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Second-order linear switching systems with arbitrary control sets: Stability and invariant norms 具有任意控制集的二阶线性切换系统：稳定性和不变范数
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-09-01 DOI: 10.1016/j.ejcon.2025.101346
Vladimir Yu. Protasov , Asiiat Musaeva
{"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}
引用次数: 0
Exact mixed synchronization by groups for a coupled system of wave equations 耦合波动方程系统的精确群混合同步
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-09-01 DOI: 10.1016/j.ejcon.2025.101278
Tatsien Li , Bopeng Rao
{"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}
引用次数: 0
Mean-field social optimization for linear–quadratic Markov switching systems with Poisson jumps 带泊松跳变的线性二次马尔可夫切换系统的平均场社会优化
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-08-30 DOI: 10.1016/j.ejcon.2025.101356
Ruimin Xu , Jingyu Zhang , Kaiyue Dong , Haiyang Wang
{"title":"Mean-field social optimization for linear–quadratic Markov switching systems with Poisson jumps","authors":"Ruimin Xu ,&nbsp;Jingyu Zhang ,&nbsp;Kaiyue Dong ,&nbsp;Haiyang Wang","doi":"10.1016/j.ejcon.2025.101356","DOIUrl":"10.1016/j.ejcon.2025.101356","url":null,"abstract":"<div><div>This paper investigates social optima for linear–quadratic-Gaussian (LQG) games of stochastic mean-field Markov regime-switching systems with jump diffusion processes, where the individual agents of the system are coupled via individual state dynamics and cost functionals. A verification theorem in the form of maximum principle is established, specifying the sufficient conditions for optimality. A set of decentralized strategies is designed according to the feedback representation of optimal control. The decentralized strategies are proved to be asymptotically social optimal. As an illustration, a numerical example is provided to show the consistency of the mean-field estimation and the influence of the population’s collective behaviors.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101356"},"PeriodicalIF":2.6,"publicationDate":"2025-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145027811","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
Uncertainty quantification in neural state-space models: Applications for experiment design and uncertainty-aware MPC 神经状态空间模型中的不确定性量化：在实验设计和不确定性感知MPC中的应用
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-08-27 DOI: 10.1016/j.ejcon.2025.101359
Milad Banitalebi Dehkordi, Marco Forgione, Dario Piga
{"title":"Uncertainty quantification in neural state-space models: Applications for experiment design and uncertainty-aware MPC","authors":"Milad Banitalebi Dehkordi,&nbsp;Marco Forgione,&nbsp;Dario Piga","doi":"10.1016/j.ejcon.2025.101359","DOIUrl":"10.1016/j.ejcon.2025.101359","url":null,"abstract":"<div><div>This paper addresses the problem of uncertainty quantification in neural state-space models from a Bayesian perspective. The posterior distribution over the neural network parameters is derived and approximated using the Laplace method, resulting in a Gaussian approximation of the model’s predictive distribution. Based on the predictive distribution, we introduce an uncertainty index that quantifies the model’s confidence over any possible input sequence, enabling the detection of out-of-distribution regimes. This index is then leveraged in two applications: (i) experiment design for the identification of state-space models, and (ii) model predictive control under epistemic uncertainty.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101359"},"PeriodicalIF":2.6,"publicationDate":"2025-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144908286","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
Non-overshooting quasi-continuous sliding mode control for second-order systems 二阶系统的非超调准连续滑模控制
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-08-26 DOI: 10.1016/j.ejcon.2025.101355
Michael Ruderman , Denis Efimov
{"title":"Non-overshooting quasi-continuous sliding mode control for second-order systems","authors":"Michael Ruderman ,&nbsp;Denis Efimov","doi":"10.1016/j.ejcon.2025.101355","DOIUrl":"10.1016/j.ejcon.2025.101355","url":null,"abstract":"<div><div>This paper proposes a nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest and its time derivative. The control has only one free design parameter, and the closed-loop system is shown to possess uniform boundedness and finite-time convergence of trajectories in the presence of matched disturbances. We derive a strict Lyapunov function for the closed-loop control system with a bounded exogenous perturbation, and use it for both, the control parameter tuning and analysis of the finite-time convergence. The essential features of the proposed control law is non-overshooting despite the unknown dynamic disturbances and the continuous control action during the convergence to zero equilibrium. Apart from the numerical results, a revealing experimental example is also shown in favor of the proposed control and in comparison with PD and sub-optimal nonlinear damping regulators.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101355"},"PeriodicalIF":2.6,"publicationDate":"2025-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144908285","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
Are Artificial Neural Networks suitable for data-driven moment matching? 人工神经网络适合数据驱动的力矩匹配吗？
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-08-25 DOI: 10.1016/j.ejcon.2025.101360
Matteo Scandella , Davide Previtali , Alessio Moreschini
{"title":"Are Artificial Neural Networks suitable for data-driven moment matching?","authors":"Matteo Scandella ,&nbsp;Davide Previtali ,&nbsp;Alessio Moreschini","doi":"10.1016/j.ejcon.2025.101360","DOIUrl":"10.1016/j.ejcon.2025.101360","url":null,"abstract":"<div><div>We investigate the use of artificial neural networks in the context of data-driven moment matching for nonlinear systems, comparing it with state-of-the-art approaches that rely on regularized kernel methods or least squares. We propose a novel neural network model that shares the properties of the moment function of a nonlinear system, which can be learned by means of surrogate-based black-box optimization methods (such as Bayesian optimization). To validate the proposed approach, we conduct an extensive simulation analysis of the method on two benchmark model reduction problems, employing different settings and comparing with state-of-the-art methods. This investigation suggests that neural networks are a suitable and promising approach for data-driven moment matching, and they appear to show comparable performance to state-of-the-art methods based on regularized kernel methods.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101360"},"PeriodicalIF":2.6,"publicationDate":"2025-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144895578","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
Integral sliding mode smooth control for joint position tracking of position servo-actuated robot manipulators 位置伺服机器人关节位置跟踪的积分滑模平滑控制
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-08-20 DOI: 10.1016/j.ejcon.2025.101351
Luis Pantoja-Garcia , Gabriela Zepeda
{"title":"Integral sliding mode smooth control for joint position tracking of position servo-actuated robot manipulators","authors":"Luis Pantoja-Garcia ,&nbsp;Gabriela Zepeda","doi":"10.1016/j.ejcon.2025.101351","DOIUrl":"10.1016/j.ejcon.2025.101351","url":null,"abstract":"<div><div>Designing robust control systems for robotic manipulators, especially for trajectory tracking, is an ongoing research focus due to their growing use in various industries. Developing effective control algorithms for these systems also presents a significant theoretical challenge. However, control designs are often based on the implicit and unrealistic assumption of ideal, memoryless torque actuators, whereas in practice, robots are equipped with position servo actuators that receive position commands as input. This discrepancy often goes unnoticed during analysis and implementation. To address this shortcoming, this paper proposes an integral sliding mode control approach for motion tracking of position servo-actuated robotic manipulators in joint space, where the inputs are the desired position signals received by the actuators. The robot’s mechanical dynamics and servo parameters are assumed to be unknown, yielding a model-free controller. A notable feature of the proposed approach is that the control action is smooth, effectively avoiding the harmful chattering phenomenon. We ensure that the control objective is achieved even in the presence of unknown bounded and continuous disturbances. Simulations of a robot manipulator equipped with position servo actuators demonstrate the effectiveness of the proposed control strategy.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101351"},"PeriodicalIF":2.6,"publicationDate":"2025-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144904035","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
An invariance approach for sliding mode control design in nonlinear switched systems 非线性切换系统滑模控制设计的不变性方法
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-08-19 DOI: 10.1016/j.ejcon.2025.101344
Hebertt Sira-Ramírez , Mario Andrés Aguilar-Orduña , Brian Camilo Gómez-León
{"title":"An invariance approach for sliding mode control design in nonlinear switched systems","authors":"Hebertt Sira-Ramírez ,&nbsp;Mario Andrés Aguilar-Orduña ,&nbsp;Brian Camilo Gómez-León","doi":"10.1016/j.ejcon.2025.101344","DOIUrl":"10.1016/j.ejcon.2025.101344","url":null,"abstract":"<div><div>This article presents a method for synthesizing sliding mode controllers in Single Input Single Output (SISO) switched nonlinear systems. The method, called the <em>invariance control method</em>, utilizes the invariance condition associated with each constant level set of the sliding surface coordinate function. It decomposes the SM control scheme into two parts: a smooth invariance feedback controller and a Delta-Sigma modulator. The smooth invariance feedback controller represents the equivalent control in a specific case, while the Delta-Sigma modulator provides the required binary-valued input signal to the switched plant based on the output of the invariance controller. The method can be applied to differentially flat systems with switched inputs, using linear, self-compensating sliding surface coordinate functions. The approach aligns with the Active Disturbance Rejection Control scheme for the average system but incorporates a Delta-Sigma modulator. The article showcases the method’s effectiveness through digital computer simulations and laboratory experiments with non-trivial application examples.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101344"},"PeriodicalIF":2.6,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144879663","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
Model predictive control of switched affine systems with dwell time constraints—Efficient formulation, approximation and embedded implementation 具有停留时间约束的切换仿射系统模型预测控制——高效的公式、近似和嵌入式实现
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-08-19 DOI: 10.1016/j.ejcon.2025.101347
Faiq Ghawash , Morten Hovd , Brad Schofield
{"title":"Model predictive control of switched affine systems with dwell time constraints—Efficient formulation, approximation and embedded implementation","authors":"Faiq Ghawash ,&nbsp;Morten Hovd ,&nbsp;Brad Schofield","doi":"10.1016/j.ejcon.2025.101347","DOIUrl":"10.1016/j.ejcon.2025.101347","url":null,"abstract":"<div><div>In this work, we study the problem of designing a model predictive control (MPC) strategy for switched affine systems with dwell time constraints. We show that the task of simultaneous determination of the optimal operational mode and actuator inputs can be formulated within the generalized disjunctive programming (GDP) framework and highlight its computational advantages over traditional techniques. Although GDP provides an efficient parametrization of the associated mixed integer program, the combinatorial nature of the problem might require a large computational time limiting its applicability in real time scenarios. To this end, we propose a framework based on the multitask learning paradigm to approximate the solution of mixed integer MPC for switched affine systems. We also provide a computational method based on the offline solution of a mixed integer linear program to overapproximate the reachable sets of the closed loop system that helps to analyze the safety and stability of the system under the influence of the learned controller. Once trained offline, the resulting controller results in a solver free approach well suited for implementation on a resource constrained embedded hardware. Several illustrative examples are provided to show the efficacy of the proposed approach.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101347"},"PeriodicalIF":2.6,"publicationDate":"2025-08-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097555","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
State estimation for discrete-event systems with reliable states under sequential attacks 序列攻击下具有可靠状态的离散事件系统的状态估计
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-08-18 DOI: 10.1016/j.ejcon.2025.101349
Yonghong Luo, Shaowen Miao, Aiwen Lai
{"title":"State estimation for discrete-event systems with reliable states under sequential attacks","authors":"Yonghong Luo,&nbsp;Shaowen Miao,&nbsp;Aiwen Lai","doi":"10.1016/j.ejcon.2025.101349","DOIUrl":"10.1016/j.ejcon.2025.101349","url":null,"abstract":"<div><div>Cyber–physical systems are crucial in industry and are often modeled as discrete-event systems for analysis. One major concern is that the communication in cyber–physical systems is susceptible to three types of attacks: deletions, insertions, and substitutions. To prevent communication signals from being tampered with, communication protection can be used in particular states referred to as reliable states. In this paper, the state estimation problem for discrete-event systems with reliable states under sequential attacks is formulated and solved. Additionally, under sequential attacks, we construct a tampered reliable automaton, derived from the original system, to achieve state estimation efficiently. Finally, we analyze the impact of reliable states on the opacity of the tampered reliable automaton when an original automaton is opaque.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101349"},"PeriodicalIF":2.6,"publicationDate":"2025-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144863828","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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