International Journal of Robust and Nonlinear Control最新文献

{"title":"Nonlinear Control for Biomedical Applications","authors":"Marcello Bonfè, Saverio Farsoni, Elisabeth Wilhelm","doi":"10.1002/rnc.8033","DOIUrl":"https://doi.org/10.1002/rnc.8033","url":null,"abstract":"<p>Access to adequate health care is essential for humans. However, many healthcare systems around the world are under pressure trying to answer to a growing need with limited financial and personal resources. Modern medical devices can help to reduce the work load of clinical staff and enable more sophisticated treatment options [<span>1</span>]. However, even though biophysiological signals and biomechanics of the human body express nonlinear behavior, many medical devices for clinical practice still rely on simplified linear equations. The purpose of this special issue is to highlight how non-linear control can contribute to innovate and improve healthcare.</p><p>The first topic that emerged from the papers in this special issue was the usage of non-linear control methods for system identification or more particular to derive more information about the human body and its interaction with medical devices [<span>2, 3</span>]. Zhu et al. demonstrate how an Hunt Crossley contact model with an iterated Kalman filter can be used to identify tissue properties from the contact forces between a robotic manipulator and the human body. This technique is a first promising step on the way towards realistic haptic real time feedback in robot assisted minimal invasive surgery [<span>3</span>]. The paper “Nonlinear control of a hybrid pneumo-hydraulic mock circuit of the cardiovascular system” by Alhajyounis et al. moves the usage of non-linear control to the test-bench. They employed the Lyapunov stability criterion to control the non-linear pneumatic part of a test bench that simulates the cardio-vascular system of the human body. In in silico test they demonstrate that they could simulate the behavior of normal, failing, and assisted cardiovascular function with high accuracy [<span>2</span>]. Test benches that correctly represent human anatomy, such as the one explored in the work of Alhajyounis et al., are urgently needed to reduce the need of animal testing and shorten the time to market for medical devices.</p><p>The second topic in which nonlinear control plays a crucial role is simulation based optimization of pharmacokinetic processes [<span>4-6</span>]. Real-time prediction of the reaction of the body on a medication scheme is especially crucial in anesthesiology where combinations of multiple drugs are used to exploit synergistic effects that improve efficiency and reduce toxicity [<span>7</span>]. Sandre-Hernandez et al. demonstrate that it is possible to model a system that controls for the depth of the hypnosis in a multi-drug regime. To model the complex system they apply multiple-input and multiple output predictive modeling. By utilizing an exponential cost function and solving the optimization problem with quadratic programming they arrive at a model that satisfies the control objective in a simulation based on data from 12 patients [<span>5</span>]. Pawloski et al. report how depth of hypnosis can be controlled using an event-based general","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 10","pages":"3947-3948"},"PeriodicalIF":3.2,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rnc.8033","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144206956","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Distributed Secure Observer-Based Adaptive Consensus Tracking Control for Uncertain Non-Linear Multi-Agent Systems Under Dos Attacks","authors":"Yuzhang Peng,&nbsp;Mengze Yu,&nbsp;Wei Wang,&nbsp;Zhenqian Wang","doi":"10.1002/rnc.7928","DOIUrl":"https://doi.org/10.1002/rnc.7928","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, we investigate the adaptive secure consensus tracking control problem for a class of heterogeneous non-linear multi-agent systems with uncertain time-varying parameters against denial of service (DoS) attacks. Under DoS attacks, where the leader's dynamics and states are only known to a subset of the followers (subsystems), achieving leader-following consensus poses a significant challenge, as not all followers can obtain the reference signal in this case. To solve this issue, a novel distributed fixed-time estimator is designed to estimate the uncertainties involved in the leader's dynamics. By applying average dwell time theory and switching mechanism, a distributed resilient observer is designed to obtain the leader's states without any global information under the threat of attacks. Subsequently, an adaptive backstepping-based controller is designed to achieve consensus tracking for a class of high-order non-linear systems with time-varying uncertain parameters. It is demonstrated that, if the attack duration meets the specified limits, all estimation errors of the leader's dynamics converge to zero within a fixed time, and all observation and tracking errors remain globally uniformly bounded. Simulation results are provided to illustrate the effectiveness of the proposed control scheme.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4624-4637"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300074","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Adaptive Event-Triggered Sliding-Mode Fault-Tolerant Consensus Control for Nonlinear Multi-Agent Systems With Unknown Perturbations","authors":"Chunsong Han,&nbsp;Kang Wang,&nbsp;Tengyu Ma,&nbsp;Guangtao Ran,&nbsp;Juntao Pan","doi":"10.1002/rnc.7968","DOIUrl":"https://doi.org/10.1002/rnc.7968","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper researched the robust sliding mode fault-tolerant consensus problem for uncertain second-order leader-following nonlinear multiagent systems (MASs) based on event-triggered strategies. First, an adaptive event-triggered sliding mode fault-tolerant controller was constructed by using the information of actuator failure rate and event-triggered threshold to ensure the robust consensus of MASs, optimize the performance under variable conditions, and reduce actuator degradation and overutilization of network resources. Additionally, the range of the sliding mode band is determined. Second, by employing the Lyapunov stability theory, a sufficient condition for the performance of leader-following nonlinear MASs adaptive tracking was given. And through constructing an equivalent connection, an upper bound for the robust consensus error is also provided. Third, the minimum execution time for event triggering in second-order leader-following MASs is computed. Finally, the simulation results validate the effectiveness of the suggested method for achieving fault-tolerant consensus using event-triggered SMC.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5133-5145"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624868","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Optimal Event-Triggered Consensus for Unknown Input-Constrained MASs via Cooperative Regression Reinforcement Learning","authors":"Lina Xia,&nbsp;Qing Li,&nbsp;Ruizhuo Song","doi":"10.1002/rnc.7961","DOIUrl":"https://doi.org/10.1002/rnc.7961","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper investigates the consensus problem of unknown input-constrained nonlinear heterogeneous multi-agent systems (MASs) and proposes an optimal dynamic event-triggered control protocol based on a cooperative regression reinforcement learning (CRRL) algorithm. First, two neural networks (NNs) for each agent are used to approximate the system's dynamics model information. The designed identifier incorporates a compensation dynamic parameter and a compensation matrix, resulting in faster identification speed. Additionally, using an actor-critic structure, the event-triggered control and dynamic triggering conditions are designed, which does not exist in Zeno behavior. Subsequently, a CRRL algorithm is developed to ensure that the constant weight updating error is uniformly ultimately bounded and the consensus error asymptotically converges to zero. Notably, this algorithm relaxes the persistent excitation condition. Finally, the effectiveness and superiority of the proposed theoretical algorithm are validated through inverted pendulum systems and 2-DOF robots.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5043-5060"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624869","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Event-Based Containment Control for Homogeneous/Heterogeneous Multi-Agent System Under Aperiodic Dos Attack","authors":"Jiao Liu,&nbsp;Xin Wang,&nbsp;Jun Ren,&nbsp;Hongchao Li","doi":"10.1002/rnc.7964","DOIUrl":"https://doi.org/10.1002/rnc.7964","url":null,"abstract":"<div>\u0000 \u0000 <p>The containment problem of multi-agent system (MAS) under a class of aperiodic denial-of-service (DoS) attack is discussed. Based on switching theory, the system subject to DoS attack is modeled as a new model containing closed-loop and open-loop subsystems. Aiming at the homogeneous MAS, a distributed event-triggered strategy and a state feedback controller are proposed to realize the state containment. Subsequently, it is demonstrated that the triggering condition proposed in this paper can avoid Zeno behavior. Furthermore, for heterogeneous MAS, containment control in the attack environment is investigated based on output regulation theory. The leaders are treated as reference system, and an output feedback controller is proposed that relies on the observed state and reference system state. Finally, simulation examples of homogeneous and heterogeneous MAS are provided to verify the effectiveness of the results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5094-5107"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624864","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Input-Bounded Displacement-Style Formation Control","authors":"Yeong-Ung Kim,&nbsp;Hyo-Sung Ahn,&nbsp;Young-Hun Lim","doi":"10.1002/rnc.7975","DOIUrl":"https://doi.org/10.1002/rnc.7975","url":null,"abstract":"<div>\u0000 \u0000 <p>This article introduces input-bounded displacement-style formation control methods for multiagent systems modeled by single- and double-integrator dynamics with input saturation. Displacement-based formation control, which relies on relative positions between agents, is extended by incorporating orientation estimation. The proposed control laws ensure that the agents achieve the desired formations while maintaining bounded inputs to avoid input saturation. Under the condition of a strongly connected and detailed balanced graph, we prove that the multiagent systems globally asymptotically converge to the desired formation up to the translation and rotation with bounded input when the orientation estimations reach consensus. The simulation results of the formation control have been provided to validate the theoretical results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5296-5305"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624870","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Prescribed-Time Bipartite Formation Control for Heterogeneous UGVs–UAVs Systems With Improved Extended State Observers","authors":"Yingjiang Zhou,&nbsp;Shaojun Zhou,&nbsp;Guoping Jiang,&nbsp;Cheng Hu,&nbsp;Chaoxu Mu","doi":"10.1002/rnc.7972","DOIUrl":"https://doi.org/10.1002/rnc.7972","url":null,"abstract":"<div>\u0000 \u0000 <p>This article aims to address two challenging issues in heterogeneous systems composed of unmanned aerial vehicles (UAV) and unmanned ground vehicles (UGV): 1) compensating for system disturbances within prescribed-time and 2) maintain the non-zero speed of heterogeneous UAVs and UGVs system(HUUS) under complex constraints. The main difficulty lies in how to effectively compensate for external disturbances and internal unknown dynamics within prescribed-time while satisfying constraints, and simultaneously ensuring that the HUUS maintains non-zero velocity. To overcome these challenges, an improved prescribed-time extended state observer (PTESO) is proposed in this article. This observer can estimate uncertainties and disturbances, with the convergence time that can be pre-adjusted independently of initial conditions. By adopting an improved time-varying function as the PTESO gain, the transient peak phenomenon caused by excessive gain is avoided. To make the formation error converge within prescribed-time without violating error constraints, a time-varying barrier Lyapunov function is introduced in the control strategy, a prescribed-time bipartite formation control strategy based on the extended state observer is proposed. Furthermore, to address the problem that the speed tends to zero in the cross-dimensional model system, a comprehensive dynamic model of HUUS is derived, ensuring that the system velocity maintains the value. Compared with existing schemes, the proposed observer and controller demonstrate faster and more stable convergence performance. Finally, the effectiveness of the designed method is verified through simulation examples, proving the significant improvement in robustness and dynamic response capability of HUUS.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5183-5195"},"PeriodicalIF":3.2,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Disturbance-State-Based Event-Triggered Model Predictive Tracking Control for 4WIS-4WID Mobile Robot","authors":"Xiaosheng Sun,&nbsp;Yan-Jun Liu,&nbsp;Shu Li,&nbsp;Mou Chen,&nbsp;Lei Liu,&nbsp;Jason J. R. Liu","doi":"10.1002/rnc.7967","DOIUrl":"https://doi.org/10.1002/rnc.7967","url":null,"abstract":"<div>\u0000 \u0000 <p>Due to disturbances caused by ground environment uncertainty and noise, as well as the influence of model uncertainty, these effects lead to tracking error in the actual state, which in turn affects the design of the robot controller. To address this issue in the 4-Wheel Independent Steering and 4-Wheel Independent Driving (4WIS-4WID) robot system, a disturbance-state-based event-triggered Model Predictive Control (EMPC) algorithm was proposed in this paper. To address disturbances while ensuring the accuracy of the system state, a nonlinear extended state observer (NESO) is designed to concurrently estimate the state and perturbation of the 4WIS-4WID mobile robot. An event-triggered mechanism (ETM) is implemented with the state and disturbance observations from NESO, aiming to minimize the frequency of controller and alleviate the computational workload of the system. The simulation shows that the disturbance-state-based EMPC can achieve well tracking performance and lessening the computational load of the robot.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5122-5132"},"PeriodicalIF":3.2,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Dynamic-Memory Event-Triggered-Based Optimal 3D Path-Following Control for AUV Systems Under Sparse Sensor Attacks","authors":"Ziyi Qiu,&nbsp;Yingnan Pan,&nbsp;Zhechen Zhu,&nbsp;Yan Lei","doi":"10.1002/rnc.7980","DOIUrl":"https://doi.org/10.1002/rnc.7980","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper designs an optimal three-dimensional path-following control scheme for the underactuated autonomous underwater vehicle (AUV) incorporating a novel dynamic memory event-triggered mechanism (DMETM) against sparse sensor attacks. To address system state measurement errors and disturbances caused by sparse sensor attacks leading to a decrease in control effectiveness, an improved estimation algorithm is proposed, which can estimate the outputs of sensors under attacks and reduce the impact of disturbances. In order to reduce the impact of unqualified data on AUV system performance, based on the improved estimation algorithm, additional judging conditions are introduced in DMETM ensuring the accuracy of triggers. The results of stability analysis show all signals in the AUV system are bounded. Finally, some simulation results display the effectiveness of the proposed control scheme.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5260-5273"},"PeriodicalIF":3.2,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624876","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Distributed Stochastic Control for a Class of Discrete-Time Interconnected Systems With Communication Losses","authors":"Xiaojuan Xue,&nbsp;Dan Zhang,&nbsp;Zhengtao Ding,&nbsp;Li Xu","doi":"10.1002/rnc.7962","DOIUrl":"https://doi.org/10.1002/rnc.7962","url":null,"abstract":"<div>\u0000 \u0000 <p>This article focuses on the problems of analysis and synthesis for a class of discrete-time interconnected systems having random communication losses among subsystems. To deal with distributed control problems for the considered systems, a new model is coupled as a class of Markov jump systems with some structured uncertainty parameters. Then, based on this new model, some sufficient conditions are presented to ensure the required performance in terms of solvable linear matrix inequalities (LMIs). To design an appropriate distributed controller to neutralize the uncertainties, communication losses, and disturbances, a feasible distributed algorithm is developed with respect to the new system model to ensure that the states and performance of the resulting closed-loop system converge to the ideal ones. The derived results are based on stochastic Lyapunov theory and <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mi>∞</mi>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {H}_{infty } $$</annotation>\u0000 </semantics></math> criterion. Finally, numerical simulations are conducted to validate the proposed algorithms.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5061-5076"},"PeriodicalIF":3.2,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624886","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}