European Journal of Control最新文献_第3页

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

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

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

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

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 , 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 , Mario Andrés Aguilar-Orduña , 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 , Morten Hovd , 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

Sliding Mode Control with exponential and finite-time reaching laws in heading control for autonomous sailboats 基于指数律和有限时间趋近律的滑模控制在自主帆船航向控制中的应用

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-08-18 DOI: 10.1016/j.ejcon.2025.101345

Peerayot Sanposh , Yodyium Tipsuwan , Nattakit Techajaroonjit

{"title":"Sliding Mode Control with exponential and finite-time reaching laws in heading control for autonomous sailboats","authors":"Peerayot Sanposh , Yodyium Tipsuwan , Nattakit Techajaroonjit","doi":"10.1016/j.ejcon.2025.101345","DOIUrl":"10.1016/j.ejcon.2025.101345","url":null,"abstract":"<div><div>This paper presents a model-based nonlinear control approach using Sliding Mode Control (SMC) and a data fitting approach to enhance the practical implementation of heading control for autonomous sailboats. Two controllers are proposed based on the exponential reaching law and the finite-time reaching law, ensuring Lyapunov stability with distinct convergence characteristics. To approximate the lift and drag coefficients in the sailboat dynamic model, a least squares fitting approach is utilized to reduce the number of tuning parameters. In addition, robustness validation considers the case in which only partial lift and drag coefficient data are available. These key contributions enable practical implementation without full system identification. The effectiveness of the proposed controllers is evaluated through simulations, focusing on tacking and jibing maneuver scenarios under external disturbances and model uncertainties. Simulation results confirm the robustness of the proposed controllers and demonstrate that they successfully stabilize the heading error, achieve a trade-off between settling time and overshoot, and outperform a baseline controller during the jibing maneuver scenario.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101345"},"PeriodicalIF":2.6,"publicationDate":"2025-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144908282","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

引用次数: 0

Design of cascaded PDE-ODE observers for LTI systems with numerical differentiators as fictitious sensors with distributed delay 具有分布延迟的数值微分器的LTI系统级联PDE-ODE观测器设计

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-08-16 DOI: 10.1016/j.ejcon.2025.101353

Florian Meiners , Amine Othmane , Jürgen Adamy

{"title":"Design of cascaded PDE-ODE observers for LTI systems with numerical differentiators as fictitious sensors with distributed delay","authors":"Florian Meiners , Amine Othmane , Jürgen Adamy","doi":"10.1016/j.ejcon.2025.101353","DOIUrl":"10.1016/j.ejcon.2025.101353","url":null,"abstract":"<div><div>Unmeasured states of an observable LTI system without sensor delay can be determined by use of a state observer or calculated directly from the input, the output, and their successive time derivatives. The inherent ill-posedness of numerical differentiation renders the latter approach unsuitable for most control applications. Design objectives like the need to balance convergence rates and steady-state noise suppression, on the other hand, pose significant challenges for state observation. This work proposes a systematic framework for the combination of numerical differentiation and output error injection to leverage benefits of both methods. By interpreting estimates of the output derivatives of an LTI system without sensor delay as additional, but delayed, outputs, a cascaded PDE-ODE formulation of the augmented system is derived. In it, the derivative estimates, which are treated as readings from fictitious sensors, are modeled by transport equations. An observer for the resulting system is developed. We prove that additional information inferred from output derivatives improves observability properties of the underlying system in terms of the observability Gramian. Moreover, incorporating the output derivatives introduces additional degrees of freedom to the design. We show how such degrees of freedom can be exploited; in particular, they can be used to improve noise attenuation due to a reduction of the injection gains. An analysis of the observer for the PDE-ODE cascade and a comparison to the Luenberger observer are provided. The efficacy of the proposed method is illustrated experimentally.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101353"},"PeriodicalIF":2.6,"publicationDate":"2025-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144879662","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