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Estimation and output feedback stabilization for switched linear discrete-time systems with delayed-outputs 具有延迟输出的切换线性离散系统的估计与输出反馈镇定
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2025-04-28 DOI: 10.1016/j.ejcon.2025.101229
H. Arezki , K. Chaib Draa , A. Zemouche , C.P. Tan
{"title":"Estimation and output feedback stabilization for switched linear discrete-time systems with delayed-outputs","authors":"H. Arezki ,&nbsp;K. Chaib Draa ,&nbsp;A. Zemouche ,&nbsp;C.P. Tan","doi":"10.1016/j.ejcon.2025.101229","DOIUrl":"10.1016/j.ejcon.2025.101229","url":null,"abstract":"<div><div>This paper addresses the problem of exact finite-time estimation for switched discrete-time linear systems with delayed output measurements. First, results on exact and finite-time estimation of linear systems with delayed outputs are established. Then, extensions to switched systems, switched singular systems, and switched systems with unknown input are developed. Two estimation algorithms are proposed: the first is based on an explicit computation of the system state by using a combination of delayed inputs/outputs jointly with the backward substitution technique; the second uses two state observers satisfying a common mathematical relation. Furthermore, output feedback stabilization schemes based on the aforementioned estimation algorithms are provided. Illustrations of real-world models are provided to show the efficiency of the algorithms.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"84 ","pages":"Article 101229"},"PeriodicalIF":2.5,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143891039","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 prescribed-time fault-tolerant control of robotic manipulators with actuator faults and unknown disturbances 具有执行器故障和未知干扰的机器人自适应规定时间容错控制
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2025-04-28 DOI: 10.1016/j.ejcon.2025.101234
Ze Zhang , Ticao Jiao , Yuxia Li , Bo Li , Haibin Sun
{"title":"Adaptive prescribed-time fault-tolerant control of robotic manipulators with actuator faults and unknown disturbances","authors":"Ze Zhang ,&nbsp;Ticao Jiao ,&nbsp;Yuxia Li ,&nbsp;Bo Li ,&nbsp;Haibin Sun","doi":"10.1016/j.ejcon.2025.101234","DOIUrl":"10.1016/j.ejcon.2025.101234","url":null,"abstract":"<div><div>This paper focuses on the problem of prescribed-time fault-tolerant control of robotic manipulators subject to actuator faults and unknown disturbances. First, by introducing a new type of prescribed-time functions defined on the whole time domain, we develop a novel prescribed-time stability theory. Then, a new type of disturbance observers is constructed to exactly estimate the external disturbance within a prescribed time. Based on these preparations, an adaptive prescribed-time fault-tolerant tracking control approach is developed. The combination of the proposed prescribed-time disturbance observer and the adaptive technology is employed to compensate the influence of unknown disturbances and actuator faults. To further reduce the computation complexity, a command filter is used to approximate the virtual control function and then a prescribed-time stable system is designed to compensate the approximation error. Compared with existing results, the designed prescribed-time controller does not involve infinite variables, moreover the tracking objective is completed at the prescribed time and maintained after the prescribed time. Finally, the effectiveness of the proposed controller is validated through simulation results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"84 ","pages":"Article 101234"},"PeriodicalIF":2.5,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143895693","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
Impulsive set-membership state estimators for continuous-time linear systems based on delayed discrete-time periodic measurements 基于延迟离散周期测量的连续线性系统的脉冲集隶属度状态估计
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2025-04-24 DOI: 10.1016/j.ejcon.2025.101232
Nacim Meslem , Zhenhua Wang , Tarek Raïssi
{"title":"Impulsive set-membership state estimators for continuous-time linear systems based on delayed discrete-time periodic measurements","authors":"Nacim Meslem ,&nbsp;Zhenhua Wang ,&nbsp;Tarek Raïssi","doi":"10.1016/j.ejcon.2025.101232","DOIUrl":"10.1016/j.ejcon.2025.101232","url":null,"abstract":"<div><div>This work proposes the use of explicit reachability analysis of the estimation error to design an impulsive set-valued state estimator for continuous-time linear systems, where the measurements are available at discrete-time instants and delayed. The introduced state estimator combines two procedures of state estimation in the set-valued paradigm. The first one is an open loop prediction phase, where the measurements are not required, while the second one is a discrete-time correction phase based on the available measurements. In addition, under the detectability assumption of a discrete-time form of the continuous-time system, the practical convergence of the estimation error is demonstrated. A numerical example borrowed from the literature is considered, to support the theoretical results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"84 ","pages":"Article 101232"},"PeriodicalIF":2.5,"publicationDate":"2025-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143887732","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
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 ,&nbsp;Héctor Ríos ,&nbsp;Manuel Mera ,&nbsp;Denis Efimov ,&nbsp;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
{"title":"Fault detection of CPU chips using an interval estimation method","authors":"Yu Gao ,&nbsp;Kai-Ning Wu ,&nbsp;Song Zhu","doi":"10.1016/j.ejcon.2025.101231","DOIUrl":"10.1016/j.ejcon.2025.101231","url":null,"abstract":"<div><div>Accuracy of thermal measurements directly reflects the performance of CPU chips. This paper proposes a fault detection scheme based on the Markov jump heat equation for the CPU chips. Specifically, this scheme utilizes one-dimensional Markov jump heat equation to model the thermal behavior over the chip. And, a partial differential equation based interval filter is proposed to construct the thresholds for measured temperature. Moreover, the detection residuals are not only robust to uncertainties, but also sensitive to faults. Furthermore, a novel <span><math><msub><mrow><mi>L</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> norm-based uncertainty attenuation performance is presented to describe the effect of uncertainties. Numerical example has demonstrated the effectiveness of the proposed fault detection scheme.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"84 ","pages":"Article 101231"},"PeriodicalIF":2.5,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143876705","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
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,&nbsp;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 ,&nbsp;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
{"title":"Linear quadratic optimal control and zero-sum game for uncertain time-delay systems based on pessimistic value","authors":"Xin Chen,&nbsp;Zhongli Cao,&nbsp;Zeyu Zhang","doi":"10.1016/j.ejcon.2025.101224","DOIUrl":"10.1016/j.ejcon.2025.101224","url":null,"abstract":"<div><div>The pessimistic value is an important criterion distinct from the expected value, suitable for addressing uncertain optimization. This paper studies the linear quadratic optimal control problem and zero-sum game for uncertain time-delay systems based on the pessimistic value. First, we introduce an uncertain time-delay system and formulate the associated optimal control problem. By using algebraic transformation methods, we convert the time-delay problem into an equivalent uncertain optimal control problem without time delay. We then propose a recursive equation that transforms the uncertain optimal control problem into a backward difference equation and provide the analytical solution for the uncertain linear quadratic optimal control problem. Within this framework, we extend the main results to a linear quadratic zero-sum game and propose the corresponding solution algorithm. Finally, we demonstrate the algorithm’s solving process through numerical simulations, further verifying the applicability of our findings.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"84 ","pages":"Article 101224"},"PeriodicalIF":2.5,"publicationDate":"2025-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143869599","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
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
{"title":"Corrigendum to “Event-triggered Optimal Fault-tolerant Control for a Class of Uncertain Strict-feedback Nonlinear Systems” [European Journal of Control 83 (2025) 101228]","authors":"Jing-Yu Guo ,&nbsp;Li-Bing Wu","doi":"10.1016/j.ejcon.2025.101235","DOIUrl":"10.1016/j.ejcon.2025.101235","url":null,"abstract":"","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"83 ","pages":"Article 101235"},"PeriodicalIF":2.5,"publicationDate":"2025-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143848070","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 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
{"title":"Distributed optimization of multi-agent systems with time-invariant and time-varying cost functions","authors":"Kai Weng ,&nbsp;Yan Ren ,&nbsp;Liyun Zhao ,&nbsp;Siyu Gao","doi":"10.1016/j.ejcon.2025.101222","DOIUrl":"10.1016/j.ejcon.2025.101222","url":null,"abstract":"<div><div>This study investigated the distributed optimization problem of multi-agent systems (MASs). The aim was to design optimization algorithms for two cases where the cost function was time-invariant and time-varying to allow the system to reach the global optimum. First, a zero-gradient-sum (ZGS) distributed optimization algorithm based on second-order Hessian matrix information was designed to solve the time-invariant cost function optimization problem and allow the system to converge to the optimal state quickly in a fixed-time. Second, considering the case of a time-varying cost function, a distributed optimization algorithm based on a prediction–correction structure was designed by improving the above algorithm. This algorithm allows a system to converge to an optimal trajectory within a fixed-time. Finally, simulations were conducted to demonstrate the effectiveness of the control algorithms.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"83 ","pages":"Article 101222"},"PeriodicalIF":2.5,"publicationDate":"2025-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143845008","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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