International Journal of Robust and Nonlinear Control最新文献

{"title":"Gradient Tracking for Sum-of-Nonconvex Decentralized Optimization","authors":"Zhen Zhang,&nbsp;Yuan-Hua Ni","doi":"10.1002/rnc.7978","DOIUrl":"https://doi.org/10.1002/rnc.7978","url":null,"abstract":"<div>\u0000 \u0000 <p>Sum-of-nonconvex decentralized optimization is investigated in this article, where the summed cost is strongly convex and each individual cost in the sum is generally nonconvex. The standard gradient-tracking-based decentralized optimization algorithm is shown to be convergent in such a sum-of-nonconvex scenario together with a new convergence rate. We then further discuss the relationship between convergence rate and design parameters, and compare the proof strategy and computation complexity of this article with existing ones. Lastly, the simulation results show the efficiency of the obtained theory.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5238-5245"},"PeriodicalIF":3.2,"publicationDate":"2025-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624597","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":"Stochastic Optimal Control of Multi-Machine Power Systems Driven by Fractional Gaussian Noise","authors":"Chengjian Zhang,&nbsp;Shaojuan Ma,&nbsp;Hufei Li,&nbsp;Hui Xiao","doi":"10.1002/rnc.7979","DOIUrl":"https://doi.org/10.1002/rnc.7979","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper studies the optimal control of multi-machine power systems with the excitation of fractional Gaussian noise (FGN) and applies the theory of quasi-generalized Hamiltonian systems. First, a multi-machine power system model is established based on the long-range correlation of fractional Gaussian noise, which is transformed into a quasi-generalized Hamiltonian system model. Next, according to the fractional path integral rules and the stochastic averaging method (SAM), the stochastic multi-machine power system is reduced in dimension. Then, based on the averaged multi-machine power system, the dynamic programming method of stochastic optimal control is utilized to propose a control strategy that maximizes the probability of the controlled system being in the desired region. Finally, the effectiveness of the proposed control strategy is verified through numerical simulations, and the superiority of the control methods has also been compared with the Linear Quadratic Regulator (LQR).</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5246-5259"},"PeriodicalIF":3.2,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624272","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":"Robust Adaptive Rapid Exponential Stabilization for a Class of Nonlinear Cyber-Physical Systems Under Denial-Of-Service Attacks","authors":"Lang Zou,&nbsp;Xiangbin Liu,&nbsp;Jian Wang,&nbsp;Yangquan Chen","doi":"10.1002/rnc.7965","DOIUrl":"https://doi.org/10.1002/rnc.7965","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, we investigate the stabilization problem of a class of uncertain nonlinear cyber-physical systems (CPSs) under random denial-of-service (DoS) attacks with average frequency and duration constraints. This investigation presents a rapid exponential stabilization-based robust adaptive control (RESRAC) scheme with a corresponding update trigger strategy to improve the robustness of the CPSs against DoS attacks. As a result, the system stability can be guaranteed under DoS attacks of nearly arbitrary intensity as long as the communication is not completely blocked by selecting an appropriate high-gain parameter offline, and the novel convergence condition obtained in the Lyapunov analysis extends the general convergence condition used in most related studies. To demonstrate the control performance of this control scheme, a numerical example is presented. Additionally, to enhance the applicability of the proposed scheme in practice, an online adjusting RESRAC with a modified update triggering strategy is proposed to mitigate the peaking phenomenon resulting from the high-gain feedback in the RESRAC. An adjusting algorithm is designed to reduce the conservativeness of the selection of the high-gain parameters through the online identification of the evolution rate of the system state during the attacked interval. Finally, a numerical simulation is carried out to illustrate the effectiveness and superiority of the proposed online adjusting control scheme.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5108-5121"},"PeriodicalIF":3.2,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624489","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":"Angle Rigidity-Based Distributed Circular Formation Control in 2D Space","authors":"Chunyan Zhang,&nbsp;Ye Chen,&nbsp;Yuan Liang,&nbsp;Deren Kong,&nbsp;Yinya Li,&nbsp;Andong Sheng","doi":"10.1002/rnc.7963","DOIUrl":"https://doi.org/10.1002/rnc.7963","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper addresses the problem of distributed circular formation control of multiple agents around an unknown target in 2-dimensional (2D) space. Based on angle rigidity theory, we develop a distributed control scheme that primarily requires local angle measurements, with an additional distance measurement used to maintain the circular radius. Compared to most existing works, the present study has the following distinctive characteristics. Firstly, a novel angle-based controller is designed to enable agents to achieve and maintain the desired circular formation pattern, with stability analysis grounded in angle error dynamics. Secondly, the proposed control law does not require any prior information about the global coordinate system; that is, the controller can be implemented using only the local frame of reference and local relative measurements. Thirdly, no communication between agents is required when using the proposed controller. The effectiveness of the proposed control scheme is verified by numerical simulations.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5077-5093"},"PeriodicalIF":3.2,"publicationDate":"2025-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624620","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":"Neural Adaptive Fixed-Time Control for Nonlinear Cyber-Physical Systems With Deferred Asymmetric Time-Varying Constraints and Malicious Attacks","authors":"Zimeng Cao,&nbsp;Zhaoyang Cuan,&nbsp;Yingying Ren,&nbsp;Da-Wei Ding","doi":"10.1002/rnc.7956","DOIUrl":"https://doi.org/10.1002/rnc.7956","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper proposes a novel neural adaptive fixed-time tracking control scheme for high-order nonlinear cyber-physical systems, which are subjected to deferred asymmetric time-varying full-state constraints and malicious attacks on the channel between controller and actuator. A fixed-time stability criterion for high-order nonlinear systems is established by innovatively integrating the approximate saturation function with the Barrier Lyapunov Function method. A Gaussian radial basis function neural network is employed to handle the unknown dynamics in the attacked systems while an error shifting function is integrated to resolve the initial value overrun issue through constrained error transformation. The proposed neural adaptive controller achieves enhanced tracking precision, accelerated fixed-time convergence independent of initial conditions, and rigorous constraint enforcement while effectively mitigating attack impacts, validating its significant control performance improvement over conventional approaches. Rigorous theoretical analysis proves the scheme's capability to guarantee fixed-time stability and full-state constraint satisfaction. Practical effectiveness is confirmed through two comparative simulation studies.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"4976-4989"},"PeriodicalIF":3.2,"publicationDate":"2025-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624617","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":"Fully Distributed Fuzzy Adaptive Output Time-Varying Formation Tracking for Heterogeneous Nonlinear Multiagent Systems","authors":"Xiangyang Du,&nbsp;Jihong Shen,&nbsp;Shujuan Wang","doi":"10.1002/rnc.7953","DOIUrl":"https://doi.org/10.1002/rnc.7953","url":null,"abstract":"<div>\u0000 \u0000 <p>This article investigates the fully distributed output time-varying formation tracking issue for heterogeneous nonlinear multiagent systems on directed graphs, in which the tracking target is a general linear dynamic leader while the followers are composed of first-order and second-order dynamic individuals with unknown nonlinearities and velocity measurement. To solve the problem of computational complexity explosion and different order of heterogeneous systems, a fully distributed dynamic compensator is presented. Then, an adaptive observer is designed using fuzzy logic systems to estimate the unknown velocity information. With reference to these observers, a fuzzy adaptive output formation tracking control protocol is designed. Lyapunov stability theory is used to show that the output formation tracking error is uniformly ultimately bounded. Finally, numerical simulation is given to verify the feasibility of the theory.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"4939-4947"},"PeriodicalIF":3.2,"publicationDate":"2025-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624619","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":"Stability Analysis of T-S Fuzzy State-Dependent Impulsive Nonlinear Systems Based on New Improved Functional","authors":"Fei Chang,&nbsp;Chuandong Li,&nbsp;Yinghua Zhou,&nbsp;Hao Deng","doi":"10.1002/rnc.7948","DOIUrl":"https://doi.org/10.1002/rnc.7948","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, the authors propose an extended functional-based approach and develop two new improved functionals to investigate the stability of T-S fuzzy nonlinear systems with state-dependent impulsive inputs (TSFSSI). Firstly, the conversion of nonlinear systems characterized by state-dependent impulsive inputs is accomplished by employing the T-S fuzzy model and B-equivalence method, resulting in T-S fuzzy nonlinear systems with fixed-time impulsive inputs (TSFSFI). Secondly, two novel improved functionals that rely on bilateral looped functional (BLF), Lyapunov functions, and additional new functional elements are proposed. In contrast to BLF, the improved functionals not only alleviate the positivity constraints on Lyapunov functions, thereby reducing the conservativeness of stability conditions, but also impose fewer restrictions on the functional construction. Leveraging these enhanced functionals along with certain inequalities, sufficient conditions are obtained to ensure the asymptotic stability of TSFSSI. Finally, the effectiveness of the proposed conditions is validated through two application examples.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4881-4900"},"PeriodicalIF":3.2,"publicationDate":"2025-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144299971","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":"Global Output-Feedback Extremum Seeking Control With Source Seeking Experiments","authors":"Nerito Oliveira Aminde,&nbsp;Tiago Roux Oliveira,&nbsp;Liu Hsu","doi":"10.1002/rnc.7970","DOIUrl":"https://doi.org/10.1002/rnc.7970","url":null,"abstract":"<div>\u0000 \u0000 <p>This article discusses the design of an extremum-seeking controller that relies on a monitoring function for a class of SISO uncertain nonlinear systems characterized by arbitrary and uncertain relative degrees. Our demonstration illustrates the feasibility of achieving an arbitrarily small proximity to the desired optimal point through output feedback. The core concept involves integrating a monitoring function with a norm state observer for the unitary relative degree case and its expansion to arbitrary relative degrees by means of the employment of a time-scaling technique. Significantly, our proposed scheme attains the extremum of an unknown nonlinear mapping across the entire domain of initial conditions, ensuring global convergence and stability for the real-time optimization algorithm. Furthermore, we provide tuning rules to ensure convergence to the global maximum in the presence of local extrema. To validate the effectiveness of the proposed approach, we present a numerical example and apply it to a source-seeking problem involving a cart-track linear positioning servomechanism. Notably, the cart lacks the ability to sense its velocity or the source's position, but can detect the source of a light signal of an unknown concentration field.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5156-5171"},"PeriodicalIF":3.2,"publicationDate":"2025-04-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624618","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":"Improved Sliding Mode Active Disturbance Rejection Control of an Auxiliary Robotic Arm for Puncture Robots","authors":"Jie Wang,&nbsp;Qi Jiang,&nbsp;Rammah Ibrahim","doi":"10.1002/rnc.7945","DOIUrl":"https://doi.org/10.1002/rnc.7945","url":null,"abstract":"<div>\u0000 \u0000 <p>The research on disturbance rejection control for robotic arms in assisted puncture surgery systems aims to improve the precision of puncture surgeries. In this article, an improved sliding mode control (SMC) strategy for robotic arm with active disturbance rejection capability for assisted puncture surgery is proposed. First, a nonlinear extended state observer (NESO) is introduced to detect unknown disturbances based on the state space of the robotic arm. Next, a performance function is established to constrain tracking errors, and a sliding mode surface is constructed based on the constraint function. In addition, an SMC is designed based on the NESO, and an improved sign function is proposed to minimize system chattering. A comparison with other SMCs demonstrates the robustness of the performance function-based sliding mode active disturbance rejection control (SMADRC) proposed in this article. Finally, the proposed controller is tested with a 6DOF robotic arm, demonstrating accurate joint angle tracking and effective disturbance detection. The average joint angle tracking root-mean-square error (RMSE) is <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mn>3</mn>\u0000 <mo>.</mo>\u0000 <mn>04</mn>\u0000 <mi>e</mi>\u0000 <mo>−</mo>\u0000 <mn>5</mn>\u0000 </mrow>\u0000 <annotation>$$ 3.04e-5 $$</annotation>\u0000 </semantics></math> <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mi>r</mi>\u0000 <mi>a</mi>\u0000 <mi>d</mi>\u0000 </mrow>\u0000 <annotation>$$ rad $$</annotation>\u0000 </semantics></math> for the 2DOF arm and <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mn>4</mn>\u0000 <mo>.</mo>\u0000 <mn>3</mn>\u0000 <mi>e</mi>\u0000 <mo>−</mo>\u0000 <mn>3</mn>\u0000 </mrow>\u0000 <annotation>$$ 4.3e-3 $$</annotation>\u0000 </semantics></math> <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mi>r</mi>\u0000 <mi>a</mi>\u0000 <mi>d</mi>\u0000 </mrow>\u0000 <annotation>$$ rad $$</annotation>\u0000 </semantics></math> for the 6DOF arm. These results further validate the adaptability and accuracy of the control method described in this article.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4826-4840"},"PeriodicalIF":3.2,"publicationDate":"2025-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144299713","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 Neural Network Control for Nonlinear Multi-Agent Systems With Actuator Faults and Asymmetric Time-Varying State Constraints","authors":"Guowei Dong,&nbsp;Peitong Xu,&nbsp;Ke-Wen Li","doi":"10.1002/rnc.7974","DOIUrl":"https://doi.org/10.1002/rnc.7974","url":null,"abstract":"<div>\u0000 \u0000 <p>In the paper, we design an adaptive neural network fault-tolerant controller (FTC) with the distributed sliding-mode estimator. This controller is suitable for the a type of nonlinear multi-agent systems (MASs) containing the actuator faults and the asymmetric time-varying state constraints (ATVSCs). In practical applications, the actuator faults and ATVSCs will affect the stability of most systems and lead to security problems. The proposed controller ensures that system states remain within asymmetric time-varying constraints and maintain stable operation under actuator faults. Neural network (NN) is employed to approach unknown functions in design procedure. We introduce a compensation function by the radial basis function neural networks (RBF NNs) to prevent taking derivative of virtual controller repeatedly. In the meantime, the asymmetric time-varying barrier Lyapunov functions (ATVBLFs) are designed to keep state in the constraint range of asymmetric time-varying. In addition, a distributed sliding-mode estimator is designed to estimate reference signal, which simplifies error and makes the system respond quickly to external disturbances. For every agent system, there is only a need for one parameter adaptive law, which reduces the computational complexity of the controller. Finally, Lyapunov stability is proven through theoretical analysis, and it is proved to be feasible by an example.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5208-5217"},"PeriodicalIF":3.2,"publicationDate":"2025-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624662","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}