International Journal of Robust and Nonlinear Control最新文献

{"title":"Editorial: Special Issue on Model Predictive Control Under Disturbances and Uncertainties: Safety, Stability, and Learning","authors":"Wen-Hua Chen, Mark Cannon, Rolf Findeisen, Jun Yang","doi":"10.1002/rnc.7930","DOIUrl":"https://doi.org/10.1002/rnc.7930","url":null,"abstract":"<p>Model Predictive Control (MPC) has established itself as one of the most powerful advanced control strategies, combining conceptual simplicity with the ability to handle constraints and optimize performance. However, the presence of disturbances and uncertainties in real-world systems imposes significant challenges, necessitating robust, adaptive, and computationally efficient solutions. This Special Issue of the <i>International Journal of Robust and Nonlinear Control</i> is dedicated to advancing the state-of-the-art in MPC under disturbances and uncertainties, with a focus on safety, stability, and the integration of learning techniques. We are proud to present a collection of 19 high-quality papers that address these challenges and push the boundaries of MPC research.</p><p>The Call for Papers for this Special Issue invited contributions on novel theoretical developments, innovative design and analysis tools, and practical applications of MPC in the presence of disturbances and uncertainties. The response from the research community was overwhelming, and after a rigorous peer review process, 19 papers were selected for publication. These contributions reflect the latest advancements in disturbance and uncertainty modeling, robust and adaptive MPC, learning-based approaches, and applications across diverse domains such as robotics, automotive systems, energy systems, and aerospace.</p><p>The accepted papers cover a wide range of topics, organized around the following key themes:</p><p>Liu et al. [<span>1</span>] introduce a stochastic MPC framework for discrete nonlinear systems using a multistep control strategy, while Parsi et al. [<span>2</span>] propose a scalable tube MPC approach for uncertain linear systems using ellipsoidal sets. Manzano et al. [<span>3</span>] explore input-to-state stability in predictive control based on continuous projected kinky inference, providing theoretical guarantees for uncertain systems.</p><p>Yang [<span>4</span>] presents a data-driven MPC framework for unknown linear systems using online learning, and Klöppelt et al. [<span>5</span>] introduce a novel constraint-tightening approach for robust data-driven predictive control. Pan et al. [<span>6</span>] bridge the gap between data-driven methods and stochastic MPC, offering new insights into data-driven stochastic control.</p><p>Fang et al. [<span>7</span>] develop an integrated MPC scheme with disturbance preview, enhancing performance in the presence of known disturbances. Gao et al. [<span>8</span>] demonstrate practical applications of disturbance rejection in a parabolic trough solar field, and Yu et al. [<span>9</span>] combine model-free predictive control with a linear extended state observer for disturbance estimation in power converters.</p><p>Kögel et al. [<span>10</span>] address safety-critical applications in autonomous systems through hierarchical MPC and planning. Hall et al. [<span>11</span>] investigate stability and feasibility in swi","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 7","pages":"2475-2477"},"PeriodicalIF":3.2,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rnc.7930","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143749601","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":"Aggressive Maneuver for Unmanned Aerial Vehicle: A Data-Informed Model Free Method","authors":"Cong Li,&nbsp;Xinglong Zhang,&nbsp;Xin Xu,&nbsp;Yong Wang,&nbsp;Xiangke Wang","doi":"10.1002/rnc.7889","DOIUrl":"https://doi.org/10.1002/rnc.7889","url":null,"abstract":"<div>\u0000 \u0000 <p>Unmanned aerial vehicles (UAVs) are expected to fully exploit their maneuvering capabilities to conduct aggressive maneuvers to complete tasks such as racing and aerobatics even in harsh environments. However, most of the related works often focus on slow movements only suitable for regular tasks in well-structured environments. This motivates us to propose a highly robust control scheme designed specifically for UAV aggressive maneuvers, encoded by rapid and large changes in either position or attitude. The core of our approach is the data-informed incremental dynamics and the quaternion facilitated control scheme. The former facilitates the model-free control that eliminates the requirement to model the complex dynamics at high velocities and accelerations accurately; While the latter avoids potential singularities during large angular changes. In particular, we first utilize one-step-backward data to construct incremental dynamics, a model-free representation of the UAV dynamics. Then, the constructed incremental dynamics serves as the basis for the development of both position-priority and attitude-priority control schemes, wherein the novel quaternion based aggressive maneuver tracking controllers are designed with complete theoretical analysis. The aggressive maneuvers such as roulette, barrel roll, multiple-flip and cobra maneuvers are chosen for tri/quad/hexa/octocopter platforms to evaluate the performance of our proposed position-priority and attitude-priority control schemes, during which the linear velocity up to <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mn>20</mn>\u0000 <mspace></mspace>\u0000 <mtext>m/s</mtext>\u0000 </mrow>\u0000 <annotation>$$ 20kern0.3em mathrm{m}/mathrm{s} $$</annotation>\u0000 </semantics></math>, the angular changes up to <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mn>360</mn>\u0000 <mo>°</mo>\u0000 </mrow>\u0000 <annotation>$$ {360}^{{}^{circ}} $$</annotation>\u0000 </semantics></math>.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3856-3865"},"PeriodicalIF":3.2,"publicationDate":"2025-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914670","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":"Safety Filters Against Actuator Attacks","authors":"Cédric Escudero,&nbsp;Carlos Murguia,&nbsp;Daniel Quevedo,&nbsp;Paolo Massioni,&nbsp;Eric Zamaï","doi":"10.1002/rnc.7871","DOIUrl":"https://doi.org/10.1002/rnc.7871","url":null,"abstract":"<p>This manuscript focuses on mitigating the effect of deception attacks on control signals, that is, in the presence of an adversary that tampers with data coming from the controller to the system actuators in order to degrade the plant performance. We propose adding Multiple-Inputs Multiple-Outputs (MIMO) filters to the loop, between the received control actions (which are potentially corrupted by attacks) and the plant actuators. These filters are designed to dynamically steer the reachable set induced by the attack signals to a known safe region of the state space. We provide a synthesis framework (built in terms of the solution of a collection of semidefinite programs) to design the filters so that attack-free control signals are distorted as little as possible–in terms of <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> and <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>H</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mn>2</mn>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {H}_2 $$</annotation>\u0000 </semantics></math> norms of the difference between original and filtered control signals–and the trajectories are guaranteed to be contained in a predefined safe set. The results are illustrated through a simulation case focusing on the stability augmentation system of an airplane.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3640-3657"},"PeriodicalIF":3.2,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rnc.7871","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914617","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":"Fuzzy LMI Framework for Restricted Sliding Mode Control of Discrete-Time Systems","authors":"Saeed Amiri,&nbsp;Seyed Mohsen Seyed Moosavi,&nbsp;Mehdi Forouzanfar,&nbsp;Ebrahim Aghajari","doi":"10.1002/rnc.7884","DOIUrl":"https://doi.org/10.1002/rnc.7884","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper studies the subject of designing an integrated integral fuzzy sliding mode (IIFSM) controller for a class of uncertain discrete-time (DT) non-linear systems that can be expressed via Takagi-Sugeno fuzzy models. The proposed approach is modified in order to provide a robust controller with improved performance in the presence of disturbances, uncertainties, and restrictions related to the magnitude and rate of the control action. Meanwhile, a novel design framework involving the LMI approach is developed to address restrictions on both the magnitude and rate of control action, meeting the needs of practical applications. The attainment of parameters for the sliding function demonstrates that, through the utilization of an IIFSM controller formulated with LMIs, the ensuing closed-loop system can attain uniformly ultimate boundedness (UUB). Ultimately, the proposed approaches are evaluated using the chaotic Lorenz system to illustrate the superiority of the suggested control strategy.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3822-3832"},"PeriodicalIF":3.2,"publicationDate":"2025-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914578","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 Performance Tracking Control of Nonlinear Systems Under Unknown Time-Varying Control Direction and Actuator Faults","authors":"Teng-Fei Fang,&nbsp;Huimin Wang,&nbsp;Guang-Hong Yang","doi":"10.1002/rnc.7893","DOIUrl":"https://doi.org/10.1002/rnc.7893","url":null,"abstract":"<div>\u0000 \u0000 <p>This article investigates the prescribed performance control (PPC) problem for a class of uncertain strict-feedback systems with unknown time-varying control direction and actuator faults. A low-complexity control scheme which contains a novel control direction determination approach is proposed herein. Compared with the mainstream methods such as the Nussbaum gain and parameter estimation, the newly proposed scheme overcomes the challenge of the unknown time-varying control direction caused by actuator faults in the controller design. First, a distance function is defined, upon which a mechanism for identifying the control direction is developed. Combined with the PPC-based control law, a state feedback fault-tolerant control scheme for strict-feedback systems under unknown time-varying control coefficient is designed. Subsequently, utilizing the idea of proof by contradiction, it has been proven that under this scheme, the system tracking error can be maintained within the predefined performance criteria, while ensuring the boundedness of any closed-loop signals. Lastly, the effectiveness and merits of the proposed scheme under unknown time-varying control direction and conventional unknown control direction are verified by two sets of simulation examples, respectively.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3906-3918"},"PeriodicalIF":3.2,"publicationDate":"2025-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914095","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":"Semi-Global Stabilization of a Class of Cascade Systems by a Separate Design Approach","authors":"Shunli Li,&nbsp;Bin Zhou,&nbsp;Guangren Duan","doi":"10.1002/rnc.7873","DOIUrl":"https://doi.org/10.1002/rnc.7873","url":null,"abstract":"<div>\u0000 \u0000 <p>The semi-global stabilization of a class of cascade systems (e.g., partially linear composite systems) is investigated via partial state feedback. The system comprises a non-linear subsystem with a cross-term and a linear subsystem in the Byrnes-Isidori normal form. The cross-term that involves any two consecutive states of chains of integrators is incorporated into the non-linear subsystem. Based on the established lemma for separate design, the semi-global stabilization problem for the entire composite system is reduced to stabilizing its linear subsystem subject to non-peaking constraints on the consecutive states. To address the later problem, a linear low- and high-gain feedback law is developed in a backstepping manner, which can be recognized as partial state feedback for the composite system as it uses only the states of the linear subsystem.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3678-3690"},"PeriodicalIF":3.2,"publicationDate":"2025-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143913955","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 Quantized Tracking Control for Non-Linear Systems With Sensor Failure and Output Constraint","authors":"Xiaowei Yu,&nbsp;Xiaoli Li","doi":"10.1002/rnc.7890","DOIUrl":"https://doi.org/10.1002/rnc.7890","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper focuses on adaptive quantized tracking control for a class of non-linear systems that experience sensor failure and output constraint. The non-linear functions in this study adhere to more general growth conditions compared to previous research. To address these challenges, a reduced-order observer is developed using only the measured output signal in the presence of sensor failure. Then by utilizing the barrier Lyapunov function technique, a quantized tracking controller is proposed. The study demonstrates that with this approach, all closed-loop signals remain bounded and the real tracking error converges to a small neighborhood around the origin, while ensuring that the real output signal adheres to the constraint. An illustrative example is also presented to validate the efficacy of the control strategy.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3876-3886"},"PeriodicalIF":3.2,"publicationDate":"2025-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143913956","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-Triggered Anti-Attack Security Control of Cyber-Physical Systems With Bio-Inspired Metaheuristic Algorithm","authors":"Jingang Dong,&nbsp;Jincan Liu,&nbsp;Zhengchao Xie,&nbsp;Wenfeng Li,&nbsp;Pak Kin Wong,&nbsp;Jing Zhao","doi":"10.1002/rnc.7883","DOIUrl":"https://doi.org/10.1002/rnc.7883","url":null,"abstract":"<div>\u0000 \u0000 <p>This work addresses the event-triggered anti-attack security control problem for cyber-physical systems (CPSs) under denial-of-service (DoS) attacks using a bio-inspired metaheuristic algorithm. First, a fuzzy switching model with the consideration of actuator failure and saturation is developed to approximate the uncertain nonlinear CPSs. Second, a valid DoS attack framework is established to model the nonperiodic DoS attacks with different types of start and end moments. Under this framework, a correlation model incorporating a reliable dynamic event-triggered (DET) mechanism and the valid DoS attack is constructed. To optimize the balance between control performance and network communication burden, a parameter optimization strategy for the DET mechanism is proposed utilizing the hippopotamus optimization algorithm. Furthermore, the Wirtinger inequality is utilized for reliable DET controller synthesis to reduce the conservatism. Finally, experimental tests are conducted to examine the effectiveness and merits of the proposed anti-attack security control method.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3805-3821"},"PeriodicalIF":3.2,"publicationDate":"2025-03-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914002","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":"Bumpless Transfer Adaptive Control for Uncertain Switched Non-Linear Systems With Unknown Control Direction","authors":"Feiyue Wu,&nbsp;Dong Wang,&nbsp;Jie Lian","doi":"10.1002/rnc.7892","DOIUrl":"https://doi.org/10.1002/rnc.7892","url":null,"abstract":"<div>\u0000 \u0000 <p>This article investigates the bumpless transfer (BT) adaptive control of a class of uncertain switched non-linear systems with unknown parameters and unknown control direction. The inherent complexities associated with non-linear dynamics and parametric uncertainties make it difficult to mitigate switching bumps caused by abrupt jumps in the control input signal. Existing approaches, such as tuning controller parameters or limiting control gains, have proven ineffective in resolving this challenge. To overcome this, an auxiliary system is constructed to establish a connection between the tracking performance and the BT performance, thereby quantifying the impact of switching bumps. A BT adaptive control scheme is proposed to accommodate the dynamic uncertainties by estimating switching parameters. Moreover, a mechanism to manage the unknown control direction is incorporated by appropriately selecting the control direction for the auxiliary system. The proposed BT adaptive control scheme ensures that all the closed-loop signals and the tracking error remain ultimately bounded. Simultaneously, it guarantees satisfactory BT performance, with the flexibility to modify design parameters for further improvements. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control schemes.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3866-3875"},"PeriodicalIF":3.2,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914090","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":"Mitigation of Discrete-Time SIS Networked Epidemics: A Local State Feedback Approach","authors":"Yuan Wang,&nbsp;Sebin Gracy,&nbsp;Hideaki Ishii,&nbsp;Karl Henrik Johansson","doi":"10.1002/rnc.7891","DOIUrl":"https://doi.org/10.1002/rnc.7891","url":null,"abstract":"<div>\u0000 \u0000 <p>The paper deals with a discrete-time susceptible-infected susceptible (SIS) networked epidemic model. In the model, nodes represent populations\u0000and the network links possible transmission pathways of the disease between populations. Our aim is to design a feedback controller so that the fraction of infected in each population node remains below a prespecified value for all time instants. To this end, we introduce a distributed control law at the node level. This control law can be realized by the population following announcements made by local policymakers to enhance nonpharmaceutical interventions such as hand-washing, mask-wearing, and social distancing. We show that with the controller in place not only do the fraction of infected in each population node stay below the prespecified level but also the state of the disease dynamics converges either to the disease-free equilibrium or to a unique endemic equilibrium. It turns out that the endemic equilibrium is (element-wise) smaller than the unique endemic equilibrium of the uncontrolled system. The theoretical findings are illustrated by numerical examples.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3887-3905"},"PeriodicalIF":3.2,"publicationDate":"2025-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914748","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}