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Nearly optimal fixed time sliding mode controller for leader–follower consensus problem with partially unknown nonlinear agents 部分未知非线性代理的领导者-追随者共识问题的近最优固定时间滑动模式控制器
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2024-07-26 DOI: 10.1016/j.ejcon.2024.101093
Zahra Sharifi, Marzieh Kamali, Farid Sheikholeslam
{"title":"Nearly optimal fixed time sliding mode controller for leader–follower consensus problem with partially unknown nonlinear agents","authors":"Zahra Sharifi,&nbsp;Marzieh Kamali,&nbsp;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}
引用次数: 0
Stabilization of aperiodic sampled-data switched affine systems to hybrid limit cycles 非周期性采样数据交换仿射系统的稳定与混合极限循环
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2024-07-22 DOI: 10.1016/j.ejcon.2024.101094
Carolina Albea , Mathias Serieye , Alexandre Seuret , Marc Jungers
{"title":"Stabilization of aperiodic sampled-data switched affine systems to hybrid limit cycles","authors":"Carolina Albea ,&nbsp;Mathias Serieye ,&nbsp;Alexandre Seuret ,&nbsp;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}
引用次数: 0
Policy gradient methods for designing dynamic output feedback controllers 设计动态输出反馈控制器的策略梯度法
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2024-07-20 DOI: 10.1016/j.ejcon.2024.101081
Tomonori Sadamoto , Takumi Hirai
{"title":"Policy gradient methods for designing dynamic output feedback controllers","authors":"Tomonori Sadamoto ,&nbsp;Takumi Hirai","doi":"10.1016/j.ejcon.2024.101081","DOIUrl":"10.1016/j.ejcon.2024.101081","url":null,"abstract":"<div><p>This paper proposes model-based and model-free policy gradient methods (PGMs) for designing dynamic output feedback controllers for discrete-time partially observable deterministic systems without noise. To fulfill this objective, we first show that any dynamic output feedback controller design is equivalent to a state-feedback controller design for a newly introduced system whose internal state is a finite-length input–output history (IOH). Next, based on this equivalence, we propose a model-based PGM and show its global linear convergence by proving that the Polyak–Łojasiewicz inequality holds for a reachability-based lossless projection of the IOH dynamics. Moreover, we propose a model-free implementation of the PGM with a sample complexity analysis. Finally, the effectiveness of the model-based and model-free PGMs is investigated through numerical simulations.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101081"},"PeriodicalIF":2.5,"publicationDate":"2024-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141781379","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
On verification and design of input matrix for robust linear systems: Complexity and polynomially solvable cases 关于鲁棒线性系统输入矩阵的验证和设计：复杂性和多项式可解情况
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2024-07-14 DOI: 10.1016/j.ejcon.2024.101090
Priyanka Dey
{"title":"On verification and design of input matrix for robust linear systems: Complexity and polynomially solvable cases","authors":"Priyanka Dey","doi":"10.1016/j.ejcon.2024.101090","DOIUrl":"10.1016/j.ejcon.2024.101090","url":null,"abstract":"<div><p>This article deals with the robustness of large-scale structured systems in terms of controllability when subject to failure of links from the inputs to the state variables (i.e., input-links). Firstly, we consider a deletion problem of determining the minimum number of input-links, if removed, lead to a structurally uncontrollable system. This problem is known to be NP-hard. We prove that it remains NP-hard even for <em>strongly connected</em> systems. We develop efficient polynomial time methods to solve this problem optimally/suboptimally under suitable assumptions imposed on the generic rank of the state matrix. The assumptions imposed are often satisfied by a large class of systems. These methods mainly use the notion of Dulmage–Mendelsohn decomposition of bipartite graphs and minimum vertex cover problem for undirected graphs. Secondly, we consider an addition problem whose goal is to identify a set of input-links of minimum cardinality to be added between the existing inputs and the state variables in order to preserve structural controllability with respect to failure of an arbitrary input-link. We establish that this particular problem is NP-hard and even inapproximable to a multiplicative factor of <span><math><mrow><mo>log</mo><mi>p</mi></mrow></math></span>, where <span><math><mi>p</mi></math></span> is the number of critical input-links in the system. Additionally, we identify several practically relevant tractable cases associated with this problem. Finally, an example illustrating the usefulness of the methods developed is given in this article.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101090"},"PeriodicalIF":2.5,"publicationDate":"2024-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141700812","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
Lyapunov-based estimation and control of velocity and load in rotating machines via Luenberger globally-convergent observer 通过卢恩贝格全局收敛观测器对旋转机械中的速度和负载进行基于 Lyapunov 的估计和控制
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2024-07-11 DOI: 10.1016/j.ejcon.2024.101092
Carlos Aguilar-Ibanez , José Ángel Acosta , Miguel S. Suarez-Castanon , Belem Saldivar , Eduardo Javier Moreno-Valenzuela , Isaac Gandarilla-Esparza , Manuel A. Jimenez-Lizarraga
{"title":"Lyapunov-based estimation and control of velocity and load in rotating machines via Luenberger globally-convergent observer","authors":"Carlos Aguilar-Ibanez ,&nbsp;José Ángel Acosta ,&nbsp;Miguel S. Suarez-Castanon ,&nbsp;Belem Saldivar ,&nbsp;Eduardo Javier Moreno-Valenzuela ,&nbsp;Isaac Gandarilla-Esparza ,&nbsp;Manuel A. Jimenez-Lizarraga","doi":"10.1016/j.ejcon.2024.101092","DOIUrl":"10.1016/j.ejcon.2024.101092","url":null,"abstract":"<div><p>This paper presents the design of a Lyapunov-based Luenberger-like observer to simultaneously estimate the non-available angular velocity and the unknown constant load torque of rotating machines. This proposal assumes that the only measurable output is the rotor angle, which is considered to be defined in the circle, its natural topology. This provides nonlinear dynamics where the Lyapunov-based Luenberger-like observer <em>globally converges</em>. Moreover, a trajectory tracking controller for the motor angular velocity is also designed by feeding back the observer estimations. Convergence analysis of the observer-controller system is performed using Lyapunov-like theory. The effectiveness and performance of the system are validated through tests performed on an experimental platform.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101092"},"PeriodicalIF":2.5,"publicationDate":"2024-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141709939","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
The state and error-feedback regulator problems for a boundary control catalytic cracking process 边界控制催化裂化过程的状态和误差反馈调节器问题
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2024-07-11 DOI: 10.1016/j.ejcon.2024.101086
Ilyasse Aksikas
{"title":"The state and error-feedback regulator problems for a boundary control catalytic cracking process","authors":"Ilyasse Aksikas","doi":"10.1016/j.ejcon.2024.101086","DOIUrl":"10.1016/j.ejcon.2024.101086","url":null,"abstract":"<div><p>This research work is devoted to boundary control of a catalytic cracking reactor using state and error feedback regulators. The process mathematical model is governed by a set of partial differential equations (PDEs), for which infinite-dimensional representation and spectral properties of the system generator are employed to solve the regulation problems. The primary objective is to track a desired output reference trajectory in the presence of disturbances that are generated by a distributed parameter exosystem. Initially, a state feedback stabilizing regulator is designed to drive the process output towards the reference trajectory. The second objective is to develop a dynamic controller that employs the tracking error as input. The closed-loop plant is shown to be exponentially stable and the tracking error asymptotically approaches zero. The performances of the designed regulators are shown through numerical simulations.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101086"},"PeriodicalIF":2.5,"publicationDate":"2024-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0947358024001468/pdfft?md5=2c2cc68a3a67e7e0bd204e9b0d134f2a&pid=1-s2.0-S0947358024001468-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141637729","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}
引用次数: 0
Fault estimation for a class of nonlinear algebro-differential parameter-varying systems 一类非线性代数微分参数变化系统的故障估计
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2024-07-11 DOI: 10.1016/j.ejcon.2024.101087
I.I. Zetina-Rios , G.L. Osorio-Gordillo , M. Alma , M. Darouach , C.M. Astorga-Zaragoza
{"title":"Fault estimation for a class of nonlinear algebro-differential parameter-varying systems","authors":"I.I. Zetina-Rios ,&nbsp;G.L. Osorio-Gordillo ,&nbsp;M. Alma ,&nbsp;M. Darouach ,&nbsp;C.M. Astorga-Zaragoza","doi":"10.1016/j.ejcon.2024.101087","DOIUrl":"10.1016/j.ejcon.2024.101087","url":null,"abstract":"<div><p>This paper presents a methodology to simultaneous estimate state variables and actuator fault for descriptor nonlinear parameter-varying systems. This class of systems is composed of an interpolated parameter-varying linear part and Lipschitz nonlinear one. The proposed observer structure allows some robustness and steady state accuracy in face to parametric uncertainties. The conditions of existence and stability are given in terms of LMIs (Linear Matrix Inequalities). The obtained results are illustrated on the heat exchanger system with two countercurrent cells model with actuator fault.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101087"},"PeriodicalIF":2.5,"publicationDate":"2024-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141637727","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
Adaptive fixed-time tracking control for nonlinear systems subject to asymmetric input saturation 受非对称输入饱和影响的非线性系统的自适应固定时间跟踪控制
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2024-07-10 DOI: 10.1016/j.ejcon.2024.101091
Ya-Feng Zhou , Shan-Liang Zhu , Wei Zhao , Yu-Qun Han
{"title":"Adaptive fixed-time tracking control for nonlinear systems subject to asymmetric input saturation","authors":"Ya-Feng Zhou ,&nbsp;Shan-Liang Zhu ,&nbsp;Wei Zhao ,&nbsp;Yu-Qun Han","doi":"10.1016/j.ejcon.2024.101091","DOIUrl":"10.1016/j.ejcon.2024.101091","url":null,"abstract":"<div><p>For nonlinear systems with asymmetric input saturation, an adaptive fixed-time control strategy via multi-dimensional Taylor network (MTN) is proposed to effectively solve the tracking control problem. Firstly, the Gaussian error function and the differential mean value theorem are used to simulate the asymmetric input saturation model, that is, the nonlinear model is transformed into a linear model with a bounded perturbation. Secondly, MTNs are applied to control the design process, which approximate the nonlinear structures with linear combination of polynomials. Thirdly, in addition to the tracking error converging to an arbitrarily small neighborhood around the origin within a fixed time, the proposed control scheme not only guarantees that any signal in the controlled system remains bounded, but also avoids the problem of finite-time control relying on the initial state. Finally, three examples are used to validate the feasibility and superiority of the scheme.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101091"},"PeriodicalIF":2.5,"publicationDate":"2024-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141636963","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
Experimental closed-loop flow separation control: Data- and phenomenological-driven approaches 实验性闭环水流分离控制：数据和现象驱动方法
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2024-07-09 DOI: 10.1016/j.ejcon.2024.101082
T. Arnoult , G. Acher , V. Nowinski , P. Vuillemin , C. Briat , P. Pernod , C. Ghouila-Houri , A. Talbi , E. Garnier , C. Poussot-Vassal
{"title":"Experimental closed-loop flow separation control: Data- and phenomenological-driven approaches","authors":"T. Arnoult ,&nbsp;G. Acher ,&nbsp;V. Nowinski ,&nbsp;P. Vuillemin ,&nbsp;C. Briat ,&nbsp;P. Pernod ,&nbsp;C. Ghouila-Houri ,&nbsp;A. Talbi ,&nbsp;E. Garnier ,&nbsp;C. Poussot-Vassal","doi":"10.1016/j.ejcon.2024.101082","DOIUrl":"https://doi.org/10.1016/j.ejcon.2024.101082","url":null,"abstract":"<div><p>Flow control aims at modifying a natural flow state to reach an other flow state considered as advantageous. In this paper, active feedback flow separation control is investigated with two different closed-loop control strategies, involving a reference signal tracking architecture. Firstly, a data-driven control law, leading to a linear (integral) controller is employed. Secondly, a phenomenological/model-driven approach, leading to a non-linear positive (integral) control strategy is investigated. While the former benefits of a tuning simplicity, the latter prevents undesirable effects and formally guarantees closed-loop stability. Both control approaches were validated through wind tunnel experiments of flow separation control over a movable NACA 4412 plain flap. These control laws were designed with respect to hot-film measurements, performed over the flap for different deflection angles. Both control approaches proved efficient in avoiding flow separation. The main contribution of this work stands in providing practitioners, simple but yet efficient control design methods for the flow separation phenomena. Equivalently important, a complete validation campaign data-set is also provided.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101082"},"PeriodicalIF":2.5,"publicationDate":"2024-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0947358024001420/pdfft?md5=6a3d2b26da4f7bdc735b1077c6803254&pid=1-s2.0-S0947358024001420-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141606198","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}
引用次数: 0
A novel dynamic finite-time prescribed performance control strategy with constraint and robustness 具有约束性和鲁棒性的新型动态有限时间规定性能控制策略
IF 2.5 3区 计算机科学
European Journal of Control Pub Date : 2024-07-09 DOI: 10.1016/j.ejcon.2024.101080
Cungen Liu , Yulong Sun , Xiaoping Liu , Na Liu , Huanqing Wang
{"title":"A novel dynamic finite-time prescribed performance control strategy with constraint and robustness","authors":"Cungen Liu ,&nbsp;Yulong Sun ,&nbsp;Xiaoping Liu ,&nbsp;Na Liu ,&nbsp;Huanqing Wang","doi":"10.1016/j.ejcon.2024.101080","DOIUrl":"10.1016/j.ejcon.2024.101080","url":null,"abstract":"<div><p>This paper is devoted to the design of adaptive nonlinear prescribed performance controllers for balancing constraint and robustness. Firstly, a shift function is introduced to enhance robustness in the initial stage. Secondly, a new finite-time performance function and a regulation of dynamic adjustments are developed for the first time. Due to the regulation, it can be prevented by the proposed scheme that tracking errors approach or exceed performance boundaries during operation, which ensures both robustness and constraint, and the performance function is differentiable of order <em>n</em>, which can be used in backstepping design for higher-order systems without approximators. Finally, the designed controller is more robust in both transient and stable states, whose effectiveness and superiority are validated by stability analysis, matlab simulation, and an actual test on a real robotic arm.</p></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"79 ","pages":"Article 101080"},"PeriodicalIF":2.5,"publicationDate":"2024-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141712010","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
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