European Journal of Control最新文献_第2页

Robust sampled-time control for a class of constrained nonlinear systems: An interval predictor-based MPC approach 一类约束非线性系统的鲁棒采样时间控制：一种基于区间预测的MPC方法

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-04-24 DOI: 10.1016/j.ejcon.2025.101230

Ariana Gutiérrez , Héctor Ríos , Manuel Mera , Denis Efimov , Rosane Ushirobira

{"title":"Robust sampled-time control for a class of constrained nonlinear systems: An interval predictor-based MPC approach","authors":"Ariana Gutiérrez , Héctor Ríos , Manuel Mera , Denis Efimov , Rosane Ushirobira","doi":"10.1016/j.ejcon.2025.101230","DOIUrl":"10.1016/j.ejcon.2025.101230","url":null,"abstract":"<div><div>The aim of this study is to design a robust sampled-time controller to stabilize continuous-time nonlinear systems, taking into account state and input constraints, and external disturbances. The proposed strategy is based on two essential components: an interval predictor–based state–feedback controller and a Model Predictive Control (MPC) approach, which deals with the state and input constraints. The interval predictor–based state–feedback controller is designed such that a safe set is provided, where the state constraints are not violated. Such a safe set characterizes the region where the MPC is activated, <em>i.e</em>, out of this set, guaranteeing the fulfillment of the state and input constraints. The proposed switched control strategy ensures the Input–to–State practical Stability of the considered nonlinear systems with respect to external disturbances. To compute the controller gains, a constructive method based on linear matrix inequalities (LMIs) is proposed and the state of the system is not required. The feasibility of the proposed scheme is illustrated by some simulation results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"84 ","pages":"Article 101230"},"PeriodicalIF":2.5,"publicationDate":"2025-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143881869","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

Fault detection of CPU chips using an interval estimation method 基于区间估计方法的CPU芯片故障检测

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-04-23 DOI: 10.1016/j.ejcon.2025.101231

Yu Gao , Kai-Ning Wu , Song Zhu

引用次数: 0

Sliding mode reinforcement learning vibration control of a translational coupled double flexible beam system 平移耦合双柔性梁系统的滑模强化学习振动控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-04-22 DOI: 10.1016/j.ejcon.2025.101239

Zhi-cheng Qiu, Si-wen Chen

{"title":"Sliding mode reinforcement learning vibration control of a translational coupled double flexible beam system","authors":"Zhi-cheng Qiu, Si-wen Chen","doi":"10.1016/j.ejcon.2025.101239","DOIUrl":"10.1016/j.ejcon.2025.101239","url":null,"abstract":"<div><div>The coupled vibration control of a translational double flexible beam system with high nonlinearity and strong coupling is studied. The dynamic model of the system is established based on the finite element method (FEM), and the model parameters are identified by acquiring the experimental data of the system. To overcome the chattering problem of sliding mode control (SMC), a sliding mode reinforcement learning control (SMRLC) method is investigated. Taking the sliding surface as the state input, the asynchronous advantage actor-critic (A3C) algorithm is adopted to learn the optimal control policy through repeated trial and error interaction with the environment, so as to achieve robust control performance. The identification model of the double flexible beam system is used to pre-learn the SMRLC scheme to balance the learning efficiency and precision, and the effectiveness of the pre-learned SMRLC method is further verified by numerical simulation. The experimental setup is constructed, and the vibration control experiments of the first two bending modes are conducted, including set-point vibration control and simultaneous translation and vibration control under trapezoidal trajectory. SMRLC is compared with PD control and SMC. The experimental results demonstrate that the designed SMRLC method can effectively reduce the chattering of control signals and suppress the large and small amplitude vibration of the double flexible beam system, and there is no saturation in the control value.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"84 ","pages":"Article 101239"},"PeriodicalIF":2.5,"publicationDate":"2025-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143881870","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

Distributed optimal nonlinear dynamic inversion for multi-agents consensus 多智能体一致性的分布式最优非线性动态反演

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-04-21 DOI: 10.1016/j.ejcon.2025.101223

Sabyasachi Mondal , Antonios Tsourdos

{"title":"Distributed optimal nonlinear dynamic inversion for multi-agents consensus","authors":"Sabyasachi Mondal , Antonios Tsourdos","doi":"10.1016/j.ejcon.2025.101223","DOIUrl":"10.1016/j.ejcon.2025.101223","url":null,"abstract":"<div><div>In this paper, we propose an optimal distributed controller based on Nonlinear Dynamic Inversion (NDI) theory and apply it to solve the consensus of nonlinear multi-agent systems (MASs). Our proposed method addresses the limitations of existing Distributed Nonlinear Dynamic Inversion (DNDI) techniques, which only apply to agents with square output. We formulated an optimal control problem to minimize a quadratic cost function while satisfying a set of linear constraints derived by simplifying the enforced consensus error dynamics. By relaxing the previous limitation, we introduced a distributed optimal framework called Distributed Optimal NDI (DONDI). This framework achieves consensus and incorporates additional objectives, such as minimizing control energy. The design of Optimal DNDI inherits all the advantages of NDI and provides an optimized allocation of control for achieving consensus in MAS. Also, we have shown how the controller handles the communication noise. This approach represents a significant advancement in multi-agent control, and our experimental results demonstrate its satisfactory performance and effectiveness.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"84 ","pages":"Article 101223"},"PeriodicalIF":2.5,"publicationDate":"2025-04-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143869598","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

Linear quadratic optimal control and zero-sum game for uncertain time-delay systems based on pessimistic value 基于悲观值的不确定时滞系统线性二次最优控制与零和博弈

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-04-19 DOI: 10.1016/j.ejcon.2025.101224

Xin Chen, Zhongli Cao, Zeyu Zhang

引用次数: 0

Corrigendum to “Event-triggered Optimal Fault-tolerant Control for a Class of Uncertain Strict-feedback Nonlinear Systems” [European Journal of Control 83 (2025) 101228] “一类不确定严格反馈非线性系统的事件触发最优容错控制”的更正[欧洲控制杂志]83 (2025)101228]

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-04-17 DOI: 10.1016/j.ejcon.2025.101235

Jing-Yu Guo , Li-Bing Wu

引用次数: 0

Distributed optimization of multi-agent systems with time-invariant and time-varying cost functions 具有时变和时变成本函数的多代理系统的分布式优化

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-04-15 DOI: 10.1016/j.ejcon.2025.101222

Kai Weng , Yan Ren , Liyun Zhao , Siyu Gao

引用次数: 0

Bilayer nonzero-sum differential game-based optimal control of modular robot manipulator for human–robot collaboration 基于双层非零和微分对策的模块化机械臂人机协作最优控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-04-15 DOI: 10.1016/j.ejcon.2025.101225

Yiming Cui , Tianjiao An , Bo Dong , Bing Ma , Zhenguo Zhang

{"title":"Bilayer nonzero-sum differential game-based optimal control of modular robot manipulator for human–robot collaboration","authors":"Yiming Cui , Tianjiao An , Bo Dong , Bing Ma , Zhenguo Zhang","doi":"10.1016/j.ejcon.2025.101225","DOIUrl":"10.1016/j.ejcon.2025.101225","url":null,"abstract":"<div><div>This paper introduces a bilayer nonzero-sum differential game-based optimal control framework for a Modular Robot Manipulator (MRM) in Human–Robot Collaboration (HRC) tasks. The dynamic model of the MRM is obtained with the Joint Torque Feedback (JTF) technique. Consider the <span><math><mi>N</mi></math></span>-player nonzero-sum differential game within the MRM subsystems and the 2-player nonzero-sum differential game involving both the MRM and human collaborators in HRC tasks as the inner and outer layers of the bilayer nonzero-sum differential game. The Nash equilibrium solutions for the inner and outer layers of the nonzero-sum differential games are independently determined using the Adaptive Dynamic Programming (ADP) algorithm, which is based on a fuzzy logic system. As a result, optimal control policies for MRM subsystems and the optimal interaction force in HRC tasks are derived. The trajectory tracking error of the MRM system and the outer layer physical Human–Robot Interaction (pHRI) system have both been proven to be Ultimately Uniformly Bounded (UUB) under the bilayer nonzero-sum differential game-based optimal control of MRM for HRC with the application of Lyapunov theory. Finally, experiment results are presented to validate the superiority and effectiveness of the proposed method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"83 ","pages":"Article 101225"},"PeriodicalIF":2.5,"publicationDate":"2025-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143848637","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

Observer-based adaptive consensus of intelligent vehicle convoys with directed and undirected networks subject to input saturation 输入饱和下有向和无向网络智能车队的观测器自适应共识

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-04-12 DOI: 10.1016/j.ejcon.2025.101233

Hossein Chehardoli , Ehsan Shafie

{"title":"Observer-based adaptive consensus of intelligent vehicle convoys with directed and undirected networks subject to input saturation","authors":"Hossein Chehardoli , Ehsan Shafie","doi":"10.1016/j.ejcon.2025.101233","DOIUrl":"10.1016/j.ejcon.2025.101233","url":null,"abstract":"<div><div>In this research work, the consensus control design of intelligent vehicle convoys with directed and undirected networks and third-order dynamic equation is studied. The engine saturation as an input saturation is involved in the dynamical model which will make the longitudinal dynamics of each following intelligent vehicle to be nonlinear. All followers track an actual leading intelligent vehicle that has no input. For some reasons such as reducing the communication burden, external attacks and sensor failure, it is assumed that some of the states of followers and the leader are not available. Three common network structures are considered in consensus design and analysis: some predecessors following, bi-directional and uni-directional. To estimate the inaccessible states of followers and the leader, two different observers combined with an output feedback controller are designed so that each follower can estimate its own and the leader's unknown states. Afterward, a linear output feedback law is introduced to attain the global asymptotic consensus. The Lyapunov theory is applied to prove that the output control protocol leads the proposed intended convoy to asymptotic stability in the linear and nonlinear input saturation regions. For all three structures, several examples are provided to evaluate the method of this article.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"84 ","pages":"Article 101233"},"PeriodicalIF":2.5,"publicationDate":"2025-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143873330","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

Two system transformation data-driven algorithms for linear quadratic mean-field games 线性二次平均场对策的两种系统变换数据驱动算法

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-04-12 DOI: 10.1016/j.ejcon.2025.101226

Xun Li , Guangchen Wang , Yu Wang , Jie Xiong , Heng Zhang

引用次数: 0