European Journal of Control最新文献

Design and validation of new discrete-time kinematic control scheme for physically-constrained redundant robot manipulators 物理约束冗余度机器人离散运动控制新方案的设计与验证

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-09-24 DOI: 10.1016/j.ejcon.2025.101398

Zuoli Ye, Shukang Chen, Naimeng Cang, Xiyuan Zhang, Dongsheng Guo, Weidong Zhang

引用次数: 0

Algebraic calculation for safety synthesis of networked logical finite state machines 网络逻辑有限状态机安全综合的代数计算

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-09-20 DOI: 10.1016/j.ejcon.2025.101386

Zhipeng Zhang , Aocheng Wang , Haitao Li , Chengyi Xia

引用次数: 0

A widely-practical model-free prescribed time control for trajectory tracking of n-DOF robot manipulators 一种广泛应用于n-DOF机器人机械臂轨迹跟踪的无模型规定时间控制

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-09-18 DOI: 10.1016/j.ejcon.2025.101396

Chems Eddine Boudjedir

引用次数: 0

Exponential admissibility and H∞ controller design for continuous-time nonlinear time-varying delay singular systems 连续时间非线性时变时滞广义系统的指数容许性与H∞控制器设计

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-09-18 DOI: 10.1016/j.ejcon.2025.101374

Le Van Hien , Le Huy Vu

引用次数: 0

Assist-as-needed control of a soft rehabilitation robot for the finger using an interaction torque observer 基于交互力矩观测器的手指软康复机器人辅助控制

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-09-18 DOI: 10.1016/j.ejcon.2025.101395

Alireza Besharati , Afshin Taghvaeipour , Ali Kamali E. , Mohammad Zareinejad

{"title":"Assist-as-needed control of a soft rehabilitation robot for the finger using an interaction torque observer","authors":"Alireza Besharati , Afshin Taghvaeipour , Ali Kamali E. , Mohammad Zareinejad","doi":"10.1016/j.ejcon.2025.101395","DOIUrl":"10.1016/j.ejcon.2025.101395","url":null,"abstract":"<div><div>This paper introduces an Assist-as-Needed (AAN) control strategy for a soft finger rehabilitation robot using a fiber-reinforced bending (FRB) actuator. Most conventional rehabilitation controllers focus solely on position or force control and fail to incorporate the patient’s active participation during the rehabilitation process. This lack of engagement limits the effectiveness of patient-specific rehabilitation, highlighting the need for interaction-based strategies. To address this gap, we propose a novel AAN approach that combines a nonlinear disturbance observer (NDO) and a sliding mode controller (SMC), designed using the dynamic model of the FRB actuator. The NDO estimates the patient–robot interaction torque in real-time without using external sensors or modeling the patient’s finger, while the SMC ensures robust and accurate position tracking. This interaction-based assistance enables the system to dynamically adjust the level of assistance based on the patient’s voluntary efforts, while the controller simultaneously works to guide the finger movement toward the rehabilitation trajectory, promoting a more active and patient-specific rehabilitation process. Additionally, the stability of the closed-loop system is analytically proven using Lyapunov theory. The proposed method is validated both on a finger-like mechanism simulating various patient scenarios and on a wearable rehabilitation glove used by a participant. Experimental results confirm that the AAN controller achieves superior trajectory tracking and provides adaptive assistance aligned with the patient’s capability, outperforming conventional model-free controllers.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101395"},"PeriodicalIF":2.6,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145109491","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}

引用次数: 0

Optimization of robotic shaping control for non-rigid material with safety constraints 具有安全约束的非刚性材料机器人成形控制优化

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-09-18 DOI: 10.1016/j.ejcon.2025.101394

Yong Sun , Yiming Sun , Ruifei Peng , Chunhe Song , Qingxin Li , Shimao Yu , Yuqi Liu

{"title":"Optimization of robotic shaping control for non-rigid material with safety constraints","authors":"Yong Sun , Yiming Sun , Ruifei Peng , Chunhe Song , Qingxin Li , Shimao Yu , Yuqi Liu","doi":"10.1016/j.ejcon.2025.101394","DOIUrl":"10.1016/j.ejcon.2025.101394","url":null,"abstract":"<div><div>Robotic milling has emerged as a prominent research area for complex shaping owing to the inherent flexibility of manipulators. The investigation of robotic milling for rigid material has widely reported. However,because of the inherent attribute of rigid material, these methods mainly concentrate on the position and pose control of manipulators during task processing, lacking of reaction to material state, such as temperature and elastic deformation. This oversight becomes problematic when dealing with nonrigid materials since milling objectives are highly sensitive to changes in temperature and deformation. As a consequence, current robotic milling approaches designed for rigid materials may fail to ensure processing accuracy and security in such scenarios. To deal with this issue, this paper constructs a robotic milling simulation environment that incorporates a joint multi-fidelity surrogate model for nonrigid material milling with the consideration of temperature and deformation information. By means of reinforcement learning strategies to learn the knowledge of nonrigid material milling process, the elastic deformation can be effectively compensated and the temperature can be restricted within the preset bound while ensuring the processing efficiency. Finally, the effectiveness of the proposed control approach for nonrigid material milling is verified through simulation and experiment results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101394"},"PeriodicalIF":2.6,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158887","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}

引用次数: 0

Information transfer and its control in linear discrete stochastic systems 线性离散随机系统的信息传递及其控制

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-09-17 DOI: 10.1016/j.ejcon.2025.101392

Moirangthem Sailash Singh , Ramkrishna Pasumarthy , Umesh Vaidya , Steffen Leonhardt

{"title":"Information transfer and its control in linear discrete stochastic systems","authors":"Moirangthem Sailash Singh , Ramkrishna Pasumarthy , Umesh Vaidya , Steffen Leonhardt","doi":"10.1016/j.ejcon.2025.101392","DOIUrl":"10.1016/j.ejcon.2025.101392","url":null,"abstract":"<div><div>Information transfer is defined as a measure of the causal inferences between dynamical events. We quantify information transfers and study their responses to interventions or external signals within components of linear discrete stochastic systems. To quantify the causal inferences, we find the difference between the rate of change in the differential entropy of a marginal measure at a given coordinate in the presence and absence of another fixed coordinate. We also integrate theories from optimal control and information theory to compute control signals that result in desired information transfers within the dynamical components. To optimally steer the information transfer to the desired value, we convert the control problem into a nonlinear program, which can be solved numerically. We illustrate our theory with an example of a wireless communication system consisting of various transmitters and receivers. In particular, given a well-defined transmission channel model and the noise, we show that the signal-to-interference-plus-noise ratio, SINR of a receiver due to interference from various transmitters is a function of information transfers to the receiver from the transmitters, and controlling these transfers to desired values aligns with controlling the SINR experienced by the receiver.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101392"},"PeriodicalIF":2.6,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097562","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}

引用次数: 0

Haar wavelet-based Galerkin method with its feasibility, consistency, and application to unmanned vehicle navigation around moving obstacles 基于Haar小波的伽辽金方法在无人驾驶车辆绕障导航中的可行性、一致性及应用

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-09-16 DOI: 10.1016/j.ejcon.2025.101393

Saurabh R. Madankar , Amit Setia , Muniyasamy M. , Ravi P. Agarwal

引用次数: 0

Quasi-data-driven static output feedback control of linear systems with input and state delays 具有输入和状态延迟的线性系统的准数据驱动静态输出反馈控制

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-09-14 DOI: 10.1016/j.ejcon.2025.101385

Emanuel C. Brenag , Paulo S.P. Pessim , Pedro M. Oliveira , Reinaldo M. Palhares

{"title":"Quasi-data-driven static output feedback control of linear systems with input and state delays","authors":"Emanuel C. Brenag , Paulo S.P. Pessim , Pedro M. Oliveira , Reinaldo M. Palhares","doi":"10.1016/j.ejcon.2025.101385","DOIUrl":"10.1016/j.ejcon.2025.101385","url":null,"abstract":"<div><div>This paper presents a quasi-data-driven static output feedback (SOF) control framework for discrete-time linear systems subject to time-varying state and input delays. The proposed controller synthesis leverages input-state-output data acquired from the open-loop system, integrated with delay-dependent data-based Linear Matrix Inequality (LMI) conditions derived using Lyapunov–Krasovskii stability theory. A salient feature of this methodology is its ability to compute controller gains without prior knowledge of the system dynamics, thereby eliminating the dependence on explicit mathematical models. Furthermore, a data-driven reference-tracking input scheme is developed for time-delay systems, addressing piecewise-constant reference trajectories while guaranteeing asymptotic stability of the tracking error. The efficacy of the proposed approach is rigorously validated through numerical simulations and also experimental implementation on a twin-rotor system for pitch angle tracking, demonstrating robust performance in both theoretical and practical settings.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101385"},"PeriodicalIF":2.6,"publicationDate":"2025-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097564","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}

引用次数: 0

Guaranteed collision avoidance for autonomous surface vehicles equipped with a LiDAR using a CLF-CBF-QP controller 采用CLF-CBF-QP控制器的激光雷达的自动驾驶地面车辆保证避碰

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-09-13 DOI: 10.1016/j.ejcon.2025.101377

Diogo Silva , Daniel Silvestre

引用次数: 0