European Journal of Control最新文献_第6页

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

Design and validation of new discrete-time kinematic control scheme for physically-constrained redundant robot manipulators 物理约束冗余度机器人离散运动控制新方案的设计与验证

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-09-24 DOI: 10.1016/j.ejcon.2025.101398

Zuoli Ye, Shukang Chen, Naimeng Cang, Xiyuan Zhang, Dongsheng Guo, Weidong Zhang

引用次数: 0

Optimization of robotic shaping control for non-rigid material with safety constraints 具有安全约束的非刚性材料机器人成形控制优化

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.2025.101394

Yong Sun , Yiming Sun , Ruifei Peng , Chunhe Song , Qingxin Li , Shimao Yu , Yuqi Liu

{"title":"Optimization of robotic shaping control for non-rigid material with safety constraints","authors":"Yong Sun , Yiming Sun , Ruifei Peng , Chunhe Song , Qingxin Li , Shimao Yu , Yuqi Liu","doi":"10.1016/j.ejcon.2025.101394","DOIUrl":"10.1016/j.ejcon.2025.101394","url":null,"abstract":"<div><div>Robotic milling has emerged as a prominent research area for complex shaping owing to the inherent flexibility of manipulators. The investigation of robotic milling for rigid material has widely reported. However,because of the inherent attribute of rigid material, these methods mainly concentrate on the position and pose control of manipulators during task processing, lacking of reaction to material state, such as temperature and elastic deformation. This oversight becomes problematic when dealing with nonrigid materials since milling objectives are highly sensitive to changes in temperature and deformation. As a consequence, current robotic milling approaches designed for rigid materials may fail to ensure processing accuracy and security in such scenarios. To deal with this issue, this paper constructs a robotic milling simulation environment that incorporates a joint multi-fidelity surrogate model for nonrigid material milling with the consideration of temperature and deformation information. By means of reinforcement learning strategies to learn the knowledge of nonrigid material milling process, the elastic deformation can be effectively compensated and the temperature can be restricted within the preset bound while ensuring the processing efficiency. Finally, the effectiveness of the proposed control approach for nonrigid material milling is verified through simulation and experiment results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101394"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158887","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

Spectrum-based stability analysis and stabilization of systems with time-periodic delay differential algebraic equations 时滞微分代数方程系统的谱稳定性分析与镇定

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-10-18 DOI: 10.1016/j.ejcon.2025.101400

Sanaz Akbarisisi, Wim Michiels

{"title":"Spectrum-based stability analysis and stabilization of systems with time-periodic delay differential algebraic equations","authors":"Sanaz Akbarisisi, Wim Michiels","doi":"10.1016/j.ejcon.2025.101400","DOIUrl":"10.1016/j.ejcon.2025.101400","url":null,"abstract":"<div><div>Systems governed by delay differential equations are distinguished by having infinite-dimensional dynamics. This key feature in the context of linear delay systems reflects itself in the associated eigenvalue problem. Moreover, in numerous applications, including power systems and machining, an accurate description leads to time-periodic models. Time-periodic delay differential algebraic equations (TPDDAEs) can offer a useful framework for modeling such systems. We propose a spectrum-based approach for their stability analysis and design of a time-periodic feedback controller of a fixed order. In the design procedure, we adopt two approaches to ensure the smoothness of the optimal time-periodic output gain. As our first approach, we penalize the total variation of the feedback gain, which is translated to a quadratic penalty term in the optimization problem. Conversely, in the second approach, the feedback gain is constrained to be characterized by a finite number of harmonics of its Fourier series representation. To demonstrate the efficacy and applicability of our results, as well as the effectiveness of the incorporated algebraic equations, we conclude our work with some numerical case studies.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101400"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145362450","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

Information transfer and its control in linear discrete stochastic systems 线性离散随机系统的信息传递及其控制

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-09-17 DOI: 10.1016/j.ejcon.2025.101392

Moirangthem Sailash Singh , Ramkrishna Pasumarthy , Umesh Vaidya , Steffen Leonhardt

{"title":"Information transfer and its control in linear discrete stochastic systems","authors":"Moirangthem Sailash Singh , Ramkrishna Pasumarthy , Umesh Vaidya , Steffen Leonhardt","doi":"10.1016/j.ejcon.2025.101392","DOIUrl":"10.1016/j.ejcon.2025.101392","url":null,"abstract":"<div><div>Information transfer is defined as a measure of the causal inferences between dynamical events. We quantify information transfers and study their responses to interventions or external signals within components of linear discrete stochastic systems. To quantify the causal inferences, we find the difference between the rate of change in the differential entropy of a marginal measure at a given coordinate in the presence and absence of another fixed coordinate. We also integrate theories from optimal control and information theory to compute control signals that result in desired information transfers within the dynamical components. To optimally steer the information transfer to the desired value, we convert the control problem into a nonlinear program, which can be solved numerically. We illustrate our theory with an example of a wireless communication system consisting of various transmitters and receivers. In particular, given a well-defined transmission channel model and the noise, we show that the signal-to-interference-plus-noise ratio, SINR of a receiver due to interference from various transmitters is a function of information transfers to the receiver from the transmitters, and controlling these transfers to desired values aligns with controlling the SINR experienced by the receiver.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101392"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097562","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 : 2025-12-01 Epub 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":"2025-12-01","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

A robust controller design for a leader–follower bipartite consensus in linear multi-agent systems 线性多智能体系统中领导者-追随者二部共识的鲁棒控制器设计

IF 2.6 3区计算机科学

European Journal of Control Pub Date : 2025-12-01 Epub Date: 2025-10-09 DOI: 10.1016/j.ejcon.2025.101402

Navya Prakash, Praveen S. Babu

引用次数: 0