Pub Date : 2025-11-21DOI: 10.1109/LCSYS.2025.3636377
Devansh R. Agrawal;Haejoon Lee;Dimitra Panagou
Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these conditions are essential to ensure the existence and uniqueness of the system’s trajectory. Here we propose a general method to convert a Quadratic Program (QP) into a Second-Order Cone Problem (SOCP), which is shown to be Lipschitz continuous. Key features of our approach are that (i) the regularity of the resulting formulation does not depend on the structural properties of the constraints, such as the linear independence of their gradients; and (ii) it admits a closed-form solution under some assumptions, which is not available for general QPs with multiple constraints, enabling faster computation. We support our method with rigorous analysis and examples https://github.com/joonlee16/Lipschitz-controllers.
{"title":"Reformulations of Quadratic Programs for Lipschitz Continuity","authors":"Devansh R. Agrawal;Haejoon Lee;Dimitra Panagou","doi":"10.1109/LCSYS.2025.3636377","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3636377","url":null,"abstract":"Optimization-based controllers often lack regularity guarantees, such as Lipschitz continuity, when multiple constraints are present. When used to control a dynamical system, these conditions are essential to ensure the existence and uniqueness of the system’s trajectory. Here we propose a general method to convert a Quadratic Program (QP) into a Second-Order Cone Problem (SOCP), which is shown to be Lipschitz continuous. Key features of our approach are that (i) the regularity of the resulting formulation does not depend on the structural properties of the constraints, such as the linear independence of their gradients; and (ii) it admits a closed-form solution under some assumptions, which is not available for general QPs with multiple constraints, enabling faster computation. We support our method with rigorous analysis and examples <uri>https://github.com/joonlee16/Lipschitz-controllers</uri>.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2603-2608"},"PeriodicalIF":2.0,"publicationDate":"2025-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145674739","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-21DOI: 10.1109/LCSYS.2025.3635697
Mahesh Kumar Pal;Pyari Mohan Pradhan
This letter proposes to use the quaternion hyperbolic tangent Gemen-McClure (QHTGM) cost function to develop a variant of the quaternion Kalman filter (QKF). The proposed filter is named as the hyperbolic tangent Geman-McClure quaternion Kalman filter (HTGMQKF). Two case studies are used to examine the effectiveness of the proposed HTGMQKF. A three-dimensional (3-D) target tracking problem, which considers the process noise with different distributions such as Gaussian, Gaussian-mixture, and Laplacian, while the measurement noise is considered as a Gaussian-mixture distribution. The proposed HTGMQKF performs well for the three types of noise in terms of root mean square error (RMSE) and average RMSE (ARMSE). The second case study deals with the filtering of a quaternion signal, in which the proposed HTGMQKF is found to outperform the state-of-the-art quaternion filters.
{"title":"Development of Hyperbolic Tangent Geman–McClure Quaternion Kalman Filter for 3D Tracking Applications","authors":"Mahesh Kumar Pal;Pyari Mohan Pradhan","doi":"10.1109/LCSYS.2025.3635697","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3635697","url":null,"abstract":"This letter proposes to use the quaternion hyperbolic tangent Gemen-McClure (QHTGM) cost function to develop a variant of the quaternion Kalman filter (QKF). The proposed filter is named as the hyperbolic tangent Geman-McClure quaternion Kalman filter (HTGMQKF). Two case studies are used to examine the effectiveness of the proposed HTGMQKF. A three-dimensional (3-D) target tracking problem, which considers the process noise with different distributions such as Gaussian, Gaussian-mixture, and Laplacian, while the measurement noise is considered as a Gaussian-mixture distribution. The proposed HTGMQKF performs well for the three types of noise in terms of root mean square error (RMSE) and average RMSE (ARMSE). The second case study deals with the filtering of a quaternion signal, in which the proposed HTGMQKF is found to outperform the state-of-the-art quaternion filters.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2597-2602"},"PeriodicalIF":2.0,"publicationDate":"2025-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145612080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-21DOI: 10.1109/LCSYS.2025.3636206
Zhengxiao Peng;Bin Zhou;Kai Zhang
This letter considers the leader-following consensus problem for linear multi-agent systems under directed topology. By using only the relative outputs from neighboring agents, we propose a distributed dual observer-based time-varying output feedback protocol, in which the output feedback gain is designed by two time-varying terms one of which tends towards infinity as time increases, while the other tends towards zero. Compared with existing results, the proposed protocols possess two distinctive advantages. First, they eliminate the need for information exchange over the communication network, thereby providing inherent immunity to network-level attacks. Second, the protocols are fully distributed, which ensures robustness against variations in the communication topology. Numerical simulations verify the effectiveness of the proposed protocol.
{"title":"Fully Distributed and Attack-Immune Consensus by Distributed Dual Observer-Based Linear Time-Varying Output Feedback","authors":"Zhengxiao Peng;Bin Zhou;Kai Zhang","doi":"10.1109/LCSYS.2025.3636206","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3636206","url":null,"abstract":"This letter considers the leader-following consensus problem for linear multi-agent systems under directed topology. By using only the relative outputs from neighboring agents, we propose a distributed dual observer-based time-varying output feedback protocol, in which the output feedback gain is designed by two time-varying terms one of which tends towards infinity as time increases, while the other tends towards zero. Compared with existing results, the proposed protocols possess two distinctive advantages. First, they eliminate the need for information exchange over the communication network, thereby providing inherent immunity to network-level attacks. Second, the protocols are fully distributed, which ensures robustness against variations in the communication topology. Numerical simulations verify the effectiveness of the proposed protocol.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2615-2620"},"PeriodicalIF":2.0,"publicationDate":"2025-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145674688","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-21DOI: 10.1109/LCSYS.2025.3636195
Yinzhuang Yi;Jorge Cortés;Nikolay Atanasov
We propose a control barrier function (CBF) formulation for enforcing equality and inequality constraints in variational inference. The key idea is to define a barrier functional on the space of probability density functions that encode the desired constraints imposed on the variational density. By leveraging the Liouville equation, we establish a connection between the time derivative of the variational density and the particle drift, which enables the systematic construction of corresponding CBFs associated to the particle drift. Enforcing these CBFs gives rise to the safe particle flow and ensures that the variational density satisfies the original constraints imposed by the barrier functional. This formulation provides a principled and computationally tractable solution to constrained variational inference, with theoretical guarantees of constraint satisfaction. The effectiveness of the method is demonstrated through numerical simulations.
{"title":"Constrained Variational Inference via Safe Particle Flow","authors":"Yinzhuang Yi;Jorge Cortés;Nikolay Atanasov","doi":"10.1109/LCSYS.2025.3636195","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3636195","url":null,"abstract":"We propose a control barrier function (CBF) formulation for enforcing equality and inequality constraints in variational inference. The key idea is to define a barrier functional on the space of probability density functions that encode the desired constraints imposed on the variational density. By leveraging the Liouville equation, we establish a connection between the time derivative of the variational density and the particle drift, which enables the systematic construction of corresponding CBFs associated to the particle drift. Enforcing these CBFs gives rise to the safe particle flow and ensures that the variational density satisfies the original constraints imposed by the barrier functional. This formulation provides a principled and computationally tractable solution to constrained variational inference, with theoretical guarantees of constraint satisfaction. The effectiveness of the method is demonstrated through numerical simulations.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2579-2584"},"PeriodicalIF":2.0,"publicationDate":"2025-11-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145612072","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-19DOI: 10.1109/LCSYS.2025.3635522
Vishnu Vijay;Kartik A. Pant;Minhyun Cho;Inseok Hwang
The alternating direction method of multipliers (ADMM) is a popular method to solve distributed consensus optimization utilizing efficient communication among various nodes in the network. However, in the presence of faulty or attacked nodes, even a small perturbation (or sharing false data) during the communication can lead to divergence of the solution. To address this issue, in this letter we consider ADMM under the effect of Byzantine threat, where an unknown subset of nodes is subject to Byzantine attacks or faults. We propose Dynamically Weighted ADMM (DW-ADMM), a novel variant of ADMM that uses dynamic weights on the edges of the network, thus promoting resilient distributed optimization in settings without central coordination. We establish that the proposed method (i) produces a nearly identical solution to conventional ADMM in the error-free case, and (ii) guarantees a bounded solution with respect to the global minimizer, even under Byzantine threat. Finally, we demonstrate the effectiveness of our proposed algorithm using illustrative numerical simulations.
{"title":"A Dynamically Weighted ADMM Framework for Byzantine Resilience","authors":"Vishnu Vijay;Kartik A. Pant;Minhyun Cho;Inseok Hwang","doi":"10.1109/LCSYS.2025.3635522","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3635522","url":null,"abstract":"The alternating direction method of multipliers (ADMM) is a popular method to solve distributed consensus optimization utilizing efficient communication among various nodes in the network. However, in the presence of faulty or attacked nodes, even a small perturbation (or sharing false data) during the communication can lead to divergence of the solution. To address this issue, in this letter we consider ADMM under the effect of Byzantine threat, where an unknown subset of nodes is subject to Byzantine attacks or faults. We propose Dynamically Weighted ADMM (DW-ADMM), a novel variant of ADMM that uses dynamic weights on the edges of the network, thus promoting resilient distributed optimization in settings without central coordination. We establish that the proposed method (i) produces a nearly identical solution to conventional ADMM in the error-free case, and (ii) guarantees a bounded solution with respect to the global minimizer, even under Byzantine threat. Finally, we demonstrate the effectiveness of our proposed algorithm using illustrative numerical simulations.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2591-2596"},"PeriodicalIF":2.0,"publicationDate":"2025-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145612034","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-19DOI: 10.1109/LCSYS.2025.3634657
Hikaru Hoshino
This letter proposes a gradient-based control co-design method for nonlinear optimal regulator problems, where physical design parameters and feedback controllers are optimized simultaneously. The proposed method is based on Galerkin approximations of the Hamilton–Jacobi–Bellman equation in a policy iteration framework. The key idea is to evaluate closed-loop performance as the expected cost over a prescribed distribution of initial states, which enables sensitivity analysis and gradient-based updates of the design parameters, while the controller is improved through policy iteration. As a result, the proposed method overcomes restrictive structural assumptions such as system equivalence, thereby avoiding conservatism and allowing flexible incorporation of design-dependent costs. Moreover, closed-loop stability is ensured at every iteration of the co-design procedure by embedding a recursive admissibility verification that combines two complementary Lyapunov conditions. The effectiveness of the proposed method is demonstrated through an example of a load positioning system.
{"title":"Gradient-Based Co-Design of Nonlinear Optimal Regulators With Stability Guarantee","authors":"Hikaru Hoshino","doi":"10.1109/LCSYS.2025.3634657","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3634657","url":null,"abstract":"This letter proposes a gradient-based control co-design method for nonlinear optimal regulator problems, where physical design parameters and feedback controllers are optimized simultaneously. The proposed method is based on Galerkin approximations of the Hamilton–Jacobi–Bellman equation in a policy iteration framework. The key idea is to evaluate closed-loop performance as the expected cost over a prescribed distribution of initial states, which enables sensitivity analysis and gradient-based updates of the design parameters, while the controller is improved through policy iteration. As a result, the proposed method overcomes restrictive structural assumptions such as system equivalence, thereby avoiding conservatism and allowing flexible incorporation of design-dependent costs. Moreover, closed-loop stability is ensured at every iteration of the co-design procedure by embedding a recursive admissibility verification that combines two complementary Lyapunov conditions. The effectiveness of the proposed method is demonstrated through an example of a load positioning system.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2561-2566"},"PeriodicalIF":2.0,"publicationDate":"2025-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11260446","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145612065","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-19DOI: 10.1109/LCSYS.2025.3634944
Georgiy A. Bondar;Abhishek Halder
The Multimarginal Schrödinger Bridge (MSB) finds the optimal coupling among a collection of random vectors with known statistics and a known correlation structure. In the MSB formulation, this correlation structure is specified a priori as an undirected connected graph with measure-valued vertices. In this letter, we formulate and solve the problem of finding the optimal MSB in the sense we seek the optimal coupling over all possible graph structures. We find that computing the optimal MSB amounts to solving the minimum spanning tree problem over measure-valued vertices. We show that the resulting problem can be solved in two steps. The first step constructs a complete graph with edge weight equal to a sum of the optimal value of the corresponding bimarginal SB and the entropies of the endpoints. The second step solves a minimum spanning tree problem over that weighted graph. Numerical experiments illustrate the proposed solution.
{"title":"Optimal Multimarginal Schrödinger Bridge: Minimum Spanning Tree Over Measure-Valued Vertices","authors":"Georgiy A. Bondar;Abhishek Halder","doi":"10.1109/LCSYS.2025.3634944","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3634944","url":null,"abstract":"The Multimarginal Schrödinger Bridge (MSB) finds the optimal coupling among a collection of random vectors with known statistics and a known correlation structure. In the MSB formulation, this correlation structure is specified a priori as an undirected connected graph with measure-valued vertices. In this letter, we formulate and solve the problem of finding the optimal MSB in the sense we seek the optimal coupling over all possible graph structures. We find that computing the optimal MSB amounts to solving the minimum spanning tree problem over measure-valued vertices. We show that the resulting problem can be solved in two steps. The first step constructs a complete graph with edge weight equal to a sum of the optimal value of the corresponding bimarginal SB and the entropies of the endpoints. The second step solves a minimum spanning tree problem over that weighted graph. Numerical experiments illustrate the proposed solution.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2555-2560"},"PeriodicalIF":2.0,"publicationDate":"2025-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145612053","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-19DOI: 10.1109/LCSYS.2025.3635516
Hanfeng Li;Min Li
The primary objective of this letter is to develop an adaptive output feedback quantized control scheme for strict-feedback nonlinear systems. Three technical challenges must be overcome in addressing this problem. First, it is necessary to compensate for the unknown parameter associated with sensor failures, but the existing compensating method is applicable only within the backstepping framework, which complicates the overall design process. Second, sensor failures lead to only corrupted output being available and prevent the observer and controller from utilizing the true system output. Third, the nature of input quantization renders the actual controller discontinuous, which unavoidably introduces an undesirable quantization error and thus poses a challenge in mitigating its effect. To circumvent these difficulties, this letter establishes a new compensation scheme and a transformation of the control signal to address the effects of sensor failures and input quantization. A concise dynamic gain approach is proposed to construct a novel adaptive observer by using only the corrupted output signal. It is shown that, with the derived output feedback quantized controller, all closed-loop signals are bounded and the tracking error converges to an adjustable region. Two simulation examples are presented to demonstrate the effectiveness of the proposed scheme.
{"title":"Output Feedback Quantized Tracking Control for a Class of Nonlinear Systems With Sensor Failures","authors":"Hanfeng Li;Min Li","doi":"10.1109/LCSYS.2025.3635516","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3635516","url":null,"abstract":"The primary objective of this letter is to develop an adaptive output feedback quantized control scheme for strict-feedback nonlinear systems. Three technical challenges must be overcome in addressing this problem. First, it is necessary to compensate for the unknown parameter associated with sensor failures, but the existing compensating method is applicable only within the backstepping framework, which complicates the overall design process. Second, sensor failures lead to only corrupted output being available and prevent the observer and controller from utilizing the true system output. Third, the nature of input quantization renders the actual controller discontinuous, which unavoidably introduces an undesirable quantization error and thus poses a challenge in mitigating its effect. To circumvent these difficulties, this letter establishes a new compensation scheme and a transformation of the control signal to address the effects of sensor failures and input quantization. A concise dynamic gain approach is proposed to construct a novel adaptive observer by using only the corrupted output signal. It is shown that, with the derived output feedback quantized controller, all closed-loop signals are bounded and the tracking error converges to an adjustable region. Two simulation examples are presented to demonstrate the effectiveness of the proposed scheme.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2573-2578"},"PeriodicalIF":2.0,"publicationDate":"2025-11-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145612070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-17DOI: 10.1109/LCSYS.2025.3633369
S. Akbari;S. Galeani;G. Manca;M. Sassano
The objective of this letter is to develop a dynamic control allocation framework for nonlinear systems subject to periodic exogenous signals. The proposed approach combines gradient-based optimization with parameter-dependent sensitivity dynamics, enabling an extension of control allocation beyond conventional strategies, tailored to constant references and instantaneous costs; this methodology systematically addresses periodic reference trajectories and integral cost functionals, while preserving the desirable property of output invisibility, similarly to the linear settings. The proposed technique is implemented and validated on a nonlinear mechanical system.
{"title":"Dynamic Control Allocation for Nonlinear Systems via a Sensitivity Approach","authors":"S. Akbari;S. Galeani;G. Manca;M. Sassano","doi":"10.1109/LCSYS.2025.3633369","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3633369","url":null,"abstract":"The objective of this letter is to develop a dynamic control allocation framework for nonlinear systems subject to periodic exogenous signals. The proposed approach combines gradient-based optimization with parameter-dependent sensitivity dynamics, enabling an extension of control allocation beyond conventional strategies, tailored to constant references and instantaneous costs; this methodology systematically addresses periodic reference trajectories and integral cost functionals, while preserving the desirable property of output invisibility, similarly to the linear settings. The proposed technique is implemented and validated on a nonlinear mechanical system.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2549-2554"},"PeriodicalIF":2.0,"publicationDate":"2025-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145560765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This letter presents a robust backstepping type controller formulation for the position tracking control of engineering systems actuated via electro-hydraulic actuators (EHAs). Specifically, a robust controller that does not require accurate knowledge of the system parameters and uses only position measurements is proposed. A filtered based approach is applied to remove the velocity dependency of the controller formulation. Stability of the closed loop system and the uniform boundedness of the tracking error signals are ensured via Lyapunov based arguments. The overall performance of the proposed method is illustrated, initially through physics-based MATLAB/Simscape studies, and then experimentally on a 1 degree of freedom (dof) EHA test-bed and a 2 dof robotic arm.
{"title":"Robust Position Tracking Control of Electro-Hydraulic Actuators: Elimination of Velocity Measurements","authors":"Sule Taskingollu;Alper Bayrak;Erman Selim;Enver Tatlicioglu;Erkan Zergeroglu","doi":"10.1109/LCSYS.2025.3633925","DOIUrl":"https://doi.org/10.1109/LCSYS.2025.3633925","url":null,"abstract":"This letter presents a robust backstepping type controller formulation for the position tracking control of engineering systems actuated via electro-hydraulic actuators (EHAs). Specifically, a robust controller that does not require accurate knowledge of the system parameters and uses only position measurements is proposed. A filtered based approach is applied to remove the velocity dependency of the controller formulation. Stability of the closed loop system and the uniform boundedness of the tracking error signals are ensured via Lyapunov based arguments. The overall performance of the proposed method is illustrated, initially through physics-based MATLAB/Simscape studies, and then experimentally on a 1 degree of freedom (dof) EHA test-bed and a 2 dof robotic arm.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"9 ","pages":"2543-2548"},"PeriodicalIF":2.0,"publicationDate":"2025-11-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145560764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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