International Journal of Robust and Nonlinear Control最新文献

{"title":"Global Output Regulation for Uncertain Feedforward Nonlinear Systems With Unknown Nonlinear Growth Rate","authors":"Le Chang,&nbsp;Xiangbo Zhang","doi":"10.1002/rnc.7862","DOIUrl":"https://doi.org/10.1002/rnc.7862","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper proposes a method for designing an output regulation controller for a class of feedforward nonlinear systems, where the nonlinear terms exhibit an unknown input-dependent rate. The completely unknown nature of this rate introduces significant challenges to control design, rendering existing adaptive and time-varying methods ineffective. To address these challenges, we first introduce a bound on the input and transform the nonlinear condition into an equivalent case with an unknown constant rate. Subsequently, we develop both time-varying and adaptive methods to design the controller. Through rigorous mathematical analysis, we prove that the regulation objective can be achieved under the proposed control framework. Illustrative examples are provided to demonstrate the effectiveness of the designed control strategy.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3523-3532"},"PeriodicalIF":3.2,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914004","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 Semi-Global Output Regulation of Uncertain Two-Time-Scale Systems With Input Saturation","authors":"Yan Lei,&nbsp;Yan-Wu Wang,&nbsp;Irinel-Constantin Morărescu,&nbsp;Daniele Astolfi","doi":"10.1002/rnc.7858","DOIUrl":"https://doi.org/10.1002/rnc.7858","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper investigates the robust semi-global output regulation of uncertain linear systems with input saturation. In this setup, one cannot apply off-the-shelf techniques to reject structural uncertainties due to numerical issues caused by the two time scales but also due to technical issues generated by the input saturation. To solve this problem, we combine internal model principle with low gain technique and singular perturbation theory. Explicitly, the regulator design is based on the computation of the solutions of a Sylvester equation, which can be ill-conditioned in the two-time scales setting. To overcome this, we propose an easily solvable equation, and the existence and uniqueness of its solution are guaranteed under some standard assumptions. Accordingly, an internal model-based controller is designed such that the semi-global robust output regulation problem can be solved. In order to cope with the input saturation, we impose that the ultimate upper bound of the infinity norm of the exosystem state is limited and satisfies certain constraints. Finally, three examples are provided to illustrate the effectiveness of the results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3484-3495"},"PeriodicalIF":3.2,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914005","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":"A Convex Optimization Approach to Compute Trapping Regions for Lossless Quadratic Systems","authors":"Shih-Chi Liao,&nbsp;A. Leonid Heide,&nbsp;Maziar S. Hemati,&nbsp;Peter J. Seiler","doi":"10.1002/rnc.7807","DOIUrl":"https://doi.org/10.1002/rnc.7807","url":null,"abstract":"<p>Quadratic systems with lossless quadratic terms arise in many applications, including models of atmosphere and incompressible fluid flows. Such systems have a trapping region if all trajectories eventually converge to and stay within a bounded set. Conditions for the existence and characterization of trapping regions have been established in prior work for boundedness analysis. However, prior solutions have used non-convex optimization methods, resulting in conservative estimates. In this paper, we build on this prior work and provide a convex semidefinite programming condition for the existence of a trapping region. The condition allows for precise verification or falsification of the existence of a trapping region. If a trapping region exists, then we provide a second semidefinite program to compute the least conservative radius of the spherical trapping region. Two low-dimensional systems are provided as examples to illustrate the results. A third high-dimensional example is also included to demonstrate that the computation required for the analysis can be scaled to systems of up to <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mo>∼</mo>\u0000 <mi>O</mi>\u0000 <mo>(</mo>\u0000 <mn>100</mn>\u0000 <mo>)</mo>\u0000 </mrow>\u0000 <annotation>$$ sim O(100) $$</annotation>\u0000 </semantics></math> states. The proposed method provides a precise and computationally efficient numerical approach for computing trapping regions. We anticipate this work will benefit future studies on modeling and control of lossless quadratic dynamical systems.</p>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 6","pages":"2425-2436"},"PeriodicalIF":3.2,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/rnc.7807","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143581620","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":"Flexible-Fixed-Time-Performance-Based Adaptive Tracking Control for Unmanned Helicopter With Input Saturation","authors":"Zhiyang He,&nbsp;Shuang Shi,&nbsp;Haibo Wang","doi":"10.1002/rnc.7860","DOIUrl":"https://doi.org/10.1002/rnc.7860","url":null,"abstract":"<div>\u0000 \u0000 <p>This article proposes an adaptive tracking control strategy for a 6-DOF unmanned helicopter with external disturbances and input saturation, which is able to guarantee the flexible fixed-time prescribed performance. Different from the majority of prescribed performance control methods with input saturation, which neglect the conflict between input and performance constraints, the strategy offered achieves a trade-off by introducing a flexible fixed-time prescribed performance function. Besides, the desired tracking signals are temporarily adjusted during the saturation phase to enhance the feasibility of the tracking task. A hyperbolic tangent function is utilized to tackle the problem of saturated input. To compensate for the composite disturbances that involve external disturbances and the estimation error of the hyperbolic tangent function, a parameter adaptive estimation method is adopted to approximate its upper bound. Combining with the backstepping technology, the trajectory tracking controller is investigated to guarantee that tracking errors meet the prescribed performance within fixed time. Comparative simulations illustrate the effectiveness and merits of the proposed control scheme.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3496-3508"},"PeriodicalIF":3.2,"publicationDate":"2025-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914349","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":"Bipartite Consensus Control for Multi-Agent Systems With Intermittent Communication: A Data-Driven Method","authors":"Yi Zou,&nbsp;Engang Tian","doi":"10.1002/rnc.7856","DOIUrl":"https://doi.org/10.1002/rnc.7856","url":null,"abstract":"<div>\u0000 \u0000 <p>This study explores the data-driven control methods to address the bipartite consensus of continuous-time multi-agent systems (MASs) under intermittent communication (IC). A key advantage of this approach is that it removes the requirement for prior knowledge of system parameters. Since MASs operate in an IC environment, their states may diverge during the non-communication intervals. To overcome this challenge, a more flexible relationship between the lengths of communication and non-communication intervals and the convergence rate is established. Remarkably, this approach eliminates the restrictions on communication and non-communication intervals in existing researches and offers a more adaptable description of IC. Both bipartite consensus conditions and control gains are obtained in terms of input-state data. Finally, an example is presented to illustrate the effectiveness of the proposed data-driven approach.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3460-3470"},"PeriodicalIF":3.2,"publicationDate":"2025-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143914348","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":"Data-Driven Dynamic Event-Triggered Load Frequency Control for Multi-Area Interconnected Power Systems With Random Delays","authors":"Yuhao Chen,&nbsp;Huarong Zhao,&nbsp;Li Peng,&nbsp;Hongnian Yu","doi":"10.1002/rnc.7847","DOIUrl":"https://doi.org/10.1002/rnc.7847","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper investigates a load frequency control issue for multi-area interconnected unknown power systems with random communication delays. First, a model-free adaptive control scheme is established by building an equivalent data-relationship model between the area control error and corresponding control input. Then, a dynamic event-triggered scheme is designed to improve resource utilization and reduce computational burden. Furthermore, random communication delays in the feedback and forward channels are considered. The results show that the proposed method is independent of any model information about the power system, only using the controlled system's control input and output data. Several simulation results validate the effectiveness of the proposed control scheme.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 8","pages":"3358-3369"},"PeriodicalIF":3.2,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143822110","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 Practically Prescribed-Time Attitude Control for Flexible Spacecraft","authors":"Zhi Li,&nbsp;Ying Zhang,&nbsp;Ai-Guo Wu","doi":"10.1002/rnc.7849","DOIUrl":"https://doi.org/10.1002/rnc.7849","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, the practically prescribed-time attitude stabilization problem for flexible spacecraft with unknown disturbances is investigated. By designing an extended modal observer, the flexible vibrations and disturbances are compensated. Compared with some existing results on the flexible modal observers, an appealing feature in the current design is that the estimation errors of flexible vibrations converge faster. To establish the practically prescribed-time control scheme, a state-scaling transformation is introduced by time-varying functions. Additionally, with the aid of the presented observer and an adaptive law, the attitude achieves practically prescribed-time stability. At last, numerical simulations are presented to show the effectiveness of the proposed control method.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 8","pages":"3370-3382"},"PeriodicalIF":3.2,"publicationDate":"2025-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143822103","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 Observer Design for Nonlinear Steering Control Systems of Unmanned Surface Vehicles","authors":"Xiao-Lei Wang,&nbsp;Li-Ying Hao,&nbsp;Qinghua Yang,&nbsp;Yu-Long Wang","doi":"10.1002/rnc.7837","DOIUrl":"https://doi.org/10.1002/rnc.7837","url":null,"abstract":"<div>\u0000 \u0000 <p>This article studies the design of fault detection (FD) observers for nonlinear steering control (NSC) systems of unmanned surface vehicles (USVs) with steering machine faults. The considered NSC systems of USVs are characterized by discrete-time T-S fuzzy models with immeasurable states. First, a new fuzzy FD observer is constructed to handle the challenge caused by the introduction of membership functions (MFs) that are different from the ones in the system, in which the MFs in the FD are designed by scaling and biasing those of the T-S model. Different from the existing uncertainty restrictions between the MFs in the systems and those in the observers, the deterministic restrictions are constructed, and the MFs of the observer are directly constructed according to the ones of the system without calculation. Then, by employing Lyapunov function (LF), it is proved that the constructed FD observers can ensure the stability and desired performance of the systems. Finally, an NSC system model of USVs is given to verify the effectiveness of the presented technical solution.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 8","pages":"3231-3239"},"PeriodicalIF":3.2,"publicationDate":"2025-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143822105","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":"Co-Design of Watermarking and Controller for Reducing Detection Delay of Replay Attacks","authors":"Chenggang Xia,&nbsp;Kun Liu,&nbsp;Haojun Wang,&nbsp;Tao Liu,&nbsp;Juntao Li,&nbsp;Yuanqing Xia","doi":"10.1002/rnc.7854","DOIUrl":"https://doi.org/10.1002/rnc.7854","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper investigates the problem of reducing the detection delay of the replay attacks by co-designing the watermarking signal and the controller parameters. Based on the dynamic encryption-decryption scheme, we propose a cumulative sum test, which utilizes the sensor measurements and watermarking signals to detect the replay attacks, and derive the relationship between the detection delay and the watermarking signal covariance. Then, we analyze the control performance loss caused by the watermarking signal added to the sensor measurements to expose the replay attacks. Furthermore, to reduce the detection delay, an optimization problem is formulated to design the optimal covariance of the watermarking signal with a tolerable control performance loss. Finally, we reformulate another optimization problem of co-designing the watermarking signal and the controller parameters to simultaneously reduce the detection delay and the control performance loss. A numerical example is provided to verify the effectiveness of theoretical results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 9","pages":"3436-3447"},"PeriodicalIF":3.2,"publicationDate":"2025-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143913995","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":"Delay Margin Analysis of Uncertain Linear Control Systems Using Probabilistic \u0000 \u0000 \u0000 μ\u0000 \u0000 $$ mu $$","authors":"F. Somers,&nbsp;C. Roos,&nbsp;J.-M. Biannic,&nbsp;F. Sanfedino,&nbsp;V. Preda,&nbsp;S. Bennani,&nbsp;H. Evain","doi":"10.1002/rnc.7780","DOIUrl":"https://doi.org/10.1002/rnc.7780","url":null,"abstract":"&lt;div&gt;\u0000 \u0000 &lt;p&gt;Monte Carlo simulations have long been a widely used method in the industry for control system validation. They provide an accurate probability measure for sufficiently frequent phenomena but are often time-consuming and may fail to detect very rare events. Conversely, deterministic techniques such as &lt;span&gt;&lt;/span&gt;&lt;math&gt;\u0000 &lt;semantics&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mi&gt;μ&lt;/mi&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;annotation&gt;$$ mu $$&lt;/annotation&gt;\u0000 &lt;/semantics&gt;&lt;/math&gt; or IQC-based analysis allow fast calculation of worst-case stability margins and performance levels, but in the absence of a probabilistic framework, a control system may be invalidated on the basis of extremely rare events. Probabilistic &lt;span&gt;&lt;/span&gt;&lt;math&gt;\u0000 &lt;semantics&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mi&gt;μ&lt;/mi&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;annotation&gt;$$ mu $$&lt;/annotation&gt;\u0000 &lt;/semantics&gt;&lt;/math&gt;-analysis has therefore been studied since the 1990s to bridge this analysis gap by focusing on rare but nonetheless possible situations that may threaten system integrity. The solution adopted in this paper implements a branch-and-bound algorithm to explore the whole uncertainty domain by dividing it into smaller and smaller subsets. At each step, sufficient conditions involving &lt;span&gt;&lt;/span&gt;&lt;math&gt;\u0000 &lt;semantics&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mi&gt;μ&lt;/mi&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;annotation&gt;$$ mu $$&lt;/annotation&gt;\u0000 &lt;/semantics&gt;&lt;/math&gt; upper bound computations are used to check whether a given requirement–related to the delay margin in the present case–is satisfied or violated on the whole considered subset. Guaranteed bounds on the exact probability of delay margin satisfaction or violation are then obtained, based on the probability distributions of the uncertain parameters. The difficulty here arises from the exponential term &lt;span&gt;&lt;/span&gt;&lt;math&gt;\u0000 &lt;semantics&gt;\u0000 &lt;mrow&gt;\u0000 &lt;msup&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mi&gt;e&lt;/mi&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mo&gt;−&lt;/mo&gt;\u0000 &lt;mi&gt;τ&lt;/mi&gt;\u0000 &lt;mi&gt;s&lt;/mi&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;/msup&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;annotation&gt;$$ {e}^{-tau s} $$&lt;/annotation&gt;\u0000 &lt;/semantics&gt;&lt;/math&gt; classically used to represent a delay &lt;span&gt;&lt;/span&gt;&lt;math&gt;\u0000 &lt;semantics&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mi&gt;τ&lt;/mi&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;annotation&gt;$$ tau $$&lt;/annotation&gt;\u0000 &lt;/semantics&gt;&lt;/math&gt;, which cannot be directly translated into the Linear Fractional Representation (LFR) framework imposed by &lt;span&gt;&lt;/span&gt;&lt;math&gt;\u0000 &lt;semantics&gt;\u0000 &lt;mrow&gt;\u0000 &lt;mi&gt;μ&lt;/mi&gt;\u0000 &lt;/mrow&gt;\u0000 &lt;annotation&gt;$$ mu $$&lt;/annotation&gt;\u0000 &lt;/semantics&gt;&lt;/math&gt;-analysis. Two differen","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 6","pages":"2101-2118"},"PeriodicalIF":3.2,"publicationDate":"2025-01-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143582080","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}