DOI: 10.1109/LCSYS.2025.3597693
Piyush Gupta;Vaibhav Srivastava
{"title":"Optimal Fidelity Selection for Human-Supervised Search","authors":"Piyush Gupta;Vaibhav Srivastava","doi":"10.1109/LCSYS.2025.3597693","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3597693","url":null,"abstract":"We study optimal fidelity selection in human-supervised underwater visual search, where operator performance is influenced by cognitive factors such as workload. In our experiments, participants perform two simultaneous tasks: detecting underwater mines in videos (primary) and responding to a visual cue to estimate workload (secondary). Videos arrive as a Poisson process and queue for review, with the operator choosing between normal fidelity (faster playback) and high fidelity. Rewards depend on detection accuracy, while penalties are tied to queue length. Workload is modeled as a hidden state using an Input-Output Hidden Markov Model, and fidelity selection is optimized via a Partially Observable Markov Decision Process. We evaluate two setups: fidelity-only selection and a version that also allows task delegation to automation for queue stability. Our approach improves performance by 26.5% without delegation and 50.3% with delegation, compared to a baseline where humans manually select fidelity.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2291-2296"},"PeriodicalIF":2.0,"publicationDate":"2025-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11122548","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145255868","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
A Low-Complexity Adaptive Performance Control Scheme for Unknown Nonlinear Systems Subject to Input Saturation 输入饱和未知非线性系统的低复杂度自适应性能控制方法
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-11 DOI: 10.1109/LCSYS.2025.3597302
Athanasios K. Gkesoulis;Charalampos P. Bechlioulis
{"title":"A Low-Complexity Adaptive Performance Control Scheme for Unknown Nonlinear Systems Subject to Input Saturation","authors":"Athanasios K. Gkesoulis;Charalampos P. Bechlioulis","doi":"10.1109/LCSYS.2025.3597302","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3597302","url":null,"abstract":"This letter proposes a novel low-complexity adaptive performance control framework for uncertain nonlinear systems subject to input saturation. The proposed approach dynamically adjusts prescribed performance bounds online using a simple, low-complexity adaptation mechanism, eliminating the need for complex gain tuning and divisions with error signals. Explicit closed-form analytical bounds for tracking errors and input feasibility conditions are provided, ensuring both stability and prescribed performance despite input limitations. Simulation results clearly demonstrate the effectiveness, simplicity, and applicability of the proposed control strategy.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2115-2120"},"PeriodicalIF":2.0,"publicationDate":"2025-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144904876","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
Decomposition-Based MPC for Uncertain Systems With Nested Signal Temporal Logic Specifications 具有嵌套信号时序逻辑规范的不确定系统的基于分解的MPC
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-06 DOI: 10.1109/LCSYS.2025.3596501
Jiarui Zhang;Penghong Lu;Gang Chen
{"title":"Decomposition-Based MPC for Uncertain Systems With Nested Signal Temporal Logic Specifications","authors":"Jiarui Zhang;Penghong Lu;Gang Chen","doi":"10.1109/LCSYS.2025.3596501","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3596501","url":null,"abstract":"In this letter, we tackle the complex problem of control synthesis for uncertain systems with dynamically nested tasks represented by signal temporal logic (STL) specifications. Traditional temporal logic control approaches typically consider non-nested specifications under deterministic systems, thereby limiting their applicability in more complex environments. To overcome these limitations, we propose a decomposition-based model predictive control (MPC) framework designed for linear systems affected by additive, bounded stochastic disturbances. Our approach first decomposes each nested STL specification into a series of atomic subtasks through nested specification resolution (NSR) approach, then we adopt a distributed shrinking horizon MPC (dSHMPC) strategy for each subtask to improve computational efficiency. The efficacy of the proposed method is illustrated through a robot simulation scenario.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2103-2108"},"PeriodicalIF":2.0,"publicationDate":"2025-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891263","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
Resilient Consensus Control With Privacy Protection for Battery Energy Storage Systems 具有隐私保护的电池储能系统弹性共识控制
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-06 DOI: 10.1109/LCSYS.2025.3596499
Shiheng Zhang;Yiding Ji
{"title":"Resilient Consensus Control With Privacy Protection for Battery Energy Storage Systems","authors":"Shiheng Zhang;Yiding Ji","doi":"10.1109/LCSYS.2025.3596499","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3596499","url":null,"abstract":"Battery Energy Storage Systems (BESS) have become essential for balancing power supply and demand through dynamic adjustments in charging and discharging. However, their integration into public networks exposes them to vulnerabilities, including adversarial attacks and privacy breaches, which threats system stability and coordination of agents. To mitigate these challenges, this letter presents a distributed resilient consensus algorithm that integrates Mean-Subsequence-Reduced techniques with Differential Privacy within a leader-follower framework. Our proposed approach ensures robust consensus on State-of-Charge, accurate demand tracking, and equitable power distribution while safeguarding the privacy of initial states, even in the presence of malicious nodes. For this purpose, we also introduce an error tracking factor to guarantee the accuracy of demand tracking. Our algorithm is provably correct since it is proven to converge with differential privacy preserved for the whole BESS privacy preserved. Numerical simulations further substantiate its performance of resilient and secure demand tracking in practical scenarios.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2133-2138"},"PeriodicalIF":2.0,"publicationDate":"2025-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144918329","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
Deep Neuro-Adaptive Sliding Mode Controller for Higher-Order Heterogeneous Nonlinear Multi-Agent Teams With Leader 具有领导者的高阶非均匀非线性多智能体团队的深度神经自适应滑模控制器
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-04 DOI: 10.1109/LCSYS.2025.3595174
Khushal Chaudhari;Krishanu Nath;Manas Kumar Bera
{"title":"Deep Neuro-Adaptive Sliding Mode Controller for Higher-Order Heterogeneous Nonlinear Multi-Agent Teams With Leader","authors":"Khushal Chaudhari;Krishanu Nath;Manas Kumar Bera","doi":"10.1109/LCSYS.2025.3595174","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3595174","url":null,"abstract":"This letter proposes a deep neural network (DNN)-based neuro-adaptive sliding mode control (SMC) strategy for leader-follower tracking in multi-agent systems with higher-order, heterogeneous, nonlinear, and unknown dynamics under external disturbances. The DNN is used to compensate the unknown nonlinear dynamics with higher accuracy than shallow neural networks (NNs) and SMC ensures robust tracking. This framework employs restricted potential functions within a set-theoretic paradigm to ensure system trajectories remain bounded within a compact set, improving robustness against approximation errors and external disturbances. The control scheme is grounded in non-smooth Lyapunov stability theory, with update laws derived for both inner and outer layer network weights of DNN. A numerical example is simulated that showcases the proposed controller’s effectiveness, adaptability, and robustness.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2297-2302"},"PeriodicalIF":2.0,"publicationDate":"2025-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145255860","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
Global Stabilization of Strict-Feedback Nonlinear Systems With Application to Circuits: An Intermittent Impulsive Control Approach 应用于电路的严格反馈非线性系统的全局镇定：一种间歇脉冲控制方法
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-04 DOI: 10.1109/LCSYS.2025.3595567
Weihao Pan;Yiyu Feng;Le Chang;Xianfu Zhang
{"title":"Global Stabilization of Strict-Feedback Nonlinear Systems With Application to Circuits: An Intermittent Impulsive Control Approach","authors":"Weihao Pan;Yiyu Feng;Le Chang;Xianfu Zhang","doi":"10.1109/LCSYS.2025.3595567","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3595567","url":null,"abstract":"This letter develops an intermittent impulsive control (IIC) approach for the global stabilization of strict-feedback nonlinear systems (SFNSs). In particular, the impulsive actuation instants are determined by a dynamic event-triggered mechanism (ETM). Furthermore, the impulsive controller remains inactive during a specific time window (i.e., the rest interval), as well as between consecutive impulse moments. Utilizing high-gain scaling techniques and Lyapunov stability analysis, it is proven that the proposed IIC scheme can achieve the global asymptotic stabilization of SFNSs while avoiding the occurrence of Zeno behavior. Unlike continuous control and traditional ETM-based impulsive control, the IIC framework established in this letter shows a significant advantage by eliminating the need for both continuous control implementation and persistent state monitoring. Moreover, the theoretical validity of the IIC approach is demonstrated through a practical circuit system.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2079-2084"},"PeriodicalIF":2.0,"publicationDate":"2025-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144887765","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
On Krylov Subspace Implementation of ParaExp for Linear Switched Systems 线性切换系统ParaExp的Krylov子空间实现
IF 2
IEEE Control Systems Letters Pub Date : 2025-08-04 DOI: 10.1109/LCSYS.2025.3595189
Ren-Hao Zhang;Jun Li;Yao-Lin Jiang
{"title":"On Krylov Subspace Implementation of ParaExp for Linear Switched Systems","authors":"Ren-Hao Zhang;Jun Li;Yao-Lin Jiang","doi":"10.1109/LCSYS.2025.3595189","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3595189","url":null,"abstract":"A direct time-parallel time domain simulation algorithm based on ParaExp with Krylov subspace implementation for the large-scale linear switched systems (LSSs) is studied in this letter. It is built upon the superposition principle that the LSSs can be decoupled into independent subsystems consisting of homogeneous and inhomogeneous subproblems. The states of these independent subsystems are approximated by the residual-based shift-and-invert (SAI) Krylov subspace methods, and this time-parallel algorithm can thus be regarded as a parallel Krylov subspace approximation algorithm for LSSs. We demonstrate the efficiency of the proposed algorithm with numerical experiments.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2085-2090"},"PeriodicalIF":2.0,"publicationDate":"2025-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891006","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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