European Journal of Control最新文献

{"title":"Designing nonlinear control system considering pre- and post-dynamics of feedback loop","authors":"M.R. Homaeinezhad,&nbsp;M.M. Mousavi Alvar,&nbsp;A. Soordi,&nbsp;M. Aghaei","doi":"10.1016/j.ejcon.2025.101219","DOIUrl":"10.1016/j.ejcon.2025.101219","url":null,"abstract":"<div><div>In practical applications, dynamic physical systems under control can usually be accompanied by different types of associate pre- and post-dynamics, e.g. regarding actuation and measurement units. However, the designed control algorithms for these systems in both the industrial sector and research practices are typically focused on the main plant, neglecting the impacts of these dynamic-laden associate modules, which may have been added provisionally during the control procedure and whose dynamics can affect the closed-loop system behavior by complicating the system nonlinearities while challenging its asymptotic stability. Owing to this crucial role in the system overall performance, the controller design-stage incorporation of associate dynamics has been put into spotlight by this paper. It presents a trajectory tracking control design procedure, integrating sensor and actuator dynamics under measurement uncertainty and input hard constraints. To this end, two different approaches, namely with and without considering sensor dynamics in the control algorithm design, were explored. The Gradient Descent (GD)-based optimal two-mode discrete-time sliding mode tracking control with the searching algorithm devised for reference trajectory redesign was proposed. Then, the results were investigated in terms of tracking error, control energy, and robustness against parametric uncertainty. The sensor combined-based approach accomplishes redesigned trajectory tracking with less error and lower control energy consumption. Despite being more agile, the measurement dynamic-neglected approach posts poor tracking performance, as its position error and control energy curves enfold those of the sensor combined-based approach. The sensor combined-based approach also proves more robust against parametric uncertainty, as it successfully performs under some circumstances that direct the sensor dynamic-neglected approach toward instability. Additionally to demonstrate the performance of the proposed controller, two different control strategies – with and without devising the optimization-based searching algorithm – were compared. Adding the searching algorithm deeply decreases the control system dependence on the pre-tuning of implementation parameters. It also further reduces the tracking error and control energy compared to the second strategy. Finally, in addition to the effectiveness of the controller, results obtained from the comparative simulations conducted between the aforementioned approaches and strategies, show the impact of control design-stage incorporation of sensor dynamics in terms of tracking error, robust stability, and energy efficiency while considering input hard constraints.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"83 ","pages":"Article 101219"},"PeriodicalIF":2.5,"publicationDate":"2025-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143601630","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":"An optimization algorithm for H∞ control of linear delay systems","authors":"Kunlong Bao ,&nbsp;Yuhao Cong ,&nbsp;Guang-Da Hu","doi":"10.1016/j.ejcon.2025.101202","DOIUrl":"10.1016/j.ejcon.2025.101202","url":null,"abstract":"<div><div>In this paper, the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control problem of linear delay systems is investigated. We first present a <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance level under the asymptotic stability of linear delay systems. Then by means of the state transition matrix of linear delay systems, the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control problem is transformed into a non-smooth optimization problem. Furthermore, an optimization algorithm based on the gradient sampling (GS) method is proposed to solve the non-smooth optimization problem. Finally, numerical examples are given to illustrate the effectiveness of the proposed algorithm.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"83 ","pages":"Article 101202"},"PeriodicalIF":2.5,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143551985","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 full-order time-varying sliding mode control for second-order nonlinear systems","authors":"Reza Hajibabaei ,&nbsp;Amir Pourhaji ,&nbsp;Fengjun Yan","doi":"10.1016/j.ejcon.2025.101209","DOIUrl":"10.1016/j.ejcon.2025.101209","url":null,"abstract":"<div><div>This paper presents an innovative adaptive robust controller designed for uncertain second-order nonlinear systems. The proposed method incorporates a novel sliding surface that seamlessly blends the benefits of both time-varying and fast terminal sliding surfaces. This integration aims to eliminate the reaching phase, enhance robustness, reduce steady-state error, eradicate chattering, and avoid singularity in the control signal. Additionally, an adaptive law is formulated to estimate the bounds of uncertainties. The closed-loop stability and convergence are demonstrated using the Lyapunov stability method. Simulation results indicate the superior performance of the presented controller.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"83 ","pages":"Article 101209"},"PeriodicalIF":2.5,"publicationDate":"2025-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143580519","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":"Regional optimization problem for a general reaction–diffusion malaria model with temperature and rainfall","authors":"Jing Wang,&nbsp;Hongyong Zhao","doi":"10.1016/j.ejcon.2025.101198","DOIUrl":"10.1016/j.ejcon.2025.101198","url":null,"abstract":"<div><div>This work primarily addresses the regional optimization problem of a malaria model in heterogeneous environments, which incorporates general incidence rate, vaccination, temperature and rainfall. To reflect the differences in resource allocation across different regions and times, the upper bound of control is extended to a bounded function related to spatial location and time. On this basis, a control problem is investigated, with the goal of minimizing the discrepancy between the actual and desired control outcomes for mosquitoes and infectious humans, and the associated costs. Firstly, the application of truncation technique and semigroup theory enables us to obtain the existence, uniqueness and some estimates of the positive strong solution for the controlled system. Despite the intricate nature of the controlled system, which makes proving global solvability challenging, this hurdle is successfully overcome. Subsequently, applying the technique of minimizing sequence, the existence of optimal pair is demonstrated. By utilizing the differentiability of control-to-state mapping, we establish the first-order necessary optimality condition. Specifically, deeper insights are offered in the left neighborhood of the terminal moment. Furthermore, provide the second-order necessary and sufficient optimality conditions. Finally, explore the spread and control of malaria in The Gambia. The analysis shows that the upper bound of control possesses a remarkable influence on its optimal form. Moreover, temperature and rainfall can significantly affect costs and benefits of control measures, thereby affecting the evaluation process. These outcomes enrich and generalize the study on regional optimal control problems of disease models, and provide new perspectives for related research.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"83 ","pages":"Article 101198"},"PeriodicalIF":2.5,"publicationDate":"2025-02-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143480435","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":"Practical output regulation of robotic manipulators: A comparison study","authors":"Eduardo S. Saraiva ,&nbsp;Lorenzo Govoni ,&nbsp;Aurélio T. Salton ,&nbsp;Jeferson V. Flores ,&nbsp;Andrea Cristofaro","doi":"10.1016/j.ejcon.2025.101199","DOIUrl":"10.1016/j.ejcon.2025.101199","url":null,"abstract":"<div><div>The nonlinear dynamics and uncertainties of robotic manipulators necessitate advanced control strategies to ensure precise output regulation under challenging conditions. This paper compares three control methodologies: Computed Torque Control (CTC), Sliding Mode Control (SMC), and an Internal Model-Based Approach (IMB) with Differential-Algebraic Representation. Experimental validation on the KUKA LWR IV+ robotic manipulator highlights differences in their performance across scenarios involving varying payloads and modeling inaccuracies. The analysis emphasizes the trade-offs among control effort, error convergence, and robustness, offering insights into the suitability of each approach depending on the application’s requirements.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101199"},"PeriodicalIF":2.5,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143395885","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":"Event-triggered drug dosage control strategy of immune systems via safe integral reinforcement learning","authors":"Lin Chen ,&nbsp;Yongwei Zhang ,&nbsp;Pan Yang ,&nbsp;Xiaoyan Jin","doi":"10.1016/j.ejcon.2025.101201","DOIUrl":"10.1016/j.ejcon.2025.101201","url":null,"abstract":"<div><div>This paper develops an event-triggered drug dosage control strategy for immune systems with state and input constraints via safe integral reinforcement learning. By developing a novel performance index function with control barrier function included, the state and control input can be constrained within specified ranges, that is, the number of cells and the dosage of the drug can be maintained within the appropriate range, which ensures the safety of the immune system. Subsequently, the drug dosage control strategy is designed under the event-triggered mechanism, which means that it is updated only when necessary instead of periodically adjusted over time, effectively reducing the number of drug dosage control strategy adjustment and saving computational resources. Moreover, a single critic neural network structure is established to attain an approximate event-triggered drug dosage control strategy. Theoretical analysis shows that under the developed novel event-triggered condition, the approximate event-triggered drug dosage control strategy ensures the tracking error is uniformly ultimately bounded. Ultimately, the simulation experiments confirm the effectiveness of the proposed safe integral reinforcement learning based event-triggered drug dosage control strategy. Note that this drug dosage control strategy can adjust the quantities of pathogens and immune cells to the desired levels with minimal drug costs, achieving precise treatment while reducing drug side effects.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101201"},"PeriodicalIF":2.5,"publicationDate":"2025-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143402032","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":"Prescribed exponential stabilization of scalar neutral differential equations: Application to neural control","authors":"Cyprien Tamekue ,&nbsp;Islam Boussaada ,&nbsp;Karim Trabelsi","doi":"10.1016/j.ejcon.2025.101200","DOIUrl":"10.1016/j.ejcon.2025.101200","url":null,"abstract":"<div><div>This paper presents a control-oriented delay-based modeling approach for the exponential stabilization of a scalar neutral functional differential equation, which is then applied to the local exponential stabilization of a one-layer neural network of Hopfield type with delayed feedback. The proposed approach utilizes a recently developed partial pole placement method for linear functional differential equations, leveraging the coexistence of real spectral values to explicitly prescribe the exponential decay of the closed-loop solution. While a delayed proportional (P) feedback control may achieve stabilization, it requires higher gains and only allows for a shorter maximum delay compared to the proportional-derivative (PD) feedback control presented in this work. The framework provides a practical illustration of the stabilization strategy, improving upon previous literature results that characterize the solution’s exponential decay for simple real spectral values. This approach enhances neural stability in cases where the inherent dynamics are stable and offers a method to achieve local exponential stabilization with a prescribed decay rate when the inherent dynamics are unstable.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"83 ","pages":"Article 101200"},"PeriodicalIF":2.5,"publicationDate":"2025-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143445206","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":"Design of performance-guaranteed controller for trajectory tracking of surface vessels","authors":"Tan Zhang,&nbsp;Jinzhong Zhang,&nbsp;Gang Zhang","doi":"10.1016/j.ejcon.2025.101197","DOIUrl":"10.1016/j.ejcon.2025.101197","url":null,"abstract":"<div><div>In this investigation, a performance-guaranteed controller is created for surface vessel trajectory tracking in order to optimize the control system’s initial-state and stable-state features. First, an original high-order barrier functional is constructed to tackle the issue that the current integral barrier functional does not offer the necessary performance control. The prescribed performance function is subsequently revised based on the current one in order to change the rate of decline. It is easy to combine the enhanced prescribed performance function with the proposed barrier functional. Furthermore, the tracking controller for the surface vessel is built using the presented barrier functional, performance boundary function, and disturbance observer in order to preserve both initial-state and stable-state performances of the position error and address the effect of system uncertainty on control precision. It can be done to demonstrate that the position error stays inside the pre-set performance function and that all surface vessel errors could exponentially approach a nearby value of zero applying Lyapunov stability theory and supplied Theorem 1. Finally, a simulation experiment on a fully actuated marine vessel confirms the viability of the proposed approach to handle the performance-guaranteed tracking control by adjusting the value of various auxiliary parameters in the new barrier functional.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101197"},"PeriodicalIF":2.5,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143378590","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":"Concave K∞ function-based adaptive tracking control of nonlinear second-order system","authors":"Wu Yang ,&nbsp;Xing Zhang ,&nbsp;Li-Mei Wei ,&nbsp;Yan-Wu Wang ,&nbsp;Xiao-Kang Liu","doi":"10.1016/j.ejcon.2025.101191","DOIUrl":"10.1016/j.ejcon.2025.101191","url":null,"abstract":"<div><div>How to simultaneously avoid the chattering and overestimation phenomena in classical adaptive sliding mode control is interesting but challenging. In this paper, we investigate the tracking control issue for a class of nonlinear second-order system with external disturbances, in which the bound of external disturbances exists but is unknown. To solve issue, we introduce the so-called concave <span><math><msub><mrow><mi>K</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> function and design a continuous nonsingular terminal sliding mode controller. We first show that both the sliding variable and tracking error can be regulated into an small vicinity of zero within finite time without overestimating the control gain and the unexpected chattering. We then validate the superiority of the proposed method in terms of dynamics, steady-state performance, and anti-interference capability through conducting simulation experiments on magnetic levitation system.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101191"},"PeriodicalIF":2.5,"publicationDate":"2025-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143358784","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 tracking control for non-periodic reference signals under quantized observations","authors":"Chuiliu Kong ,&nbsp;Ying Wang","doi":"10.1016/j.ejcon.2025.101195","DOIUrl":"10.1016/j.ejcon.2025.101195","url":null,"abstract":"<div><div>This paper considers an adaptive tracking control problem for stochastic regression systems with multi-threshold quantized observations. Different from the existing studies for periodic reference signals, the reference signals in this paper are non-periodic. The main difficulty is how to ensure that the designed controller satisfies the uniformly bounded and excitation conditions that guarantee the convergence of the estimation in the controller under non-periodic reference signals. This paper designs two backward-shifted polynomials with time-varying parameters and a special projection structure, which break through periodic limitations and establish the convergence and tracking properties. To be specific, the adaptive tracking control law can achieve asymptotically optimal tracking for the non-periodic reference signal in the mean square sense. Besides, the proposed estimation algorithm is proved to converge to the true values in almost sure and mean square sense, and the convergence speed can reach <span><math><mrow><mi>O</mi><mfenced><mrow><mfrac><mrow><mn>1</mn></mrow><mrow><mi>k</mi></mrow></mfrac></mrow></mfenced></mrow></math></span> under suitable design of the quantized weight coefficients. Finally, the effectiveness of the proposed adaptive tracking control scheme is verified through a simulation.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101195"},"PeriodicalIF":2.5,"publicationDate":"2025-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143428134","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}