European Journal of Control最新文献

{"title":"Game-theoretic event-triggered tracking control for scalable multi-agent systems","authors":"Siyu Zhu,&nbsp;Fuxiao Tan","doi":"10.1016/j.ejcon.2025.101401","DOIUrl":"10.1016/j.ejcon.2025.101401","url":null,"abstract":"<div><div>This paper proposes a decentralized event-triggered tracking control (ETC) framework for multi-agent systems (MAS), leveraging dynamic game theory to enhance scalability, reduce communication overhead, and ensure tracking performance. Each agent is modeled as a rational player in a non-cooperative dynamic game, minimizing a local cost that balances control effort and neighborhood deviation. A distributed event-triggering mechanism is developed, activating control updates only when the local tracking error surpasses a prescribed threshold. Theoretical analysis proves the existence of Nash equilibrium and the asymptotic stability of the closed-loop system under mild assumptions. Simulation results illustrate that the proposed framework achieves comparable tracking accuracy while significantly reducing the number of control updates, with simulations showing reductions in a parameter-dependent and adaptive manner.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101401"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145268583","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":"Mean-field social optimization for linear–quadratic Markov switching systems with Poisson jumps","authors":"Ruimin Xu ,&nbsp;Jingyu Zhang ,&nbsp;Kaiyue Dong ,&nbsp;Haiyang Wang","doi":"10.1016/j.ejcon.2025.101356","DOIUrl":"10.1016/j.ejcon.2025.101356","url":null,"abstract":"<div><div>This paper investigates social optima for linear–quadratic-Gaussian (LQG) games of stochastic mean-field Markov regime-switching systems with jump diffusion processes, where the individual agents of the system are coupled via individual state dynamics and cost functionals. A verification theorem in the form of maximum principle is established, specifying the sufficient conditions for optimality. A set of decentralized strategies is designed according to the feedback representation of optimal control. The decentralized strategies are proved to be asymptotically social optimal. As an illustration, a numerical example is provided to show the consistency of the mean-field estimation and the influence of the population’s collective behaviors.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101356"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145027811","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":"Delayed stabilization of Korteweg–de Vries–Burgers equation by constrained control","authors":"Wen Kang ,&nbsp;Emilia Fridman ,&nbsp;Er-Xin Pang","doi":"10.1016/j.ejcon.2025.101403","DOIUrl":"10.1016/j.ejcon.2025.101403","url":null,"abstract":"<div><div>This paper addresses non-local control design of 1-D nonlinear Korteweg–de Vries–Burgers equation in the presence of variable input delay, actuator saturation as well as sampled-data switching control. By using the modal decomposition approach, we divide the original system into <span><math><mrow><mi>N</mi><mo>+</mo><mn>1</mn></mrow></math></span> unstable modes and infinitely many stable modes. Based on the <span><math><mrow><mi>N</mi><mo>+</mo><mn>1</mn></mrow></math></span> unstable modes, we design a finite-dimensional controller to stabilize the system. The well-posedness of the closed-loop system is established by semigroup theory and the step method. To prove regional <span><math><msup><mrow><mi>H</mi></mrow><mrow><mn>1</mn></mrow></msup></math></span>-stability of the closed-loop system, we construct an appropriate Lyapunov–Krasovskii functional and derive sufficient conditions for stability. An estimate is provided for the set of initial conditions starting from which the state trajectories of the system are exponentially converging to origin. Switched controller is designed based on the sampled-data state-depend switching law. Numerical example illustrates the efficiency of the method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101403"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145416544","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":"Numerical solution for strict tracking control asymptotic stability problem of MIMO systems manipulated by hard actuation constraints","authors":"M.R. Homaeinezhad,&nbsp;M.M. Mousavi Alvar,&nbsp;A. Soordi,&nbsp;M. Aghaei,&nbsp;A. Hatefikousha,&nbsp;T. Charehjoo","doi":"10.1016/j.ejcon.2025.101397","DOIUrl":"10.1016/j.ejcon.2025.101397","url":null,"abstract":"<div><div>Nonlinear Multi-Input Multi-Output (MIMO) systems governed by Newtonian mechanics face significant challenges in tracking control design, especially due to actuator saturation constraints that can undermine asymptotic stability by yielding nullified control inputs. This paper proposes a novel tracking control algorithm ensuring stability and compliance with actuator limitations. The approach transforms continuous-time dynamics into a discrete-time framework, enhancing computational efficiency by replacing differential equations with algebraic ones. A sliding surface with dynamically tunable parameters is introduced for each output to optimize tracking performance, and control inputs are derived using a power reaching law, split into position and velocity modes which helps reducing actuator power and overshoot/undershoot. Actuator saturation is explicitly addressed for both modes through convex inequality constraints, enabling an optimal desired trajectory to return feasible control inputs that respect input limits while preserving asymptotic stability. A search mechanism optimizes sliding and power-reaching parameters to minimize tracking error, aligning the modified trajectory with the reference. Mathematical proofs establish the closed-loop system’s asymptotic stability and convergence of modified trajectory to reference trajectory. MATLAB simulations included by comparative investigations confirm precise tracking, robustness against parametric uncertainties, and adherence to saturation constraints, achieved without manual tuning and pre-setting. This self-tuning capability, distinguishes the method from existing approaches reliant on empirical adjustments. Real-time execution analysis validates feasibility, meeting a 0.01-second execution target. Given the quadratic relationship between search gridding intensity and computational load demonstrated through real-time execution assessment, as it provides a benchmark on parameter selection, enabling an effective balance between control performance and stringent demands of real-time feasibility. The algorithm’s adaptability to different optimization techniques to balance computational load and tracking accuracy, offers a standardized, versatile framework for controlling complex nonlinear MIMO systems in the presence of various constraints.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101397"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145109493","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":"Quasi-data-driven static output feedback control of linear systems with input and state delays","authors":"Emanuel C. Brenag ,&nbsp;Paulo S.P. Pessim ,&nbsp;Pedro M. Oliveira ,&nbsp;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}

{"title":"Aerial Payload Transportation with Energy-Efficient Flexible Formation Control of Quadrotors","authors":"Moein Doakhan,&nbsp;Mansour Kabganian,&nbsp;Ali Azimi","doi":"10.1016/j.ejcon.2025.101406","DOIUrl":"10.1016/j.ejcon.2025.101406","url":null,"abstract":"<div><div>This work addresses the problem of rigid-body payload transportation using flexible formation control of four quadrotors. While maintaining formation in aerial payload transportation provides advantages such as uniform load distribution, collision avoidance, and prevention of cable entanglement, a rigid formation may not always be feasible or optimal under every maneuver. In the proposed approach, the quadrotor formation is flexibly adapted to the desired maneuver, ensuring uniform and minimal energy consumption, which is a critical requirement given the finite flight endurance of quadrotors. To this end, the problem is formulated as a nonlinear constrained optimization, and a decomposition technique is proposed to enable real-time implementation. A three-loop control structure based on sliding mode control is developed, and simulation results demonstrate reduced energy consumption in the presence of disturbances and under nonlinear maneuvers.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101406"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145466458","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":"Distributed allocation and resource scheduling algorithms resilient to link failure","authors":"Mohammadreza Doostmohammadian ,&nbsp;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}

{"title":"Finite-time adaptive tracking control for uncertain nonlinear systems","authors":"Guang-Xin Zhong ,&nbsp;Li-Yao Wang ,&nbsp;Yue Long ,&nbsp;Jian Li ,&nbsp;Zhen-Xing Zhang ,&nbsp;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}

{"title":"Guaranteed collision avoidance for autonomous surface vehicles equipped with a LiDAR using a CLF-CBF-QP controller","authors":"Diogo Silva ,&nbsp;Daniel Silvestre","doi":"10.1016/j.ejcon.2025.101377","DOIUrl":"10.1016/j.ejcon.2025.101377","url":null,"abstract":"<div><div>Safe autonomous navigation in marine environments remains challenging due to the need to simultaneously handle multiple dynamic obstacles, uncertain conditions, and the inherent complexity of vessel dynamics while maintaining both stability and safety guarantees. This paper introduces a High-Order Barrier Function and Control Lyapunov Function (HOBF-CLF) based controller for Autonomous Surface Vehicles navigating unknown environments. Using real-time LiDAR data and a clustering algorithm, the controller efficiently handles multiple obstacles by treating them as separate entities. The HOBF-CLF approach guarantees both safety and stability through real-time quadratic optimization. Simulations show it performs better when compared to a state-of-the-art Model Predictive Controller and some PID-based methods in terms of control effort and computational efficiency.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101377"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097561","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":"Assist-as-needed control of a soft rehabilitation robot for the finger using an interaction torque observer","authors":"Alireza Besharati ,&nbsp;Afshin Taghvaeipour ,&nbsp;Ali Kamali E. ,&nbsp;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}