European Journal of Control最新文献_第3页

Discrete-time prescribed performance control with time-varying transmission intervals 具有时变传输间隔的离散时间规定性能控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-07-21 DOI: 10.1016/j.ejcon.2025.101294

Lampros N. Bikas, Konstantinos M. Vervelithanos, George A. Rovithakis

引用次数: 0

Koopman-based control using sum-of-squares optimization: Improved stability guarantees and data efficiency 使用平方和优化的基于koopman的控制：提高稳定性保证和数据效率

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-07-19 DOI: 10.1016/j.ejcon.2025.101286

Robin Strässer, Julian Berberich, Frank Allgöwer

{"title":"Koopman-based control using sum-of-squares optimization: Improved stability guarantees and data efficiency","authors":"Robin Strässer, Julian Berberich, Frank Allgöwer","doi":"10.1016/j.ejcon.2025.101286","DOIUrl":"10.1016/j.ejcon.2025.101286","url":null,"abstract":"<div><div>In this paper, we propose a novel controller design approach for unknown nonlinear systems using the Koopman operator. In particular, we use the recently proposed stability- and certificate-oriented extended dynamic mode decomposition (SafEDMD) architecture to generate a data-driven bilinear surrogate model with certified error bounds. Then, by accounting for the obtained error bounds in a controller design based on the bilinear system, one can guarantee closed-loop stability for the true nonlinear system. While existing approaches over-approximate the bilinearity of the surrogate model, thus introducing conservatism and providing only local guarantees, we explicitly account for the bilinearity by using sum-of-squares (SOS) optimization in the controller design. More precisely, we parametrize a rational controller stabilizing the error-affected bilinear surrogate model and, consequently, the underlying nonlinear system. The resulting SOS optimization problem provides explicit data-driven controller design conditions for unknown nonlinear systems based on semidefinite programming. Our approach significantly reduces conservatism by establishing a larger region of attraction and improved data efficiency. The proposed method is evaluated using numerical examples, demonstrating its advantages over existing approaches.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101286"},"PeriodicalIF":2.6,"publicationDate":"2025-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144724678","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

Enhanced constrained optimal sliding mode control for cable-driven parallel robots 缆索驱动并联机器人的增强约束最优滑模控制

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-07-17 DOI: 10.1016/j.ejcon.2025.101282

Alireza Gholipour, Hanie Marufkhani, Mohammad A. Khosravi

{"title":"Enhanced constrained optimal sliding mode control for cable-driven parallel robots","authors":"Alireza Gholipour, Hanie Marufkhani, Mohammad A. Khosravi","doi":"10.1016/j.ejcon.2025.101282","DOIUrl":"10.1016/j.ejcon.2025.101282","url":null,"abstract":"<div><div>This paper introduces novel methodologies in <em>Sliding Mode Control</em> (SMC) for <em>Cable-Driven Parallel Robots</em> (CDPRs), featuring innovative nonlinear sliding surface formulations. The study commences with an examination of the CDPR model under dynamic uncertainties and external disturbances. In addition to the standard error equation surface, two carefully selected nonlinear surfaces—a novel odd-exponential surface and a hyperbolic tangent surface—are proposed and analyzed within the framework of conventional sliding mode control. Furthermore, recognizing the potential efficiency loss of conventional SMC approaches in CDPRs with both translational and rotational <em>Degrees of Freedom</em> (DoFs) due to uncertainties and disturbances, a robustness enhancement approach is developed. This approach ensures effective cable tension management in systems encompassing both translational and rotational DoFs. The asymptotic stability and robustness of all three sliding surfaces are rigorously analyzed using the Lyapunov theorem, both in conventional SMC and in the proposed robustness enhancement approach. Additionally, the reaching times of the three sliding surfaces are evaluated under various uncertainty scenarios for each control strategy. To validate the theoretical findings, simulations are conducted on a 6 DoFs spatial CDPR under different levels of uncertainty. The simulation results reveal the comparative performance of each of the three surfaces under different uncertainty conditions, evaluated based on specific performance criteria.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101282"},"PeriodicalIF":2.6,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144722480","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

Relationship between the regulation performance of control systems and the spatial clustering parameters based on pattern-moving 基于模式移动的空间聚类参数与控制系统调节性能的关系

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-07-15 DOI: 10.1016/j.ejcon.2025.101279

Cheng Han , Zhengguang Xu

{"title":"Relationship between the regulation performance of control systems and the spatial clustering parameters based on pattern-moving","authors":"Cheng Han , Zhengguang Xu","doi":"10.1016/j.ejcon.2025.101279","DOIUrl":"10.1016/j.ejcon.2025.101279","url":null,"abstract":"<div><div>The pattern-moving control problem of a class of nonlinear systems governed by statistical laws is studied. Also, the influence of clustering parameters for constructing pattern-moving space in pattern-moving control methods on system regulation performance has been studied. Firstly, based on the pattern-moving system dynamics description method, a data-driven control method based on the probability density evolution of pattern-moving is proposed. Furthermore, performance indicators with statistical properties are provided to describe the system’s regulation performance, and an improved ISODATA clustering algorithm suitable for constructing pattern-moving spaces is proposed. Then, by constructing a classification neural network, the relationship between clustering algorithm parameters and system regulation performance is established. The simulation results show that the proposed control algorithm can effectively control the system governed by statistical laws, and the constructed neural network can provide a basis for selecting clustering parameters in the pattern-moving space.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101279"},"PeriodicalIF":2.5,"publicationDate":"2025-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144654395","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 backstepping stabilization of uncertain Cartpole underactuated systems with full state constraints: A strict-feedback-like system design approach 具有完全状态约束的不确定Cartpole欠驱动系统的鲁棒反步镇定：一种严格的类反馈系统设计方法

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-07-11 DOI: 10.1016/j.ejcon.2025.101275

Changyi Lei , Quanmin Zhu

{"title":"Robust backstepping stabilization of uncertain Cartpole underactuated systems with full state constraints: A strict-feedback-like system design approach","authors":"Changyi Lei , Quanmin Zhu","doi":"10.1016/j.ejcon.2025.101275","DOIUrl":"10.1016/j.ejcon.2025.101275","url":null,"abstract":"<div><div>This article proposes a robust backstepping controller for the stabilization of uncertain Cartpole systems with full state constraints. We rely on existing results on transformed cascaded nonstrict feedback normal form with a feedforward term. Unlike previous research which treats the feedforward term as disturbance, this paper exploits its structure and integrates it as part of the virtual control variable, thus admitting a strict-feedback-like system with uncertain gains. Fractional type barrier functions are introduced to satisfy full-state constraints of the system. This not only ensures practicality of the method, but also induces upper bounds of all the uncertainties of the system, enabling the implementation of robust backstepping method. Besides, we explicitly relax the commonly-used assumption that the pole uniformly lies in the upper half-plane. Unlike existing literature which only demonstrate the convergence of the virtual control variables, we prove in addition that all state variables are Uniformly Ultimately Bounded (UUB) with the proposed controller. We also prove that the vanilla filtering-based backstepping controller is sufficient for stabilization without extra compensation schemes with proper parameters. Simulation results illustrate the convergence performance of the proposed controller, complemented by ablation studies and discussion on parameter tuning for practical consideration. The proposed strict-feedback-like perspective with full-state constraints treatment can potentially be extended to larger classes of nonstrict feedback systems.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101275"},"PeriodicalIF":2.5,"publicationDate":"2025-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144632746","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

Stability and event-triggered control of stochastic delay listeriosis model 随机延迟李斯特菌病模型的稳定性和事件触发控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-07-11 DOI: 10.1016/j.ejcon.2025.101263

Zhaoyan Meng, Qimin Zhang

引用次数: 0

Optimal consensus control for input-delay nonlinear multi-agent systems with input saturation utilizing synchronous integral reinforcement learning 基于同步积分强化学习的输入饱和时滞非线性多智能体系统最优共识控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-07-11 DOI: 10.1016/j.ejcon.2025.101262

Chaoyue Li, Fei Wang, Yunliang Wei, Chuan Zhang

{"title":"Optimal consensus control for input-delay nonlinear multi-agent systems with input saturation utilizing synchronous integral reinforcement learning","authors":"Chaoyue Li, Fei Wang, Yunliang Wei, Chuan Zhang","doi":"10.1016/j.ejcon.2025.101262","DOIUrl":"10.1016/j.ejcon.2025.101262","url":null,"abstract":"<div><div>This paper addresses the optimal consensus control (OCC) problem for nonlinear multi-agent systems (MASs) with input saturation and input delay based on synchronous integral reinforcement learning (IRL). First, the model reduction method is employed to convert the original system into a delay-free model, subsequently, the new performance index functions are introduced, based on which an equivalence relationship is established between the performance indices of two MASs. Through this equivalence, the challenging problem of OCC for MAS with input delays can be successfully transformed into that of delay-free MAS. Second, the Hamilton–Jacobi–Bellman (HJB) equations with non-quadratic functions are established. It is further demonstrated that the solutions to these coupled HJB equations not only are optimal control policies but also constitute Nash equilibrium. Third, the online synchronized IRL algorithm is utilized to design the optimal controllers, constructing actor–critic (A–C) neural networks (NNs) structure to approximate the control policies and value function, respectively. The weights of both NNs are updated synchronously. Finally, the simulation example shows the effectiveness of the method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101262"},"PeriodicalIF":2.5,"publicationDate":"2025-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144631421","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

Secure cluster synchronization of the complex dynamical networks with pinning impulsive strategies: When heterogeneity meets deception attacks 基于钉住脉冲策略的复杂动态网络的安全集群同步：异质性与欺骗攻击

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-07-08 DOI: 10.1016/j.ejcon.2025.101277

Junfeng Guo , Fei Wang , Chuan Zhang , Xin Sui , Ning Li

{"title":"Secure cluster synchronization of the complex dynamical networks with pinning impulsive strategies: When heterogeneity meets deception attacks","authors":"Junfeng Guo , Fei Wang , Chuan Zhang , Xin Sui , Ning Li","doi":"10.1016/j.ejcon.2025.101277","DOIUrl":"10.1016/j.ejcon.2025.101277","url":null,"abstract":"<div><div>Secure cluster synchronization of a class of complex dynamic networks (CDNs) is studied in this article. Firstly, this paper introduces a heterogeneous dynamic network model that is attacked by deception attacks and assumes that the occurrences of deception attacks are always subject to Bernoulli distribution. Secondly, a impulsive controller (the so-called pinning impulsive control) is designed for part of nodes. Then, based on the new impulsive differential inequality and Lyapunov stability theory, the secure synchronization criterion is given, and the specific synchronization error upper bound is estimated. Furthermore, this article theoretically analyzes the synchronization region related to impulsive gain, average impulsive interval, and the number of pinning nodes. Finally, several numerical simulation examples are used to verify the correctness of the theoretical results in this manuscript, and the relationship between the synchronous control region and the relevant control parameters is discussed in detail.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101277"},"PeriodicalIF":2.5,"publicationDate":"2025-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144588664","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

Provably robust online voltage control for distribution networks with line parameter estimation 基于线路参数估计的配电网稳健性在线电压控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-07-07 DOI: 10.1016/j.ejcon.2025.101252

Nilanjan Roy Chowdhury , Anuj Kumar Rao , Yogesh Bichpuriya , Venkatesh Sarangan , Shreevardhan A. Soman

{"title":"Provably robust online voltage control for distribution networks with line parameter estimation","authors":"Nilanjan Roy Chowdhury , Anuj Kumar Rao , Yogesh Bichpuriya , Venkatesh Sarangan , Shreevardhan A. Soman","doi":"10.1016/j.ejcon.2025.101252","DOIUrl":"10.1016/j.ejcon.2025.101252","url":null,"abstract":"<div><div>This paper introduces an online robust control algorithm, which regulates the voltage of a balanced power distribution network without any prior knowledge of the line parameter values. To model the underlying distribution network, we adopt the recently introduced (parameterized) <em>lossy distribution flow equations</em>, which allow us to characterize network losses. Our algorithm includes two components that work in tandem. The <em>first component</em> iteratively estimates the line parameters (i.e., network resistance and reactance) that are consistent with available voltage measurements, while the <em>second component</em> regulates the network voltage within the prescribed safe limit despite the uncertainty in the line parameter estimates. We theoretically prove that our algorithm estimates consistent line parameters and also certify that the number of times when the voltage violates the safe limits are bounded. Simulation studies on benchmark IEEE distribution networks verify that the proposed algorithm effectively estimates line parameters and stabilizes network voltage.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101252"},"PeriodicalIF":2.5,"publicationDate":"2025-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144588665","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

Data-driven iterative learning control for nonlinear multivariate systems using transpose adaptive filtering 基于转置自适应滤波的非线性多元系统数据驱动迭代学习控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-07-02 DOI: 10.1016/j.ejcon.2025.101273

Yu-Hsiu Lee , Yi-Tai Cheng , Kai-Shiang Yuan , Tsu-Chin Tsao

{"title":"Data-driven iterative learning control for nonlinear multivariate systems using transpose adaptive filtering","authors":"Yu-Hsiu Lee , Yi-Tai Cheng , Kai-Shiang Yuan , Tsu-Chin Tsao","doi":"10.1016/j.ejcon.2025.101273","DOIUrl":"10.1016/j.ejcon.2025.101273","url":null,"abstract":"<div><div>This paper presents a novel data-driven iterative learning control (ILC) algorithm for stabilized multivariable nonlinear dynamical systems. The proposed algorithm incorporates two data-driven learning mechanisms: an adaptive feedforward algorithm that models perturbed dynamics as an unknown linear time-varying system and minimizes RMS errors with respect to an LTI reference model, followed by a second learning mechanism for fast convergence in trajectory tracking. For multivariate systems, the non-commutative nature of the cascade of systems necessitates the use of the right inverse for adaptive model matching to promote error convergence. To address challenges in adaptive filtering, a transposition-based technique is introduced to obtain the right inverse for square and over-actuated systems. For <span><math><msub><mrow><mi>n</mi></mrow><mrow><mi>i</mi></mrow></msub></math></span>-input-<span><math><msub><mrow><mi>n</mi></mrow><mrow><mi>o</mi></mrow></msub></math></span>-output systems, the approach necessitates conducting <span><math><mrow><msub><mrow><mi>n</mi></mrow><mrow><mi>i</mi></mrow></msub><mo>×</mo><msub><mrow><mi>n</mi></mrow><mrow><mi>o</mi></mrow></msub></mrow></math></span> experiments. An efficient algorithm is proposed to reduce this requirement by reorganizing impulse response matrix components. The effectiveness of the proposed methods is demonstrated through both simulations and experiments.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101273"},"PeriodicalIF":2.5,"publicationDate":"2025-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144550006","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