European Journal of Control最新文献_第5页

Quasi-data-driven static output feedback control of linear systems with input and state delays 具有输入和状态延迟的线性系统的准数据驱动静态输出反馈控制

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-09-14 DOI: 10.1016/j.ejcon.2025.101385

Emanuel C. Brenag , Paulo S.P. Pessim , Pedro M. Oliveira , Reinaldo M. Palhares

{"title":"Quasi-data-driven static output feedback control of linear systems with input and state delays","authors":"Emanuel C. Brenag , Paulo S.P. Pessim , Pedro M. Oliveira , Reinaldo M. Palhares","doi":"10.1016/j.ejcon.2025.101385","DOIUrl":"10.1016/j.ejcon.2025.101385","url":null,"abstract":"<div><div>This paper presents a quasi-data-driven static output feedback (SOF) control framework for discrete-time linear systems subject to time-varying state and input delays. The proposed controller synthesis leverages input-state-output data acquired from the open-loop system, integrated with delay-dependent data-based Linear Matrix Inequality (LMI) conditions derived using Lyapunov–Krasovskii stability theory. A salient feature of this methodology is its ability to compute controller gains without prior knowledge of the system dynamics, thereby eliminating the dependence on explicit mathematical models. Furthermore, a data-driven reference-tracking input scheme is developed for time-delay systems, addressing piecewise-constant reference trajectories while guaranteeing asymptotic stability of the tracking error. The efficacy of the proposed approach is rigorously validated through numerical simulations and also experimental implementation on a twin-rotor system for pitch angle tracking, demonstrating robust performance in both theoretical and practical settings.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101385"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097564","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

Aerial Payload Transportation with Energy-Efficient Flexible Formation Control of Quadrotors 基于节能柔性编队控制的四旋翼飞行器空中载荷运输

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-10-20 DOI: 10.1016/j.ejcon.2025.101406

Moein Doakhan, Mansour Kabganian, Ali Azimi

引用次数: 0

Distributed allocation and resource scheduling algorithms resilient to link failure 弹性链路故障的分布式分配和资源调度算法

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-10-22 DOI: 10.1016/j.ejcon.2025.101405

Mohammadreza Doostmohammadian , Sergio Pequito

{"title":"Distributed allocation and resource scheduling algorithms resilient to link failure","authors":"Mohammadreza Doostmohammadian , Sergio Pequito","doi":"10.1016/j.ejcon.2025.101405","DOIUrl":"10.1016/j.ejcon.2025.101405","url":null,"abstract":"<div><div>Distributed resource allocation (DRA) is fundamental to modern networked systems, spanning applications from economic dispatch in smart grids to CPU scheduling in data centers. Conventional DRA approaches require reliable communication, yet real-world networks frequently suffer from link failures, packet drops, and communication delays due to environmental conditions, network congestion, and security threats.</div><div>We introduce a novel resilient DRA algorithm that addresses these critical challenges, and our main contributions are as follows: (1) guaranteed constraint feasibility at all times, ensuring resource-demand balance even during algorithm termination or network disruption; (2) robust convergence despite sector-bound nonlinearities at nodes/links, accommodating practical constraints like quantization and saturation; and (3) optimal performance under merely uniformly-connected networks, eliminating the need for continuous connectivity.</div><div>Unlike existing approaches that require persistent network connectivity and provide only asymptotic feasibility, our graph-theoretic solution leverages network percolation theory to maintain performance during intermittent disconnections. This makes it particularly valuable for mobile multi-agent systems where nodes frequently move out of communication range. Theoretical analysis and simulations demonstrate that our algorithm converges to optimal solutions despite heterogeneous time delays and substantial link failures, significantly advancing the reliability of distributed resource allocation in practical network environments.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101405"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145362451","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

Finite-time adaptive tracking control for uncertain nonlinear systems 不确定非线性系统的有限时间自适应跟踪控制

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-11-10 DOI: 10.1016/j.ejcon.2025.101410

Guang-Xin Zhong , Li-Yao Wang , Yue Long , Jian Li , Zhen-Xing Zhang , Xiao-Qi Zhao

{"title":"Finite-time adaptive tracking control for uncertain nonlinear systems","authors":"Guang-Xin Zhong , Li-Yao Wang , Yue Long , Jian Li , Zhen-Xing Zhang , Xiao-Qi Zhao","doi":"10.1016/j.ejcon.2025.101410","DOIUrl":"10.1016/j.ejcon.2025.101410","url":null,"abstract":"<div><div>This article investigates a finite-time adaptive tracking control problem for uncertain nonlinear systems. The uncertainty is modeled as an unknown time-varying parameter, which is further coupled with the function characterizing the system nonlinear behavior. By constructing a novel uncertainty-based operator, a mixed upper/lower bound-dependent stable time interval is estimated. This means that the relationship between system internal uncertainty and finite stable time is established. Next, a command filter is designed, which generates the virtual output to replace the differentiation existing in the process of constructing the virtual input. This removes the much repeated differential operation during adaptive control algorithm design phase and simplifies the corresponding controller structure. Finally, based on a bound-dependent Lagrange operator, a novel finite-time adaptive tracking controller is designed. The controller integrates with a compensation mechanism, which leads to better tracking performance in a finite time. Experimental results with a one-link manipulator with motor dynamics are provided to verify the effectiveness of the proposed scheme.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101410"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145519536","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

Guaranteed collision avoidance for autonomous surface vehicles equipped with a LiDAR using a CLF-CBF-QP controller 采用CLF-CBF-QP控制器的激光雷达的自动驾驶地面车辆保证避碰

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-09-13 DOI: 10.1016/j.ejcon.2025.101377

Diogo Silva , Daniel Silvestre

引用次数: 0

Assist-as-needed control of a soft rehabilitation robot for the finger using an interaction torque observer 基于交互力矩观测器的手指软康复机器人辅助控制

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-09-18 DOI: 10.1016/j.ejcon.2025.101395

Alireza Besharati , Afshin Taghvaeipour , Ali Kamali E. , Mohammad Zareinejad

{"title":"Assist-as-needed control of a soft rehabilitation robot for the finger using an interaction torque observer","authors":"Alireza Besharati , Afshin Taghvaeipour , Ali Kamali E. , Mohammad Zareinejad","doi":"10.1016/j.ejcon.2025.101395","DOIUrl":"10.1016/j.ejcon.2025.101395","url":null,"abstract":"<div><div>This paper introduces an Assist-as-Needed (AAN) control strategy for a soft finger rehabilitation robot using a fiber-reinforced bending (FRB) actuator. Most conventional rehabilitation controllers focus solely on position or force control and fail to incorporate the patient’s active participation during the rehabilitation process. This lack of engagement limits the effectiveness of patient-specific rehabilitation, highlighting the need for interaction-based strategies. To address this gap, we propose a novel AAN approach that combines a nonlinear disturbance observer (NDO) and a sliding mode controller (SMC), designed using the dynamic model of the FRB actuator. The NDO estimates the patient–robot interaction torque in real-time without using external sensors or modeling the patient’s finger, while the SMC ensures robust and accurate position tracking. This interaction-based assistance enables the system to dynamically adjust the level of assistance based on the patient’s voluntary efforts, while the controller simultaneously works to guide the finger movement toward the rehabilitation trajectory, promoting a more active and patient-specific rehabilitation process. Additionally, the stability of the closed-loop system is analytically proven using Lyapunov theory. The proposed method is validated both on a finger-like mechanism simulating various patient scenarios and on a wearable rehabilitation glove used by a participant. Experimental results confirm that the AAN controller achieves superior trajectory tracking and provides adaptive assistance aligned with the patient’s capability, outperforming conventional model-free controllers.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101395"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145109491","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

A novel event-triggered nonlinear control approach for descriptor systems with time-varying delay and input saturation constraints 具有时变时滞和输入饱和约束的广义系统的一种新的事件触发非线性控制方法

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-09-05 DOI: 10.1016/j.ejcon.2025.101384

Emad Jafari, Tahereh Binazadeh

{"title":"A novel event-triggered nonlinear control approach for descriptor systems with time-varying delay and input saturation constraints","authors":"Emad Jafari, Tahereh Binazadeh","doi":"10.1016/j.ejcon.2025.101384","DOIUrl":"10.1016/j.ejcon.2025.101384","url":null,"abstract":"<div><div>This paper addresses the pressing challenge of controlling descriptor systems with interval time-varying delays and input saturation constraints—an area of critical importance yet limited exploration in the control literature. Such systems pose unique difficulties due to the singularity of their state-space representation, complex delay structures, and actuator limitations. To tackle these challenges, we propose a novel nonlinear event-triggered control strategy for delayed descriptor systems. The controller integrates an event-triggering mechanism to reduce communication load while ensuring enhanced transient performance, even in the presence of actuator saturation. A composite design combining linear and nonlinear control components is employed: the linear part guarantees closed-loop stability and output tracking, whereas the nonlinear part actively improves transient response characteristics, such as reducing overshoot and smoothing the output response under input constraints. Rigorous admissibility analysis—encompassing stability, regularity, and impulse-freeness—is conducted using a carefully constructed Lyapunov-Krasovskii functional. Furthermore, delay-range-dependent conditions are derived in the form of linear matrix inequalities (LMIs), leading to reduced conservatism compared to traditional techniques. Zeno-freeness is also ensured by explicitly deriving a lower bound on inter-event times. Extensive comparative simulations validate the theoretical findings and demonstrate the superior performance of the proposed approach relative to conventional control methods.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101384"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097942","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

Emulation and co-design approaches for adaptive event-triggered output feedback control of discrete-time nonlinear systems 离散非线性系统自适应事件触发输出反馈控制的仿真与协同设计方法

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-10-28 DOI: 10.1016/j.ejcon.2025.101408

Atefeh Behnia, Mohammad Hossein Shafiei

{"title":"Emulation and co-design approaches for adaptive event-triggered output feedback control of discrete-time nonlinear systems","authors":"Atefeh Behnia, Mohammad Hossein Shafiei","doi":"10.1016/j.ejcon.2025.101408","DOIUrl":"10.1016/j.ejcon.2025.101408","url":null,"abstract":"<div><div>This paper proposes a novel framework for designing an adaptive event-triggered output feedback controller for discrete-time systems with parametric uncertainty. The framework is developed using two distinct methodologies. The first approach decouples the design process: the output feedback gain is predefined independently of the event-triggered control (ETC) mechanism, followed by the synthesis of an excitation event law to guarantee closed-loop stability. The second, more integrated approach (the co-design method) simultaneously designs both the output feedback controller and the adaptive event-triggered control (AETC) law. The AETC law features an innovative adaptive update mechanism designed to preserve closed-loop performance while maximizing the average inter-event interval, thereby reducing communication and computational overhead. Simulation results reveal that the proposed co-design approach achieves reduction in control updates and improvement in RMS regulation error compared to conventional methods, demonstrating superior performance and efficient resource utilization.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101408"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145466459","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

Haar wavelet-based Galerkin method with its feasibility, consistency, and application to unmanned vehicle navigation around moving obstacles 基于Haar小波的伽辽金方法在无人驾驶车辆绕障导航中的可行性、一致性及应用

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-09-16 DOI: 10.1016/j.ejcon.2025.101393

Saurabh R. Madankar , Amit Setia , Muniyasamy M. , Ravi P. Agarwal

引用次数: 0

Adaptive robust boundary control strategy for tension balance of steel wire rope in double rope winding hoisting system 双绳卷绕提升系统钢丝绳张力平衡的自适应鲁棒边界控制策略

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-09-04 DOI: 10.1016/j.ejcon.2025.101376

Xingya Ding , Shicai Yin , Xiang Li

{"title":"Adaptive robust boundary control strategy for tension balance of steel wire rope in double rope winding hoisting system","authors":"Xingya Ding , Shicai Yin , Xiang Li","doi":"10.1016/j.ejcon.2025.101376","DOIUrl":"10.1016/j.ejcon.2025.101376","url":null,"abstract":"<div><div>Due to reasons such as manufacturing errors of the drum and inconsistent elastic deformation of ropes, the double rope winding hoisting system will have problems of unbalanced tension of the steel ropes and longitudinal vibration of the hoisting container. In response to this phenomenon, this paper proposes a parameter-adaptive robust boundary control strategy for rope tension balance. Firstly, by comprehensively considering the coupled vibration characteristics of the steel ropes, floating sheave, and containers, a distributed parameter dynamic model of the system is established. This model can accurately characterize the flexible features and nonlinear dynamics of the system. Secondly, aiming at tension difference suppression and vibration control, a robust boundary controller based on the precise model is designed using Lyapunov theory and Barbalat’s lemma. Furthermore, to address system modeling uncertainties and unknown disturbances, the Lyapunov function is redefined. Combined with the real-time online estimation of the unknown disturbance terms, the nonlinear feedback equation of the excitation force of the floating sheave is redesigned to form an adaptive robust boundary controller. Finally, experimental validation is conducted on a test platform. By simulating drum manufacturing deviations, the control effects of no control, traditional PID, and the proposed algorithm are compared. Results demonstrate that the proposed method significantly improves tension balance accuracy and operational stability.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101376"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145050378","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