Pub Date : 2026-01-01DOI: 10.1016/j.isatra.2025.11.005
Roberto Costa Ceccato, José Roberto Castilho Piqueira
This manuscript presents a reduced chattering sliding mode control (SMC) strategy for automatically regulating the depth of hypnosis (DoH) during general anesthesia (GA). The controller uses DoH as the controlled variable and assumes an infusion pump as the actuator. A linear model serves as an approximation in the SMC law, while a sigmoidal function is used instead of the sign function to mitigate chattering. The scheme adopts a tracking-based approach to handle induction and maintenance phases of GA. The method is evaluated through simulations with and without pain stimuli and noise, using real-patient pharmacokinetic and pharmacodynamic parameters and incorporating the dynamic behavior of the DoH monitor. Results showed no high-frequency chattering and demonstrated robust performance, suggesting that the proposed approach is promising for real-world clinical applications.
{"title":"Reduced chattering target-tracking sliding mode control for intraprocedural propofol control","authors":"Roberto Costa Ceccato, José Roberto Castilho Piqueira","doi":"10.1016/j.isatra.2025.11.005","DOIUrl":"10.1016/j.isatra.2025.11.005","url":null,"abstract":"<div><div>This manuscript presents a reduced chattering sliding mode control (SMC) strategy for automatically regulating the depth of hypnosis (DoH) during general anesthesia (GA). The controller uses DoH as the controlled variable and assumes an infusion pump as the actuator. A linear model serves as an approximation in the SMC law, while a sigmoidal function is used instead of the sign function to mitigate chattering. The scheme adopts a tracking-based approach to handle induction and maintenance phases of GA. The method is evaluated through simulations with and without pain stimuli and noise, using real-patient pharmacokinetic and pharmacodynamic parameters and incorporating the dynamic behavior of the DoH monitor. Results showed no high-frequency chattering and demonstrated robust performance, suggesting that the proposed approach is promising for real-world clinical applications.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"168 ","pages":"Pages 199-210"},"PeriodicalIF":6.5,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145530713","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2026-01-01DOI: 10.1016/j.isatra.2025.10.046
Ding Zhou , Ping Chen , Zhigang Cao , Chuan He , Xiaopeng Han , Yukun Niu
This paper investigates the finite- and fixed-time privacy-preserving formation control problem for multiple quadrotors with input delay and connectivity maintenance. A lightweight confidential interaction protocol based on group key agreement is first proposed to ensure secure communication among quadrotors under limited computational resources. To address the input delay, an extended Artstein’s transformation is introduced to convert the system into a delay-free form, and by integrating potential functions with finite-/fixed-time control techniques, novel formation control algorithms are developed to resolve the delay issue while preserving the initial interaction topology. Leveraging Lyapunov stability theory and bi-limit homogeneous system theory, rigorous theoretical analysis is conducted to derive sufficient conditions for finite- and fixed-time formability of the quadrotor formation system. The proposed framework systematically resolves the coupling challenges among privacy protection, time-delay compensation, and topology preservation. Numerical simulations and flight experiments are carried out to illustrate the effectiveness of the theoretical results.
{"title":"Finite- and fixed-time privacy-preserving formation control for multiple quadrotor systems with input delay and connectivity maintenance","authors":"Ding Zhou , Ping Chen , Zhigang Cao , Chuan He , Xiaopeng Han , Yukun Niu","doi":"10.1016/j.isatra.2025.10.046","DOIUrl":"10.1016/j.isatra.2025.10.046","url":null,"abstract":"<div><div>This paper investigates the finite- and fixed-time privacy-preserving formation control problem for multiple quadrotors with input delay and connectivity maintenance. A lightweight confidential interaction protocol based on group key agreement is first proposed to ensure secure communication among quadrotors under limited computational resources. To address the input delay, an extended Artstein’s transformation is introduced to convert the system into a delay-free form, and by integrating potential functions with finite-/fixed-time control techniques, novel formation control algorithms are developed to resolve the delay issue while preserving the initial interaction topology. Leveraging Lyapunov stability theory and bi-limit homogeneous system theory, rigorous theoretical analysis is conducted to derive sufficient conditions for finite- and fixed-time formability of the quadrotor formation system. The proposed framework systematically resolves the coupling challenges among privacy protection, time-delay compensation, and topology preservation. Numerical simulations and flight experiments are carried out to illustrate the effectiveness of the theoretical results.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"168 ","pages":"Pages 515-530"},"PeriodicalIF":6.5,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145530479","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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