European Journal of Control最新文献_第9页

A robust distributed model predictive control strategy for Leader–Follower formation control of multiple perturbed wheeled mobile robotics 多摄动轮式移动机器人Leader-Follower群体控制的鲁棒分布式模型预测控制策略

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-01-01 DOI: 10.1016/j.ejcon.2024.101160

Thanh Long Nguyen , Xuan Sinh Mai , Phuong Nam Dao

{"title":"A robust distributed model predictive control strategy for Leader–Follower formation control of multiple perturbed wheeled mobile robotics","authors":"Thanh Long Nguyen , Xuan Sinh Mai , Phuong Nam Dao","doi":"10.1016/j.ejcon.2024.101160","DOIUrl":"10.1016/j.ejcon.2024.101160","url":null,"abstract":"<div><div>This article studies the formation and trajectory tracking control of multiple mobile robots with kinematic sub-systems. We proposed an effective design of robust distributed model predictive control (MPC) strategy for Leader–Follower formation control scheme in a group of multiple perturbed Wheeled Mobile Robotics (WMRs) with the consideration of tracking performance in not only the position but also the orientation, as well as the distance between the center and head in each WMR. Furthermore, the relation between formation control objective and non-holonomic property in each agent is also discussed. For the purpose of achieving the desired formation, according to trajectory of leader WMR, the barycentric of the formation requirement is known as corresponding virtual followers, and a distributed tube-MPC scheme is applied to each follower WMR for tracking a reference trajectory with not only the position but also its orientation. In addition, the stability and the performance tracking of multiple perturbed WMRs are investigated by employing Lyapunov stability theory with the indirect comparison method to be implemented by pointing out precisely the proposed terminal controller and the equivalent terminal region. Comprehensive simulation results in several scenarios demonstrate the validity of the proposed control scheme.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101160"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102189","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

Comparison of recent advances in set-membership techniques: Application to state estimation, fault detection and collision avoidance 集隶属度技术的最新进展比较：在状态估计、故障检测和碰撞避免中的应用

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-01-01 DOI: 10.1016/j.ejcon.2024.101161

Daniel Silvestre

{"title":"Comparison of recent advances in set-membership techniques: Application to state estimation, fault detection and collision avoidance","authors":"Daniel Silvestre","doi":"10.1016/j.ejcon.2024.101161","DOIUrl":"10.1016/j.ejcon.2024.101161","url":null,"abstract":"<div><div>There has been a vast body of research on set-membership techniques in recent years. These algorithms compute convex sets that contain the state of a dynamical system given bounds on disturbance and noise signals. Recently, a thorough comparison of zonotopes-based methods against interval arithmetic and ellipsoids has been presented in the literature. However, two main issues were left unexplored: (i) added conservatism in the presence of bounds of different kinds such as <span><math><msub><mrow><mi>ℓ</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span>-norm for the disturbance and an <span><math><msub><mrow><mi>ℓ</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span>-norm bound on the noise: (ii) set-membership methods can be used in different settings apart from guaranteed state estimation, such as fault detection and isolation and collision avoidance of autonomous vehicles. In this paper, we extend this comparison by considering state estimation, fault detection and isolation, and collision avoidance for interval arithmetic, ellipsoids, zonotopes, constrained zonotopes, polytopes and constrained convex generators in the presence of various combination of bounds for the exogenous signals. The main objective is to compare accuracy, computation time and the scalability of the growth of the data structures required by each set representation. The results indicate that intervals, ellipsoids and zonotopes have a much worse accuracy. The recently introduced Constrained Convex Generators have a negligible increase in computation time in comparison with constrained zonotopes but have a better accuracy when bounds for disturbances, noise and initial conditions are heterogeneous or at least not polytopic.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101161"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143101677","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

Parametric function based fuzzy tuned path-following controller for nonholonomic mobile robotic systems: Experimental performance and analysis 非完整移动机器人系统参数函数模糊调谐路径跟踪控制器：实验性能与分析

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-01-01 DOI: 10.1016/j.ejcon.2024.101169

Suman Mondal , Ranjit Ray , Soumya Subhra Chakraborty , Siva Ram Krishna Vadali , Srinivasan Aruchamy , Sambhunath Nandy

{"title":"Parametric function based fuzzy tuned path-following controller for nonholonomic mobile robotic systems: Experimental performance and analysis","authors":"Suman Mondal , Ranjit Ray , Soumya Subhra Chakraborty , Siva Ram Krishna Vadali , Srinivasan Aruchamy , Sambhunath Nandy","doi":"10.1016/j.ejcon.2024.101169","DOIUrl":"10.1016/j.ejcon.2024.101169","url":null,"abstract":"<div><div>This research introduces a unified parametric output function based control law for autonomous navigation of nonholonomic Wheeled Mobile Robots (WMRs) through various predefined paths, such as straight line, circular, elliptical, square, rectangular, and their combinations, achieved by adjusting parameters. This approach simplifies path-following control paradigm by eliminating the need for generating separate output functions and relevant independent decoupling matrices for each path. Uncertainties of WMR are considered and embedded within the control framework. Analytical proof is provided to ensure the existence of the control law, which is proposed for the new framework using the unified parametric function that represents various paths, for all time. Further, a fuzzy rule-base driven gain parameter scheduling framework is adopted for efficient real-life implementation of the controller, avoiding actuator saturation. After successfully achieving the desired performance maneuver in a simulated environment, experiments are conducted for validation. A Pioneer P3-DX WMR is utilized to implement the control law towards maneuvering through aforementioned paths generated by the unified function, which is relevant in robotic applications. The WMR demonstrates the ability to navigate effectively with higher accuracy along the aforementioned paths at varying velocities, including zero velocity. The zero velocity feature helps to accomplish the required functionality, such as picking up an object, at an intermediate step, thus surpassing traditional trajectory tracking methods. Eventually, the unified function based path following control framework outperforms several existing controllers, especially for paths that are subjected to substantially large curvature at some portions, as illustrated through experimental performances and subsequent quantification.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101169"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143101692","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

Gyro-free attitude reorientation control of spacecraft with state and input constraints 具有状态约束和输入约束的航天器无陀螺姿态再定向控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-01-01 DOI: 10.1016/j.ejcon.2024.101166

Qingqing Dang , Wenbo Li , Haichao Gui

{"title":"Gyro-free attitude reorientation control of spacecraft with state and input constraints","authors":"Qingqing Dang , Wenbo Li , Haichao Gui","doi":"10.1016/j.ejcon.2024.101166","DOIUrl":"10.1016/j.ejcon.2024.101166","url":null,"abstract":"<div><div>This paper introduces an explicit reference governor-based control scheme to address the gyro-free spacecraft attitude reorientation problem, considering specific constraints such as pointing, angular velocity, and input saturation. The proposed control scheme operates in two layers, ensuring the asymptotic stability of the attitude while adhering to the aforementioned constraints. The inner layer employs output feedback control utilizing an angular velocity observer based on immersion and invariance technology. Through an analysis of the geometry associated with the pointing constraint, determination of the upper bound of angular velocity, and optimization of the control input solution, the reference layer establishes a safety boundary described by the invariant set. Additionally, we introduce the dynamic factor related to the angular velocity estimation error into the invariant set to prevent states from exceeding the constraint set due to unmeasurable angular velocity information. The shortest guidance path is then designed in the reference layer. Finally, we substantiate the efficacy of the proposed constrained attitude control algorithm through numerical simulations.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101166"},"PeriodicalIF":2.5,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143102191","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

Fixed-time synchronization of coupled neural networks under Hölder continuous nonlinear activation function Hölder连续非线性激活函数下耦合神经网络的定时同步

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2025-01-01 DOI: 10.1016/j.ejcon.2024.101165

Jing Liu, Qifeng Ren

引用次数: 0

Control and monocular visual SLAM of nonholonomic mobile robots 非完整移动机器人的控制与单目视觉SLAM

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-12-31 DOI: 10.1016/j.ejcon.2024.101171

Juan-Carlos Trujillo , Rodrigo Munguia , Juan-Carlos Albarrán , Marco Arteaga

引用次数: 0

Robust interval estimation of state and unknown inputs for linear continuous-time systems: An L1gain characterization 线性连续系统状态和未知输入的鲁棒区间估计：一种l1增益特性

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-12-28 DOI: 10.1016/j.ejcon.2024.101172

Dang Khai Nguyen , Thach Ngoc Dinh , Zhenhua Wang , Tarek Raïssi

引用次数: 0

Adaptive finite-time extended state observer-based model predictive control with Flatness motivated trajectory planning for 5-DOF tower cranes 基于自适应有限时间扩展状态观测器的五自由度塔机平面轨迹规划模型预测控制

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-11-26 DOI: 10.1016/j.ejcon.2024.101149

Hue Luu Thi , Van Chung Nguyen , Tung Lam Nguyen

引用次数: 0

Robust model predictive control of sampled-data Lipschitz nonlinear systems: Application to flexible joint robots 采样数据 Lipschitz 非线性系统的鲁棒模型预测控制：灵活关节机器人的应用

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-11-24 DOI: 10.1016/j.ejcon.2024.101147

Owais Khan , Ghulam Mustafa , Nouman Ashraf , Muntazir Hussain , Abdul Qayyum Khan , Muhammad Asim Shoaib

{"title":"Robust model predictive control of sampled-data Lipschitz nonlinear systems: Application to flexible joint robots","authors":"Owais Khan , Ghulam Mustafa , Nouman Ashraf , Muntazir Hussain , Abdul Qayyum Khan , Muhammad Asim Shoaib","doi":"10.1016/j.ejcon.2024.101147","DOIUrl":"10.1016/j.ejcon.2024.101147","url":null,"abstract":"<div><div>Controlling flexible joint robots has drawn the attention of many industry professionals during the past two decades. It is a difficult task because various structural features that make the control of rigid robots easier, such as passivity of the motor torque to link velocity, full actuation, and separate control of each joint, are lost when we consider joint flexibility in the control design of these robots. However, we must consider joint flexibility while designing the controller; otherwise, the system may become unstable. In this article, we devise a robust model predictive controller scheme for flexible joint robots modeled as sampled-data Lipschitz nonlinear systems with unknown bounded disturbances. It is assumed that the state of the system is accessible for feedback. Therefore, a state-feedback control law is designed using a robust stability criterion and can be computed by solving an online optimization problem. The control law optimizes the performance index by reducing its worst-case value. The proposed control design scheme is applied to the one-link flexible joint robot. Simulation results validate the effectiveness of the controller in handling nonlinearities while minimizing the effect of unknown bounded disturbances.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101147"},"PeriodicalIF":2.5,"publicationDate":"2024-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142719689","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

Self-learning-based secure control of wind power generation systems under cyber threat: Ensuring prescribed performance 网络威胁下基于自学习的风力发电系统安全控制：确保规定性能

IF 2.5 3区计算机科学

European Journal of Control Pub Date : 2024-11-20 DOI: 10.1016/j.ejcon.2024.101152

Mahmood Mazare , Hossein Ramezani , Mostafa Taghizadeh

{"title":"Self-learning-based secure control of wind power generation systems under cyber threat: Ensuring prescribed performance","authors":"Mahmood Mazare , Hossein Ramezani , Mostafa Taghizadeh","doi":"10.1016/j.ejcon.2024.101152","DOIUrl":"10.1016/j.ejcon.2024.101152","url":null,"abstract":"<div><div>The increasing prominence of wind energy underscores the need to prioritize cybersecurity measures, with a focus on recognizing vulnerabilities and formulating defensive strategies. Specifically, False Data Injection (FDI) attacks targeted at the communication between rotor speed sensors and wind turbine (WT) controllers can disrupt operations, potentially causing drive-train overload and reduced power generation efficiency. To mitigate these threats, this study introduces an adaptive prescribed performance optimal secure control strategy that employs a reinforcement learning (RL) to compensate the detrimental effects of FDI attack as well as actuator fault. To derive the optimal control policy, the complex Hamilton–Jacobi–Bellman (HJB) equation is solved, facilitated by an actor–critic-based RL approach, where actor and critic neural network (NN) manage control actions and performance assessment. To detect FDI attack, an anomaly detection is developed using a fixed-time disturbance observer. Stability analysis is performed using Lyapunov theory which guarantees semi-global uniformly ultimately bounded (SGUUB) of the error signal. To rigorously validate our approach, we implemented the controller using FAST code for the NREL WindPACT 1.5 MW reference turbine. Simulation results convincingly demonstrate the effectiveness of our proposed control strategy, confirming its potential to enhance both performance and security in real-world WT operations.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"81 ","pages":"Article 101152"},"PeriodicalIF":2.5,"publicationDate":"2024-11-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142719688","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