{"title":"Event-triggered finite-time extended dissipative control for switched linear neutral systems with time-varying delays and frequent asynchronism","authors":"Rongrong Yan, Baowei Wu, Yue-E Wang, Lili Liu","doi":"10.1016/j.ejcon.2024.101102","DOIUrl":"10.1016/j.ejcon.2024.101102","url":null,"abstract":"<div><p>This study focuses on the event-triggered finite-time extended dissipative control for the switched linear neutral systems with time-varying delays and frequent asynchronism. In comparison to previous event-triggered control, which restrict the minimum dwell time, we allow frequent switching to occur within an inter-event interval based on average dwell time (ADT) approach. Firstly, given the challenge of acquiring all information about the state, a dynamic output feedback controller (DOFC) is adopted to stabilize the switched neutral system. Secondly, the subjects of finite-time boundedness and extended dissipative performance for the resulting closed-loop system are analyzed by means of controller-mode-dependent Lyapunov functional. Furthermore, a lemma is applied to establish the sufficient criteria for co-designing the DOFC and mode-dependent event-triggered mechanism (ETM). Additionally, it is demonstrated that the Zeno phenomenon cannot occur since there exists a positive minimum threshold on the inter-event intervals. Finally, two examples are given to illustrate the efficacy of the obtained methods.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101102"},"PeriodicalIF":2.5,"publicationDate":"2024-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142151396","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":"Dynamic output feedback control of uncertain nonlinear systems based on co-design adaptive event-triggered scheme","authors":"","doi":"10.1016/j.ejcon.2024.101022","DOIUrl":"10.1016/j.ejcon.2024.101022","url":null,"abstract":"<div><p><span>This paper presents a framework to design a robust dynamic output feedback (DOF) controller for a class of nonlinear systems<span>, based on the adaptive event-triggered control (AETC) method. The considered system contains parametric uncertainty and to design the event-triggered mechanism (ETM) Finite-gain </span></span><span><math><msub><mi>L</mi><mn>2</mn></msub></math></span><span> stability criteria are used. In this paper, a robust adaptive event-triggered mechanism (AETM) is first designed using a pre-designed controller. Then, in a co-design approach, the AETM and the DOF controller are designed together to increase the closed-loop performance. Indeed, the matrices of the DOF controller and the sufficient conditions for the AETM are obtained simultaneously. These conditions are represented as linear matrix inequalities (LMIs) and lead to a significant increase in the update interval. Moreover, the proposed design method guarantees the stability of the closed-loop system in the presence of the proposed triggering event. Finally, to illustrate the performance of the controller three examples are simulated.</span></p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101022"},"PeriodicalIF":2.5,"publicationDate":"2024-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141510840","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":"Input delay compensation of nonlinear systems with uncertain time-varying parameters","authors":"Ashish Kumar Jain","doi":"10.1016/j.ejcon.2024.101100","DOIUrl":"10.1016/j.ejcon.2024.101100","url":null,"abstract":"<div><p>A robust adaptive control law is designed for the class of nonlinear systems with uncertain time-varying parametric dynamics and input delays. The Constitution of control law design is based on filtered tracking errors, previous values of control input and estimate of uncertain parameters which is updated by the update law. An arbitrary large input delay compensation is guaranteed by deriving sufficient control gain conditions using Lyapunov–Krasovskii based stability analysis. The efficacy of the design is verified by Simulation results of two-link robot manipulator dynamical system.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101100"},"PeriodicalIF":2.5,"publicationDate":"2024-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142151394","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":"Minimum-energy switching geometric filter on lie groups for differential-drive wheeled mobile robots","authors":"Federico Vesentini , Damiano Rigo , Nicola Sansonetto , Luca Di Persio , Riccardo Muradore","doi":"10.1016/j.ejcon.2024.101101","DOIUrl":"10.1016/j.ejcon.2024.101101","url":null,"abstract":"<div><p>Accurate state estimation plays a critical role in various applications, such as tracking, regulation, and fault detection in robotic and mechanical systems. Typically, the Kalman–Bucy filter is used as a linear state observer for this purpose. However, real-world robots often exhibit complex behavior, characterized by a combination of dynamics, making it essential to employ hybrid filters. In this context, the Switching Kalman filter stands out as a well-established solution. In this article we aim to generalize the Brownian-Markov Stochastic Model, a hybrid dynamic model for differential-drive wheeled mobile robots, to the case of a mobile robot whose center of mass is not aligned to the wheels axle middle point, and to design a geometric hybrid state estimator by exploiting the Lie groups theory. The Brownian-Markov Stochastic Model features two modes: “grip” and “slip”. These modes correspond to ideal grip and lateral slippage, with transitions governed by a state-dependent Markov chain. To validate the proposed switching filter, we conduct MATLAB® simulations of the robot’s motion in a scenario prone to lateral grip loss, comparing the state estimates produced by the switching geometric filter with those obtained using the switching Kalman filter.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101101"},"PeriodicalIF":2.5,"publicationDate":"2024-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142151395","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":"Equivalent conditions for the synchronization of identical linear systems over arbitrary interconnections","authors":"Nicola Zaupa , Giulia Giordano , Isabelle Queinnec , Sophie Tarbouriech , Luca Zaccarian","doi":"10.1016/j.ejcon.2024.101099","DOIUrl":"10.1016/j.ejcon.2024.101099","url":null,"abstract":"<div><p>We propose necessary and sufficient conditions for the synchronization of <span><math><mi>N</mi></math></span> identical single-input–single-output (SISO) systems, connected through a directed graph without imposing any assumption on the graph interconnection. We consider both the continuous-time and the discrete-time case, and we provide conditions that are equivalent to the uniform global exponential stability, with guaranteed convergence rate, of the closed and unbounded attractor that corresponds to the synchronization set.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"80 ","pages":"Article 101099"},"PeriodicalIF":2.5,"publicationDate":"2024-08-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0947358024001596/pdfft?md5=652c5d1c9f1c81c834271e7c51df6bea&pid=1-s2.0-S0947358024001596-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142172085","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Investigation of sliding mode dynamics and near-optimal controls for a reaction–diffusion population model in a polluted environment","authors":"An Ma , Jing Hu , Ming Ye , Qimin Zhang","doi":"10.1016/j.ejcon.2024.101097","DOIUrl":"10.1016/j.ejcon.2024.101097","url":null,"abstract":"<div><p>In this paper, we present a reaction–diffusion population model developed for a polluted environment, and investigate the impact of different control measures on population-toxicant dynamics. Toxicant concentrations is taken as the reference to determine whether to implement control measures, and sliding mode dynamics are studied. The dynamical behaviors of each subsystem are discussed, and results show that model solutions ultimately approach either two endemic equilibria or the sliding equilibrium on a surface of discontinuity. Furthermore, we formulate the near-optimal control problem by minimizing the control cost while reducing the toxicant concentration. The sufficient and necessary conditions for the near-optimality are established using Ekeland’s variational principle and Hamiltonian function. The theoretical results are illustrated by numerical simulations.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101097"},"PeriodicalIF":2.5,"publicationDate":"2024-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142006775","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":"Optimal control of LQ problem with anticipative partial observations","authors":"Jize Li , Yonghui Zhou","doi":"10.1016/j.ejcon.2024.101095","DOIUrl":"10.1016/j.ejcon.2024.101095","url":null,"abstract":"<div><p>A stochastic linear-quadratic (LQ for short) problem with anticipative (i.e., not adapted) partial observations is studied. With the help of enlargement of filtration, we turn the anticipative signal observation system into a higher-dimensional adapted one, and obtain a linear filtering equation of the latter by the martingale representation theorem and a related equivalent control problem. By introducing a Riccati equation and an ordinary differential equation, we provide a unique optimal feedback control for another equivalent optimal control problem with the controlled state being the linear filtering equation. Finally, the optimal cost function for the original anticipative LQ problem is obtained, which is represented by the filtering of the extended adaptive system and some modified coefficients. Our result covers that of the classical stochastic LQ problem with adapted partial observations. As an application, the optimal control of an interception problem with anticipative radar tracking is explicitly given.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101095"},"PeriodicalIF":2.5,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0947358024001559/pdfft?md5=f405f6ec5f755c041f80a7d2c75bcf23&pid=1-s2.0-S0947358024001559-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142087983","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Adaptive dynamic event-triggered fault tolerant control for uncertain strict-feedback nonlinear systems","authors":"Junwen Xiao, Yongchao Liu, Yaxin An","doi":"10.1016/j.ejcon.2024.101096","DOIUrl":"10.1016/j.ejcon.2024.101096","url":null,"abstract":"<div><p>In this paper, a dynamic event-triggered mechanism (DETM) is designed for uncertain strict-feedback nonlinear systems with an infinite number of actuator faults. An adaptive fault-tolerant control strategy is put forward to accommodate actuator faults. A dynamic variable is introduced into the event-triggered schedule to achieve dynamically regulated threshold parameters and the DETM is recursively established depending on the backstepping technique. The designed control law ensures that all signals of the system are uniformly bounded, and the tracking error converges to a compact set while avoiding Zeno behavior. An expository simulation example reveals the advantages of the presented method.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101096"},"PeriodicalIF":2.5,"publicationDate":"2024-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141978364","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":"Nearly optimal fixed time sliding mode controller for leader–follower consensus problem with partially unknown nonlinear agents","authors":"Zahra Sharifi, Marzieh Kamali, Farid Sheikholeslam","doi":"10.1016/j.ejcon.2024.101093","DOIUrl":"10.1016/j.ejcon.2024.101093","url":null,"abstract":"<div><p>This paper presents a conceptual framework for addressing the consensus problem in multi-agent systems with unknown nonlinear dynamics using reinforcement learning (RL) based nearly optimal sliding mode controller (SMC). The agents’ dynamics are assumed to have uncertainty and mismatched disturbance. An adaptive fixed-time estimator is introduced to estimate uncertain dynamics and disturbances for each agent at a certain time. The paper proposes two control strategies. In the first strategy, a controller is designed, incorporating adaptive SMC and an optimal controller. Adaption law in SMC estimates the bound of fixed time estimator error before convergence, ultimately achieving asymptotic convergence to the sliding surface and converting the agent’s dynamics to linear. This enables solving a linear consensus problem using an RL-based adaptive optimal controller through an on-policy critic–actor method. The second control strategy enhances the adaptive SMC into a fixed-time controller, reducing the time to reach the sliding surface regardless of initial conditions. Consequently, the convergence time of the consensus error to zero is diminished. This reduction in reaching time results in faster convergence of the consensus error to zero. The effectiveness of both strategies is validated through numerical experiments on two real system models, aligning with the theoretical proofs.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101093"},"PeriodicalIF":2.5,"publicationDate":"2024-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141849467","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":"Stabilization of aperiodic sampled-data switched affine systems to hybrid limit cycles","authors":"Carolina Albea , Mathias Serieye , Alexandre Seuret , Marc Jungers","doi":"10.1016/j.ejcon.2024.101094","DOIUrl":"10.1016/j.ejcon.2024.101094","url":null,"abstract":"<div><p>This paper deals with the stabilization of aperiodic sampled-data switched affine systems to a predetermined hybrid limit cycle using a hybrid dynamical system representation and a control Lyapunov function approach. Some preliminaries on the hybrid dynamical system formalism provide the framework for modeling switched affine systems followed by definitions on hybrid limit cycles and related notions. The main result, based on simple Linear Matrix Inequalities (LMI), guarantees that the solutions to the closed-loop system converge to a hybrid limit cycle defined by the states, functioning modes with their corresponding dwell times. The theoretical results are evaluated on academic examples and demonstrate the potential and the originality of the method over the recent literature.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101094"},"PeriodicalIF":2.5,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0947358024001547/pdfft?md5=799e95c988f76914ad7dd7dfa3be46fa&pid=1-s2.0-S0947358024001547-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781380","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}