{"title":"Distributed Event-Triggered Time-Varying Formation Control Under Multiplicative Noises","authors":"Ruru Jia, Xiaofeng Zong, Yuan-Hua Ni","doi":"10.1002/rnc.8015","DOIUrl":"https://doi.org/10.1002/rnc.8015","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper investigates the distributed event-triggered time-varying formation (DETTVF) control problem of linear multiagent systems (MASs) that are subject to some multiplicative measurement noises in uncertain communication settings. A static-gain DETTVF control protocol is first designed, together with a new triggering mechanism, to cope with multiplicative noises and reduce communication costs; sufficient conditions related to control gains as well as triggering functions are provided that ensure that the MAS achieves time-varying formation in the mean-square sense and the Zeno behavior is excluded. Moreover, to eliminate constraints on global information, an adaptive-gain DETTVF control protocol with multiplicative noises is constructed, which will be implemented in a fully distributed manner; and the corresponding sufficient conditions are also provided. Finally, some numerical examples are presented to verify the validity of the obtained theoretical results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"5782-5796"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145102219","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 Event-Triggered Optimization for Multiple USVs With Coupled Objective Functions","authors":"Dou Xiong, Xiang-Yu Yao, Ju H. Park, Ming-Feng Ge","doi":"10.1002/rnc.8011","DOIUrl":"https://doi.org/10.1002/rnc.8011","url":null,"abstract":"<div>\u0000 \u0000 <p>This article presents an innovative fixed-time optimal control framework for the formation optimization of multiple unmanned surface vehicles (USVs) with coupled objective functions, where each USV's objective function depends not only on its own decision variables but also on those of its neighbors. Unlike conventional algorithms, the proposed framework simultaneously considers the individual states and the dynamic influences of neighbors, making it particularly suitable for realistic systems. The framework guarantees convergence within a fixed time, independent of initial conditions, with a rigorously derived upper bound for the convergence time. To address the challenges of coupling inequality constraints in USV formation optimization, a gradient projection method is used. Furthermore, a communication event-triggered mechanism is introduced to significantly reduce the frequency of communication updates while avoiding Zeno behavior, thereby enhancing resource efficiency. To preserve information privacy and ensure secure operations, auxiliary systems are incorporated into the framework. Additionally, a neural network-based strategy is integrated to handle parameter uncertainties in the dynamic models of USVs, effectively compensating for unknown system variations. Simulation results validate the effectiveness and robustness of the proposed framework in achieving resource-efficient, privacy-preserving, and optimal formation control in multiple USVs systems.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5717-5729"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144910207","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-Bounded Displacement-Style Formation Control","authors":"Yeong-Ung Kim, Hyo-Sung Ahn, Young-Hun Lim","doi":"10.1002/rnc.7975","DOIUrl":"https://doi.org/10.1002/rnc.7975","url":null,"abstract":"<div>\u0000 \u0000 <p>This article introduces input-bounded displacement-style formation control methods for multiagent systems modeled by single- and double-integrator dynamics with input saturation. Displacement-based formation control, which relies on relative positions between agents, is extended by incorporating orientation estimation. The proposed control laws ensure that the agents achieve the desired formations while maintaining bounded inputs to avoid input saturation. Under the condition of a strongly connected and detailed balanced graph, we prove that the multiagent systems globally asymptotically converge to the desired formation up to the translation and rotation with bounded input when the orientation estimations reach consensus. The simulation results of the formation control have been provided to validate the theoretical results.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5296-5305"},"PeriodicalIF":3.2,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624870","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":"Finite-Time Stabilization of Linear Systems by Reduced-Order and Dual Observer-Based Bounded Time-Varying Output Feedback","authors":"Zhengxiao Peng, Kai Zhang, Bin Zhou","doi":"10.1002/rnc.8004","DOIUrl":"https://doi.org/10.1002/rnc.8004","url":null,"abstract":"<div>\u0000 \u0000 <p>This article studies the finite-time stabilization of generally controllable and observable linear systems. By exploiting some key properties of the (dual) parametric Lyapunov equation, we design reduced-order and dual observer-based bounded time-varying output feedback, with the explicit time-varying parameters being offline designed, which achieve (prescribed) finite-time stabilization of linear systems. To reduce the regulating time, we propose a second method of solving the control gain parameters, which is solved offline with some scalar differential equations. Compared to the reduced-order observer-based time-varying output feedback, the dual observer-based time-varying output feedback has a smaller dimensionality if the system input dimension exceeds the output dimension. On the contrary, the reduced-order observer-based time-varying output feedback has lower dimensionality. The simulation of aerospace rendezvous systems verified the effectiveness and advantages of the proposed method.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5611-5628"},"PeriodicalIF":3.2,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144910483","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":"Self-Triggered Adaptive Dynamic Programming Suboptimal Control of Unknown Affine Nonlinear Systems With Full-State Constraints and Input Constraints","authors":"Yizhuo Liu, Kemao Ma","doi":"10.1002/rnc.8007","DOIUrl":"https://doi.org/10.1002/rnc.8007","url":null,"abstract":"<div>\u0000 \u0000 <p>A self-triggered approximate suboptimal controller design method is proposed within the adaptive dynamic programming framework. By constructing a novel auxiliary value function and candidate Lyapunov function, this method utilizes the barrier Lyapunov function for the first time in designing an optimal controller for a broader class of affine nonlinear systems with full-state constraints, overcoming the traditional limitation that the barrier Lyapunov function is restricted to strict feedback nonlinear systems. Furthermore, a nonquadratic cost function is employed to simultaneously satisfy the input constraints. By constructing identifier neural networks, optimal performance control is achieved, even with unknown system dynamics. The proposed self-triggered mechanism enables the controller and network weights to be updated only at the predicted moment, which not only reduces communication resource consumption but also eliminates the need for system state monitoring, as required in the event-triggered mechanism. Rigorous convergence analysis establishes a strong theoretical foundation for the stability and safety of the proposed method in practical applications. Simulation experiments confirm the effectiveness of the algorithm.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 13","pages":"5659-5672"},"PeriodicalIF":3.2,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144910482","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":"Prescribed-Time Cooperative Integrated Guidance and Control for Reentry Vehicle Based on Hybrid Control Strategy","authors":"Lei Cui, Zhe Zhen, Zhicheng Zhang","doi":"10.1002/rnc.8012","DOIUrl":"https://doi.org/10.1002/rnc.8012","url":null,"abstract":"<div>\u0000 \u0000 <p>In this paper, a prescribed-time cooperative integrated guidance and control (PTCIGC) is designed for reentry vehicles to achieve cooperative guidance and control. This method is designed based on bank-to-turn and skid-to-turn (BTT-STT) hybrid control strategy. Firstly, an IGC model of the reentry vehicle is established, which can be divided into three subsystems: Relative motion subsystem, airflow angle subsystem, and three-channel angle rate subsystem. Secondly, a prescribed-time controller is designed for the relative motion subsystem to obtain the airflow angle commands. Thirdly, a prescribed-time sliding mode controller (SMC) is designed for the airflow angle subsystem to track the airflow angle commands. Fourthly, to track the three-channel angle rate commands, a prescribed-time disturbance observer (DO) based on prescribed-time SMC is designed. Finally, the effectiveness of the PTCIGC method proposed in this paper is verified by six-degree-of-freedom (6DoF) numerical simulation in three-dimensional (3D) space.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"5751-5768"},"PeriodicalIF":3.2,"publicationDate":"2025-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145102268","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":"Novel Varying-Parameter ZNN Schemes for Solving TVLEIE Under Prescribed Time With UR5 Manipulator Control Application","authors":"Jiawei Luo, Zehong Gu","doi":"10.1002/rnc.8013","DOIUrl":"https://doi.org/10.1002/rnc.8013","url":null,"abstract":"<div>\u0000 \u0000 <p>Recently, time-varying linear equality and inequality equations (TVLEIE) is becoming increasingly crucial for solving problems in various fields. Zeroing neural networks (ZNNs) can also be employed to address the TVLEIE. Generally, the design convergent parameters (DCPs) of ZNN schemes affect the convergent speed. Since the previous fixed-parameter ZNNs (FPZNNs) use fixed parameters, they are not suitable for real-world applications where parameters vary over time. Taking this into account, the varying-parameter ZNNs (VPZNNs) are introduced in this field. Although the VPZNNs surpass the FPZNNs, their DCPs typically continue to increase over time and can even become excessively large in the end. But extremely large parameters are unsuitable. Moreover, the increasing parameters can lead to wasted computing resources, even when the VPZNNs become convergent. According to these considerations, we proposed novel varying-parameter ZNN (NVPZNN) schemes with prescribed-time (PT) convergence to address the TVLEIE. NVPZNN has the capability to adjust its DCPs to progressively converge to a constant once it achieves convergence within the prescribed time. Subsequently, the global and PT convergence of NVPZNNs and their upper bounds as well as stability are theoretically analyzed. In comparison to other ZNN schemes utilizing common activation functions (AFs), the NVPZNN schemes own faster convergent rate, shorter convergent time and superior stability. Numerical experiments are conducted to validate the effectiveness and advantages of the NVPZNN schemes. Moreover, the successful application of NVPZNN in UR5 Manipulator shows its reliability and industrial application value.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 14","pages":"5769-5781"},"PeriodicalIF":3.2,"publicationDate":"2025-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145102267","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}
Yingjiang Zhou, Shaojun Zhou, Guoping Jiang, Cheng Hu, Chaoxu Mu
{"title":"Prescribed-Time Bipartite Formation Control for Heterogeneous UGVs–UAVs Systems With Improved Extended State Observers","authors":"Yingjiang Zhou, Shaojun Zhou, Guoping Jiang, Cheng Hu, Chaoxu Mu","doi":"10.1002/rnc.7972","DOIUrl":"https://doi.org/10.1002/rnc.7972","url":null,"abstract":"<div>\u0000 \u0000 <p>This article aims to address two challenging issues in heterogeneous systems composed of unmanned aerial vehicles (UAV) and unmanned ground vehicles (UGV): 1) compensating for system disturbances within prescribed-time and 2) maintain the non-zero speed of heterogeneous UAVs and UGVs system(HUUS) under complex constraints. The main difficulty lies in how to effectively compensate for external disturbances and internal unknown dynamics within prescribed-time while satisfying constraints, and simultaneously ensuring that the HUUS maintains non-zero velocity. To overcome these challenges, an improved prescribed-time extended state observer (PTESO) is proposed in this article. This observer can estimate uncertainties and disturbances, with the convergence time that can be pre-adjusted independently of initial conditions. By adopting an improved time-varying function as the PTESO gain, the transient peak phenomenon caused by excessive gain is avoided. To make the formation error converge within prescribed-time without violating error constraints, a time-varying barrier Lyapunov function is introduced in the control strategy, a prescribed-time bipartite formation control strategy based on the extended state observer is proposed. Furthermore, to address the problem that the speed tends to zero in the cross-dimensional model system, a comprehensive dynamic model of HUUS is derived, ensuring that the system velocity maintains the value. Compared with existing schemes, the proposed observer and controller demonstrate faster and more stable convergence performance. Finally, the effectiveness of the designed method is verified through simulation examples, proving the significant improvement in robustness and dynamic response capability of HUUS.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5183-5195"},"PeriodicalIF":3.2,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624855","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}
Xiaosheng Sun, Yan-Jun Liu, Shu Li, Mou Chen, Lei Liu, Jason J. R. Liu
{"title":"Disturbance-State-Based Event-Triggered Model Predictive Tracking Control for 4WIS-4WID Mobile Robot","authors":"Xiaosheng Sun, Yan-Jun Liu, Shu Li, Mou Chen, Lei Liu, Jason J. R. Liu","doi":"10.1002/rnc.7967","DOIUrl":"https://doi.org/10.1002/rnc.7967","url":null,"abstract":"<div>\u0000 \u0000 <p>Due to disturbances caused by ground environment uncertainty and noise, as well as the influence of model uncertainty, these effects lead to tracking error in the actual state, which in turn affects the design of the robot controller. To address this issue in the 4-Wheel Independent Steering and 4-Wheel Independent Driving (4WIS-4WID) robot system, a disturbance-state-based event-triggered Model Predictive Control (EMPC) algorithm was proposed in this paper. To address disturbances while ensuring the accuracy of the system state, a nonlinear extended state observer (NESO) is designed to concurrently estimate the state and perturbation of the 4WIS-4WID mobile robot. An event-triggered mechanism (ETM) is implemented with the state and disturbance observations from NESO, aiming to minimize the frequency of controller and alleviate the computational workload of the system. The simulation shows that the disturbance-state-based EMPC can achieve well tracking performance and lessening the computational load of the robot.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5122-5132"},"PeriodicalIF":3.2,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624856","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":"Dynamic-Memory Event-Triggered-Based Optimal 3D Path-Following Control for AUV Systems Under Sparse Sensor Attacks","authors":"Ziyi Qiu, Yingnan Pan, Zhechen Zhu, Yan Lei","doi":"10.1002/rnc.7980","DOIUrl":"https://doi.org/10.1002/rnc.7980","url":null,"abstract":"<div>\u0000 \u0000 <p>This paper designs an optimal three-dimensional path-following control scheme for the underactuated autonomous underwater vehicle (AUV) incorporating a novel dynamic memory event-triggered mechanism (DMETM) against sparse sensor attacks. To address system state measurement errors and disturbances caused by sparse sensor attacks leading to a decrease in control effectiveness, an improved estimation algorithm is proposed, which can estimate the outputs of sensors under attacks and reduce the impact of disturbances. In order to reduce the impact of unqualified data on AUV system performance, based on the improved estimation algorithm, additional judging conditions are introduced in DMETM ensuring the accuracy of triggers. The results of stability analysis show all signals in the AUV system are bounded. Finally, some simulation results display the effectiveness of the proposed control scheme.</p>\u0000 </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 12","pages":"5260-5273"},"PeriodicalIF":3.2,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144624876","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}