European Journal of Control最新文献

{"title":"Integrating passenger transportation costs into service network design: A bilevel optimal control approach using macroscopic fundamental diagram","authors":"Muhammad Saadullah ,&nbsp;Zhipeng Zhang ,&nbsp;Hao Hu","doi":"10.1016/j.ejcon.2025.101184","DOIUrl":"10.1016/j.ejcon.2025.101184","url":null,"abstract":"<div><div>Service Network Design (SND) problem traditionally focuses on optimizing scheduling and routing costs of freight vehicles. However, it often overlooks the costs related to passenger vehicles. This study addresses this gap by proposing a bilevel optimal control framework that integrates the Macroscopic Fundamental Diagram (MFD) to estimate passenger transportation costs due to freight traffic movement. The lower-level aims at maximizing passenger vehicles while reducing freight vehicle accumulation. The upper-level ensures the total vehicle accumulation is regulated under a predefined threshold. A Model Predictive Controller (MPC) approach is used to solve the optimal control problem. A framework is presented to use the accumulation results for the calculation of passenger transportation costs along with travelled distance and time spent by vehicles in the traffic network. This change in passenger transportation costs due to freight vehicles is integrated into SND objective function. The methodology is implemented on Islamabad's Road network, estimating passenger transportation costs for various freight and passenger traffic mixes. The results indicate that as the number of passenger vehicles increases, the impact of freight vehicles on the passenger transportation costs is minimized. This SND-MFD integration presents significant potential for urban planners and logistics firms, facilitating informed decisions for optimizing the transportation mix, enhancing traffic flow and reducing costs.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101184"},"PeriodicalIF":2.5,"publicationDate":"2025-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182564","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 sensor fault estimation based on a sliding mode observer for linear parameter-varying systems with inexact scheduling parameters","authors":"Xingjie Niu,&nbsp;Bei Lu,&nbsp;Qifu Li","doi":"10.1016/j.ejcon.2024.101174","DOIUrl":"10.1016/j.ejcon.2024.101174","url":null,"abstract":"<div><div>This paper presents a sliding mode observer-based sensor fault estimation scheme for multi-affine linear parameter-varying systems with inexact scheduling parameters. A sliding mode related to the fault is maintained by selecting the observer’s discontinuous switching function. Subsequently, the fault is reconstructed using the equivalent output error injection signal. Based on the output error between the system and the observer, an additional nonlinear function is introduced in the observer to address the influence of inexact scheduling parameters on the estimation process. <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> optimization technology combining with a parameter-dependent Lyapunov function is employed to guarantee the robustness of the observer. By selecting auxiliary variables and using the projection lemma, a sufficient observer synthesis condition is derived as linear matrix inequalities with a single line-search parameter. The numerical examples demonstrate the superiority and effectiveness of the proposed method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101174"},"PeriodicalIF":2.5,"publicationDate":"2025-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182563","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":"Anti-disturbance bumpless transfer control of switched linear systems with unmeasurable states and multiple disturbances","authors":"Chao Liu,&nbsp;Hongyu Yang,&nbsp;Xiaoyang Liu,&nbsp;Qiong Cao,&nbsp;Xianying Huang","doi":"10.1016/j.ejcon.2024.101170","DOIUrl":"10.1016/j.ejcon.2024.101170","url":null,"abstract":"<div><div>This paper investigates the anti-disturbance bumpless transfer (ADBT) control problem of switched linear systems suffering from unmeasurable states and multiple disturbances. A switching estimator is designed to observe the system state and the unmeasurable disturbance. Then, an ADBT controller that can generate continuous control input is constructed on the grounds of the gain interpolation technique. In contrast to the existing bumpless transfer (BT) control schemes, the proposed one does not depend on the lower bound of the dwell time of sub-modes and allows that the switching signal is not pre-given. A sufficient condition is derived to ensure the solvability of the ADBT control problem. The switched RLC circuit model is employed to show the effectiveness of the proposed ADBT control scheme.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101170"},"PeriodicalIF":2.5,"publicationDate":"2025-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143183314","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":"Periodic event-based regulation of blood glucose for type-1 diabetic patients in the presence of unknown actuation delay and quantization in BGC measurement and infused insulin","authors":"Farzaneh Golestani,&nbsp;Mohammad Saleh Tavazoei","doi":"10.1016/j.ejcon.2024.101173","DOIUrl":"10.1016/j.ejcon.2024.101173","url":null,"abstract":"<div><div>In this paper, a delay-independent observer-based truncated predictor output feedback controller is considered to overcome the problem of glucose regulation in the normoglycemic band in type-1 diabetes mellitus (T1DM) patients. The proposed controller confronts with various difficulties such as unannounced meal intakes (modeled as disturbances), sampled and quantized measured blood glucose concentration (BGC) level due to the mechanism of the continuous glucose measurement (CGM) device as a digital glucose sensor, quantized infused insulin as the output of the digital insulin infusion pump, and an unknown input delay in the automated delivery system. The automated delivery system with three fundamental elements CGM device (as a glucose sensor), a controller for calculation of the required infused insulin, and an insulin infusion pump provides a closed-loop glucose–insulin regulatory framework for T1DM patients in order to effectively regulate the BGC level and keep it in the normoglycemic band (i.e., 70-180 (mg/dl)). An observer is applied for the estimation of the unmeasured state variables of the system. Furthermore, a periodic event-triggered strategy is introduced to specify whether it is required to send the information of the CGM device (as the sensor) for the controller. Moreover, another periodic event-triggered strategy is proposed to determine whether it is needed to change the infusion rate of the insulin pump (as the actuator). Benefiting from these periodic event-triggered strategies, the communication and energy consumptions of the automated delivery system are reduced. A sufficient condition on the delay’s upper bound value is obtained in order to assure the local exponential stability (LES) of the glucose–insulin regulatory system. Design of the controller has been done based on the nonlinear Bergman minimal model (BMM) as a so-called model for control design purposes in T1DM patients. Also, the proposed approach is validated on 10 adult virtual patients (VPs) with a large-scale and multi-compartmental model that is the base of the UVA/PADOVA Type-1 Diabetes Simulator in the presence of the unannounced meal intakes.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101173"},"PeriodicalIF":2.5,"publicationDate":"2025-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182562","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":"Reachable set estimation of MASs with consensus performance under event-triggered scheme and semi-Markov switching topologies with partially unknown rates","authors":"Binbin Tian ,&nbsp;Wenchao Huang ,&nbsp;Hui Peng ,&nbsp;Jinhua Wang","doi":"10.1016/j.ejcon.2024.101148","DOIUrl":"10.1016/j.ejcon.2024.101148","url":null,"abstract":"<div><div>This article focuses on the issue of reachable set estimation(RSE) with the consensus performance for multi-agent systems(MASs) under event-triggered scheme(ETS) and semi-Markov switching topologies with partially unknown rates(SMST-PUR). Firstly, through model transformation, the consensus research of MASs can be converted to the closed-loop stability analysis problem, and a periodic sampling ETS is employed to reduce the frequency of information broadcasting by the behavior of communicating with neighbors at the special moments. Secondly, the Lyapunov–Krasovskii functions(LKFs) with state information of time delay are constructed, whose goal is to capture more dynamics of time delay that impact on the controller’s design. And a group of sufficient conditions in the aspect of linear matrix inequalities(LMIs) is derived to guarantee that the states of error system can be confined within a finite union of ellipsoid-like sets corresponding to each mode with consensus manifestation under the action of switching topology randomly governed by SMST-PUR. Simultaneously, the method of co-designing the consensus controller and the triggered matrices of ETS with RSE performance is depicted to save communication resources availably. Finally, a study case is utilized to verify the validity of the proposed method and the comparative results illustrate the advantages and effectiveness of the control algorithm designed in this paper.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101148"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143101689","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":"RISE-based asymptotic adaptive prescribed performance control of uncertain nonlinear systems and application to DC motor","authors":"Zhangbao Xu ,&nbsp;Maokun Zhang ,&nbsp;Jialin Ren ,&nbsp;Zhenle Dong ,&nbsp;Jianyong Yao","doi":"10.1016/j.ejcon.2024.101168","DOIUrl":"10.1016/j.ejcon.2024.101168","url":null,"abstract":"<div><div>In this study, the asymptotic control of a class of uncertain nonlinear systems is investigated and a robust integral of the sign of the error (RISE)-based asymptotic adaptive prescribed performance controller is developed, where adaptive control for unknown parameters and RISE for disturbances are combined via backstepping design, ensuring the asymptotic stability of the closed-loop system. While, a simple error transformation function is constructed with the prescribed performance function, and improved tracking precision with prescribed control performance is guaranteed. Finally, the proposed method is applied to the DC motor system and comparative experimental results are obtained to verify its effectiveness.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101168"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143101690","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":"Actuator fault-tolerant mixed passivity and H∞ control for autonomous marine surface vehicles: A sampled-data approach","authors":"Soundararajan Vimal Kumar,&nbsp;Jonghoek Kim","doi":"10.1016/j.ejcon.2024.101167","DOIUrl":"10.1016/j.ejcon.2024.101167","url":null,"abstract":"<div><div>In this article, the problem of fault-tolerant mixed passivity and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control for autonomous marine surface vehicles (AMSVs) with actuator faults is investigated using a sampled data approach. A mixed passivity and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control with sampled-data for three AMSVs with actuator faults or bias failures, or both, is investigated for the first time in an AMSV system. First, a steering machine (actuator) bias failure and an actuator fault in the presence of a ship course-keeping autopilot (SCKA), which causes the vessel to deviate from the desired heading, especially in course-keeping, are investigated. Second, the dynamic positioning of the ship (DPS) is investigated in the presence of an actuator fault. By defining a suitable Lyapunov–Krasovskii functional and using Jensen’s inequality, linear matrix inequality (LMI)-based mixed passivity and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance analysis and controller design are presented. The designed sampled-data-based fault-tolerant controllers can guarantee asymptotic stability and tracking of prescribed reference outputs while addressing actuator faults or bias failures, or both, and rejecting disturbances. Finally, three numerical examples are given to prove the validity of the proposed approaches.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101167"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143101691","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":"Regularity properties of optimization-based controllers","authors":"Pol Mestres ,&nbsp;Ahmed Allibhoy ,&nbsp;Jorge Cortés","doi":"10.1016/j.ejcon.2024.101098","DOIUrl":"10.1016/j.ejcon.2024.101098","url":null,"abstract":"<div><div>This paper studies regularity properties of optimization-based controllers, which are obtained by solving optimization problems where the parameter is the system state and the optimization variable is the input to the system. Under a wide range of assumptions on the optimization problem data, we provide an exhaustive collection of results about their regularity, and examine their implications on the existence and uniqueness of solutions and the forward invariance guarantees for the resulting closed-loop systems. We discuss the broad relevance of the results in different areas of systems and controls.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101098"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102187","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":"Identification of piecewise constant parameters in nonlinear models","authors":"Giuseppe Carlo Calafiore,&nbsp;Giulia Fracastoro,&nbsp;Lorenzo Zino","doi":"10.1016/j.ejcon.2024.101151","DOIUrl":"10.1016/j.ejcon.2024.101151","url":null,"abstract":"<div><div>Many real-world dynamical systems are characterized by different temporal phases, with sudden changes in the values of the system’s parameters in correspondence to variations from one phase to another. Identifying the system’s parameters and these switching instants from potentially noisy measurements of the system’s states is a relevant problem in several applications. We here propose a novel approach for estimating the time-varying parameters of a broad class of nonlinear dynamical systems from noisy state measurements. We formulate the problem as a mixed-integer quadratic program (MIQP) including a sparsity constraint to enforce the piecewise constant nature of the parameters. Then, we develop a convex relaxation of the problem in the form of a quadratic program (QP). The solution of the relaxed convex QP and/or the sub-optimal solutions of the MIQP returned by the MIQP solvers provide us with computationally-efficient approximations that can be used effectively in those large-dimensional cases in which the solution of the original MIQP is difficult to obtain. After validating our approach in a controlled experiment, we demonstrate its potential on two real-world case studies regarding marketing and epidemiological applications.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101151"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102188","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Transparency-enhanced observer-based adaptive backstepping torque–position control for teleoperation systems with position error constraint and time-varying delay","authors":"Ali Mehrjouyan ,&nbsp;Mohammad B. Menhaj ,&nbsp;Erfan Askarzadeh ,&nbsp;Amir Hooshiar","doi":"10.1016/j.ejcon.2024.101153","DOIUrl":"10.1016/j.ejcon.2024.101153","url":null,"abstract":"<div><div>Nonlinear teleoperation systems are susceptible to significant problems, including transparency, safety, stability and external torques/forces measurement. In order to deal with these limitations, an observer-based adaptive backstepping torque–position control approach is proposed in this paper. In order to achieve this objective, a novel external torque observer is proposed to alleviate the limitations associated with the use of force sensors. This paper’s main idea is to employ a three-channel architecture using a force sensor-less reflecting signal, which can improve transparency and increase algorithm performance. Furthermore, the another point of this paper is to enhance the safeness of operations in the presence of time-varying delays in the communication channel, a position error constraint control strategy is employed in the core of the proposed approach. Moreover, the primary advantage of this paper is that, the proposed observer-based control algorithm is relieved from the joints acceleration measurement of the leader and follower manipulators which is difficult in robotic systems. Finally, the stability analysis of the controller and observer together is conducted by the Barrier Lyapunov functional and series of simulations, comparisons and practical experiments are performed to validate the performance of the proposed algorithm.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101153"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102190","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}