International Journal of Robust and Nonlinear Control最新文献

{"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":"Adaptive Admittance Control for Optimized Robot-Environment Interaction Without Restrictive Initial Conditions","authors":"Chengpeng Li,&nbsp;Zuhua Xu,&nbsp;Jun Zhao,&nbsp;Qinyuan Ren,&nbsp;Chunyue Song,&nbsp;Dingwei Wang","doi":"10.1002/rnc.7921","DOIUrl":"https://doi.org/10.1002/rnc.7921","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper investigates an adaptive optimal admittance control scheme for robot manipulators interacting with unknown environment. To resolve the optimized interaction performance considering tracking error and interaction force, an impedance adaptation approach is developed without the initial stabilizing policy. Based on the gradient-based updating method, the online solution can exponentially converge to the optimal impedance gain without prior knowledge of environment dynamics. A nonlinear mapping method is integrated into the admittance control, transforming the constrained system into an equivalent system without state constraints. By eliminating feasibility conditions, the tracking controller can achieve the full-state asymmetric time-varying constraints under a broad range of initial conditions. Through the Lyapunov analysis, it is proven that the closed-loop signals are bounded. Finally, simulation and experiment results demonstrate the effectiveness of the proposed methods.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4554-4566"},"PeriodicalIF":3.2,"publicationDate":"2025-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300065","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 DoS Attack Policy Against Periodically Switched System With Two-Hop Relay Networks","authors":"Yu Zhu,&nbsp;Heng Zhang,&nbsp;Engang Tian,&nbsp;Weisheng Si,&nbsp;Weixing Zheng","doi":"10.1002/rnc.7905","DOIUrl":"https://doi.org/10.1002/rnc.7905","url":null,"abstract":"<div>\u0000 \u0000 <p>Periodically switched systems (PSS) are an important class of hybrid dynamic systems. This paper studies the security of PSS with two-hop relay networks, from which the results can be extended to multiple hops. From the perspective of an attacker with limited energy, our objective is to find the optimal trade-off between energy allocation and channel coverage. If the attacker allocates more energy each time, the packet loss rate of the channel increases, leading to a decrease in system performance. Our contributions are threefold. First, the stability conditions of PSS are provided based on the initial values of prior estimation errors in both specific and general cases. Second, we give system stability conditions in the presence of an external attacker, for the case that the relay node adopts the Direct Forwarding Strategy (DFS). Finally, the attack strategy optimization is cast as a Markov decision process (MDP) problem. A Q-learning algorithm is designed to find the optimal attack policy to reduce the estimation performance of the estimator. The effectiveness of the designed algorithm is demonstrated by a simulation study involving an undamped oscillator model.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 10","pages":"4318-4328"},"PeriodicalIF":3.2,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144206807","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":"Feasibility Conditions for Indirect Feedback Passivation","authors":"Yan Xu,&nbsp;Ji Xiang","doi":"10.1002/rnc.7915","DOIUrl":"https://doi.org/10.1002/rnc.7915","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper studies feasibility conditions for making a single-input-single-output system non-strictly indirectly passive (positive real) with respect to an external input by state feedback, which is an extension from the strictly positive real feasibility conditions but is more challenging. Positive real feasibility conditions for systems without zero dynamics and systems with zero dynamics but relative degree less than three are derived, respectively. For relative degree three systems, necessary conditions are given. The asymptotic stability of the closed-loop systems is also analyzed, since the positive real property itself only guarantees that the systems are stable rather than asymptotically stable. Two examples are given to verify the theoretical results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 10","pages":"4416-4426"},"PeriodicalIF":3.2,"publicationDate":"2025-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144206701","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":"Practically Predefined-Time Adaptive Sliding Mode Control for Non-Linear Systems via Time-Base Generators","authors":"Tao Jiang,&nbsp;Yan Yan,&nbsp;Shuanghe Yu,&nbsp;Tieshan Li,&nbsp;Ying Zhao","doi":"10.1002/rnc.7909","DOIUrl":"https://doi.org/10.1002/rnc.7909","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper focuses on the practically predefined-time adaptive sliding mode tracking control for uncertain non-linear systems using time-base generator (TBG) methods. Firstly, a novel and non-singular predefined-time sliding variable, which consists of a TBG and a hyperbolic tangent function, is proposed. In the sliding phase, the TBG ensures that the tracking error achieves practical predefined-time convergence, while the hyperbolic tangent function guarantees that the tracking error converges to an adjustable region that is not explicitly related to the convergence bound of the sliding variable. Secondly, a special case of TBG is adopted to construct an auxiliary variable that guarantees the practical predefined-time convergence of the sliding variable in the reaching phase. In the controller design, the radial basis function neural network (RBF NN) is used to approximate the lumped disturbance. Moreover, the inverse of the class-<span></span><math>\u0000 <mrow>\u0000 <mi>𝒦</mi>\u0000 </mrow></math> function is utilized as the control gain of the sliding mode controller to deal with the reconstruction error of the RBF NN and to predefine the convergence bound of the sliding variable. Finally, digital simulations are conducted by using an unmanned surface vehicle to demonstrate the validity of the theoretical results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 10","pages":"4373-4384"},"PeriodicalIF":3.2,"publicationDate":"2025-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144206390","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 Adaptive Finite-Time Security Control for Nonlinear Time-Delay Cyber-Physical Systems Under Sensor and Actuator Attacks","authors":"Zhaoxu Yu,&nbsp;Zebin Chen,&nbsp;Shugang Li","doi":"10.1002/rnc.7916","DOIUrl":"https://doi.org/10.1002/rnc.7916","url":null,"abstract":"<div>\u0000 \u0000 <p>This article studies the problem of output feedback adaptive finite-time security control for a class of nonlinear time-delay cyber-physical systems(CPSs) under actuator and sensor attacks. A linear state transformation and the Nussbaum gain function method are combined to overcome the technical difficulties from uncertain cyber-attacks and unknown control coefficients, such that output feedback control design for the transformed system becomes feasible. Based on the comprised output signal and the state estimations of input-driven linear extended state observer (LESO), an event-triggered adaptive output feedback security control scheme is presented by using Lyapunov–Krasovskii functional method, backstepping technology, neural networks (NN) approximation approach, and some special techniques. Although the concerned system is subject to both sensor and actuator attacks, the developed controller guarantees that all the closed-loop signals are semi-global practical finite-time stable (SGPFS) while the control efficiency is obviously increased. Eventually, two simulation examples are carried out to reveal the effectiveness and practicability of the developed control method under various sensor and actuator attacks.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 10","pages":"4427-4446"},"PeriodicalIF":3.2,"publicationDate":"2025-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144206389","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":"Tracking Control of Unknown Non-Linear Systems Using Dynamic Event-Triggered Adaptive Bernstein Polynomial Approximation","authors":"Jie Ruan,&nbsp;Yuan Fan","doi":"10.1002/rnc.7917","DOIUrl":"https://doi.org/10.1002/rnc.7917","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, an adaptive tracking control method based on the approximation of dynamic event-triggered (DET) Bernstein polynomials is proposed for unknown non-linear dynamic systems. Bernstein polynomials can be used to approximate complex non-linear functions, but the computational complexity increases with the increase of function complexity and order. In order to save the communication resources of the system and reduce the computational amount, we consider the ET method to reduce the number of controller updates by designing the static event-triggered (SET) condition and the DET condition, respectively, and comparing the simulation results, we find that the DET further reduces the frequency of the controller update on the basis of SET. In addition, if the Bernstein theorem is used to compensate for the unknown non-linear function directly, we need to derive the coefficients of the Bernstein polynomials through mathematical derivation, but we believe that the non-linear dynamic function is unknown, so we cannot directly use the Bernstein polynomials to approximate the unknown non-linear dynamic function, in order to solve the problem that the coefficients of the Bernstein polynomials are uncertain, we deal with the uncertain parameters in the Bernstein polynomials by an adaptive strategy to ensure that the Bernstein polynomials approximate the unknown non-linear dynamical system and guarantee that all signals in the closed-loop non-linear dynamical system are semi-global uniform ultimately bounded (SGUUB). Finally, the reliability of the proposed method is verified by numerical simulations and Zeno behavior is avoided.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4451-4461"},"PeriodicalIF":3.2,"publicationDate":"2025-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144299749","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":"Observer-Based Adaptive Event-Triggered \u0000 \u0000 \u0000 \u0000 \u0000 H\u0000 \u0000 \u0000 ∞\u0000 \u0000 \u0000 \u0000 $$ {H}_{infty } $$\u0000 Control for Nonlinear Networked Control Systems Under Hybrid Attacks and Its Application","authors":"Li-Wei Hou,&nbsp;Xiao-Heng Chang","doi":"10.1002/rnc.7913","DOIUrl":"https://doi.org/10.1002/rnc.7913","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper studies the design of an observer-based event-triggered <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> controller for nonlinear networked control systems (NNCSs), utilizing the Takagi-Sugeno (T-S) fuzzy model to establish the system's nonlinear term. The influence of denial of service (DoS) attacks and deception attacks (DAs) is considered in the context of network communication processes. An improved adaptive event-triggered mechanism (AETM) is implemented within the sensor and observer channels to optimize the utilization of network communication resources. The issue of event-triggered delay is considered and resolved through the application of a piecewise Lyapunov functional and a free-weighting matrix approach. The sufficient conditions for the system to satisfy the linear matrix inequalities (LMIs) under the <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> control performance index are given in the form of two theorems, ensuring the system's mean square asymptotically stable (MSAS). Finally, a grid-connected inverter (GCI) model is proposed, and the feasibility of the design method and its applicability in the actual system model is verified by simulation.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 10","pages":"4395-4406"},"PeriodicalIF":3.2,"publicationDate":"2025-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144206362","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":"Fault Detection for Lipschitz Nonlinear Systems Using Robust Observer and Ellipsoidal Analysis","authors":"Renpu Zhang,&nbsp;Zhenhua Wang,&nbsp;Nacim Meslem,&nbsp;Tarek Raïssi,&nbsp;Yi Shen","doi":"10.1002/rnc.7918","DOIUrl":"https://doi.org/10.1002/rnc.7918","url":null,"abstract":"<div>\u0000 \u0000 <p>This article proposes a fault detection method for continuous-time Lipschitz nonlinear systems via robust observer design and ellipsoidal analysis. First, an augmented system is established by considering the fault as an auxiliary state vector. Then, an observer is designed using <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>L</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mi>∞</mi>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {L}_{infty } $$</annotation>\u0000 </semantics></math> performance, which can be applied to generate robust residuals. Then, a residual evaluation method via ellipsoidal analysis is proposed, which is used to check whether the guaranteed estimations of the fault and residual stay confined inside safe regions. Thus, fault detection is achieved through an assessment of a Boolean expression. Finally, two numerical simulation results are given to show the effectiveness and merit of the proposed approach.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4523-4535"},"PeriodicalIF":3.2,"publicationDate":"2025-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144299719","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}