{"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}
{"title":"Integral IDA-PBC for underactuated mechanical systems with unmeasured actuator dynamics and time-varying matched disturbances","authors":"Enrico Franco , Kaiwen Chen","doi":"10.1016/j.ejcon.2025.101256","DOIUrl":"10.1016/j.ejcon.2025.101256","url":null,"abstract":"<div><div>This work investigates the passivity-based control of a class of underactuated mechanical systems with unmeasured actuator states and subject to time-varying state-dependent matched disturbances. The main contribution is a new design of the integral interconnection-and-damping assignment passivity-based control that includes a state-dependent damping assignment and that employs a dynamic extension to reject the disturbances and to estimate the actuator states. Tuning guidelines for the controller parameters that guarantee the stability properties are provided. Numerical simulations on an inertia-wheel pendulum, a ball-on-beam system, and an Acrobot system demonstrate the effectiveness of the new controller.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101256"},"PeriodicalIF":2.5,"publicationDate":"2025-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144536042","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}
Pedro M. Oliveira , Pedro H.S. Coutinho , Iury Bessa , Márcio J. Lacerda , Reinaldo M. Palhares
{"title":"Static output-feedback control design from data","authors":"Pedro M. Oliveira , Pedro H.S. Coutinho , Iury Bessa , Márcio J. Lacerda , Reinaldo M. Palhares","doi":"10.1016/j.ejcon.2025.101260","DOIUrl":"10.1016/j.ejcon.2025.101260","url":null,"abstract":"<div><div>This paper investigates the problem of data-driven static output-feedback (SOF) control design for linear time-invariant discrete-time systems. Although data-driven control techniques have attracted significant attention recently, the design of data-driven SOF controllers is still an open problem. The proposed method relies only on input-state-output data from the open-loop system to represent the system dynamics and to construct the control design conditions using linear matrix inequalities. As an extra contribution, the design problem with noisy data is raised, and some solutions aiming to increase the robustness against noise, based on data preprocessing, are proposed. We also develop a SOF condition based only on input-output data from an autoregressive representation. To illustrate our method’s effectiveness, we consider two simulation examples of multiple input multiple output systems and an experimental example in the twin-rotor aerodynamic system. The experiments show that the data-driven SOF controller guarantees the stabilization of those systems. Moreover, experiments with noisy data illustrate the increased robustness of the proposed techniques.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101260"},"PeriodicalIF":2.5,"publicationDate":"2025-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144517592","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}
Jaffar Ali Lone , Ross Drummond , Shovan Bhaumik , Nutan Kumar Tomar
{"title":"Cell-level state-estimation in parallel connected lithium-ion battery packs","authors":"Jaffar Ali Lone , Ross Drummond , Shovan Bhaumik , Nutan Kumar Tomar","doi":"10.1016/j.ejcon.2025.101264","DOIUrl":"10.1016/j.ejcon.2025.101264","url":null,"abstract":"<div><div>State estimation is essential when deploying lithium-ion (Li-ion) battery packs in the field as it enables accurate predictions of key properties, such as the remaining range of electric vehicles. Most existing studies on state estimators for battery packs have used simple, lumped models for the pack, with each cell considered equivalent. These low-resolution lumped models are not able to capture the inherent cell-to-cell variability in packs, a feature which has limited the effectiveness of state estimators. To address this issue, a Hermite polynomial-based Extended Kalman filter (HP-EKF) is proposed to estimate the states of each cell in a parallel connected battery pack described by descriptor system dynamics. The performance of the proposed cell-level state-estimator is validated in experiments with two LiNiMnCoO<span><math><msub><mrow></mrow><mrow><mn>2</mn></mrow></msub></math></span> Li-ion batteries connected in parallel. The model demonstrated high accuracy in predicting the response of the two parallel-connected Li-ion batteries, with root mean squared error of 0.00345V between experimental and modeled voltages. The proposed HP-EKF significantly reduces the estimation error compared to the conventional EKF while achieving accuracy comparable to the Cubature Kalman filter (CKF). Moreover, the HP-EKF exhibits computational complexity similar to the CKF while offering enhanced numerical stability by preserving the desirable properties of the error covariance matrices during implementation. This advantage, which typically requires the square-root variant of the CKF (SR-CKF), is inherently retained in the HP-EKF without the additional computational burden of the SR-CKF. These results highlight the potential of implementing cell-level estimation in parallel connected battery packs to provide information-rich estimates of its states.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101264"},"PeriodicalIF":2.5,"publicationDate":"2025-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144550004","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}
Renyuan Zhang , Junhua Gou , Yabo Zhu , Bei Yang , Kai Cai
{"title":"Bounded-time nonblocking supervisory control of timed discrete-event systems","authors":"Renyuan Zhang , Junhua Gou , Yabo Zhu , Bei Yang , Kai Cai","doi":"10.1016/j.ejcon.2025.101266","DOIUrl":"10.1016/j.ejcon.2025.101266","url":null,"abstract":"<div><div>Recently an automaton property of quantitative nonblockingness was proposed in supervisory control of untimed discrete-event systems (DES), which <em>quantifies</em> the standard nonblocking property by capturing the practical requirement that all tasks be completed within a bounded number of steps. However, in practice tasks may be further required to be completed in specific time. To meet this new requirement, in this paper we introduce the concept of <em>bounded-time nonblockingness</em>, which extends the concept of quantitative nonblockingness from untimed DES to timed DES. This property requires that each task must be completed within a bounded time counted by the number of <span><math><mrow><mi>t</mi><mi>i</mi><mi>c</mi><mi>k</mi><mi>s</mi></mrow></math></span>, rather than bounded number of transition steps in quantitative nonblockingness. Accordingly, we formulate a new bounded-time nonblocking supervisory control problem (BTNSCP) of timed DES, and characterize its solvability in terms of a new concept of <em>bounded-time language completability</em>. Then we present an approach to compute the maximally permissive solution to the new BTNSCP.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101266"},"PeriodicalIF":2.5,"publicationDate":"2025-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144524169","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}
Luuk Poort , Bart Besselink , Rob H.B. Fey , Nathan van de Wouw
{"title":"Efficient reduction of interconnected subsystem models using abstracted environments","authors":"Luuk Poort , Bart Besselink , Rob H.B. Fey , Nathan van de Wouw","doi":"10.1016/j.ejcon.2025.101257","DOIUrl":"10.1016/j.ejcon.2025.101257","url":null,"abstract":"<div><div>We present two frameworks for structure-preserving model order reduction of interconnected subsystems, improving tractability of the reduction methods while ensuring stability and accuracy bounds of the reduced interconnected model. Instead of reducing each subsystem independently, we take a low-order abstraction of its environment into account to better capture the dynamics relevant to the external input–output behaviour of the interconnected system, thereby increasing accuracy of the reduced interconnected model. This approach significantly reduces the computational costs of reduction by abstracting instead of fully retaining the environment. The two frameworks differ in how they generate these abstracted environments: one abstracts the environment as a whole, whereas the other abstracts each individual subsystem. By relating <em>low-level</em> errors introduced by reduction and abstraction to the resulting <em>high-level</em> error on the interconnected system, we are able to translate high-level accuracy requirements (on the reduced interconnected system) to low-level specifications (on abstraction and reduction errors) using techniques from robust performance analysis. By adhering to these low-level specifications, restricting the introduced low-level errors, both frameworks automatically guarantee the accuracy and stability of the reduced interconnected system. We demonstrate the effectiveness of both frameworks by applying them to a structural dynamics model of a two-stroke wafer stage, achieving improved accuracy and/or greater reduction compared to an existing method from literature.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101257"},"PeriodicalIF":2.5,"publicationDate":"2025-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144524227","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":"Adaptive distributed consensus protocol for nonlinear multi-agent systems using sampled-data","authors":"Yuan Sun, Qihang Zhang, Gexia Wang","doi":"10.1016/j.ejcon.2025.101261","DOIUrl":"10.1016/j.ejcon.2025.101261","url":null,"abstract":"<div><div>In this study, an adaptive consensus problem is considered for leader-following multi-agent nonlinear uncertain systems with a directed communication topology. Existing works usually design the adaptive consensus controllers based on the relative states of neighboring agents, along with an adaptive law for adjusting the coupling weights between neighboring agents. Different adaptive laws were proposed for adjusting the coupling weights, such as adjusting by time-varying monotonically increasing functions, or adjusting discretely by the switch-logic rule, which have a complicated structure and require a lot of computation. To solve this shortcoming, a new adaptive consensus controller is proposed, where the adaptive coupling weights would be adjusted based on sampled-data of the relative states periodically. Compared with the existing adaptive consensus controllers, it is worth pointing out that the proposed controller can decrease the amount of computation and is more easy to implement in practice since the coupling weights are adjusted periodically. Moreover, the adaptive controller is fully distributed, which does not rely on any global information. A novel and concrete analysis is provided to guarantee the consensus of multi-agent systems, based on choosing proper piece-wise Lyapunov function. Numerical examples are given to illustrate the rightness of our result.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101261"},"PeriodicalIF":2.5,"publicationDate":"2025-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144491547","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":"Exponential synchronization for Markovian jump Lur’e complex networks using sliding mode control: Application to circuit system","authors":"Saravanan Shanmugam , Premraj Durairaj , R. Vadivel , Karthikeyan Rajagopal","doi":"10.1016/j.ejcon.2025.101254","DOIUrl":"10.1016/j.ejcon.2025.101254","url":null,"abstract":"<div><div>This paper deals with the synchronization problem in Markovian jump complex dynamic networks (MJCDNs) with time-varying delays. The network consists of N nodes that switch between different modes according to known Markovian jump parameters. The synchronization of these complex networks is achieved by sliding mode control (SMC) strategies. The study uses a suitable Lyapunov–Krasovskii functional (LKF) to formulate delay-dependent synchronization criteria as linear matrix inequalities, using free weighted matrices generated by the LKF. Furthermore, an integral sliding surface is developed to ensure the exponential stability of MJCDNs, and a controller is synthesized to derive the trajectory of the closed-loop system to the desired sliding surface. Two numerical examples demonstrate the practical application of the derived theoretical results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101254"},"PeriodicalIF":2.5,"publicationDate":"2025-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144481168","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":"Adaptive impedance control in master-slave robotic systems: Real-time estimation with update of reference impedance coefficients","authors":"Mohamadreza Satvati , Hossein Karimpour , Keivan Torabi , Mohammad Motaharifar","doi":"10.1016/j.ejcon.2025.101274","DOIUrl":"10.1016/j.ejcon.2025.101274","url":null,"abstract":"<div><div>This research addresses the challenge of effective human-robot interaction in master-slave robotic systems, particularly for applications like manufacturing and healthcare. A method is proposed for transferring desired impedance from a human operator to a slave robot. A three-term model estimates the interactive force/torque between the human hand and the master robot, with adaptive rules for updating stiffness and damping coefficients in real-time to provide accurate and responsive haptic feedback. These updated coefficients dynamically adjust the reference impedance model used to control the slave robot. This architecture, incorporating robust control techniques and estimators, ensures stability and transparency, enabling the master-side user to perceive conditions faced by the slave robot (e.g., obstacles). The slave robot responds according to the user's desired impedance, providing a seamless and intuitive interaction. Input-to-state stability analysis demonstrates robustness to disturbances and uncertainties. The proposed approach in this paper allows replicating the user impedance of the master robot to the slave robot, with the input-to-state stability of the entire closed-loop system analyzed in the presence of the proposed three-term model. The comparison of the root mean square (RMS) error measure for the tracking position and the tracking force/torque when the slave robot encounters an obstacle shows the favorable performance of the proposed approach compared to the impedance reference model approaches with fixed stiffness and damping coefficients and traditional position control approaches. Numerical simulations and experimental implementation validate the efficiency and accuracy of the proposed approach.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101274"},"PeriodicalIF":2.5,"publicationDate":"2025-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144550005","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":"The study of collision analysis and stabilized operational control for a multi-flexible space robot under captured target collision","authors":"Fuli Zhang , Na Liang","doi":"10.1016/j.ejcon.2025.101265","DOIUrl":"10.1016/j.ejcon.2025.101265","url":null,"abstract":"<div><div>As the future spacecraft develops in the direction of large-scale and lightweight, which makes the space robot components have highly flexible deformation characteristics, this deformation vibration will affect the stable operation of the space robot. Especially during target capture. The collision impact will affect the accuracy of the robot's end-effector in capturing the target, and it will also exacerbate the deformation of the flexible components, further affecting the stability control of the robot. Therefore, to solve the stabilization problem of the composite system of space robots affected by collision impacts when a flexible space robot captures a target, a multi-objective energy-optimal control combination composite control strategy based on bounded-input sliding-mode control and quantum diagonal matrix recurrent neural network control is proposed. The controller not only realizes the trajectory tracking of the robot system, but also adjusts the control parameters using the adaptive law to improve the robustness of the system. At the same time, the deformation of the flexiblelink is effectively controlled by considering the effect of energy impact after collision. Finally, the effectiveness of the controller is verified by numerical simulation. Compared with previous composite control schemes, this controller is able to control the capture of the target system by a multi-flexible space robot more effectively and improve the robustness of the control system.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"85 ","pages":"Article 101265"},"PeriodicalIF":2.5,"publicationDate":"2025-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144365232","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}