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Stability analysis of a class of coupled time-varying differential-difference systems with time-delay and sector-type nonlinearities 一类时滞扇形非线性耦合时变微分-差分系统的稳定性分析
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2026-03-01 Epub Date: 2026-02-09 DOI: 10.1016/j.ejcon.2026.101472
Nguyen Khoa Son, Nguyen Thi Hong
{"title":"Stability analysis of a class of coupled time-varying differential-difference systems with time-delay and sector-type nonlinearities","authors":"Nguyen Khoa Son,&nbsp;Nguyen Thi Hong","doi":"10.1016/j.ejcon.2026.101472","DOIUrl":"10.1016/j.ejcon.2026.101472","url":null,"abstract":"<div><div>This paper presents novel stability results for a class of nonlinear time-varying coupled delay differential-difference (CDD) systems with sector-type nonlinearities. Using the comparison method for positive systems and suitably constructed Lyapunov-Krasovskii functionals, we derive explicit criteria for both asymptotic and exponential stability of the system’s zero solution. When applied to the class of time-invariant switched CDD systems, these results lead to verifiable stability conditions that both encompass and improve upon previously obtained ones. The proposed framework is further applied to establish new stability results for time-varying neutral-type delay systems with sector-type nonlinearities, as well as for time-varying Lurie systems with nonlinear output feedback controls. The effectiveness of the approach is illustrated through numerical examples.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101472"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147397714","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
Adaptive event-triggered control of reachable set for nonlinear systems 非线性系统可达集的自适应事件触发控制
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2026-03-01 Epub Date: 2026-01-11 DOI: 10.1016/j.ejcon.2026.101448
Mingde Liu , Liang Zhang , Li Ma , Ning Zhao , Yongchao Liu
{"title":"Adaptive event-triggered control of reachable set for nonlinear systems","authors":"Mingde Liu ,&nbsp;Liang Zhang ,&nbsp;Li Ma ,&nbsp;Ning Zhao ,&nbsp;Yongchao Liu","doi":"10.1016/j.ejcon.2026.101448","DOIUrl":"10.1016/j.ejcon.2026.101448","url":null,"abstract":"<div><div>This paper focuses on reachable set control for nonlinear systems. In response to the problems of traditional reachable set research methods in dealing with nonlinear systems, such as the high consumption of computational resources and difficulty in dealing with unknown parameters and nonlinear terms. An adaptive reachable set controller is devised in this paper to address the nonlinear effects efficiently. In addition, to reduce unnecessary consumption of communication resources, an adaptive event-triggered strategy is proposed. Meanwhile, this paper discretizes the control law to avoid the complexity explosion problem. Finally, the correctness of the theory is verified through numerical examples.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101448"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145980920","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
Multi-stage cubature information filter based nonlinear model predictive scheme for steering control of an autonomous underwater vehicle under sensor/actuator failure 基于多阶段培养信息滤波的自主水下航行器传感器/执行器失效非线性模型预测方法
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2026-03-01 Epub Date: 2026-01-17 DOI: 10.1016/j.ejcon.2026.101464
Subhasish Mahapatra , Atanu Panda , Siddhartha Vadapalli , Rames C. Panda
{"title":"Multi-stage cubature information filter based nonlinear model predictive scheme for steering control of an autonomous underwater vehicle under sensor/actuator failure","authors":"Subhasish Mahapatra ,&nbsp;Atanu Panda ,&nbsp;Siddhartha Vadapalli ,&nbsp;Rames C. Panda","doi":"10.1016/j.ejcon.2026.101464","DOIUrl":"10.1016/j.ejcon.2026.101464","url":null,"abstract":"<div><div>The hydrodynamics of an autonomous underwater vehicle (AUV) is an extremely intricate and multidimensional problem. The dynamic interaction between orientation change and the consequent shift in hydrodynamic forces exerts substantial effects on AUV’s stabilization and steering efficacy. Furthermore, a malfunctioning sensor/actuator leads to unexpected outcomes when executing steering maneuvers. A nonlinear model predictive control (NMPC) scheme incorporated with the observer was proposed in this work for the AUV to perform steering maneuvers. A two-stage high-degree cubature information filter is aimed at accurately tracking sensor/actuator faultiness, undetermined hydrodynamical parameters, and uncertain perturbations. Using the observed AUV state/parameters, a predictive control strategy for the anti-disturbance model has been devised. This research has extensively examined multiple types of real-world situations involving the impact of ocean currents, parametric sensitivity, and repercussions of sensor/actuator faults. A variety of indices, including mean square deviation (improvement of 5.36%) and root mean square error (improvement of 6.29%), are assessed using the proposed control framework and contrasted with the standard form of nonlinear model predictive controller to identify its efficacy and acceptance on the depth tracking scheme.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101464"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146079374","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
Directional eviction for multi-quadrotor system with dual leaders by state deception strategy 基于状态欺骗策略的双导多四旋翼系统定向驱逐
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2026-03-01 Epub Date: 2026-01-03 DOI: 10.1016/j.ejcon.2025.101441
Jin Jin , Jiuan Gao , Miao Zhao , Jianxiang Xi , Ning Cai
{"title":"Directional eviction for multi-quadrotor system with dual leaders by state deception strategy","authors":"Jin Jin ,&nbsp;Jiuan Gao ,&nbsp;Miao Zhao ,&nbsp;Jianxiang Xi ,&nbsp;Ning Cai","doi":"10.1016/j.ejcon.2025.101441","DOIUrl":"10.1016/j.ejcon.2025.101441","url":null,"abstract":"<div><div>The adversarial multi-quadrotor system seriously threatens the safety of civilian and military facilities, but the research about the countermeasure of a multi-quadrotor system has less results and is still open. This paper investigates directional eviction for a multi-quadrotor system with dual leaders by the state deception attack, where dual leaders are usually applied to enhance the robustness against the leader loss. Based on a canonical and common strategy for a multi-quadrotor system to realize distributed formation tracking, a new directional eviction strategy is proposed to make multiple quadrotors fly away from a protected objective instead of destroying them. Then, a sufficient condition for a multi-quadrotor system to be directionally evicted is proposed, where a constraint on a fictitious formation center function is only required, but no constraint about the communication topology and the intrinsic dynamics of a quadrotor is needed. Moreover, the motion trajectory of the attacked leader is determined and it is shown that the whole formation is separated into two parts, where all quadrotors except the attacked leader maintain the original formation and fly along the trajectory of the fictitious formation center function and the attacked leader may fly away from the other quadrotors. Finally, a flight experiment is implemented to directionally evict a multi-quadrotor system with two leaders and three following quadrotors.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101441"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145928778","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
Resilient distributed dynamic event-triggered bipartite time-varying formation control for multi-agent systems with quantized communication under multiple cyber attacks 多重网络攻击下具有量化通信的多智能体系统的弹性分布式动态事件触发二部时变编队控制
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2026-03-01 Epub Date: 2026-01-17 DOI: 10.1016/j.ejcon.2026.101465
Shaoquan Wen, Lin He
{"title":"Resilient distributed dynamic event-triggered bipartite time-varying formation control for multi-agent systems with quantized communication under multiple cyber attacks","authors":"Shaoquan Wen,&nbsp;Lin He","doi":"10.1016/j.ejcon.2026.101465","DOIUrl":"10.1016/j.ejcon.2026.101465","url":null,"abstract":"<div><div>This paper investigates the bipartite time-varying formation control problem for multi-agent systems (MASs) under aperiodic denial-of-service (DoS) attacks and false data injection attacks (FDIAs). To address this problem, a resilient distributed dynamic event-triggered output feedback control strategy based on quantized communication is proposed. Using Lyapunov stability theory, sufficient conditions are proven for this control strategy to achieve formation tracking, and Zeno behavior is avoided. Finally, the effectiveness of the proposed method is verified through numerical simulations.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101465"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146038951","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
Advancing active vehicle suspension control: a differential game approach with time-varying delays 推进主动车辆悬架控制：具有时变延迟的微分博弈方法
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2026-03-01 Epub Date: 2026-01-05 DOI: 10.1016/j.ejcon.2025.101446
Dominika Machowska , Andrzej Nowakowski
{"title":"Advancing active vehicle suspension control: a differential game approach with time-varying delays","authors":"Dominika Machowska ,&nbsp;Andrzej Nowakowski","doi":"10.1016/j.ejcon.2025.101446","DOIUrl":"10.1016/j.ejcon.2025.101446","url":null,"abstract":"<div><div>The paper presents an analysis of an active car suspension model that incorporates time-varying delays in information transmission. To achieve the dual objectives of maximizing passenger safety and comfort, the paper proposes the use of game theory tools, which is a novel approach to this model. The resulting problem leads to the introduction of differential games with time-varying delays in states and strategies. The paper formulates conditions for verifying whether a given strategy profile constitutes an open-loop Nash equilibrium. The verification theorem is then used to develop a numerical algorithm to determine the Nash equilibria in a finite number of steps. The numerical simulations demonstrate the effectiveness of the game theory approach in finding a safer and more comfortable vehicle.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101446"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145980921","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
Passivity-based control of underactuated systems with non-integrable state-dependent matched disturbances 非可积状态相关匹配扰动欠驱动系统的无源控制
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2026-03-01 Epub Date: 2026-02-10 DOI: 10.1016/j.ejcon.2026.101473
Enrico Franco
{"title":"Passivity-based control of underactuated systems with non-integrable state-dependent matched disturbances","authors":"Enrico Franco","doi":"10.1016/j.ejcon.2026.101473","DOIUrl":"10.1016/j.ejcon.2026.101473","url":null,"abstract":"<div><div>This work investigates the passivity-based control of a class of underactuated mechanical systems subject to matched disturbances that enter the dynamics through a state-dependent vector-valued function that is not integrable. The main contributions include a new passivity-based controller with a dynamic extension, designed with the port-Hamiltonian formalism, and, most importantly, a suitably defined function of the states, serving the purpose of estimating the disturbance parameters while circumventing the usual integrability assumption. A corresponding controller is designed with the Lagrangian formalism, and key differences are discussed. Numerical simulations on two examples demonstrate the effectiveness of the new controllers.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101473"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147397713","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
Robot arm manipulator trajectory tracking using novel sliding mode control based quick power reaching law enhanced by grey wolf optimizer 基于灰狼优化器增强的新型滑模控制的机械臂轨迹跟踪
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2026-03-01 Epub Date: 2025-12-29 DOI: 10.1016/j.ejcon.2025.101438
Mohammed Yousri Silaa , Aissa Bencherif , Oscar Barambones
{"title":"Robot arm manipulator trajectory tracking using novel sliding mode control based quick power reaching law enhanced by grey wolf optimizer","authors":"Mohammed Yousri Silaa ,&nbsp;Aissa Bencherif ,&nbsp;Oscar Barambones","doi":"10.1016/j.ejcon.2025.101438","DOIUrl":"10.1016/j.ejcon.2025.101438","url":null,"abstract":"<div><div>Ensuring precise trajectory tracking while minimizing chattering and maintaining robustness is a major challenge in robotic arm control. Traditional sliding mode controllers often suffer from high-frequency oscillations (chattering), which can lead to actuator wear, energy inefficiency, and system instability. To address this issue, this paper presents a novel control strategy based on a sliding mode controller with a quick power-reaching law (SMCQPRL). The proposed SMCQPRL enhances robustness, minimizes chattering, and ensures fast and accurate trajectory tracking. To validate its effectiveness, the SMCQPRL is systematically compared with conventional sliding mode control (SMC) and the super-twisting algorithm (STA), both optimized using the grey wolf optimizer (GWO). Numerical simulations show that SMCQPRL achieves RMSE values of 0.13368 and 0.1247 for <em>θ</em><sub>1</sub> and <em>θ</em><sub>2</sub>, respectively, outperforming STA (0.1813, 0.1953) and SMC (0.24505, 0.29112), while also demonstrating substantial chattering reduction and improved robustness. The stability of the SMCQPRL is rigorously established using Lyapunov theory, confirming its suitability for real-world robotic applications.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101438"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145980919","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
Nonlinear model predictive control trajectory tracking for a fixed-wing UAV in a deep-stall and perching landing maneuver with guaranteed stability 固定翼无人机深失速悬停保稳着陆机动非线性模型预测控制轨迹跟踪
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2026-03-01 Epub Date: 2025-12-26 DOI: 10.1016/j.ejcon.2025.101442
Huu Thien Nguyen , Ionela Prodan , Fernando A.C.C. Fontes
{"title":"Nonlinear model predictive control trajectory tracking for a fixed-wing UAV in a deep-stall and perching landing maneuver with guaranteed stability","authors":"Huu Thien Nguyen ,&nbsp;Ionela Prodan ,&nbsp;Fernando A.C.C. Fontes","doi":"10.1016/j.ejcon.2025.101442","DOIUrl":"10.1016/j.ejcon.2025.101442","url":null,"abstract":"<div><div>We address the planning and control problems of a fixed-wing unmanned aerial vehicle (FW UAV) in a deep-stall and perching landing maneuver. We use optimal control methods to generate a trajectory that satisfies not only the aircraft maneuver requirement but also the recursive feasibility demands of the tracking control method that we use subsequently. To track the generated trajectory, we developed a Nonlinear Model Predictive Control (NMPC) scheme. We then outline the steps to systematically derive the NMPC terminal costs and the terminal sets tailored to this problem and formally prove the stability of the NMPC tracking scheme. Simulation results for different initial conditions show the viability of the developed scheme for the deep-stall and perching landing maneuvers. Finally, we examine the relationships between airspeed, wing loading, elevator deflection angle, and flight path angle in steady flight, including deep-stall landing.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101442"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145980916","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
Command filter-based adaptive fixed-time prescribed performance control for nonlinear systems without initial condition constraints 无初始条件约束非线性系统的命令滤波自适应定时预定性能控制
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2026-03-01 Epub Date: 2026-01-24 DOI: 10.1016/j.ejcon.2026.101463
Xiaoxuan Jiao , Ji Zhao , Ming Chen , Libing Wu
{"title":"Command filter-based adaptive fixed-time prescribed performance control for nonlinear systems without initial condition constraints","authors":"Xiaoxuan Jiao ,&nbsp;Ji Zhao ,&nbsp;Ming Chen ,&nbsp;Libing Wu","doi":"10.1016/j.ejcon.2026.101463","DOIUrl":"10.1016/j.ejcon.2026.101463","url":null,"abstract":"<div><div>This article proposes a novel fixed-time tracking control strategy for strict-feedback nonlinear systems with prescribed performance constraints, which specifically removes the strict restrictions on the initial states. First, a new mapping function is introduced for the first time, which can flexibly adjust parameters to accommodate diverse system dynamics and performance requirements. Second, with the aid of the mapping function, a fixed-time prescribed performance controller without initial condition constraints is constructed based on fixed-time control and fixed-time filtering techniques. Specifically, the proposed control algorithm ensures that the tracking error, regardless of its initial value, converges to the prescribed boundary within a fixed time. Moreover, all signals in the closed-loop system remain bounded, thereby guaranteeing the prescribed performance of the controlled system. Finally, two simulations are presented to demonstrate the effectiveness and feasibility of the proposed control algorithm.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101463"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146079301","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
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