International Journal of Robust and Nonlinear Control最新文献

{"title":"Adaptive Iterative Learning Control for Non-Strictly Repeatable Systems With Unknown Control Gains","authors":"Xuefang Li,&nbsp;Ruohan Shen,&nbsp;Shuyu Zhang","doi":"10.1002/rnc.7996","DOIUrl":"https://doi.org/10.1002/rnc.7996","url":null,"abstract":"<div>\u0000 \u0000 <p>This work investigates the adaptive iterative learning control (AILC) problem for nonstrictly repeatable systems subject to unknown control gains. Different to the existing results, we novelly transform the unknown control gain into a kind of norm-bounded uncertainty, based on which a novel adaptive estimation approach is designed to reject the unknown control gain. Furthermore, to guarantee the learning ability of the controlled system subject to iteration-varying trial lengths, piecewise parametric update laws are proposed over the desired trial interval. Consequently, the proposed AILC strategy is then established by employing the error-tracking approach, which is capable of handling the iteration-varying initial states effectively. The convergence of the control algorithms is analyzed by applying the Lyapunov-like theory, and two numerical examples are illustrated to verify the proposed control scheme.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5519-5528"},"PeriodicalIF":3.2,"publicationDate":"2025-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144909906","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":"Parameter Estimation of Bilinear State-Space Systems With Nonlinear Input via Enhanced Nadam Algorithm by Line Search Method","authors":"Shengke Yang,&nbsp;Jing Chen,&nbsp;Yawen Mao,&nbsp;Huitong Lu","doi":"10.1002/rnc.8020","DOIUrl":"https://doi.org/10.1002/rnc.8020","url":null,"abstract":"<div>\u0000 \u0000 <p>This article investigates the problem of parameter estimation for bilinear state-space systems with nonlinear input. An innovative approach that combines the Nesterov-accelerated adaptive moment estimation algorithm with a line search strategy is proposed to address such complex systems. The proposed algorithm uses the backtracking line search method to dynamically select an appropriate step-size, thereby enhancing estimation efficiency. The effectiveness of the proposed algorithm is demonstrated through simulation experiments.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"5811-5824"},"PeriodicalIF":3.2,"publicationDate":"2025-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145100863","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":"Composite Control Based on Robust Disturbance Interval Estimation for Nonlinear Systems With Multiple Disturbances and Its Applications","authors":"Yuhan Xu,&nbsp;Zelong Wu,&nbsp;Yongjian Yang,&nbsp;Yukai Zhu,&nbsp;Makoto Iwasaki,&nbsp;Fang Fang","doi":"10.1002/rnc.7997","DOIUrl":"https://doi.org/10.1002/rnc.7997","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, a composite antidisturbance control scheme based on <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>L</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mn>1</mn>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {L}_1 $$</annotation>\u0000 </semantics></math> robust disturbance interval observer (RDIO) is proposed for a class of nonlinear systems with multiple disturbances. Considering the disturbance with uncertainties in asymmetry bounds, different from the existing composite antidisturbance scheme, here a <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>L</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mn>1</mn>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {L}_1 $$</annotation>\u0000 </semantics></math> RDIO is designed utilizing the uncertainty information to obtain the possible interval of real disturbance, and the disturbance effect is suppressed by compressing the interval for robust performance. The comparison of estimation accuracy of <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>L</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mn>1</mn>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {L}_1 $$</annotation>\u0000 </semantics></math> RDIO with traditional disturbance observer (DO) is given in theoretical analysis. Furthermore, algorithms for solving the <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>L</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mn>1</mn>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {L}_1 $$</annotation>\u0000 </semantics></math> RDIO parameters are provided for generalized and specific situations. Based on <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <msub>\u0000 <mrow>\u0000 <mi>L</mi>\u0000 </mrow>\u0000 <mrow>\u0000 <mn>1</mn>\u0000 </mrow>\u0000 </msub>\u0000 </mrow>\u0000 <annotation>$$ {L}_1 $$</annotation>\u0000 </semantics></math> RDIO and integral sliding mode control (ISMC), a composite integral sliding mode controller with disturbance compensation and attenuation ability is proposed to realize","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5529-5540"},"PeriodicalIF":3.2,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144909971","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 Bipartite Time-Varying Formation-Containment Tracking for Multi-Agent Systems","authors":"Xinyu Zhang,&nbsp;Xisheng Zhan,&nbsp;Jie Wu,&nbsp;Tao Han,&nbsp;Huaicheng Yan","doi":"10.1002/rnc.7982","DOIUrl":"https://doi.org/10.1002/rnc.7982","url":null,"abstract":"<div>\u0000 \u0000 <p>This article investigates the bipartite time-varying formation-containment (BTVFC) tracking problem of linear multi-agent systems (MASs) with bounded and unknown inputs for the virtual leader. This article proposes adaptive BTVFC tracking protocols suitable for MASs based on bipartite control. It has been demonstrated that real leaders can realize the expected formation and track the virtual leaders' trajectory, and followers can enter the convex envelope that the leaders cross by utilizing Lyapunov stability. In addition, this article also designs the state observer to observe the states of agents that are difficult to measure in the system. Finally, the validity of the main results in the article was verified through numerical simulations.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5311-5323"},"PeriodicalIF":3.2,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144909969","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":"Distributed Secure Observer-Based Adaptive Consensus Tracking Control for Uncertain Non-Linear Multi-Agent Systems Under Dos Attacks","authors":"Yuzhang Peng,&nbsp;Mengze Yu,&nbsp;Wei Wang,&nbsp;Zhenqian Wang","doi":"10.1002/rnc.7928","DOIUrl":"https://doi.org/10.1002/rnc.7928","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, we investigate the adaptive secure consensus tracking control problem for a class of heterogeneous non-linear multi-agent systems with uncertain time-varying parameters against denial of service (DoS) attacks. Under DoS attacks, where the leader's dynamics and states are only known to a subset of the followers (subsystems), achieving leader-following consensus poses a significant challenge, as not all followers can obtain the reference signal in this case. To solve this issue, a novel distributed fixed-time estimator is designed to estimate the uncertainties involved in the leader's dynamics. By applying average dwell time theory and switching mechanism, a distributed resilient observer is designed to obtain the leader's states without any global information under the threat of attacks. Subsequently, an adaptive backstepping-based controller is designed to achieve consensus tracking for a class of high-order non-linear systems with time-varying uncertain parameters. It is demonstrated that, if the attack duration meets the specified limits, all estimation errors of the leader's dynamics converge to zero within a fixed time, and all observation and tracking errors remain globally uniformly bounded. Simulation results are provided to illustrate the effectiveness of the proposed control scheme.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 11","pages":"4624-4637"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300074","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 Sliding-Mode Fault-Tolerant Consensus Control for Nonlinear Multi-Agent Systems With Unknown Perturbations","authors":"Chunsong Han,&nbsp;Kang Wang,&nbsp;Tengyu Ma,&nbsp;Guangtao Ran,&nbsp;Juntao Pan","doi":"10.1002/rnc.7968","DOIUrl":"https://doi.org/10.1002/rnc.7968","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper researched the robust sliding mode fault-tolerant consensus problem for uncertain second-order leader-following nonlinear multiagent systems (MASs) based on event-triggered strategies. First, an adaptive event-triggered sliding mode fault-tolerant controller was constructed by using the information of actuator failure rate and event-triggered threshold to ensure the robust consensus of MASs, optimize the performance under variable conditions, and reduce actuator degradation and overutilization of network resources. Additionally, the range of the sliding mode band is determined. Second, by employing the Lyapunov stability theory, a sufficient condition for the performance of leader-following nonlinear MASs adaptive tracking was given. And through constructing an equivalent connection, an upper bound for the robust consensus error is also provided. Third, the minimum execution time for event triggering in second-order leader-following MASs is computed. Finally, the simulation results validate the effectiveness of the suggested method for achieving fault-tolerant consensus using event-triggered SMC.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5133-5145"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624868","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 Event-Triggered Consensus for Unknown Input-Constrained MASs via Cooperative Regression Reinforcement Learning","authors":"Lina Xia,&nbsp;Qing Li,&nbsp;Ruizhuo Song","doi":"10.1002/rnc.7961","DOIUrl":"https://doi.org/10.1002/rnc.7961","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper investigates the consensus problem of unknown input-constrained nonlinear heterogeneous multi-agent systems (MASs) and proposes an optimal dynamic event-triggered control protocol based on a cooperative regression reinforcement learning (CRRL) algorithm. First, two neural networks (NNs) for each agent are used to approximate the system's dynamics model information. The designed identifier incorporates a compensation dynamic parameter and a compensation matrix, resulting in faster identification speed. Additionally, using an actor-critic structure, the event-triggered control and dynamic triggering conditions are designed, which does not exist in Zeno behavior. Subsequently, a CRRL algorithm is developed to ensure that the constant weight updating error is uniformly ultimately bounded and the consensus error asymptotically converges to zero. Notably, this algorithm relaxes the persistent excitation condition. Finally, the effectiveness and superiority of the proposed theoretical algorithm are validated through inverted pendulum systems and 2-DOF robots.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5043-5060"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624869","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 Prescribed-Time Control for Uncertain Nonlinear Cascaded Systems With Time-Varying Constraints","authors":"Qing Dai,&nbsp;Yuqiang Wu","doi":"10.1002/rnc.8006","DOIUrl":"https://doi.org/10.1002/rnc.8006","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper studies the problem of prescribed-time stabilization for uncertain nonlinear cascaded systems consisting of inverse dynamics and the nonholonomic system with time-varying asymmetric constraints. For handling the time-varying asymmetric constraints, the unified tan-type barrier Lyapunov function is constructed, and the parameter separation technique is used to address the nonlinear uncertainties. By combining the integral input-to-state stable Lyapunov function with the changing supply rates technique, the stability of inverse dynamics is achieved. It is noted that the prescribed-time adjustment function is directly embedded into the controllers, reducing the computational burden of the state scaling transformations. The designed adaptive prescribed-time control strategy guarantees that all measurable states of the cascaded system converge to zero within a prescribed time while satisfying the time-varying output constraints. The effectiveness of the proposed scheme can be verified through a simulation example.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5647-5658"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144910206","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-Based Containment Control for Homogeneous/Heterogeneous Multi-Agent System Under Aperiodic Dos Attack","authors":"Jiao Liu,&nbsp;Xin Wang,&nbsp;Jun Ren,&nbsp;Hongchao Li","doi":"10.1002/rnc.7964","DOIUrl":"https://doi.org/10.1002/rnc.7964","url":null,"abstract":"<div>\u0000 \u0000 <p>The containment problem of multi-agent system (MAS) under a class of aperiodic denial-of-service (DoS) attack is discussed. Based on switching theory, the system subject to DoS attack is modeled as a new model containing closed-loop and open-loop subsystems. Aiming at the homogeneous MAS, a distributed event-triggered strategy and a state feedback controller are proposed to realize the state containment. Subsequently, it is demonstrated that the triggering condition proposed in this paper can avoid Zeno behavior. Furthermore, for heterogeneous MAS, containment control in the attack environment is investigated based on output regulation theory. The leaders are treated as reference system, and an output feedback controller is proposed that relies on the observed state and reference system state. Finally, simulation examples of homogeneous and heterogeneous MAS are provided to verify the effectiveness of the results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5094-5107"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624864","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":"Input-To-State Stable Tracking Control Design for Fully Actuated Mechanical Systems Using Position Measurements Only","authors":"Joel Ferguson,&nbsp;Naoki Sakata,&nbsp;Kenji Fujimoto","doi":"10.1002/rnc.8018","DOIUrl":"https://doi.org/10.1002/rnc.8018","url":null,"abstract":"<div>\u0000 \u0000 <p>In this article, we consider tracking control design for fully actuated mechanical systems using position measurements only. A recently developed hybrid momentum observer is used, which has the property that the momentum estimation error is a passive output from the estimation error dynamics. To complement this, a tracking error system is constructed with error coordinates defined between the momentum estimate and the desired momentum. The tracking error dynamics are similarly passive with the momentum estimation error as the passive input to the tracking error system. Exploiting the passivity of both the observer and tracking controller subsystems, a passive interconnection is constructed which results in a storage function for the joint observer and controller systems. It is shown that the joint system is Input-to-State Stable (ISS) with respect to external disturbances and the effect of the disturbance can be attenuated via tuning gains. The results are numerically demonstrated on a 2-link manipulator system.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"5797-5810"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145102217","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}