International Journal of Robust and Nonlinear Control最新文献

{"title":"Energy-Based Trajectory Tracking for Underactuated Mechanical Systems: Velocity-Free and Disturbance Rejection Methods","authors":"N. Javanmardi,&nbsp;P. Borja,&nbsp;A. J. van der Schaft,&nbsp;M. J. Yazdanpanah,&nbsp;J. M. A. Scherpen","doi":"10.1002/rnc.8014","DOIUrl":"https://doi.org/10.1002/rnc.8014","url":null,"abstract":"<p>This work investigates three energy-shaping control approaches to address the trajectory-tracking problem for specific classes of underactuated mechanical systems. In particular, the notions of contractive systems and dynamic extensions are utilized to solve the trajectory-tracking problem while addressing implementation issues such as the lack of velocity sensors and the presence of constant disturbances. To this end, a first tracking controller is developed without the need for velocity measurements. A second controller is introduced, solving the trajectory-tracking problem while rejecting matched constant disturbances. Then, a third approach establishes conditions to combine both mentioned controllers. It is shown that the proposed design methods guarantee exponential convergence of closed-loop systems for specific classes of underactuated mechanical systems. The third method is illustrated with an example.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6036-6050"},"PeriodicalIF":3.2,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rnc.8014","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101192","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":"Performance Enhancement for Adaptive Safe Control Systems Tracking Periodic Signals","authors":"Lijun Liu,&nbsp;Dongxu Gao,&nbsp;Zhen Yu,&nbsp;Shihan Liu","doi":"10.1002/rnc.8044","DOIUrl":"https://doi.org/10.1002/rnc.8044","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper presents an adaptive safe repetitive control approach to improve the tracking performance for periodic reference signals in a class of controlled plants with state constraints and unknown parameters. First, a parameter estimation error extraction mechanism under persistent excitation conditions is employed. Next, an internal model of periodic reference signals, that is, a repetitive controller, is embedded into the reference model to enhance the capability of tracking control. Meanwhile, a new parameter update law based on estimation error is derived to approximate the parametric uncertainty, which enables the error signals in the adaptive control to converge exponentially to zero. Subsequently, an adaptive control barrier function is formulated using quadratic programming to handle state constraints. Safety criteria and error convergence conditions for the controller parameters are provided. Finally, numerical simulations demonstrate the effectiveness, and a comparison of the tracking performance of this method, conventional adaptive control, and other control methods highlights its superiority.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6125-6136"},"PeriodicalIF":3.2,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101197","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 Global Tracking Control With Prescribed Performance for High-Order Nonlinear Systems With Time-Varying Powers","authors":"Yan Jiang,&nbsp;Wei Tian","doi":"10.1002/rnc.8045","DOIUrl":"https://doi.org/10.1002/rnc.8045","url":null,"abstract":"<div>\u0000 \u0000 <p>The global adaptive tracking problem for a class of high-order nonlinear systems with time-varying powers is considered in the frame of event-triggered control and prescribed performance methods. A novel error transformation is introduced, distinct from existing approaches, eliminating the constraint on the initial state. To mitigate the risk of tracking error exceeding the prescribed range, a modified performance function is defined, allowing temporary deviation from the prescribed performance. An event-triggered controller is formulated to ensure that the tracking error can converge to a predefined range within a specified settling time. The validity of the proposed scheme is illustrated by an example.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6137-6146"},"PeriodicalIF":3.2,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101183","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":"Incipient Fault Detection for Time-Delayed Systems Under Dynamic Event-Triggered Mechanism","authors":"Yichun Niu,&nbsp;Ming Gao,&nbsp;Yongli Wei,&nbsp;Wuxiang Huai,&nbsp;Li Sheng","doi":"10.1002/rnc.8043","DOIUrl":"https://doi.org/10.1002/rnc.8043","url":null,"abstract":"<div>\u0000 \u0000 <p>This article investigates the problem of incipient fault detection for time-delayed systems with stochastic noise. For the sake of reducing the communication and computing cost, the dynamic event-triggered mechanism (DETM) is employed. Based on the lifting method and the nonuniform sampling method, the time-delayed system under the DETM is transformed to a time-varying system. Then, a novel incipient fault detection algorithm is designed, and the fault detectability is analyzed in a probabilistic sense, which effectively reduces the missed detection rate under a given false alarm rate. Finally, two examples are given to show the availability of the designed method.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6115-6124"},"PeriodicalIF":3.2,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101191","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":"Reinforcement Learning-Fuzzy Composite \u0000 \u0000 \u0000 \u0000 H\u0000 \u0000 \u0000 ∞\u0000 \u0000 \u0000 Tracking Control of Input-Saturated Nonlinear Singularly Perturbed Systems","authors":"Linna Zhou,&nbsp;Gonghe Li,&nbsp;Xiaomin Liu,&nbsp;Chunyu Yang","doi":"10.1002/rnc.8023","DOIUrl":"https://doi.org/10.1002/rnc.8023","url":null,"abstract":"<div>\u0000 \u0000 <p>The composite control problem is investigated for a class of nonlinear singularly perturbed systems (SPSs) with input-saturated and partially unknown model information. For the slow subsystem with unknown model information, we introduce an augmented state and derive the tracking Hamilton-Jacobi-Isaacs (HJI) equation, taking into account saturation effects and using the reinforcement learning (RL) method to solve it. For a fast subsystem affected by slow time-varying parameters, a type-2 fuzzy model is used to approximate it as several subsystems irrelevant to the slow time-varying parameters. By using the parallel distributed compensation design, the optimal regulation problem of the fast subsystem is transformed into the optimal regulation problem of linear systems. The problem of the saturation upper bound for the fast and slow controllers is addressed using a hyperbolic tangent functional. The virtual subsystem state is reconstructed using measured data from the original system. Furthermore, a saturation gain parameter is designed for both fast and slow controllers to meet the input saturation condition of the original system and reduce the conservativeness of the controllers. The effectiveness of the method is validated in the context of permanent magnet synchronous motors (PMSM) as a practical application scenario.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"5930-5942"},"PeriodicalIF":3.2,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101220","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":"Efficient Dynamics Modeling and Adaptive Tracking Control for a Rigid-Flexible Manipulator","authors":"Mingming Shi,&nbsp;Bao Rong,&nbsp;Xiaoting Rui,&nbsp;Guoping Wang","doi":"10.1002/rnc.8040","DOIUrl":"https://doi.org/10.1002/rnc.8040","url":null,"abstract":"<div>\u0000 \u0000 <p>Vibration suppression and trajectory tracking are pivotal areas of current robotics research, significantly influencing the operational performance of flexible manipulators. This article proposes a novel dynamics modeling strategy for flexible manipulators based on the multi-body system transfer matrix method, which achieves comparable accuracy to the traditional Lagrange method while improving computational efficiency by approximately 35.5% and 35.9% in two representative cases, respectively. On this basis, an adaptive hybrid control strategy is developed by integrating the dynamics model with an improved particle swarm optimization (PSO) algorithm and a fuzzy approximation-based backstepping controller. The improved PSO accelerates convergence and reduces residual elastic vibrations to 5.28E<span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mo>−</mo>\u0000 </mrow>\u0000 <annotation>$$ - $$</annotation>\u0000 </semantics></math>5 and 7.16E<span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mo>−</mo>\u0000 </mrow>\u0000 <annotation>$$ - $$</annotation>\u0000 </semantics></math>5 m under two typical cases, representing a reduction of over 80% compared to baseline trajectory planning methods. The proposed controller further decreases residual vibration to 5.94E<span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mo>−</mo>\u0000 </mrow>\u0000 <annotation>$$ - $$</annotation>\u0000 </semantics></math>5 m while ensuring trajectory tracking errors remain below <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mn>1</mn>\u0000 <msup>\u0000 <mrow>\u0000 <mn>0</mn>\u0000 </mrow>\u0000 <mrow>\u0000 <mo>−</mo>\u0000 <mn>6</mn>\u0000 </mrow>\u0000 </msup>\u0000 <mspace></mspace>\u0000 <mtext>rad</mtext>\u0000 </mrow>\u0000 <annotation>$$ 1{0}^{-6}kern0.3em mathrm{rad} $$</annotation>\u0000 </semantics></math>, even under external disturbances. These simulation results validate the effectiveness of the proposed approach, demonstrating clear improvements in both vibration suppression and tracking accuracy compared to conventional PD and Legendre polynomial-based controllers.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6018-6035"},"PeriodicalIF":3.2,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101169","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":"An Extended Adaptive Generalized Second-Order Algorithm for Simultaneous Estimation of Reaction Rates and an Input Disturbance in Bioprocesses","authors":"Jorge Torres,&nbsp;Víctor Reza,&nbsp;Jesus Guerrero","doi":"10.1002/rnc.8035","DOIUrl":"https://doi.org/10.1002/rnc.8035","url":null,"abstract":"<div>\u0000 \u0000 <p>Currently, monitoring and controlling a bioreactor is crucial for the improvement of any bioprocess behavior. Hence, it is necessary to know the system dynamics, such as reaction rates, which are challenging to describe mathematically. Although many observers were designed for its estimation, these algorithms are not robust under an external disturbance in the dilution rate, which can interfere with monitoring reaction rates and unmeasurable states, or designing control laws. Using sliding mode observers is an option to deal with this problem. However, its application depends on knowing the upper bounds of the unknown dynamics, which, if they are poorly selected, can increase the effect of chattering phenomena and degrade the performance of any proposed observer or control algorithms. In this work, an extended adaptive generalized second-order algorithm is designed and analyzed to estimate reaction rates and scalar external disturbances in bioprocesses. Furthermore, a criterion is developed to tune the adaptive law's gains. The application of this algorithm depends on a change of variables, which is valid under the persistent excitation condition. The designed algorithm is studied in a simulated continuous bioproduction of beta-carotene, which shows that the proposed algorithm performs well in estimating the desired dynamics.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"5990-6001"},"PeriodicalIF":3.2,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101172","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 Predefined-Time Nonsingular Terminal Sliding Mode Controller Design and Its Application to Steer-By-Wire System","authors":"Tiankuo Liu,&nbsp;Huifang Kong,&nbsp;Xiaoxue Zhang,&nbsp;Qian Zhang,&nbsp;Yibo Meng","doi":"10.1002/rnc.8030","DOIUrl":"https://doi.org/10.1002/rnc.8030","url":null,"abstract":"<div>\u0000 \u0000 <p>In this article, a recursive predefined-time observer-based adaptive predefined-time nonsingular terminal sliding mode (RPTO-APTNTSM) control strategy is proposed for a class of uncertain nonlinear systems. First, a novel PTNTSM controller is designed to guarantee the system tracking error converge to zero in a predefined-time, where the controller is global non-singular and the setting time of the control system is independent of the initial states and can be set in advance. Then, a fast nested adaptive law is constructed to update the control gain. With the adaptive method, the adaptive gain can be automatically adjusted with the uncertainty's upper bound, such that not only the system robustness is improved, but also the prior upper bound constraint of the uncertainty is removed. To mitigate chattering caused by undesired large control gain, the RPTO is developed for uncertainty compensation. Therefore, the control gain can be further updated to the upper bound of the uncertainty estimation error, which is much smaller than the uncertainty's upper bound, thereby the chattering is minimized. A detailed Lyapunov stability proof of the proposed strategy is provided. Finally, simulations and experiments on a Steer-by-Wire system are conducted to validate the superiority of the control strategy.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"5964-5978"},"PeriodicalIF":3.2,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101221","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 Bounded Output Consensus for Heterogeneous Multi-Agent Systems With Communication Link Faults and Actuator Faults Under Double Dynamic Event-Triggered Mechanisms","authors":"Yuliang Cai,&nbsp;Jingjing Zhao,&nbsp;Lianyan Fu,&nbsp;Hongjing Liang,&nbsp;Qiang He","doi":"10.1002/rnc.8036","DOIUrl":"https://doi.org/10.1002/rnc.8036","url":null,"abstract":"<div>\u0000 \u0000 <p>This work examines the fully distributed bounded output consensus under double dynamic event-triggered mechanisms for heterogeneous linear multi-agent systems with communication link faults and actuator faults. In the presence of communication link failures that induce signal transmission inaccuracies among agents, followers are unable to precisely monitor the leader's state or the states of neighboring agents. Therefore, the fully distributed compensator is proposed to estimate the leader's state. Furthermore, an output feedback state observer is developed to ensure accurate estimation of each follower's state. Based on the compensator and observer, an adaptive fault-tolerant controller is introduced to address the bounded output consensus problem. The double dynamic event-triggered mechanisms, implemented at both the communication and control terminals, effectively reduce communication frequency and controller updates simultaneously. Additionally, Lyapunov stability theory is applied to confirm that the established compensator and controller can achieve the desired goals and eliminate the Zeno behavior. Finally, numerical simulations and application examples are provided to demonstrate the validity of the obtained results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"6002-6017"},"PeriodicalIF":3.2,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101223","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-Tolerant and Current Compensation Control Based on Set-Membership Estimation for Three-Phase Four-Bridge PMSM Drive System","authors":"Yanfei Zhu,&nbsp;Zhenjie Wang,&nbsp;Chuanjiang Li,&nbsp;Ya Gu,&nbsp;Yan Li","doi":"10.1002/rnc.8025","DOIUrl":"https://doi.org/10.1002/rnc.8025","url":null,"abstract":"<div>\u0000 \u0000 <p>For the issue of the inverter open-circuit faults of the permanent magnet synchronous motor (PMSM) drive system, this paper presents a fault diagnosis and fault-tolerant control method based on set-membership estimation. Firstly, the mathematical model of the motor drive system is established using the discrete switch signals and the continuous current state variables. Then, an ellipsoid set estimation method is designed for fast fault monitoring and location for subsequent fault-tolerant control. Then, this paper divides the fault-tolerant control design into two types based on the specific faulty tubes and the directions of the fault phase currents. One approach is to switch when the current drops sharply upon a fault directly and use the residual difference between the estimated and actual current values as current compensation. Another approach is to wait for the current in the faulty phase to approach zero before switching to the backup phase when the fault has little impact on the current. The simulation results show that the waiting-to-switch method has little effect on current and speed, which is no different from the normal operation of the motor. A direct switch at this point will cause the current to drop sharply to zero, with a speed fluctuation of 11 ms. In the case of a sudden drop in current, the method with current compensation is 3 ms faster than that without current compensation, and the efficiency is increased by approximately 22.2%. Both fault-tolerant control designs can effectively improve system performance and stability.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"5951-5963"},"PeriodicalIF":3.2,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101177","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}