Pub Date : 2026-05-01Epub Date: 2026-02-02DOI: 10.1016/j.ejcon.2026.101468
Bicheng Cai , Peiji Wang , Chengfei Yue , Yunhai Geng , Yong Zhao
This paper proposes an online Data-driven Integral Parameterized Predictive Control with Disturbance Compensation (DIP2C-DC) method to stabilize the attitude takeover system of a space combination after non-cooperative target capture. The combination is affected by systematic disturbances, and its dynamics parameters are unknown. The proposed DIP2C-DC consists of a Unified System Identification (USI) method and an Integral Parameterized Predictive Control (IP2C) method. The USI extends the Least Squares (LS) identification framework using Koopman operators, to address the challenges posed by the nonlinear nature of the attitude system and its exposure to systematic disturbances. The IP2C parameterizes the control input increment and calculates the control input by solving a Quadratic Programming (QP) problem, to reduce the degree of control input chattering caused by identification errors. The estimated disturbance is also considered in the cost function, providing the disturbance rejection ability. Simulations validate the effectiveness of DIP2C-DC.
{"title":"Data-driven integral parameterized predictive control with disturbance compensation for space combination attitude takeover after capture","authors":"Bicheng Cai , Peiji Wang , Chengfei Yue , Yunhai Geng , Yong Zhao","doi":"10.1016/j.ejcon.2026.101468","DOIUrl":"10.1016/j.ejcon.2026.101468","url":null,"abstract":"<div><div>This paper proposes an online Data-driven Integral Parameterized Predictive Control with Disturbance Compensation (DIP<sup>2</sup>C-DC) method to stabilize the attitude takeover system of a space combination after non-cooperative target capture. The combination is affected by systematic disturbances, and its dynamics parameters are unknown. The proposed DIP<sup>2</sup>C-DC consists of a Unified System Identification (USI) method and an Integral Parameterized Predictive Control (IP<sup>2</sup>C) method. The USI extends the Least Squares (LS) identification framework using Koopman operators, to address the challenges posed by the nonlinear nature of the attitude system and its exposure to systematic disturbances. The IP<sup>2</sup>C parameterizes the control input increment and calculates the control input by solving a Quadratic Programming (QP) problem, to reduce the degree of control input chattering caused by identification errors. The estimated disturbance is also considered in the cost function, providing the disturbance rejection ability. Simulations validate the effectiveness of DIP<sup>2</sup>C-DC.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"89 ","pages":"Article 101468"},"PeriodicalIF":2.6,"publicationDate":"2026-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147387936","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}
Pub Date : 2026-03-01Epub Date: 2025-12-25DOI: 10.1016/j.ejcon.2025.101440
Harsh Oza , Irinel-Constantin Morărescu , Vineeth S. Varma , Ravi Banavar
In this article, we study a Networked Control System (NCS) with multiplexed communication and Bernoulli packet drops. Multiplexed communication refers to the constraint that transmission of a control signal and an observation signal cannot occur simultaneously due to the limited bandwidth. First, we propose an ε-greedy algorithm for the selection of the communication sequence that also ensures Mean Square Stability (MSS). We formulate the system as a Markovian Jump Linear System (MJLS) and provide the necessary conditions for MSS in terms of Linear Matrix Inequalities (LMIs) that need to be satisfied for three corner cases. We prove that the system is MSS for any convex combination of these three corner cases. We validate our approach with a numerical example that shows the effectiveness of our method.
{"title":"Stability of multiplexed NCS based on an epsilon-greedy algorithm for communication selection","authors":"Harsh Oza , Irinel-Constantin Morărescu , Vineeth S. Varma , Ravi Banavar","doi":"10.1016/j.ejcon.2025.101440","DOIUrl":"10.1016/j.ejcon.2025.101440","url":null,"abstract":"<div><div>In this article, we study a Networked Control System (NCS) with multiplexed communication and Bernoulli packet drops. Multiplexed communication refers to the constraint that transmission of a control signal and an observation signal cannot occur simultaneously due to the limited bandwidth. First, we propose an ε-greedy algorithm for the selection of the communication sequence that also ensures Mean Square Stability (MSS). We formulate the system as a Markovian Jump Linear System (MJLS) and provide the necessary conditions for MSS in terms of Linear Matrix Inequalities (LMIs) that need to be satisfied for three corner cases. We prove that the system is MSS for any convex combination of these three corner cases. We validate our approach with a numerical example that shows the effectiveness of our method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101440"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145908889","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}
Pub Date : 2026-03-01Epub Date: 2026-02-03DOI: 10.1016/j.ejcon.2026.101469
Gang Huang , Yuhan Zhang , Jinhua She , Xinyi Shi , Mingcan Zhang , Bolong Liu
Permanent magnet synchronous motor (PMSM) drive system is widely used in various industrial fields. However, parameter mismatches and multiple load torque disturbances inevitably reduce the tracking accuracy of the system. This paper presents a model-free finite-time sliding-mode robust control approach with a hybrid cascaded extended state observer (HCESO) for a PMSM drive system. An ultra-local model of the system speed loop is first constructed. Then, a model-free finite-time sliding-mode controller (MFFTSMC) is designed. Moreover, a HCESO is developed to decompose the lumped disturbance into main and residual components without requiring complex computations, then estimates them separately using observers with distinct characteristics. Compared to the existing single-observer disturbance rejection architectures, this design preserves algorithmic simplicity while reducing the estimation burden on individual observers. By estimating and compensating for residual disturbances, it significantly enhances the accuracy of lumped disturbance estimation. This improves the system’s robustness and control accuracy under severe operating conditions. The closed-loop stability is rigorously proven in the uniformly ultimately bounded stability (UUBS) sense through Lyapunov analysis. Finally, simulation and experiment verify the validity of the method by in comparison with other methods under multiple external disturbances and composite parameter mismatches.
{"title":"An improved model-free approach for PMSM drive with multi-parameter mismatch and external disturbances","authors":"Gang Huang , Yuhan Zhang , Jinhua She , Xinyi Shi , Mingcan Zhang , Bolong Liu","doi":"10.1016/j.ejcon.2026.101469","DOIUrl":"10.1016/j.ejcon.2026.101469","url":null,"abstract":"<div><div>Permanent magnet synchronous motor (PMSM) drive system is widely used in various industrial fields. However, parameter mismatches and multiple load torque disturbances inevitably reduce the tracking accuracy of the system. This paper presents a model-free finite-time sliding-mode robust control approach with a hybrid cascaded extended state observer (HCESO) for a PMSM drive system. An ultra-local model of the system speed loop is first constructed. Then, a model-free finite-time sliding-mode controller (MFFTSMC) is designed. Moreover, a HCESO is developed to decompose the lumped disturbance into main and residual components without requiring complex computations, then estimates them separately using observers with distinct characteristics. Compared to the existing single-observer disturbance rejection architectures, this design preserves algorithmic simplicity while reducing the estimation burden on individual observers. By estimating and compensating for residual disturbances, it significantly enhances the accuracy of lumped disturbance estimation. This improves the system’s robustness and control accuracy under severe operating conditions. The closed-loop stability is rigorously proven in the uniformly ultimately bounded stability (UUBS) sense through Lyapunov analysis. Finally, simulation and experiment verify the validity of the method by in comparison with other methods under multiple external disturbances and composite parameter mismatches.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101469"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146188767","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}
Pub Date : 2026-03-01Epub Date: 2026-02-06DOI: 10.1016/j.ejcon.2026.101471
Abdullah Alshaya
A new command-shaping technique for vibration control is proposed to command a time-variant system from a known initial state to a predefined target state without inducing residual vibration and independently of the time-varying system parameters. Shaped commands based on equally-spaced steps, monomial functions, and Fourier basis are constructed to satisfy predefined system constraints and input targets while accommodating the parameter variations during the maneuver. Unlike classical input shapers with fixed duration, the proposed method features an adjustable maneuver time that enables a balance between motion speed and transient vibration reduction. The shaped commands are obtained by solving simultaneous linear equations without the need for optimization. The proposed formulations are compared with robust classical shapers and validated numerically and experimentally on a pendulum system with linear and nonlinear hoisting/lowering maneuvers. The added time penalty associated with using smooth robust shaped inputs is negligible relative to the significant reduction in transient vibrations, the complete suppression of residual vibrations, and the improved robustness under parameter uncertainties.
{"title":"Command shaping control with robustness and smoothness adjustability for time-variant systems","authors":"Abdullah Alshaya","doi":"10.1016/j.ejcon.2026.101471","DOIUrl":"10.1016/j.ejcon.2026.101471","url":null,"abstract":"<div><div>A new command-shaping technique for vibration control is proposed to command a time-variant system from a known initial state to a predefined target state without inducing residual vibration and independently of the time-varying system parameters. Shaped commands based on equally-spaced steps, monomial functions, and Fourier basis are constructed to satisfy predefined system constraints and input targets while accommodating the parameter variations during the maneuver. Unlike classical input shapers with fixed duration, the proposed method features an adjustable maneuver time that enables a balance between motion speed and transient vibration reduction. The shaped commands are obtained by solving simultaneous linear equations without the need for optimization. The proposed formulations are compared with robust classical shapers and validated numerically and experimentally on a pendulum system with linear and nonlinear hoisting/lowering maneuvers. The added time penalty associated with using smooth robust shaped inputs is negligible relative to the significant reduction in transient vibrations, the complete suppression of residual vibrations, and the improved robustness under parameter uncertainties.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101471"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146188770","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}
Pub Date : 2026-03-01Epub Date: 2026-01-29DOI: 10.1016/j.ejcon.2026.101466
Moises Luna , Pedro Gasga , Samuel Gómez-Peñate , Guillermo Valencia-Palomo , Gloria-Lilia Osorio-Gordillo
Unknown inputs are common in mecanum-wheeled omnidirectional mobile robots (MWOMRs). They can manifest as a fault due to loss of efficiency in the actuators, disturbances, or model uncertainty due to wheel slipping. Therefore, this paper proposes a novel methodology for robust estimation of model uncertainty and actuator faults. This methodology is applied to the dynamic nonlinear model of the MWOMR, which is represented by a convex quasi-linear parameter varying (qLPV) system using the sector nonlinearity modeling approach. On the other hand, coupled actuators present in MWOMRs directly affect fault estimation. To address this issue, the efficiency loss can be isolated using an incidence table. Additionally, the problem is transformed into obtaining an augmented descriptor system that enables the design of a convex qLPV unknown input observer capable of effectively estimating the augmented state vector. To address robustness against disturbances and sensor noise, a performance criterion is considered. The stability condition is established using a candidate Lyapunov function, which provides sufficient conditions expressed in linear matrix inequalities (LMIs). Finally, the results are evaluated through simulations to demonstrate the efficacy of the proposed methodology.
{"title":"Robust unknown input estimation for a mecanum-wheels omnidirectional mobile robot modeled as a convex qLPV system","authors":"Moises Luna , Pedro Gasga , Samuel Gómez-Peñate , Guillermo Valencia-Palomo , Gloria-Lilia Osorio-Gordillo","doi":"10.1016/j.ejcon.2026.101466","DOIUrl":"10.1016/j.ejcon.2026.101466","url":null,"abstract":"<div><div>Unknown inputs are common in mecanum-wheeled omnidirectional mobile robots (MWOMRs). They can manifest as a fault due to loss of efficiency in the actuators, disturbances, or model uncertainty due to wheel slipping. Therefore, this paper proposes a novel methodology for robust estimation of model uncertainty and actuator faults. This methodology is applied to the dynamic nonlinear model of the MWOMR, which is represented by a convex quasi-linear parameter varying (qLPV) system using the sector nonlinearity modeling approach. On the other hand, coupled actuators present in MWOMRs directly affect fault estimation. To address this issue, the efficiency loss can be isolated using an incidence table. Additionally, the problem is transformed into obtaining an augmented descriptor system that enables the design of a convex qLPV unknown input observer capable of effectively estimating the augmented state vector. To address robustness against disturbances and sensor noise, a <span><math><msub><mi>H</mi><mi>∞</mi></msub></math></span> performance criterion is considered. The stability condition is established using a candidate Lyapunov function, which provides sufficient conditions expressed in linear matrix inequalities (LMIs). Finally, the results are evaluated through simulations to demonstrate the efficacy of the proposed methodology.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101466"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146188766","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}
One of the main contributions of the present article is to provide some sufficient conditions for fixed-time stability (FXTS) of nonlinear dynamical systems and the superiority of the proposed conditions over several such conditions already available in the literature. In this respect, a theorem on FXTS is established, and an estimation of the settling time is provided. Furthermore, additional generalized forms are investigated to improve the application of the proposed results. The present results are further applied to a secure communication system to achieve fixed-time synchronization of master-slave system. In secure communication, to prevent data loss or distortion of the transmitted message, it is essential to effectively reject disturbances and uncertainties. In order to address this issue and achieve robust synchronization in the presence of channel noise, a sliding mode control scheme is developed in the present work. The proposed not only guarantees that the synchronization error converges to zero in fixed time but also provides strong disturbance rejection capability. In this respect, some non-singular terminal sliding surfaces and corresponding controllers are designed. At last, some numerical simulations are provided to verify the theoretical results.
{"title":"On optimal fixed time stability: Its application in secure communication using sliding mode control","authors":"Rajesh Kushwah, Arnab Mapui, Santwana Mukhopadhyay","doi":"10.1016/j.ejcon.2026.101467","DOIUrl":"10.1016/j.ejcon.2026.101467","url":null,"abstract":"<div><div>One of the main contributions of the present article is to provide some sufficient conditions for fixed-time stability (<em>FX<sub>T</sub>S</em>) of nonlinear dynamical systems and the superiority of the proposed conditions over several such conditions already available in the literature. In this respect, a theorem on <em>FX<sub>T</sub>S</em> is established, and an estimation of the settling time is provided. Furthermore, additional generalized forms are investigated to improve the application of the proposed results. The present results are further applied to a secure communication system to achieve fixed-time synchronization of master-slave system. In secure communication, to prevent data loss or distortion of the transmitted message, it is essential to effectively reject disturbances and uncertainties. In order to address this issue and achieve robust synchronization in the presence of channel noise, a sliding mode control scheme is developed in the present work. The proposed <span><math><mi>SMC</mi></math></span> not only guarantees that the synchronization error converges to zero in fixed time but also provides strong disturbance rejection capability. In this respect, some non-singular terminal sliding surfaces <span><math><mrow><mo>(</mo><mi>NSTSS</mi><mo>)</mo></mrow></math></span> and corresponding controllers are designed. At last, some numerical simulations are provided to verify the theoretical results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101467"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146188769","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}
Pub Date : 2026-03-01Epub Date: 2026-02-09DOI: 10.1016/j.ejcon.2026.101472
Nguyen Khoa Son, Nguyen Thi Hong
This paper presents novel stability results for a class of nonlinear time-varying coupled delay differential-difference (CDD) systems with sector-type nonlinearities. Using the comparison method for positive systems and suitably constructed Lyapunov-Krasovskii functionals, we derive explicit criteria for both asymptotic and exponential stability of the system’s zero solution. When applied to the class of time-invariant switched CDD systems, these results lead to verifiable stability conditions that both encompass and improve upon previously obtained ones. The proposed framework is further applied to establish new stability results for time-varying neutral-type delay systems with sector-type nonlinearities, as well as for time-varying Lurie systems with nonlinear output feedback controls. The effectiveness of the approach is illustrated through numerical examples.
{"title":"Stability analysis of a class of coupled time-varying differential-difference systems with time-delay and sector-type nonlinearities","authors":"Nguyen Khoa Son, Nguyen Thi Hong","doi":"10.1016/j.ejcon.2026.101472","DOIUrl":"10.1016/j.ejcon.2026.101472","url":null,"abstract":"<div><div>This paper presents novel stability results for a class of nonlinear time-varying coupled delay differential-difference (CDD) systems with sector-type nonlinearities. Using the comparison method for positive systems and suitably constructed Lyapunov-Krasovskii functionals, we derive explicit criteria for both asymptotic and exponential stability of the system’s zero solution. When applied to the class of time-invariant switched CDD systems, these results lead to verifiable stability conditions that both encompass and improve upon previously obtained ones. The proposed framework is further applied to establish new stability results for time-varying neutral-type delay systems with sector-type nonlinearities, as well as for time-varying Lurie systems with nonlinear output feedback controls. The effectiveness of the approach is illustrated through numerical examples.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101472"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147397714","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}
Pub Date : 2026-03-01Epub Date: 2026-01-11DOI: 10.1016/j.ejcon.2026.101448
Mingde Liu , Liang Zhang , Li Ma , Ning Zhao , Yongchao Liu
This paper focuses on reachable set control for nonlinear systems. In response to the problems of traditional reachable set research methods in dealing with nonlinear systems, such as the high consumption of computational resources and difficulty in dealing with unknown parameters and nonlinear terms. An adaptive reachable set controller is devised in this paper to address the nonlinear effects efficiently. In addition, to reduce unnecessary consumption of communication resources, an adaptive event-triggered strategy is proposed. Meanwhile, this paper discretizes the control law to avoid the complexity explosion problem. Finally, the correctness of the theory is verified through numerical examples.
{"title":"Adaptive event-triggered control of reachable set for nonlinear systems","authors":"Mingde Liu , Liang Zhang , Li Ma , Ning Zhao , Yongchao Liu","doi":"10.1016/j.ejcon.2026.101448","DOIUrl":"10.1016/j.ejcon.2026.101448","url":null,"abstract":"<div><div>This paper focuses on reachable set control for nonlinear systems. In response to the problems of traditional reachable set research methods in dealing with nonlinear systems, such as the high consumption of computational resources and difficulty in dealing with unknown parameters and nonlinear terms. An adaptive reachable set controller is devised in this paper to address the nonlinear effects efficiently. In addition, to reduce unnecessary consumption of communication resources, an adaptive event-triggered strategy is proposed. Meanwhile, this paper discretizes the control law to avoid the complexity explosion problem. Finally, the correctness of the theory is verified through numerical examples.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101448"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145980920","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}
Pub Date : 2026-03-01Epub Date: 2026-01-17DOI: 10.1016/j.ejcon.2026.101464
Subhasish Mahapatra , Atanu Panda , Siddhartha Vadapalli , Rames C. Panda
The hydrodynamics of an autonomous underwater vehicle (AUV) is an extremely intricate and multidimensional problem. The dynamic interaction between orientation change and the consequent shift in hydrodynamic forces exerts substantial effects on AUV’s stabilization and steering efficacy. Furthermore, a malfunctioning sensor/actuator leads to unexpected outcomes when executing steering maneuvers. A nonlinear model predictive control (NMPC) scheme incorporated with the observer was proposed in this work for the AUV to perform steering maneuvers. A two-stage high-degree cubature information filter is aimed at accurately tracking sensor/actuator faultiness, undetermined hydrodynamical parameters, and uncertain perturbations. Using the observed AUV state/parameters, a predictive control strategy for the anti-disturbance model has been devised. This research has extensively examined multiple types of real-world situations involving the impact of ocean currents, parametric sensitivity, and repercussions of sensor/actuator faults. A variety of indices, including mean square deviation (improvement of 5.36%) and root mean square error (improvement of 6.29%), are assessed using the proposed control framework and contrasted with the standard form of nonlinear model predictive controller to identify its efficacy and acceptance on the depth tracking scheme.
{"title":"Multi-stage cubature information filter based nonlinear model predictive scheme for steering control of an autonomous underwater vehicle under sensor/actuator failure","authors":"Subhasish Mahapatra , Atanu Panda , Siddhartha Vadapalli , Rames C. Panda","doi":"10.1016/j.ejcon.2026.101464","DOIUrl":"10.1016/j.ejcon.2026.101464","url":null,"abstract":"<div><div>The hydrodynamics of an autonomous underwater vehicle (AUV) is an extremely intricate and multidimensional problem. The dynamic interaction between orientation change and the consequent shift in hydrodynamic forces exerts substantial effects on AUV’s stabilization and steering efficacy. Furthermore, a malfunctioning sensor/actuator leads to unexpected outcomes when executing steering maneuvers. A nonlinear model predictive control (NMPC) scheme incorporated with the observer was proposed in this work for the AUV to perform steering maneuvers. A two-stage high-degree cubature information filter is aimed at accurately tracking sensor/actuator faultiness, undetermined hydrodynamical parameters, and uncertain perturbations. Using the observed AUV state/parameters, a predictive control strategy for the anti-disturbance model has been devised. This research has extensively examined multiple types of real-world situations involving the impact of ocean currents, parametric sensitivity, and repercussions of sensor/actuator faults. A variety of indices, including mean square deviation (improvement of 5.36%) and root mean square error (improvement of 6.29%), are assessed using the proposed control framework and contrasted with the standard form of nonlinear model predictive controller to identify its efficacy and acceptance on the depth tracking scheme.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101464"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146079374","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}
Pub Date : 2026-03-01Epub Date: 2026-01-03DOI: 10.1016/j.ejcon.2025.101441
Jin Jin , Jiuan Gao , Miao Zhao , Jianxiang Xi , Ning Cai
The adversarial multi-quadrotor system seriously threatens the safety of civilian and military facilities, but the research about the countermeasure of a multi-quadrotor system has less results and is still open. This paper investigates directional eviction for a multi-quadrotor system with dual leaders by the state deception attack, where dual leaders are usually applied to enhance the robustness against the leader loss. Based on a canonical and common strategy for a multi-quadrotor system to realize distributed formation tracking, a new directional eviction strategy is proposed to make multiple quadrotors fly away from a protected objective instead of destroying them. Then, a sufficient condition for a multi-quadrotor system to be directionally evicted is proposed, where a constraint on a fictitious formation center function is only required, but no constraint about the communication topology and the intrinsic dynamics of a quadrotor is needed. Moreover, the motion trajectory of the attacked leader is determined and it is shown that the whole formation is separated into two parts, where all quadrotors except the attacked leader maintain the original formation and fly along the trajectory of the fictitious formation center function and the attacked leader may fly away from the other quadrotors. Finally, a flight experiment is implemented to directionally evict a multi-quadrotor system with two leaders and three following quadrotors.
{"title":"Directional eviction for multi-quadrotor system with dual leaders by state deception strategy","authors":"Jin Jin , Jiuan Gao , Miao Zhao , Jianxiang Xi , Ning Cai","doi":"10.1016/j.ejcon.2025.101441","DOIUrl":"10.1016/j.ejcon.2025.101441","url":null,"abstract":"<div><div>The adversarial multi-quadrotor system seriously threatens the safety of civilian and military facilities, but the research about the countermeasure of a multi-quadrotor system has less results and is still open. This paper investigates directional eviction for a multi-quadrotor system with dual leaders by the state deception attack, where dual leaders are usually applied to enhance the robustness against the leader loss. Based on a canonical and common strategy for a multi-quadrotor system to realize distributed formation tracking, a new directional eviction strategy is proposed to make multiple quadrotors fly away from a protected objective instead of destroying them. Then, a sufficient condition for a multi-quadrotor system to be directionally evicted is proposed, where a constraint on a fictitious formation center function is only required, but no constraint about the communication topology and the intrinsic dynamics of a quadrotor is needed. Moreover, the motion trajectory of the attacked leader is determined and it is shown that the whole formation is separated into two parts, where all quadrotors except the attacked leader maintain the original formation and fly along the trajectory of the fictitious formation center function and the attacked leader may fly away from the other quadrotors. Finally, a flight experiment is implemented to directionally evict a multi-quadrotor system with two leaders and three following quadrotors.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"88 ","pages":"Article 101441"},"PeriodicalIF":2.6,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145928778","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}
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