European Journal of Control最新文献

{"title":"Numerical solution for strict tracking control asymptotic stability problem of MIMO systems manipulated by hard actuation constraints","authors":"M.R. Homaeinezhad,&nbsp;M.M. Mousavi Alvar,&nbsp;A. Soordi,&nbsp;M. Aghaei,&nbsp;A. Hatefikousha,&nbsp;T. Charehjoo","doi":"10.1016/j.ejcon.2025.101397","DOIUrl":"10.1016/j.ejcon.2025.101397","url":null,"abstract":"<div><div>Nonlinear Multi-Input Multi-Output (MIMO) systems governed by Newtonian mechanics face significant challenges in tracking control design, especially due to actuator saturation constraints that can undermine asymptotic stability by yielding nullified control inputs. This paper proposes a novel tracking control algorithm ensuring stability and compliance with actuator limitations. The approach transforms continuous-time dynamics into a discrete-time framework, enhancing computational efficiency by replacing differential equations with algebraic ones. A sliding surface with dynamically tunable parameters is introduced for each output to optimize tracking performance, and control inputs are derived using a power reaching law, split into position and velocity modes which helps reducing actuator power and overshoot/undershoot. Actuator saturation is explicitly addressed for both modes through convex inequality constraints, enabling an optimal desired trajectory to return feasible control inputs that respect input limits while preserving asymptotic stability. A search mechanism optimizes sliding and power-reaching parameters to minimize tracking error, aligning the modified trajectory with the reference. Mathematical proofs establish the closed-loop system’s asymptotic stability and convergence of modified trajectory to reference trajectory. MATLAB simulations included by comparative investigations confirm precise tracking, robustness against parametric uncertainties, and adherence to saturation constraints, achieved without manual tuning and pre-setting. This self-tuning capability, distinguishes the method from existing approaches reliant on empirical adjustments. Real-time execution analysis validates feasibility, meeting a 0.01-second execution target. Given the quadratic relationship between search gridding intensity and computational load demonstrated through real-time execution assessment, as it provides a benchmark on parameter selection, enabling an effective balance between control performance and stringent demands of real-time feasibility. The algorithm’s adaptability to different optimization techniques to balance computational load and tracking accuracy, offers a standardized, versatile framework for controlling complex nonlinear MIMO systems in the presence of various constraints.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101397"},"PeriodicalIF":2.6,"publicationDate":"2025-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145109493","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}

{"title":"Output-feedback integrated fault-tolerant control for discrete-time systems subject to input and state constraints","authors":"Marcin Witczak ,&nbsp;Damiano Rotondo ,&nbsp;Marcin Pazera ,&nbsp;Vicenç Puig","doi":"10.1016/j.ejcon.2025.101375","DOIUrl":"10.1016/j.ejcon.2025.101375","url":null,"abstract":"<div><div>The paper deals with the problem of integrated fault estimation and fault tolerant control for constrained linear systems with bounded external disturbances. In particular, the above coupling causes that control and estimation influence each other. Thus, to prevent an unacceptable performance of the entire system, a new integration strategy is proposed, The proposed framework is based on an output feedback framework that consists of two stages: <em>off-line</em> – a low-complexity LMI-based optimization task and <em>on-line</em> – a deterministic model predictive control problem. The proposed approach is assessed using a cascade two-tank system example.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101375"},"PeriodicalIF":2.6,"publicationDate":"2025-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145050239","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}

{"title":"A novel event-triggered nonlinear control approach for descriptor systems with time-varying delay and input saturation constraints","authors":"Emad Jafari,&nbsp;Tahereh Binazadeh","doi":"10.1016/j.ejcon.2025.101384","DOIUrl":"10.1016/j.ejcon.2025.101384","url":null,"abstract":"<div><div>This paper addresses the pressing challenge of controlling descriptor systems with interval time-varying delays and input saturation constraints—an area of critical importance yet limited exploration in the control literature. Such systems pose unique difficulties due to the singularity of their state-space representation, complex delay structures, and actuator limitations. To tackle these challenges, we propose a novel nonlinear event-triggered control strategy for delayed descriptor systems. The controller integrates an event-triggering mechanism to reduce communication load while ensuring enhanced transient performance, even in the presence of actuator saturation. A composite design combining linear and nonlinear control components is employed: the linear part guarantees closed-loop stability and output tracking, whereas the nonlinear part actively improves transient response characteristics, such as reducing overshoot and smoothing the output response under input constraints. Rigorous admissibility analysis—encompassing stability, regularity, and impulse-freeness—is conducted using a carefully constructed Lyapunov-Krasovskii functional. Furthermore, delay-range-dependent conditions are derived in the form of linear matrix inequalities (LMIs), leading to reduced conservatism compared to traditional techniques. Zeno-freeness is also ensured by explicitly deriving a lower bound on inter-event times. Extensive comparative simulations validate the theoretical findings and demonstrate the superior performance of the proposed approach relative to conventional control methods.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101384"},"PeriodicalIF":2.6,"publicationDate":"2025-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097942","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}

{"title":"Adaptive robust boundary control strategy for tension balance of steel wire rope in double rope winding hoisting system","authors":"Xingya Ding ,&nbsp;Shicai Yin ,&nbsp;Xiang Li","doi":"10.1016/j.ejcon.2025.101376","DOIUrl":"10.1016/j.ejcon.2025.101376","url":null,"abstract":"<div><div>Due to reasons such as manufacturing errors of the drum and inconsistent elastic deformation of ropes, the double rope winding hoisting system will have problems of unbalanced tension of the steel ropes and longitudinal vibration of the hoisting container. In response to this phenomenon, this paper proposes a parameter-adaptive robust boundary control strategy for rope tension balance. Firstly, by comprehensively considering the coupled vibration characteristics of the steel ropes, floating sheave, and containers, a distributed parameter dynamic model of the system is established. This model can accurately characterize the flexible features and nonlinear dynamics of the system. Secondly, aiming at tension difference suppression and vibration control, a robust boundary controller based on the precise model is designed using Lyapunov theory and Barbalat’s lemma. Furthermore, to address system modeling uncertainties and unknown disturbances, the Lyapunov function is redefined. Combined with the real-time online estimation of the unknown disturbance terms, the nonlinear feedback equation of the excitation force of the floating sheave is redesigned to form an adaptive robust boundary controller. Finally, experimental validation is conducted on a test platform. By simulating drum manufacturing deviations, the control effects of no control, traditional PID, and the proposed algorithm are compared. Results demonstrate that the proposed method significantly improves tension balance accuracy and operational stability.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101376"},"PeriodicalIF":2.6,"publicationDate":"2025-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145050378","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}

{"title":"Robust iterative learning control of continuous delayed singular multi-agent systems with polytopic uncertainty and non-identical initial conditions: LMI approach","authors":"Ali Raddanipour,&nbsp;Masoud Shafiee","doi":"10.1016/j.ejcon.2025.101354","DOIUrl":"10.1016/j.ejcon.2025.101354","url":null,"abstract":"<div><div>This paper addresses the leader-follower control problem for continuous delayed singular multi-agent systems (DSMAS) with uncertainties. This issue is particularly challenging due to the presence of polytopic uncertainty and independent initial conditions. To overcome these challenges, we propose a robust iterative learning control (RILC) with a rectified reference strategy for the DSMAS. The novelty of our approach lies in the introduction of the RILC, which deals with polytopic uncertainty, different independent initial conditions, and ensures monotonic convergence of the input in the 2-norm sense for the DSMAS, simultaneously. To establish stability, we derive sufficient criteria using the performance index and Lyapunov–Krasovskii functional and determine the RILC gains through linear matrix inequalities (LMIs). Finally, the proposed theory is validated through both numerical and practical examples, with simulation results demonstrating its capability and effectiveness.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101354"},"PeriodicalIF":2.6,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144925390","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}

{"title":"Square-root information-type methods for continuous–discrete extended Kalman filtering","authors":"Maria V. Kulikova,&nbsp;Gennady Yu. Kulikov","doi":"10.1016/j.ejcon.2025.101358","DOIUrl":"10.1016/j.ejcon.2025.101358","url":null,"abstract":"<div><div>In this paper, we derive several square-root information-type Extended Kalman filtering (EKF) methods for continuous–discrete stochastic systems. Square-root implementations are known to improve the numerical stability of the EKF (to roundoff), meanwhile, the information-type algorithms are the powerful estimation tools in case of limited or unknown <em>a priori</em> information about the state. Our continuous–discrete EKF methods are designed by using the Euler–Maruyama discretization scheme as well as the Cholesky and SVD factorizations for the square-root implementations. Unlike <em>discrete-time</em> information-type EKF methods, which rely on the invertibility of the Jacobian matrix of the process equation drift function, the <em>continuous–discrete</em> information-type EKF algorithms avoid this restriction. They exist for any Jacobian matrix value when the step-size (given by users) of the numerical integration scheme involved is sufficiently small. This makes the novel <em>continuous–discrete</em> information-type EKF algorithms more flexible and provides a good reason for using them in practice. Finally, the numerical tests include two benchmark problems from chemical engineering field and one example from mathematical neuroscience, respectively. The results obtained demonstrate the practical significance of novel information-type EKF implementation methods and their feasibility.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101358"},"PeriodicalIF":2.6,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144922366","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}

{"title":"Desired group consensus in arbitrary signed networks","authors":"Swati Priya ,&nbsp;Aashi Shrinate ,&nbsp;Twinkle Tripathy","doi":"10.1016/j.ejcon.2025.101348","DOIUrl":"10.1016/j.ejcon.2025.101348","url":null,"abstract":"<div><div>This paper addresses the problem of achieving any desired group consensus in multi-agent systems (MAS) operating in arbitrary signed networks. By focusing on arbitrary network topologies, we develop a control strategy that drives the agents’ states towards any desired state, independent of initial conditions and network topology. Such a framework finds applications in targeted opinion formation in social networks to counter the spread of misinformation or opinion radicalization, spreading awareness through social media campaigns by governments or public health organizations, and in recommender systems. A key contribution is the introduction of a switching control mechanism that expands the range of reachable states, ensuring that any targeted outcome is attained for a given initial condition without imposing any constraints on the network structure. Our approach not only guarantees the formation of desired clusters but also ensures that each agent converges to the specified consensus value within its cluster. This gives a unified framework for addressing both the group as well as the scaled consensus problems. Mathematical analysis establishes conditions for achieving system stability and reachability to any desired state, based on which the control input is designed. Finally, the theoretical results are validated through numerical simulations on real-world and synthetic networks.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101348"},"PeriodicalIF":2.6,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144925093","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}

{"title":"Disturbance estimator-oriented secured tracking control design for uncertain periodic piecewise polynomial time-varying systems with DoS attacks","authors":"N. Aravinth ,&nbsp;R. Sakthivel ,&nbsp;V. Panneerselvam ,&nbsp;O.M. Kwon","doi":"10.1016/j.ejcon.2025.101357","DOIUrl":"10.1016/j.ejcon.2025.101357","url":null,"abstract":"<div><div>The research offered here discuss the topic of secured disturbance rejection-oriented robust tracking control for uncertain periodic piecewise polynomial time-varying systems by relying on the modified equivalent-input-disturbance (EID) approach, taking numerous vulnerable elements into account. Specifically, the examination encompasses linear fractional parametric uncertainties with randomness, external disturbances, randomly occurring fluctuations in gain, time-varying delays and denial-of-service (DoS) attacks. Moreover, to contend with the disturbance footprints, a modified EID technique is developed under the periodic piecewise polynomial character. Specifically, the discrepancy between the filtered disturbance estimate and the actual EID value has been minimized, thereby improving the capability to reject disturbances. And so, to make the system more secure and reflect the typical circumstances, the observer management takes DoS attacks into account. On top of that, in accordance with the reference model, the control law is developed by infusing the disturbance estimation which is procured from the modified EID notion. Furthermore, the control segment undergoes the gain variation that takes random linear fractional form with the intent to make the control law more robust to errors. Besides, the prerequisites for the main goal of this research are laid out through the utilization of matrix polynomial lemma and the theory of Lyapunov’s stability. In the closing part of this investigation, as a way to demonstrate the efficacy and productiveness of the control design and the theoretical discoveries made, numerical example along with the simulated outcomes are presented.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101357"},"PeriodicalIF":2.6,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144922296","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}

{"title":"Second-order linear switching systems with arbitrary control sets: Stability and invariant norms","authors":"Vladimir Yu. Protasov ,&nbsp;Asiiat Musaeva","doi":"10.1016/j.ejcon.2025.101346","DOIUrl":"10.1016/j.ejcon.2025.101346","url":null,"abstract":"<div><div>We show that the stability problem and the problem of constructing Barabanov norms can be resolved for planar linear switching systems in an explicit form. This can be done for every compact control set of 2 × 2 matrices. If the control set does not contain a dominant matrix with a real spectrum, then the invariant norm is always unique (up to a multiplier) and belongs to <span><math><msup><mrow><mi>C</mi></mrow><mrow><mn>1</mn></mrow></msup></math></span>. Otherwise, there may be infinitely many such norms, including non-smooth ones. All of them can be found and classified. In particular, every symmetric convex body is a unit ball of the Barabanov norm of a suitable linear switching system.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101346"},"PeriodicalIF":2.6,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144932316","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}

{"title":"Exact mixed synchronization by groups for a coupled system of wave equations","authors":"Tatsien Li ,&nbsp;Bopeng Rao","doi":"10.1016/j.ejcon.2025.101278","DOIUrl":"10.1016/j.ejcon.2025.101278","url":null,"abstract":"<div><div>We first show the exact controllability for a system of wave equations by means of mixed internal and boundary controls with balanced repartition. We then study the exact synchronization by groups for the system and give a complete description on the attainable set of the exactly synchronizable states by groups. This paper generalizes the previous works. However, it is not a simple collection of the known results, but rather than the coordination of several compositions in a complex system. It raises many interesting questions and opens up a new direction on this topic.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101278"},"PeriodicalIF":2.6,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144925389","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}