IET Control Theory and Applications最新文献_第5页

Safety Containment Control for Parabolic PDEs 抛物型pde的安全壳控制

IF 2.3 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-06-16 DOI: 10.1049/cth2.70038

Guangshi Li

引用次数: 0

Distributed non-singular terminal sliding-mode control for a synchronized motion of a Cartesian and a robotic manipulator 笛卡儿机器人与机器人同步运动的分布非奇异终端滑模控制

IF 2.3 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-06-12 DOI: 10.1049/cth2.70001

Alejandra Hernandez-Sanchez, Mariel Alfaro, Arturo Molina, Alexander Poznyak, Isaac Chairez

{"title":"Distributed non-singular terminal sliding-mode control for a synchronized motion of a Cartesian and a robotic manipulator","authors":"Alejandra Hernandez-Sanchez, Mariel Alfaro, Arturo Molina, Alexander Poznyak, Isaac Chairez","doi":"10.1049/cth2.70001","DOIUrl":"10.1049/cth2.70001","url":null,"abstract":"This study presents the design of a decentralized terminal sliding-mode (TSM) controller to solve the trajectory tracking problem of a composite robotic device made up of two-dimensional Cartesian and multiple-degree-of-freedom robotic manipulators. The dynamics of the proposed composite robotic device satisfy a standard Lagrangian structure affected by the modeling uncertainties related to the internal interconnection between joint motion and external perturbations. The set of adaptive gains included in the controller implies enforcing the finite-time convergence of the tracking error (TE) to an invariant region considering the state bounds describing the restricted motion of all joints. The application of the barrier Lyapunov stability analysis theory addresses the previously known state constraints for both devices, considering the inclusion of a time-varying gain that guarantees the ultimate boundedness of the TE even with the presence of the effect of external perturbations. The suggested controller was evaluated using a virtual representation of the composite robotic device, which showed better tracking performance (while the restrictions were satisfied) than the performances obtained with the traditional linear state feedback and first-order sliding-mode controllers with restrictions. Analyzing the mean square error and its integral confirmed the benefits of using the adaptive barrier control to satisfy the TSM form.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70001","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144273494","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}

引用次数: 0

Robust Finite-Time Trajectory Tracking Control for Quadrotor UAVs With Uncertainties, External Disturbances, and Input Saturation 具有不确定性、外部干扰和输入饱和的四旋翼无人机鲁棒有限时间轨迹跟踪控制

IF 2.3 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-05-27 DOI: 10.1049/cth2.70031

Yuanyuan Fei, Jiayi Zhou, Junhe Zhang, Yao Yu, Changyin Sun

{"title":"Robust Finite-Time Trajectory Tracking Control for Quadrotor UAVs With Uncertainties, External Disturbances, and Input Saturation","authors":"Yuanyuan Fei, Jiayi Zhou, Junhe Zhang, Yao Yu, Changyin Sun","doi":"10.1049/cth2.70031","DOIUrl":"10.1049/cth2.70031","url":null,"abstract":"This paper addresses the finite-time trajectory tracking control problem for quadrotor UAVs under model uncertainties, external disturbances, and input saturation. A robust finite-time trajectory tracking control scheme is proposed by following steps. First, a nominal controller is established based on integral terminal sliding mode control. Second, an auxiliary system is used to address the input saturation constraint problem. It effectively restricts inputs from exceeding the bounds. Third, a reinforcement learning component is designed to estimate and compensate for model uncertainties and external disturbances. Then, a robust finite-time scheme is constructed by integrating the nominal controller, the reinforcement learning compensating component, and the auxiliary system. Theoretical analysis verifies that the finite-time stability of controlled systems can be guaranteed by the proposed tracking control scheme, and the tracking error can be driven to a compact set in finite time. Furthermore, simulation results confirm the effectiveness of the proposed control scheme.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70031","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144148574","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}

引用次数: 0

Optimization Scheduling for Long-Term Maritime Patrol Mission With Multiple Unmanned Aerial Vehicles 多无人机长期海上巡逻任务的优化调度

IF 2.3 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-05-11 DOI: 10.1049/cth2.70036

Bojiang Hou, Weisheng Yan, Shouxu Zhang

引用次数: 0

Extended Dissipativity Analysis and Synthesis for Discrete-Time Lur'e Delayed Systems: Matrix-Separation-Based Lyapunov Functional Method 离散Lur'e延迟系统的扩展耗散分析与综合：基于矩阵分离的Lyapunov泛函方法

IF 2.3 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-05-10 DOI: 10.1049/cth2.70035

Ke-You Xie, Sangmoon Lee, Chuan-Ke Zhang, Li Jin, Yajuan Liu, Yong He

{"title":"Extended Dissipativity Analysis and Synthesis for Discrete-Time Lur'e Delayed Systems: Matrix-Separation-Based Lyapunov Functional Method","authors":"Ke-You Xie, Sangmoon Lee, Chuan-Ke Zhang, Li Jin, Yajuan Liu, Yong He","doi":"10.1049/cth2.70035","DOIUrl":"10.1049/cth2.70035","url":null,"abstract":"This paper develops a matrix-separation-based Lyapunov functional method to study the extended dissipativity analysis and synthesis issue of discrete-time Lur'e-type delayed systems. The advanced idea of matrix-separation is reflected in Lyapunov functional candidates and estimates summation terms as precisely as feasible. First, we introduce a novel summation inequality based on the matrix-separation method to provide a bound for the augmented summation that involves common state variables. An improved delay-product-type Lyapunov functional is devised by extending non-positive definite summations as separate subblocks of the state-augmented summation. Then, by using the matrix injection method to handle the cubic delay term in the functional forward difference, a delay-variation-dependent stability criterion and an extended dissipativity criterion are developed under the matrix-separation-based method. Subsequently, sufficient conditions for the control design of Lur'e-type systems are derived. Finally, the effectiveness and superiority of the proposed method are verified through its application to Chua's circuits, neural networks, and a stochastic numerical example.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70035","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143930389","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}

引用次数: 0

Dynamic Output Feedback Asynchronous H ∞ $H_infty$ Control for Singular Markovian Jump Systems via Event-Triggered Scheme 基于事件触发方案的奇异马尔可夫跳跃系统的动态输出反馈异步H∞$H_infty$控制

IF 2.3 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-05-07 DOI: 10.1049/cth2.70034

Qian Zhang, Jinjin Liu, Huajian Xue

{"title":"Dynamic Output Feedback Asynchronous \u0000 \u0000 \u0000 H\u0000 ∞\u0000 \u0000 $H_infty$\u0000 Control for Singular Markovian Jump Systems via Event-Triggered Scheme","authors":"Qian Zhang, Jinjin Liu, Huajian Xue","doi":"10.1049/cth2.70034","DOIUrl":"10.1049/cth2.70034","url":null,"abstract":"This brief studies the problem of dynamic output feedback (DOF) asynchronous <math>\u0000 <semantics>\u0000 <msub>\u0000 <mi>H</mi>\u0000 <mi>∞</mi>\u0000 </msub>\u0000 <annotation>$H_infty$</annotation>\u0000 </semantics></math> control for singular Markovian jump systems (SMJSs) via event-triggered scheme (ETS). To save network resources, a dynamic ETS is proposed. Moreover, due to various factors, the controller modes and the system modes are not always synchronized and a hidden Markov model (HMM) is used to describe this phenomenon. First, some conditions are formulated to ensure that the system is stochastically admissible (SA) with <math>\u0000 <semantics>\u0000 <msub>\u0000 <mi>H</mi>\u0000 <mi>∞</mi>\u0000 </msub>\u0000 <annotation>$H_infty$</annotation>\u0000 </semantics></math> performance. Second, DOF controllers are obtained based on the derived conditions. Finally, two examples are presented to show the effectiveness of the proposed approach.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70034","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143919886","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}

引用次数: 0

Passivity-Based Distributed Averaging Control for Wide-Area Frequency Synchronisation with Time-Varying Power Demand 基于无源性的时变功率需求广域频率同步分布式平均控制

IF 2.3 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-04-28 DOI: 10.1049/cth2.70032

Heng Kang, Toru Namerikawa

引用次数: 0

Data-Driven Output Synchronization of Heterogeneous Multi-Agent Systems under False Data Injection Attacks 虚假数据注入攻击下异构多agent系统的数据驱动输出同步

IF 2.3 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-04-25 DOI: 10.1049/cth2.70027

Cheng Fei, Jun Shen, Hongling Qiu, Xiaoqi Song, Yamin Wang

{"title":"Data-Driven Output Synchronization of Heterogeneous Multi-Agent Systems under False Data Injection Attacks","authors":"Cheng Fei, Jun Shen, Hongling Qiu, Xiaoqi Song, Yamin Wang","doi":"10.1049/cth2.70027","DOIUrl":"10.1049/cth2.70027","url":null,"abstract":"This paper investigates strategies for achieving optimal output synchronization of heterogeneous multi-agent systems in the presence of false data injection attacks. We formulate a performance index with an infinite time horizon using a zero-sum game framework, treating control input and false data injection attack input as two opposing players. Specifically, the control input's objective is to minimize the performance index, while the false data injection attack input aims to maximize it. Adhering to the optimality principle, we derive the optimal control policy, contingent upon the solution to a related algebraic Riccati equation. Moreover, we propose sufficient conditions that ensure the existence of a solution to the algebraic Riccati equation. Additionally, we have devised a data-driven reinforcement learning algorithm to seek the solution, and its convergence is assured. Furthermore, it has been demonstrated that the solution to this game corresponds to a Nash equilibrium point. Finally, the validity of the proposed methodology is substantiated through simulation results.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70027","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143871564","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}

引用次数: 0

Multivariable QFT control of the direction flip problem in wire arc additive manufacturing 电弧增材制造中方向翻转问题的多变量QFT控制

IF 2.3 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-04-25 DOI: 10.1049/cth2.12765

Manuel Masenlle, Jorge Elso, J. Xabier Ostolaza

{"title":"Multivariable QFT control of the direction flip problem in wire arc additive manufacturing","authors":"Manuel Masenlle, Jorge Elso, J. Xabier Ostolaza","doi":"10.1049/cth2.12765","DOIUrl":"10.1049/cth2.12765","url":null,"abstract":"Additive metal manufacturing (AM), particularly Wire Arc Additive Manufacturing (WAAM), offers a compelling alternative to traditional machining methods. While AM presents advantages such as reduced material waste and lower production costs, challenges remain in effectively controlling the process to prevent defects and optimise material deposition. This article proposes a multivariable control system for WAAM utilising Quantitative Feedback Theory (QFT) to maintain the shape of the heat-affected zone (HAZ) during transitions in direction flips during layer deposition. By modelling these direction flips as predictable disturbances, the full potential of QFT to integrate feedback and feedforward actions is exploited. The resulting multivariable control laws seek to minimise temperature variation in two critical points around the welding pool by adequately manipulating the power and speed of the heat source. A benchmark system is established to evaluate the effectiveness of the proposed control system. The results demonstrate significant improvement in temperature control, leading to enhanced layer construction quality and reduced need for height corrections or cooling pauses.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12765","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143875640","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}

引用次数: 0

Minimum-Parameter-Learning-Based Adaptive Neural Finite-Time Control for Uncertain Nonlinear Systems With Dynamic Event-Triggered Input 具有动态事件触发输入的不确定非线性系统的最小参数学习自适应神经有限时间控制

IF 2.3 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-04-21 DOI: 10.1049/cth2.70026

Qiang Zeng, Qiuyue Shi, Meili Yu, Lei Liu

{"title":"Minimum-Parameter-Learning-Based Adaptive Neural Finite-Time Control for Uncertain Nonlinear Systems With Dynamic Event-Triggered Input","authors":"Qiang Zeng, Qiuyue Shi, Meili Yu, Lei Liu","doi":"10.1049/cth2.70026","DOIUrl":"10.1049/cth2.70026","url":null,"abstract":"This article investigates the finite-time event-triggered controller design with minimum learning parameters (MLP) for nonlinear systems using neural networks in the presence of uncertainty. Specifically, firstly, the neural networks are devised to compensate online for the uncertain nonlinear functions. Then, a finite-time prescribed performance function is employed in the controller design to achieve that the tracking error converges to within a prescribed region at any setting time. At the same time, the transient responses (e.g., maximum overshoot and convergence speed) can be enhanced for the tracking error. After that, unlike ordinary dynamic event-triggered strategy, the developed dynamic event-triggered methodology can further increase the triggering interval, which leads to the network bandwidth can be effectively saved. Moreover, one can prove that all the closed-loop signals remain bounded and the Zeno phenomenon can be excluded. Finally, the advantages of the proposed strategy can be illustrated by two examples.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.3,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70026","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143852793","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}

引用次数: 0