Pub Date : 2026-02-01DOI: 10.1016/j.isatra.2025.12.009
Xuan Jia , Junfeng Zhang , Tarek Raïssi , Gang Zheng
Accurate state estimation is fundamental for the control and analysis of hybrid systems. Significant progress has been made using model-based observers. However, their performance depends on an accurate system model, which is often difficult to obtain such a model. This is especially true for unknown hybrid systems with periodic jumps. To address this gap, this paper presents two classes of data-driven estimation approaches for unknown hybrid systems with periodic jumps. An estimation law is constructed directly from noisy input/measured data using the S-lemma. Systems explaining the data are derived for unknown dynamical hybrid systems by virtue of the behavioral theory of systems. A criterion on global exponential stability is established by employing data-based linear matrix inequalities. A data-driven hybrid estimation scheme is designed to eliminate the system model identification step. Under mild conditions, the global exponential stability of systems explaining the data is guaranteed theoretically. In particular, the obtained results are applied to a data-driven hybrid switched-gain estimation framework. The effectiveness of the proposed approaches is demonstrated through simulations applied to fully actuated walking robots.
{"title":"Data-driven hybrid switched-gain estimation for hybrid systems with periodic jumps","authors":"Xuan Jia , Junfeng Zhang , Tarek Raïssi , Gang Zheng","doi":"10.1016/j.isatra.2025.12.009","DOIUrl":"10.1016/j.isatra.2025.12.009","url":null,"abstract":"<div><div>Accurate state estimation is fundamental for the control and analysis of hybrid systems. Significant progress has been made using model-based observers. However, their performance depends on an accurate system model, which is often difficult to obtain such a model. This is especially true for unknown hybrid systems with periodic jumps. To address this gap, this paper presents two classes of data-driven estimation approaches for unknown hybrid systems with periodic jumps. An estimation law is constructed directly from noisy input/measured data using the S-lemma. Systems explaining the data are derived for unknown dynamical hybrid systems by virtue of the behavioral theory of systems. A criterion on global exponential stability is established by employing data-based linear matrix inequalities. A data-driven hybrid estimation scheme is designed to eliminate the system model identification step. Under mild conditions, the global exponential stability of systems explaining the data is guaranteed theoretically. In particular, the obtained results are applied to a data-driven hybrid switched-gain estimation framework. The effectiveness of the proposed approaches is demonstrated through simulations applied to fully actuated walking robots.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 1-11"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145784149","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 : 2026-02-01DOI: 10.1016/j.isatra.2025.12.011
Awais Khan , Wenshuo Wang , Arshad Rauf , Muhammad Ilyas , Xiaoshan Bai , Bo Zhang
Accurate state estimation is essential in safety-critical systems yet remains challenging under unknown but bounded uncertainties. Conventional point observers, such as Kalman or Luenberger designs, often produce fragile estimates that degrade in the presence of disturbances and modeling errors. Interval observers (IOs), in contrast, enclose the true trajectories within clearly defined upper and lower bounds, providing guaranteed robustness, resilience to uncertainty, and formal safety assurances beyond what traditional methods can offer. This paper proposes a robust multi-step interval observer (IO) for discrete-time systems that combines a predictive structure with convex linear matrix inequality (LMI) design to deliver certified bounds with improved reliability and efficiency. The key innovation is a q-step predictive structure that aggregates system dynamics over a selectable horizon to enhance accuracy, disturbance rejection, and delay resilience. Observer gains are computed via a single convex LMI, ensuring non-negative error dynamics without coordinate transformations or iterative tuning. The effectiveness of the proposed framework is demonstrated on two challenging applications: a non-minimum phase (NMP) unmanned aerial vehicle (UAV) subject to wind disturbances and model mismatch, and a Lithium-ion battery management system (BMS) performing state-of-charge (SOC) estimation under sinusoidal load variations. In both cases, the proposed IO achieves tighter interval bounds (0.1 % vs. 2.5 %), faster convergence and reduced computation. These results confirm that the proposed method is computationally efficient, scalable and applicable for real-time deployment. The proposed IO framework opens promising new directions for IO design in aerospace, automotive and energy systems.
{"title":"Robust multi-step interval observer via convex LMIs with applications to UAV and BMS","authors":"Awais Khan , Wenshuo Wang , Arshad Rauf , Muhammad Ilyas , Xiaoshan Bai , Bo Zhang","doi":"10.1016/j.isatra.2025.12.011","DOIUrl":"10.1016/j.isatra.2025.12.011","url":null,"abstract":"<div><div>Accurate state estimation is essential in safety-critical systems yet remains challenging under unknown but bounded uncertainties. Conventional point observers, such as Kalman or Luenberger designs, often produce fragile estimates that degrade in the presence of disturbances and modeling errors. Interval observers (IOs), in contrast, enclose the true trajectories within clearly defined upper and lower bounds, providing guaranteed robustness, resilience to uncertainty, and formal safety assurances beyond what traditional methods can offer. This paper proposes a robust multi-step interval observer (IO) for discrete-time systems that combines a predictive structure with convex linear matrix inequality (LMI) design to deliver certified bounds with improved reliability and efficiency. The key innovation is a q-step predictive structure that aggregates system dynamics over a selectable horizon to enhance accuracy, disturbance rejection, and delay resilience. Observer gains are computed via a single convex LMI, ensuring non-negative error dynamics without coordinate transformations or iterative tuning. The effectiveness of the proposed framework is demonstrated on two challenging applications: a non-minimum phase (NMP) unmanned aerial vehicle (UAV) subject to wind disturbances and model mismatch, and a Lithium-ion battery management system (BMS) performing state-of-charge (SOC) estimation under sinusoidal load variations. In both cases, the proposed IO achieves tighter interval bounds (<span><math><mo>±</mo></math></span>0.1 % vs. <span><math><mo>±</mo></math></span>2.5 %), faster convergence and reduced computation. These results confirm that the proposed method is computationally efficient, scalable and applicable for real-time deployment. The proposed IO framework opens promising new directions for IO design in aerospace, automotive and energy systems.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 233-245"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145784115","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 : 2026-02-01DOI: 10.1016/j.isatra.2025.12.040
Zewei Yang , Luyang Yu , Dan Liu , Wenbing Zhang
This paper is concerned with the protocol-based state estimation issue for nonlinear time-delayed multiplex networks (NTD-MNs) suffering from deception attacks. The classical Round-Robin (RR) protocol stands out for its advantage in scheduling the data transmission of complex networks (CNs) with limited communication bandwidth. Nevertheless, the excessive sacrifice of the observability of the CNs leads to the inevitable degradation of estimator performance. A novel scheduling mechanism called the Grouped-Round-Robin (GRR) protocol is thus first proposed to govern the data transmission of nodes within the NTD-MNs, and simultaneously overcome the deficiency of the conventional RR protocol. Besides, considering the openness of the communication environment, cyber-attacks are usually inevitable, and stochastic deception attacks modeled with a Bernoulli process are thus taken into account. Employing the proposed GRR protocol, a state estimator is established which considers the impact of deception attacks on the measurement output. Then, sufficient conditions are derived to ensure that the estimation error for the discussed system is ultimately bounded in mean square. Finally, theoretical results are corroborated through numerical simulations.
{"title":"Grouped-Round-Robin-based state estimation for multiplex networks subject to deception attacks","authors":"Zewei Yang , Luyang Yu , Dan Liu , Wenbing Zhang","doi":"10.1016/j.isatra.2025.12.040","DOIUrl":"10.1016/j.isatra.2025.12.040","url":null,"abstract":"<div><div>This paper is concerned with the protocol-based state estimation issue for nonlinear time-delayed multiplex networks (NTD-MNs) suffering from deception attacks. The classical Round-Robin (RR) protocol stands out for its advantage in scheduling the data transmission of complex networks (CNs) with limited communication bandwidth. Nevertheless, the excessive sacrifice of the observability of the CNs leads to the inevitable degradation of estimator performance. A novel scheduling mechanism called the Grouped-Round-Robin (GRR) protocol is thus first proposed to govern the data transmission of nodes within the NTD-MNs, and simultaneously overcome the deficiency of the conventional RR protocol. Besides, considering the openness of the communication environment, cyber-attacks are usually inevitable, and stochastic deception attacks modeled with a Bernoulli process are thus taken into account. Employing the proposed GRR protocol, a state estimator is established which considers the impact of deception attacks on the measurement output. Then, sufficient conditions are derived to ensure that the estimation error for the discussed system is ultimately bounded in mean square. Finally, theoretical results are corroborated through numerical simulations.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 329-341"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145879794","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 : 2026-02-01DOI: 10.1016/j.isatra.2025.12.029
Shuangsi Xue , Zihang Guo , Junkai Tan , Kai Qu , Hui Cao , Badong Chen
This paper investigates the formation tracking problem in collision-free multiagent systems (MASs). To address the disruption to control performance caused by external disturbances and unknown dynamics, an extended state observer (ESO) incorporating sliding mode and bias radial basis function neural network (RBFNN) is designed for expeditious estimation. The feedback from the observed information is then utilized to formulate a fixed-time formation strategy. Simultaneously, addressing these challenges increases the computational load and communication costs in MASs. Therefore, a distributed event-triggered mechanism is introduced to dynamically adjust controllers’ update intervals. Furthermore, to address the high initial speed inherent in the fixed-time control strategy, a velocity-based artificial potential field (APF) is designed to prevent collisions between agents and alleviate actuator strain. The semi-globally ultimately fixed-time boundedness (SGUFTB) of the entire system is demonstrated via Lyapunov theory. The validity of the proposed strategy is subsequently confirmed through the execution of comparative simulation experiments involving five omnidirectional robots.
{"title":"Fixed-time formation control for multiagent systems with velocity-based collision avoidance","authors":"Shuangsi Xue , Zihang Guo , Junkai Tan , Kai Qu , Hui Cao , Badong Chen","doi":"10.1016/j.isatra.2025.12.029","DOIUrl":"10.1016/j.isatra.2025.12.029","url":null,"abstract":"<div><div>This paper investigates the formation tracking problem in collision-free multiagent systems (MASs). To address the disruption to control performance caused by external disturbances and unknown dynamics, an extended state observer (ESO) incorporating sliding mode and bias radial basis function neural network (RBFNN) is designed for expeditious estimation. The feedback from the observed information is then utilized to formulate a fixed-time formation strategy. Simultaneously, addressing these challenges increases the computational load and communication costs in MASs. Therefore, a distributed event-triggered mechanism is introduced to dynamically adjust controllers’ update intervals. Furthermore, to address the high initial speed inherent in the fixed-time control strategy, a velocity-based artificial potential field (APF) is designed to prevent collisions between agents and alleviate actuator strain. The semi-globally ultimately fixed-time boundedness (SGUFTB) of the entire system is demonstrated via Lyapunov theory. The validity of the proposed strategy is subsequently confirmed through the execution of comparative simulation experiments involving five omnidirectional robots.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 26-38"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145844481","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}
This paper investigates the bipartite cooperative output consensus (BCOC) problem of heterogeneous multi-agent systems with external disturbances using direct data-driven control. Unlike most existing bipartite consensus, the controller is directly designed using data collected within a finite time, which eliminates the requirement for an accurate system model. The leader’s system matrix is estimated using sampling data generated by an auxiliary system. In addition, a distributed observer is constructed to handle the situation where some followers lack direct interaction with the leader. Moreover, the specific expression of the regulation equations for BCOC is derived. For the follower dynamics influenced by external disturbances and the leader, the criteria for the data to be informative for the stabilization of the error system and the data-driven solution of the regulation equation are established by employing the data informativity conditions and the relevant data. These results are further extended to the special case of bipartite consensus. Ultimately, a numerical simulation example is showcased to validate the effectiveness of the theoretical results.
{"title":"Direct data-driven bipartite cooperative output consensus for heterogeneous multi-agent systems with external disturbances","authors":"Mingxia Gu , Abdujelil Abdurahman , Malika Sader , Haijun Jiang","doi":"10.1016/j.isatra.2026.01.009","DOIUrl":"10.1016/j.isatra.2026.01.009","url":null,"abstract":"<div><div>This paper investigates the bipartite cooperative output consensus (BCOC) problem of heterogeneous multi-agent systems with external disturbances using direct data-driven control. Unlike most existing bipartite consensus, the controller is directly designed using data collected within a finite time, which eliminates the requirement for an accurate system model. The leader’s system matrix is estimated using sampling data generated by an auxiliary system. In addition, a distributed observer is constructed to handle the situation where some followers lack direct interaction with the leader. Moreover, the specific expression of the regulation equations for BCOC is derived. For the follower dynamics influenced by external disturbances and the leader, the criteria for the data to be informative for the stabilization of the error system and the data-driven solution of the regulation equation are established by employing the data informativity conditions and the relevant data. These results are further extended to the special case of bipartite consensus. Ultimately, a numerical simulation example is showcased to validate the effectiveness of the theoretical results.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 50-60"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146021227","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 : 2026-02-01DOI: 10.1016/j.isatra.2025.12.052
Seongjun Yoo , Hyuntae Bang , Wonkeun Youn
This paper proposes a novel adaptive fuzzy nonsingular fast terminal sliding mode control (AFNFTSMC) scheme integrated with time delay control (TDC) for autonomous underwater vehicles (AUVs). The proposed controller enhances robustness and tracking performance by combining the model-free characteristics of TDC with the fast convergence and singularity avoidance of AFNFTSMC. TDC is employed to estimate and compensate for nonlinear dynamics and external disturbances in real time, without requiring an accurate mathematical model. To address the chattering problem inherent in conventional sliding mode control, a fuzzy logic system is integrated, enabling smooth control inputs through continuous adaptation. Using Lyapunov theory, the system is proven to possess global stability and finite-time convergence properties. The effectiveness of the proposed method is validated through numerical simulations using the Delphin2 AUV model under external disturbance conditions.
{"title":"Real-time HILS-validated model-free control for AUVs using time-delay adaptive fuzzy nonsingular fast terminal sliding mode control","authors":"Seongjun Yoo , Hyuntae Bang , Wonkeun Youn","doi":"10.1016/j.isatra.2025.12.052","DOIUrl":"10.1016/j.isatra.2025.12.052","url":null,"abstract":"<div><div>This paper proposes a novel adaptive fuzzy nonsingular fast terminal sliding mode control (AFNFTSMC) scheme integrated with time delay control (TDC) for autonomous underwater vehicles (AUVs). The proposed controller enhances robustness and tracking performance by combining the model-free characteristics of TDC with the fast convergence and singularity avoidance of AFNFTSMC. TDC is employed to estimate and compensate for nonlinear dynamics and external disturbances in real time, without requiring an accurate mathematical model. To address the chattering problem inherent in conventional sliding mode control, a fuzzy logic system is integrated, enabling smooth control inputs through continuous adaptation. Using Lyapunov theory, the system is proven to possess global stability and finite-time convergence properties. The effectiveness of the proposed method is validated through numerical simulations using the Delphin2 AUV model under external disturbance conditions.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 223-232"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145947125","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 : 2026-02-01DOI: 10.1016/j.isatra.2025.12.032
Xiaona Song , Shuaikang Liu , Mi Wang , Chenqi Zhu , Dongying Song , Shuai Song
In this article, a sampled-data event-triggered resilient consensus tracking control scheme is proposed for multiple flexible manipulators with actuator failures. First, for each flexible manipulator, the finite-time observer is designed to achieve state estimation of the virtual leader. Then, the periodic disturbances are effectively estimated by an iterative learning method. Furthermore, a resilient consensus control scheme is developed by integrating a sampled-data event-triggered mechanism, and it have been proved from the obtained stability results that the proposed control scheme can achieve consensus control and vibration suppression of multiple flexible manipulators while reducing communication consumptions. Finally, the effectiveness of the proposed control method is demonstrated through simulation results.
{"title":"Sampled-data event-triggered resilient consensus control of multiple flexible manipulators with actuator failures via iterative learning scheme","authors":"Xiaona Song , Shuaikang Liu , Mi Wang , Chenqi Zhu , Dongying Song , Shuai Song","doi":"10.1016/j.isatra.2025.12.032","DOIUrl":"10.1016/j.isatra.2025.12.032","url":null,"abstract":"<div><div>In this article, a sampled-data event-triggered resilient consensus tracking control scheme is proposed for multiple flexible manipulators with actuator failures. First, for each flexible manipulator, the finite-time observer is designed to achieve state estimation of the virtual leader. Then, the periodic disturbances are effectively estimated by an iterative learning method. Furthermore, a resilient consensus control scheme is developed by integrating a sampled-data event-triggered mechanism, and it have been proved from the obtained stability results that the proposed control scheme can achieve consensus control and vibration suppression of multiple flexible manipulators while reducing communication consumptions. Finally, the effectiveness of the proposed control method is demonstrated through simulation results.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 128-136"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145866879","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 : 2026-02-01DOI: 10.1016/j.isatra.2025.12.022
Xinyu Xu , Rui Wang , Qiuye Sun , Xiaokang Liu , Wenyue Zhao , Liming Wang
Although the cyber-energy dual modulation (CEDM) has been applied to DC microgrids to achieve information exchange without additional communication lines, the communication bandwidth based on CEDM is very low. In this case, the traditional distributed collaborative control based on high communication bandwidth is not suitable. Thus, this paper proposes a distributed current edge-control strategy that fuses quantized state information with CEDM and combines dynamic event-triggered control with consensus. A quantized CEDM protocol enables low-bandwidth communication while reducing communication costs. Simulations show output consensus under varied droop gains and external disturbances, with a maximum observed output error of . The event-triggered mechanism lowers communication burden, yielding average triggering intervals ranging from to seconds.
{"title":"Distributed current edge-control strategy based on cyber-energy dual modulations with quantized state for DC microgrids","authors":"Xinyu Xu , Rui Wang , Qiuye Sun , Xiaokang Liu , Wenyue Zhao , Liming Wang","doi":"10.1016/j.isatra.2025.12.022","DOIUrl":"10.1016/j.isatra.2025.12.022","url":null,"abstract":"<div><div>Although the cyber-energy dual modulation (CEDM) has been applied to DC microgrids to achieve information exchange without additional communication lines, the communication bandwidth based on CEDM is very low. In this case, the traditional distributed collaborative control based on high communication bandwidth is not suitable. Thus, this paper proposes a distributed current edge-control strategy that fuses quantized state information with CEDM and combines dynamic event-triggered control with <span><math><msub><mi>H</mi><mi>∞</mi></msub></math></span> consensus. A quantized CEDM protocol enables low-bandwidth communication while reducing communication costs. Simulations show output consensus under varied droop gains and external disturbances, with a maximum observed output error of <span><math><mn>1.568</mn><mo>×</mo><mrow><msup><mn>10</mn><mrow><mo>−</mo><mn>2</mn></mrow></msup></mrow></math></span>. The event-triggered mechanism lowers communication burden, yielding average triggering intervals ranging from <span><math><mrow><msup><mn>10</mn><mrow><mo>−</mo><mn>2</mn></mrow></msup></mrow></math></span> to <span><math><mrow><msup><mn>10</mn><mrow><mo>−</mo><mn>1</mn></mrow></msup></mrow></math></span> seconds.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 535-548"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145866805","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}
This paper addresses the load frequency control problem subjected to communication delays, actuator non-linearity, and parameter uncertainties using a Model Assisted Reduced-order ADRC (MRADRC). The approach makes use of minimal plant knowledge in the Extended State Observer (ESO) design with reduced-order so that the observer becomes delay aware, thereby improving its estimation accuracy. A two-stage tuning approach is introduced to tune the parameters of the controller. In the first stage, the Walrus multi-objective optimizer obtains a set of Pareto-optimal solutions found by minimizing frequency deviation metric (IAE) and control signal variation (TV) subjected to mixed robustness level . In the second stage, multi-criteria decision-making based ranking methodology is used to obtain final optimal controller and observer bandwidths. The proposed method is implemented on two numerical studies. Study 1 focuses on the implementation of the proposed method on single-area LFC (non-reheat, reheat, hydro) plants under four different scenarios involving nominal, perturbed, and non-linearity cases. In Study 2, a more reliable benchmark system, IEEE 39-bus New England system, is considered with the controller tested for cases involving random load and variable delays. In both studies, it was observed that MRADRC exhibits considerable improvements in reducing frequency deviations and its peak level compared with PID/FOPID/PI/ methods, while maintaining robustness level () at the desired level and achieving a good delay margin.
{"title":"Design and implementation of model-assisted reduced-order ADRC for power system load frequency control problem with communication delay","authors":"M.V. Srikanth, Sagiraju Dileep Kumar Varma, Swaroop K.P., SSSR Sarathbabu Duvvuri","doi":"10.1016/j.isatra.2025.12.031","DOIUrl":"10.1016/j.isatra.2025.12.031","url":null,"abstract":"<div><div>This paper addresses the load frequency control problem subjected to communication delays, actuator non-linearity, and parameter uncertainties using a Model Assisted Reduced-order ADRC (MRADRC). The approach makes use of minimal plant knowledge in the Extended State Observer (ESO) design with reduced-order so that the observer becomes delay aware, thereby improving its estimation accuracy. A two-stage tuning approach is introduced to tune the parameters of the controller. In the first stage, the Walrus multi-objective optimizer obtains a set of Pareto-optimal solutions found by minimizing frequency deviation metric (IAE) and control signal variation (TV) subjected to mixed robustness level <span><math><mn>2</mn><mo>≤</mo><mi>ϵ</mi><mo>≤</mo><mn>5</mn></math></span>. In the second stage, multi-criteria decision-making based ranking methodology is used to obtain final optimal controller and observer bandwidths. The proposed method is implemented on two numerical studies. Study 1 focuses on the implementation of the proposed method on single-area LFC (non-reheat, reheat, hydro) plants under four different scenarios involving nominal, perturbed, and non-linearity cases. In Study 2, a more reliable benchmark system, IEEE 39-bus New England system, is considered with the controller tested for cases involving random load and variable delays. In both studies, it was observed that MRADRC exhibits considerable improvements in reducing frequency deviations and its peak level compared with PID/FOPID/PI/<span><math><msub><mi>H</mi><mi>∞</mi></msub></math></span> methods, while maintaining robustness level (<span><math><mi>ϵ</mi></math></span>) at the desired level and achieving a good delay margin.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 487-507"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145890880","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 : 2026-02-01DOI: 10.1016/j.isatra.2026.01.014
Lan Duo, Hongtao Yin, Ping Fu, Ang Li
This study proposes a robust fixed-time safety control scheme for a quadrotor unmanned aerial vehicle (QUAV) operating in environments with obstacles and external disturbances. Firstly, a robust high-order time-varying control barrier function (R-HO-TV-CBF) is designed as an obstacle avoidance constraint. This method achieves robustness without relying about any prior assumptions on the bounds of the disturbance and its derivative, effectively handles dynamic obstacle avoidance, suppresses oscillation and ensures optimal trajectory tracking. Subsequently, a nonsingular fixed-time sliding mode control (NFxSMC) method is developed to guarantee fixed-time convergence, independent of the initial state. Finally, simulation results demonstrate the superior performance of the proposed scheme in obstacle avoidance, disturbance rejection and error convergence.
{"title":"Fixed-time safety tracking control of QUAV under external disturbances using robust high-order time-varying control barrier function","authors":"Lan Duo, Hongtao Yin, Ping Fu, Ang Li","doi":"10.1016/j.isatra.2026.01.014","DOIUrl":"10.1016/j.isatra.2026.01.014","url":null,"abstract":"<div><div>This study proposes a robust fixed-time safety control scheme for a quadrotor unmanned aerial vehicle (QUAV) operating in environments with obstacles and external disturbances. Firstly, a robust high-order time-varying control barrier function (R-HO-TV-CBF) is designed as an obstacle avoidance constraint. This method achieves robustness without relying about any prior assumptions on the bounds of the disturbance and its derivative, effectively handles dynamic obstacle avoidance, suppresses oscillation and ensures optimal trajectory tracking. Subsequently, a nonsingular fixed-time sliding mode control (NFxSMC) method is developed to guarantee fixed-time convergence, independent of the initial state. Finally, simulation results demonstrate the superior performance of the proposed scheme in obstacle avoidance, disturbance rejection and error convergence.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 246-262"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145992355","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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