Pub Date : 2025-02-11DOI: 10.1016/j.ejcon.2025.101199
Eduardo S. Saraiva , Lorenzo Govoni , Aurélio T. Salton , Jeferson V. Flores , Andrea Cristofaro
The nonlinear dynamics and uncertainties of robotic manipulators necessitate advanced control strategies to ensure precise output regulation under challenging conditions. This paper compares three control methodologies: Computed Torque Control (CTC), Sliding Mode Control (SMC), and an Internal Model-Based Approach (IMB) with Differential-Algebraic Representation. Experimental validation on the KUKA LWR IV+ robotic manipulator highlights differences in their performance across scenarios involving varying payloads and modeling inaccuracies. The analysis emphasizes the trade-offs among control effort, error convergence, and robustness, offering insights into the suitability of each approach depending on the application’s requirements.
{"title":"Practical output regulation of robotic manipulators: A comparison study","authors":"Eduardo S. Saraiva , Lorenzo Govoni , Aurélio T. Salton , Jeferson V. Flores , Andrea Cristofaro","doi":"10.1016/j.ejcon.2025.101199","DOIUrl":"10.1016/j.ejcon.2025.101199","url":null,"abstract":"<div><div>The nonlinear dynamics and uncertainties of robotic manipulators necessitate advanced control strategies to ensure precise output regulation under challenging conditions. This paper compares three control methodologies: Computed Torque Control (CTC), Sliding Mode Control (SMC), and an Internal Model-Based Approach (IMB) with Differential-Algebraic Representation. Experimental validation on the KUKA LWR IV+ robotic manipulator highlights differences in their performance across scenarios involving varying payloads and modeling inaccuracies. The analysis emphasizes the trade-offs among control effort, error convergence, and robustness, offering insights into the suitability of each approach depending on the application’s requirements.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101199"},"PeriodicalIF":2.5,"publicationDate":"2025-02-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143395885","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 : 2025-02-10DOI: 10.1016/j.ejcon.2025.101201
Lin Chen , Yongwei Zhang , Pan Yang , Xiaoyan Jin
This paper develops an event-triggered drug dosage control strategy for immune systems with state and input constraints via safe integral reinforcement learning. By developing a novel performance index function with control barrier function included, the state and control input can be constrained within specified ranges, that is, the number of cells and the dosage of the drug can be maintained within the appropriate range, which ensures the safety of the immune system. Subsequently, the drug dosage control strategy is designed under the event-triggered mechanism, which means that it is updated only when necessary instead of periodically adjusted over time, effectively reducing the number of drug dosage control strategy adjustment and saving computational resources. Moreover, a single critic neural network structure is established to attain an approximate event-triggered drug dosage control strategy. Theoretical analysis shows that under the developed novel event-triggered condition, the approximate event-triggered drug dosage control strategy ensures the tracking error is uniformly ultimately bounded. Ultimately, the simulation experiments confirm the effectiveness of the proposed safe integral reinforcement learning based event-triggered drug dosage control strategy. Note that this drug dosage control strategy can adjust the quantities of pathogens and immune cells to the desired levels with minimal drug costs, achieving precise treatment while reducing drug side effects.
{"title":"Event-triggered drug dosage control strategy of immune systems via safe integral reinforcement learning","authors":"Lin Chen , Yongwei Zhang , Pan Yang , Xiaoyan Jin","doi":"10.1016/j.ejcon.2025.101201","DOIUrl":"10.1016/j.ejcon.2025.101201","url":null,"abstract":"<div><div>This paper develops an event-triggered drug dosage control strategy for immune systems with state and input constraints via safe integral reinforcement learning. By developing a novel performance index function with control barrier function included, the state and control input can be constrained within specified ranges, that is, the number of cells and the dosage of the drug can be maintained within the appropriate range, which ensures the safety of the immune system. Subsequently, the drug dosage control strategy is designed under the event-triggered mechanism, which means that it is updated only when necessary instead of periodically adjusted over time, effectively reducing the number of drug dosage control strategy adjustment and saving computational resources. Moreover, a single critic neural network structure is established to attain an approximate event-triggered drug dosage control strategy. Theoretical analysis shows that under the developed novel event-triggered condition, the approximate event-triggered drug dosage control strategy ensures the tracking error is uniformly ultimately bounded. Ultimately, the simulation experiments confirm the effectiveness of the proposed safe integral reinforcement learning based event-triggered drug dosage control strategy. Note that this drug dosage control strategy can adjust the quantities of pathogens and immune cells to the desired levels with minimal drug costs, achieving precise treatment while reducing drug side effects.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101201"},"PeriodicalIF":2.5,"publicationDate":"2025-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143402032","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 : 2025-02-10DOI: 10.1016/j.ejcon.2025.101200
Cyprien Tamekue , Islam Boussaada , Karim Trabelsi
This paper presents a control-oriented delay-based modeling approach for the exponential stabilization of a scalar neutral functional differential equation, which is then applied to the local exponential stabilization of a one-layer neural network of Hopfield type with delayed feedback. The proposed approach utilizes a recently developed partial pole placement method for linear functional differential equations, leveraging the coexistence of real spectral values to explicitly prescribe the exponential decay of the closed-loop solution. While a delayed proportional (P) feedback control may achieve stabilization, it requires higher gains and only allows for a shorter maximum delay compared to the proportional-derivative (PD) feedback control presented in this work. The framework provides a practical illustration of the stabilization strategy, improving upon previous literature results that characterize the solution’s exponential decay for simple real spectral values. This approach enhances neural stability in cases where the inherent dynamics are stable and offers a method to achieve local exponential stabilization with a prescribed decay rate when the inherent dynamics are unstable.
{"title":"Prescribed exponential stabilization of scalar neutral differential equations: Application to neural control","authors":"Cyprien Tamekue , Islam Boussaada , Karim Trabelsi","doi":"10.1016/j.ejcon.2025.101200","DOIUrl":"10.1016/j.ejcon.2025.101200","url":null,"abstract":"<div><div>This paper presents a control-oriented delay-based modeling approach for the exponential stabilization of a scalar neutral functional differential equation, which is then applied to the local exponential stabilization of a one-layer neural network of Hopfield type with delayed feedback. The proposed approach utilizes a recently developed partial pole placement method for linear functional differential equations, leveraging the coexistence of real spectral values to explicitly prescribe the exponential decay of the closed-loop solution. While a delayed proportional (P) feedback control may achieve stabilization, it requires higher gains and only allows for a shorter maximum delay compared to the proportional-derivative (PD) feedback control presented in this work. The framework provides a practical illustration of the stabilization strategy, improving upon previous literature results that characterize the solution’s exponential decay for simple real spectral values. This approach enhances neural stability in cases where the inherent dynamics are stable and offers a method to achieve local exponential stabilization with a prescribed decay rate when the inherent dynamics are unstable.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"83 ","pages":"Article 101200"},"PeriodicalIF":2.5,"publicationDate":"2025-02-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143445206","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 : 2025-02-08DOI: 10.1016/j.ejcon.2025.101197
Tan Zhang, Jinzhong Zhang, Gang Zhang
In this investigation, a performance-guaranteed controller is created for surface vessel trajectory tracking in order to optimize the control system’s initial-state and stable-state features. First, an original high-order barrier functional is constructed to tackle the issue that the current integral barrier functional does not offer the necessary performance control. The prescribed performance function is subsequently revised based on the current one in order to change the rate of decline. It is easy to combine the enhanced prescribed performance function with the proposed barrier functional. Furthermore, the tracking controller for the surface vessel is built using the presented barrier functional, performance boundary function, and disturbance observer in order to preserve both initial-state and stable-state performances of the position error and address the effect of system uncertainty on control precision. It can be done to demonstrate that the position error stays inside the pre-set performance function and that all surface vessel errors could exponentially approach a nearby value of zero applying Lyapunov stability theory and supplied Theorem 1. Finally, a simulation experiment on a fully actuated marine vessel confirms the viability of the proposed approach to handle the performance-guaranteed tracking control by adjusting the value of various auxiliary parameters in the new barrier functional.
{"title":"Design of performance-guaranteed controller for trajectory tracking of surface vessels","authors":"Tan Zhang, Jinzhong Zhang, Gang Zhang","doi":"10.1016/j.ejcon.2025.101197","DOIUrl":"10.1016/j.ejcon.2025.101197","url":null,"abstract":"<div><div>In this investigation, a performance-guaranteed controller is created for surface vessel trajectory tracking in order to optimize the control system’s initial-state and stable-state features. First, an original high-order barrier functional is constructed to tackle the issue that the current integral barrier functional does not offer the necessary performance control. The prescribed performance function is subsequently revised based on the current one in order to change the rate of decline. It is easy to combine the enhanced prescribed performance function with the proposed barrier functional. Furthermore, the tracking controller for the surface vessel is built using the presented barrier functional, performance boundary function, and disturbance observer in order to preserve both initial-state and stable-state performances of the position error and address the effect of system uncertainty on control precision. It can be done to demonstrate that the position error stays inside the pre-set performance function and that all surface vessel errors could exponentially approach a nearby value of zero applying Lyapunov stability theory and supplied Theorem 1. Finally, a simulation experiment on a fully actuated marine vessel confirms the viability of the proposed approach to handle the performance-guaranteed tracking control by adjusting the value of various auxiliary parameters in the new barrier functional.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101197"},"PeriodicalIF":2.5,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143378590","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 : 2025-02-06DOI: 10.1016/j.ejcon.2025.101191
Wu Yang , Xing Zhang , Li-Mei Wei , Yan-Wu Wang , Xiao-Kang Liu
How to simultaneously avoid the chattering and overestimation phenomena in classical adaptive sliding mode control is interesting but challenging. In this paper, we investigate the tracking control issue for a class of nonlinear second-order system with external disturbances, in which the bound of external disturbances exists but is unknown. To solve issue, we introduce the so-called concave function and design a continuous nonsingular terminal sliding mode controller. We first show that both the sliding variable and tracking error can be regulated into an small vicinity of zero within finite time without overestimating the control gain and the unexpected chattering. We then validate the superiority of the proposed method in terms of dynamics, steady-state performance, and anti-interference capability through conducting simulation experiments on magnetic levitation system.
{"title":"Concave K∞ function-based adaptive tracking control of nonlinear second-order system","authors":"Wu Yang , Xing Zhang , Li-Mei Wei , Yan-Wu Wang , Xiao-Kang Liu","doi":"10.1016/j.ejcon.2025.101191","DOIUrl":"10.1016/j.ejcon.2025.101191","url":null,"abstract":"<div><div>How to simultaneously avoid the chattering and overestimation phenomena in classical adaptive sliding mode control is interesting but challenging. In this paper, we investigate the tracking control issue for a class of nonlinear second-order system with external disturbances, in which the bound of external disturbances exists but is unknown. To solve issue, we introduce the so-called concave <span><math><msub><mrow><mi>K</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> function and design a continuous nonsingular terminal sliding mode controller. We first show that both the sliding variable and tracking error can be regulated into an small vicinity of zero within finite time without overestimating the control gain and the unexpected chattering. We then validate the superiority of the proposed method in terms of dynamics, steady-state performance, and anti-interference capability through conducting simulation experiments on magnetic levitation system.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101191"},"PeriodicalIF":2.5,"publicationDate":"2025-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143358784","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 : 2025-02-06DOI: 10.1016/j.ejcon.2025.101195
Chuiliu Kong , Ying Wang
This paper considers an adaptive tracking control problem for stochastic regression systems with multi-threshold quantized observations. Different from the existing studies for periodic reference signals, the reference signals in this paper are non-periodic. The main difficulty is how to ensure that the designed controller satisfies the uniformly bounded and excitation conditions that guarantee the convergence of the estimation in the controller under non-periodic reference signals. This paper designs two backward-shifted polynomials with time-varying parameters and a special projection structure, which break through periodic limitations and establish the convergence and tracking properties. To be specific, the adaptive tracking control law can achieve asymptotically optimal tracking for the non-periodic reference signal in the mean square sense. Besides, the proposed estimation algorithm is proved to converge to the true values in almost sure and mean square sense, and the convergence speed can reach under suitable design of the quantized weight coefficients. Finally, the effectiveness of the proposed adaptive tracking control scheme is verified through a simulation.
{"title":"Adaptive tracking control for non-periodic reference signals under quantized observations","authors":"Chuiliu Kong , Ying Wang","doi":"10.1016/j.ejcon.2025.101195","DOIUrl":"10.1016/j.ejcon.2025.101195","url":null,"abstract":"<div><div>This paper considers an adaptive tracking control problem for stochastic regression systems with multi-threshold quantized observations. Different from the existing studies for periodic reference signals, the reference signals in this paper are non-periodic. The main difficulty is how to ensure that the designed controller satisfies the uniformly bounded and excitation conditions that guarantee the convergence of the estimation in the controller under non-periodic reference signals. This paper designs two backward-shifted polynomials with time-varying parameters and a special projection structure, which break through periodic limitations and establish the convergence and tracking properties. To be specific, the adaptive tracking control law can achieve asymptotically optimal tracking for the non-periodic reference signal in the mean square sense. Besides, the proposed estimation algorithm is proved to converge to the true values in almost sure and mean square sense, and the convergence speed can reach <span><math><mrow><mi>O</mi><mfenced><mrow><mfrac><mrow><mn>1</mn></mrow><mrow><mi>k</mi></mrow></mfrac></mrow></mfenced></mrow></math></span> under suitable design of the quantized weight coefficients. Finally, the effectiveness of the proposed adaptive tracking control scheme is verified through a simulation.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101195"},"PeriodicalIF":2.5,"publicationDate":"2025-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143428134","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 : 2025-02-05DOI: 10.1016/j.ejcon.2025.101192
David Vázquez , Daniel Quintana , Alan Tapia , Víctor Estrada-Manzo , Miguel Bernal
This report establishes that overcoming limitations on standard synthesis of sliding mode observers, namely, the rank and size requisites for output/perturbation decoupling and the number of transformations required, depends on avoiding linear nominal systems. This task is achieved by two local diffeomorphisms which transform the system into a flexible nonlinear nominal structure plus disturbances. Based on such decomposition, convex modelling and optimization is employed to design the continuous part of the observer while the discontinuous one is adequately chosen to guarantee sliding over a nonlinear output error surface. Examples, both academic and physical, that cannot be treated by the standard methodology, are presented to illustrate the advantages of the proposal.
{"title":"Convex handling of nonlinear nominal models can overcome limitations on sliding mode observer design","authors":"David Vázquez , Daniel Quintana , Alan Tapia , Víctor Estrada-Manzo , Miguel Bernal","doi":"10.1016/j.ejcon.2025.101192","DOIUrl":"10.1016/j.ejcon.2025.101192","url":null,"abstract":"<div><div>This report establishes that overcoming limitations on standard synthesis of sliding mode observers, namely, the rank and size requisites for output/perturbation decoupling and the number of transformations required, depends on avoiding linear nominal systems. This task is achieved by two local diffeomorphisms which transform the system into a flexible nonlinear nominal structure plus disturbances. Based on such decomposition, convex modelling and optimization is employed to design the continuous part of the observer while the discontinuous one is adequately chosen to guarantee sliding over a nonlinear output error surface. Examples, both academic and physical, that cannot be treated by the standard methodology, are presented to illustrate the advantages of the proposal.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101192"},"PeriodicalIF":2.5,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143350924","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 : 2025-02-05DOI: 10.1016/j.ejcon.2025.101190
Alexander Kilian , Bernhard Maschke , Andrii Mironchenko , Fabian Wirth
We consider two systems of two conservation laws that are defined on complementary, one-dimensional spatial intervals and coupled by an interface as a single port-Hamiltonian system. In case of a fixed interface position, we characterize the boundary and interface conditions for which the associated port-Hamiltonian operator generates a contraction semigroup. Furthermore, we present sufficient conditions for the exponential stability of the generated -semigroup. The results are illustrated by the example of two acoustic waveguides coupled by a membrane interface.
{"title":"Infinite-dimensional port-Hamiltonian systems with a stationary interface","authors":"Alexander Kilian , Bernhard Maschke , Andrii Mironchenko , Fabian Wirth","doi":"10.1016/j.ejcon.2025.101190","DOIUrl":"10.1016/j.ejcon.2025.101190","url":null,"abstract":"<div><div>We consider two systems of two conservation laws that are defined on complementary, one-dimensional spatial intervals and coupled by an interface as a single port-Hamiltonian system. In case of a fixed interface position, we characterize the boundary and interface conditions for which the associated port-Hamiltonian operator generates a contraction semigroup. Furthermore, we present sufficient conditions for the exponential stability of the generated <span><math><msub><mrow><mi>C</mi></mrow><mrow><mn>0</mn></mrow></msub></math></span>-semigroup. The results are illustrated by the example of two acoustic waveguides coupled by a membrane interface.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101190"},"PeriodicalIF":2.5,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143350925","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-02-04DOI: 10.1016/j.ejcon.2025.101194
Jian Wang , Jiafeng Yu
This paper investigates almost sure stability of discrete-time linear systems over packet erasure forward channel (the channel from the controller to the actuator) and packet erasure backward channel (the channel from the sensor to the controller) of limited data rate, which involves input quantization (for the controller output) and output quantization (for the plant output) with limited data rate. The interaction of output quantization and input quantization may lead to the nested quantizations, which complicates the system design immensely. Moreover, only by the plant output or the controller output received by their quantizers, the quantizers can not decide the dynamics of quantization region of the plant output and the controller output under packet erasure forward and backward channels, so some dynamical systems are constructed to represent the dynamics of quantization region for quantizing the outputs of the system and the controller. Specially, the state vector of the dynamical systems composes of not only the real outputs of the system and the controller but also their quantized values at last time. By these dynamical systems the considered system is modeled by a stochastic difference system, and the considered problem is transformed into the almost sure stability problem of the stochastic difference system. With spherical polar coordinate quantizer and the constructed systems, a quantization method is presented for solving nested quantization with limited data rate and achieving almost sure stability of the systems under the packet erasure channels. Numerical examples show the effectiveness of the results.
{"title":"Almost sure stability of discrete-time linear systems subject to nested quantization under erasure channels of limited data rate","authors":"Jian Wang , Jiafeng Yu","doi":"10.1016/j.ejcon.2025.101194","DOIUrl":"10.1016/j.ejcon.2025.101194","url":null,"abstract":"<div><div>This paper investigates almost sure stability of discrete-time linear systems over packet erasure forward channel (the channel from the controller to the actuator) and packet erasure backward channel (the channel from the sensor to the controller) of limited data rate, which involves input quantization (for the controller output) and output quantization (for the plant output) with limited data rate. The interaction of output quantization and input quantization may lead to the nested quantizations, which complicates the system design immensely. Moreover, only by the plant output or the controller output received by their quantizers, the quantizers can not decide the dynamics of quantization region of the plant output and the controller output under packet erasure forward and backward channels, so some dynamical systems are constructed to represent the dynamics of quantization region for quantizing the outputs of the system and the controller. Specially, the state vector of the dynamical systems composes of not only the real outputs of the system and the controller but also their quantized values at last time. By these dynamical systems the considered system is modeled by a stochastic difference system, and the considered problem is transformed into the almost sure stability problem of the stochastic difference system. With spherical polar coordinate quantizer and the constructed systems, a quantization method is presented for solving nested quantization with limited data rate and achieving almost sure stability of the systems under the packet erasure channels. Numerical examples show the effectiveness of the results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101194"},"PeriodicalIF":2.5,"publicationDate":"2025-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143358783","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 : 2025-02-03DOI: 10.1016/j.ejcon.2025.101193
Qiang Yu, Yuanyang Feng
For discrete-time switching systems, the new concept of -dependent average persistent dwell time (APDT) is proposed for the first time. Based on the APDT strategy and the quasi-time-varying Lyapunov function approach, global exponential stability conditions for discrete-time switching systems in linear and nonlinear cases are derived. Then, using linear matrix inequalities, the relevant results can be applied to the design of stabilizing controllers for discrete-time switching linear systems. Finally, a typical numerical example is used to compare the APDT strategy with PDT and MDPDT strategies to confirm the effectiveness and superiority of the new strategy.
{"title":"Stability analysis of switching systems under the improved persistent dwell time strategy","authors":"Qiang Yu, Yuanyang Feng","doi":"10.1016/j.ejcon.2025.101193","DOIUrl":"10.1016/j.ejcon.2025.101193","url":null,"abstract":"<div><div>For discrete-time switching systems, the new concept of <span><math><mi>Φ</mi></math></span>-dependent average persistent dwell time (<span><math><mi>Φ</mi></math></span>APDT) is proposed for the first time. Based on the <span><math><mi>Φ</mi></math></span>APDT strategy and the quasi-time-varying Lyapunov function approach, global exponential stability conditions for discrete-time switching systems in linear and nonlinear cases are derived. Then, using linear matrix inequalities, the relevant results can be applied to the design of stabilizing controllers for discrete-time switching linear systems. Finally, a typical numerical example is used to compare the <span><math><mi>Φ</mi></math></span>APDT strategy with PDT and MDPDT strategies to confirm the effectiveness and superiority of the new strategy.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101193"},"PeriodicalIF":2.5,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143331719","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}
扫码关注我们
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号