IET Control Theory and Applications最新文献

{"title":"Intermittent Predefined-Time Control of Unmanned Vehicles","authors":"Han Xue,&nbsp;Yiye Wang","doi":"10.1049/cth2.70079","DOIUrl":"https://doi.org/10.1049/cth2.70079","url":null,"abstract":"<p>The challenges of communication interruptions have caused unmanned vehicles to lose the real-time transmission of essential data. The traditional control architecture, designed for continuous measurement, is inadequate to address the constraints posed by the fragility of facilities in harsh maritime conditions. Therefore, it is necessary to enhance the transient stability performance in non-ideal conditions and environments. This work proposes a novel intermittent predefined-time control algorithm. This approach eliminates the need for frequent measurement and recalculation of control laws at every moment, and extends the usage scenarios of intermittent control from first-order systems to second-order systems. During the holding interval, the control input remains as the last control signal in the driving interval, provided that the validated stability conditions are satisfied. The designed controller also ensures stability with zero control inputs during the holding interval. Furthermore, the proposed method aims to optimise energy consumption in control and measurement. Using the Lyapunov theorem and mathematical induction, sufficient conditions for achieving predefined-time convergence in intermittent control are derived and verified with unmanned vehicles. The proposed method demonstrates a 5.4% reduction in tracking error compared to the fixed-time control method, and a 7.9% reduction in tracking error compared to the event-triggered predefined-time control method. This approach reduces the frequency of control law recalculations, measurements and energy consumption.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70079","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145271760","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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":"Adaptive Fixed-Time Active Fault-Tolerant Control for Nonlinear Systems Based on Super-Twist Sliding Mode and RBFNN","authors":"Lipeng Wang,&nbsp;Jialiang Liu,&nbsp;Ruotong Cao,&nbsp;Donghui Yuan","doi":"10.1049/cth2.70078","DOIUrl":"https://doi.org/10.1049/cth2.70078","url":null,"abstract":"<p>This paper proposes a novel fixed-time active fault-tolerant control method for second-order affine nonlinear systems. The key innovation lies in the integration of a super-twisting barrier function based adaptive sliding mode control (ST-BFASMC) with a radial basis function neural network (RBFNN) observer, achieving simultaneous improvements in convergence speed and fault tolerance. Firstly, a RBFNN observer with weight and centre value update strategy is designed. Secondly, a non-singular fast terminal sliding surface and control law with a super-twisting term are constructed. Furthermore, the fixed-time convergence properties of both the controller and observer are rigorously proven using Lyapunov stability theory. Experimental studies on quadrotor UAV attitude control demonstrated that the adopted RBFNN observer achieved over 60% improvement across all performance metrics compared to baseline methods, while the control algorithm exhibited more than 30% enhancement in multiple indicators relative to conventional ASMC and barrier function based ASMC (BFASMC) approaches. These results validate the algorithm's strong robustness and fault-tolerant capability in the presence of actuator failures.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-10-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70078","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145271761","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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":"On Symmetric Games With Respect to a Permutation Group","authors":"Lei Wang,&nbsp;Jiandong Zhu","doi":"10.1049/cth2.70076","DOIUrl":"10.1049/cth2.70076","url":null,"abstract":"<p>This paper presents the first study on the discrimination problem of symmetric games with respect to a permutation group. Based on the algebraic representation of games, the necessary and sufficient conditions for symmetric games with respect to a permutation group are first derived. Subsequently, by the properties of the semi-tensor product of matrices and swap matrices, a minimal discriminant equation system comprising the fewest equations for verifying symmetric games with respect to a permutation group is constructed. Finally, three examples are provided to illustrate the main theoretical results presented of the paper.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-09-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70076","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145111166","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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":"Distributed Control for Lipschitz Nonlinear Systems on Graphical Game Framework","authors":"Long Zhang,&nbsp;Zhuo Zhang,&nbsp;Hamid Reza Karimi,&nbsp;Shouxu Zhang,&nbsp;Rongxin Cui,&nbsp;Weisheng Yan,&nbsp;Jun Zhang","doi":"10.1049/cth2.70075","DOIUrl":"10.1049/cth2.70075","url":null,"abstract":"<p>This paper studies the graphical game for multi-agent systems with Lipschitz nonlinear dynamics over directed graphs. First, a distributed optimal control policy is presented to ensure the leader-following consensus. Then, a modified cost function in the framework of graphical games is designed such that the weighting matrix is time-varying and relies on the Lipschitz nonlinearity, leading to the global Nash equilibrium. A simulation study is finally provided.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70075","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101584","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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":"Adaptive Tracking and Admittance Control Strategies for Force-Sensorless Physical Human–Robot Interaction","authors":"Van-Tam Ngo,&nbsp;Yen-Chen Liu","doi":"10.1049/cth2.70073","DOIUrl":"10.1049/cth2.70073","url":null,"abstract":"<p>In this paper, we present two adaptive control frameworks for physical human–robot interaction without direct force measurements. One enabling the robot to guide human motion using tracking control, and the other allowing it to follow human motion via admittance control. Both frameworks incorporate adaptive algorithms to estimate interaction forces, which are then integrated into controller designs to enhance performance and adaptability. In the first framework, the estimated forces are used to compensate for human-applied forces, enabling the robot to accurately follow a predefined trajectory. In contrast, the second control framework uses the estimated forces to adjust the robot's reference velocity, aligning its motion to human intentions. We employ Lyapunov's technique to demonstrate the stability and uniform ultimate bounds of the responses. Simulation and experimental results are presented to validate the proposed control algorithms. These results indicate that the approaches provide promising solutions for human–robot interaction with reduced cost and complexity.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70073","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101585","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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":"Linear Algebra Based Tracking Control of a Drone","authors":"Pedro Albertos,&nbsp;Pablo del Río,&nbsp;Cui Wei,&nbsp;Angel Cuenca","doi":"10.1049/cth2.70074","DOIUrl":"10.1049/cth2.70074","url":null,"abstract":"<p>In this paper, linear algebra based (LAB) control methodology is proposed as a feasible technique for tracking control of drones. The method introduces a straightforward mathematical procedure, which leads to a low computational cost implementation. A comprehensive analysis of LAB control applied to drone trajectory tracking, including detailed mathematical derivations, stability analysis, and practical implementation considerations is provided. Moreover, compared to one of the most popular non-linear control techniques, that is, feedback linearization (FL), LAB is able to reach satisfactory tracking and energy saving even under the consideration of complex trajectories (with sudden changes). The paper addresses key implementation challenges including sampling period selection, control parameter tuning methodologies, and actuator saturation handling. Extensive simulation results demonstrate the effectiveness of the proposed approach and its advantages over traditional FL method.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70074","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145101711","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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":"Unit Commitment and Economic Dispatch via Graph Attention Neural Network–Based Parallel Distributed Coordination Algorithm","authors":"Siyi Zhou,&nbsp;Liang Shi,&nbsp;Min Xia,&nbsp;Jian Geng,&nbsp;Jun Liu,&nbsp;Fang Yu","doi":"10.1049/cth2.70070","DOIUrl":"10.1049/cth2.70070","url":null,"abstract":"<p>The joint optimisation of unit commitment and economic dispatch (ED) is one of the key issues in smart grid scheduling and control. Integrating the discrete on/off statuses of units in the unit commitment problem with the continuous active power outputs in ED significantly increases the overall complexity of the combined optimisation problem. We propose an innovative distributed algorithm based on a graph attention network to address this challenge. The graph neural network is used to extract the inter-unit relational features and predict the future power dispatch schedule of each unit, while the parallel distributed coordination algorithm (PDCA), acting as the power dispatch algorithm, schedules and controls the output power of the units, including their start-up and shut-down states. Experimental results show that our algorithm performs well on both the IEEE 30-bus and IEEE 118-bus test systems, achieving a 1559 times speed boost compared to advanced solvers, and reaching economic optimality while satisfying all critical constraints to obtain an industrial acceptable solution.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70070","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145022044","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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":"Dual-Observer Based Resilient Control for Vehicle Trajectory Tracking Under Tri-Modal Cyber Attacks","authors":"Zigui Kang,&nbsp;Tao Li,&nbsp;Xiaofei Fan","doi":"10.1049/cth2.70072","DOIUrl":"10.1049/cth2.70072","url":null,"abstract":"<p>This study addresses vehicle trajectory tracking control under tri-modal cyber attacks, encompassing fixed sensor-to-controller/controller-to-actuator channel attacks in lateral dynamics and sparse multi-sensor attacks in position tracking. A hybrid fuzzy modeling framework is developed, integrating fuzzy logic inference with Takagi-Sugeno fuzzy techniques to approximate vehicle dynamics with time-varying velocity, payload-dependent mass, and unmeasurable cornering stiffness avoiding the conservatism inherent in conventional linear fractional transformation approaches for cornering stiffness parameterization. A dual-observer architecture combining an extended state observer and a supervisory fuzzy reduced-order observer (ESO-SFRO) is proposed for simultaneous system state reconstruction and tri-modal attack signal estimation. Based on the estimated states, a cyber-resilient controller is designed to ensure lateral stability and trajectory tracking accuracy. Experimental validation via CarSim/Simulink co-simulation demonstrates the proposed ESO-SFRO based controller exhibits superior dynamic stability and trajectory tracking performance under coupled cyber-physical disturbances.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70072","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145012083","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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":"Reliable Saturation Control for Multiple Asynchronous Switched Positive Systems With Adaptive Event-Triggered Control","authors":"Hongyuan Ma,&nbsp;Le Zhang,&nbsp;Hong Yang,&nbsp;Ying Zhao","doi":"10.1049/cth2.70059","DOIUrl":"10.1049/cth2.70059","url":null,"abstract":"<p>This paper investigates the L1 gain stability problem of reliable control for positive systems with input saturation under multi-asynchronous switching. Firstly, by constructing a system state observer and integrating it with an output feedback control strategy, the input variables for the system controller were obtained, and a reliable controller with input saturation was designed. Secondly, to prevent data accumulation, an adaptive event-triggered control strategy that ensures the non-negativity requirements of positive systems is introduced between the observer and the system state. This strategy can adjust the tightness of the event-triggering process, which not only improves control efficiency but also reduces the risk of the Zeno effect. The following describes a switching strategy based on event-triggered control. Under the guidance of a time-varying mode-dependent average dwell-time switching strategy, the multi-asynchronous delay problem of sub-observers and sub-controllers with respect to subsystems is addressed, leading to a closed-loop control system based on error feedback. By constructing co-positive Lyapunov function, sufficient conditions for the positivity of the system under both synchronous- and asynchronous-switching are provided, and the L1 gain stability of the system in both synchronous and asynchronous intervals is verified. Finally, the significance of the proposed method is validated through an example.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70059","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145012137","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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":"Improving the Control Actions of a Discrete FOPID Controller by Refining the Integral Term: Application to a 1-DOF Twin-Rotor System","authors":"Oscar Gonzales-Zurita,&nbsp;Erick Columba,&nbsp;Christian Ortega","doi":"10.1049/cth2.70056","DOIUrl":"10.1049/cth2.70056","url":null,"abstract":"<p>This research highlights the application of unmanned aerial vehicle (UAV) control in a reduced and laboratory scale model called 1-DOF twin rotor system (1D-TRS). Although the PID controller is widely used in UAVs due to its versatility and functionality, it has precision and disturbance rejection limitations. The discrete-time fractional-order PID (FOPID) controller is a valid alternative for UAV control that requires approximating the integral and derivative terms using an infinite summation of fractional terms, from which the most representative are selected for practical implementation. For low-scale UAV models, implementation is challenging since microcontrollers must process fractional operations in discrete time into limited hardware capabilities. In this context, tuning control parameters also represents a challenge since the PID constants and the fractional order parameters must be considered. This study proposes a discrete-time FOPID controller emphasizing the integral term, utilizing the same components as a conventional FOPID but with improved tuning flexibility. Since the integral term plays a key role in reducing tracking errors, this approach enhances accuracy without significantly increasing computational complexity, ultimately resulting in an FOPI + D controller. Tuning the controller parameters is also considered an a priori idea to set <span></span><math>\u0000 <semantics>\u0000 <mrow>\u0000 <mi>λ</mi>\u0000 <mo>=</mo>\u0000 <mi>μ</mi>\u0000 <mo>=</mo>\u0000 <mn>0.5</mn>\u0000 <mspace></mspace>\u0000 </mrow>\u0000 <annotation>$lambda = mu\t = 0.5;$</annotation>\u0000 </semantics></math> to leverage the capacities of the particle swarm optimization (PSO) method for adjusting the PID constants without increasing its computational cost if all the FOPID parameters were considered to perform tests and PSO calibration to obtain the desired control results. Experimental tests were conducted on the 1D-TRS using different reference signals, such as step, steps, and ramp inputs. Additionally, external disturbances were introduced during experimental scenarios. The proposed controller was compared against traditional PID and discrete FOPID controllers, with performance metrics demonstrating improved system response. The results showed that the proposed controller enhances trajectory tracking in 1D-TRS, improving both precision and robustness against disturbances. It is a valuable alternative for UAV applications where stability and tracking accuracy are critical.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ietresearch.onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70056","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144934965","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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}