Pub Date : 2025-10-24DOI: 10.1016/j.ejcon.2025.101403
Wen Kang , Emilia Fridman , Er-Xin Pang
This paper addresses non-local control design of 1-D nonlinear Korteweg–de Vries–Burgers equation in the presence of variable input delay, actuator saturation as well as sampled-data switching control. By using the modal decomposition approach, we divide the original system into unstable modes and infinitely many stable modes. Based on the unstable modes, we design a finite-dimensional controller to stabilize the system. The well-posedness of the closed-loop system is established by semigroup theory and the step method. To prove regional -stability of the closed-loop system, we construct an appropriate Lyapunov–Krasovskii functional and derive sufficient conditions for stability. An estimate is provided for the set of initial conditions starting from which the state trajectories of the system are exponentially converging to origin. Switched controller is designed based on the sampled-data state-depend switching law. Numerical example illustrates the efficiency of the method.
{"title":"Delayed stabilization of Korteweg–de Vries–Burgers equation by constrained control","authors":"Wen Kang , Emilia Fridman , Er-Xin Pang","doi":"10.1016/j.ejcon.2025.101403","DOIUrl":"10.1016/j.ejcon.2025.101403","url":null,"abstract":"<div><div>This paper addresses non-local control design of 1-D nonlinear Korteweg–de Vries–Burgers equation in the presence of variable input delay, actuator saturation as well as sampled-data switching control. By using the modal decomposition approach, we divide the original system into <span><math><mrow><mi>N</mi><mo>+</mo><mn>1</mn></mrow></math></span> unstable modes and infinitely many stable modes. Based on the <span><math><mrow><mi>N</mi><mo>+</mo><mn>1</mn></mrow></math></span> unstable modes, we design a finite-dimensional controller to stabilize the system. The well-posedness of the closed-loop system is established by semigroup theory and the step method. To prove regional <span><math><msup><mrow><mi>H</mi></mrow><mrow><mn>1</mn></mrow></msup></math></span>-stability of the closed-loop system, we construct an appropriate Lyapunov–Krasovskii functional and derive sufficient conditions for stability. An estimate is provided for the set of initial conditions starting from which the state trajectories of the system are exponentially converging to origin. Switched controller is designed based on the sampled-data state-depend switching law. Numerical example illustrates the efficiency of the method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101403"},"PeriodicalIF":2.6,"publicationDate":"2025-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145416544","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 : 2025-10-22DOI: 10.1016/j.ejcon.2025.101404
Xiaoru Sun, Chris T. Freeman
An artificial neural network (ANN) is combined with gradient descent to form a model-free iterative learning control (ILC) approach than can be applied to a wide range of nonlinear discrete-time systems. The ANN is recursively trained on the entire set of past data collected from the system and uses a passivity condition to determine when the ANN can be used to compute the next ILC update, or if an identification test is needed. Convergence properties are established alongside design selections that ensure the passivity condition is fulfilled. By minimising the reliance on identification tests, this methodology is substantially faster than existing model-free ILC algorithms. It is tested on a key stroke rehabilitation problem using functional electrical stimulation (FES) for hand/wrist tracking. Experimental results using the new ILC approach with eight participants show that three hand/wrist references can be tracked using an average of 56% fewer experimental inputs compared with the most accurate previous approach. As the first approach to combine ILC and machine learning in upper limb rehabilitation, the results demonstrate how their combination addresses their individual deficiencies.
{"title":"Artificial neural network based iterative learning control for stroke rehabilitation","authors":"Xiaoru Sun, Chris T. Freeman","doi":"10.1016/j.ejcon.2025.101404","DOIUrl":"10.1016/j.ejcon.2025.101404","url":null,"abstract":"<div><div>An artificial neural network (ANN) is combined with gradient descent to form a model-free iterative learning control (ILC) approach than can be applied to a wide range of nonlinear discrete-time systems. The ANN is recursively trained on the entire set of past data collected from the system and uses a passivity condition to determine when the ANN can be used to compute the next ILC update, or if an identification test is needed. Convergence properties are established alongside design selections that ensure the passivity condition is fulfilled. By minimising the reliance on identification tests, this methodology is substantially faster than existing model-free ILC algorithms. It is tested on a key stroke rehabilitation problem using functional electrical stimulation (FES) for hand/wrist tracking. Experimental results using the new ILC approach with eight participants show that three hand/wrist references can be tracked using an average of 56% fewer experimental inputs compared with the most accurate previous approach. As the first approach to combine ILC and machine learning in upper limb rehabilitation, the results demonstrate how their combination addresses their individual deficiencies.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101404"},"PeriodicalIF":2.6,"publicationDate":"2025-10-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145362452","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 : 2025-10-22DOI: 10.1016/j.ejcon.2025.101405
Mohammadreza Doostmohammadian , Sergio Pequito
Distributed resource allocation (DRA) is fundamental to modern networked systems, spanning applications from economic dispatch in smart grids to CPU scheduling in data centers. Conventional DRA approaches require reliable communication, yet real-world networks frequently suffer from link failures, packet drops, and communication delays due to environmental conditions, network congestion, and security threats.
We introduce a novel resilient DRA algorithm that addresses these critical challenges, and our main contributions are as follows: (1) guaranteed constraint feasibility at all times, ensuring resource-demand balance even during algorithm termination or network disruption; (2) robust convergence despite sector-bound nonlinearities at nodes/links, accommodating practical constraints like quantization and saturation; and (3) optimal performance under merely uniformly-connected networks, eliminating the need for continuous connectivity.
Unlike existing approaches that require persistent network connectivity and provide only asymptotic feasibility, our graph-theoretic solution leverages network percolation theory to maintain performance during intermittent disconnections. This makes it particularly valuable for mobile multi-agent systems where nodes frequently move out of communication range. Theoretical analysis and simulations demonstrate that our algorithm converges to optimal solutions despite heterogeneous time delays and substantial link failures, significantly advancing the reliability of distributed resource allocation in practical network environments.
{"title":"Distributed allocation and resource scheduling algorithms resilient to link failure","authors":"Mohammadreza Doostmohammadian , Sergio Pequito","doi":"10.1016/j.ejcon.2025.101405","DOIUrl":"10.1016/j.ejcon.2025.101405","url":null,"abstract":"<div><div>Distributed resource allocation (DRA) is fundamental to modern networked systems, spanning applications from economic dispatch in smart grids to CPU scheduling in data centers. Conventional DRA approaches require reliable communication, yet real-world networks frequently suffer from link failures, packet drops, and communication delays due to environmental conditions, network congestion, and security threats.</div><div>We introduce a novel resilient DRA algorithm that addresses these critical challenges, and our main contributions are as follows: (1) guaranteed constraint feasibility at all times, ensuring resource-demand balance even during algorithm termination or network disruption; (2) robust convergence despite sector-bound nonlinearities at nodes/links, accommodating practical constraints like quantization and saturation; and (3) optimal performance under merely uniformly-connected networks, eliminating the need for continuous connectivity.</div><div>Unlike existing approaches that require persistent network connectivity and provide only asymptotic feasibility, our graph-theoretic solution leverages network percolation theory to maintain performance during intermittent disconnections. This makes it particularly valuable for mobile multi-agent systems where nodes frequently move out of communication range. Theoretical analysis and simulations demonstrate that our algorithm converges to optimal solutions despite heterogeneous time delays and substantial link failures, significantly advancing the reliability of distributed resource allocation in practical network environments.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101405"},"PeriodicalIF":2.6,"publicationDate":"2025-10-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145362451","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 : 2025-10-20DOI: 10.1016/j.ejcon.2025.101406
Moein Doakhan, Mansour Kabganian, Ali Azimi
This work addresses the problem of rigid-body payload transportation using flexible formation control of four quadrotors. While maintaining formation in aerial payload transportation provides advantages such as uniform load distribution, collision avoidance, and prevention of cable entanglement, a rigid formation may not always be feasible or optimal under every maneuver. In the proposed approach, the quadrotor formation is flexibly adapted to the desired maneuver, ensuring uniform and minimal energy consumption, which is a critical requirement given the finite flight endurance of quadrotors. To this end, the problem is formulated as a nonlinear constrained optimization, and a decomposition technique is proposed to enable real-time implementation. A three-loop control structure based on sliding mode control is developed, and simulation results demonstrate reduced energy consumption in the presence of disturbances and under nonlinear maneuvers.
{"title":"Aerial Payload Transportation with Energy-Efficient Flexible Formation Control of Quadrotors","authors":"Moein Doakhan, Mansour Kabganian, Ali Azimi","doi":"10.1016/j.ejcon.2025.101406","DOIUrl":"10.1016/j.ejcon.2025.101406","url":null,"abstract":"<div><div>This work addresses the problem of rigid-body payload transportation using flexible formation control of four quadrotors. While maintaining formation in aerial payload transportation provides advantages such as uniform load distribution, collision avoidance, and prevention of cable entanglement, a rigid formation may not always be feasible or optimal under every maneuver. In the proposed approach, the quadrotor formation is flexibly adapted to the desired maneuver, ensuring uniform and minimal energy consumption, which is a critical requirement given the finite flight endurance of quadrotors. To this end, the problem is formulated as a nonlinear constrained optimization, and a decomposition technique is proposed to enable real-time implementation. A three-loop control structure based on sliding mode control is developed, and simulation results demonstrate reduced energy consumption in the presence of disturbances and under nonlinear maneuvers.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101406"},"PeriodicalIF":2.6,"publicationDate":"2025-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145466458","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 : 2025-10-18DOI: 10.1016/j.ejcon.2025.101400
Sanaz Akbarisisi, Wim Michiels
Systems governed by delay differential equations are distinguished by having infinite-dimensional dynamics. This key feature in the context of linear delay systems reflects itself in the associated eigenvalue problem. Moreover, in numerous applications, including power systems and machining, an accurate description leads to time-periodic models. Time-periodic delay differential algebraic equations (TPDDAEs) can offer a useful framework for modeling such systems. We propose a spectrum-based approach for their stability analysis and design of a time-periodic feedback controller of a fixed order. In the design procedure, we adopt two approaches to ensure the smoothness of the optimal time-periodic output gain. As our first approach, we penalize the total variation of the feedback gain, which is translated to a quadratic penalty term in the optimization problem. Conversely, in the second approach, the feedback gain is constrained to be characterized by a finite number of harmonics of its Fourier series representation. To demonstrate the efficacy and applicability of our results, as well as the effectiveness of the incorporated algebraic equations, we conclude our work with some numerical case studies.
{"title":"Spectrum-based stability analysis and stabilization of systems with time-periodic delay differential algebraic equations","authors":"Sanaz Akbarisisi, Wim Michiels","doi":"10.1016/j.ejcon.2025.101400","DOIUrl":"10.1016/j.ejcon.2025.101400","url":null,"abstract":"<div><div>Systems governed by delay differential equations are distinguished by having infinite-dimensional dynamics. This key feature in the context of linear delay systems reflects itself in the associated eigenvalue problem. Moreover, in numerous applications, including power systems and machining, an accurate description leads to time-periodic models. Time-periodic delay differential algebraic equations (TPDDAEs) can offer a useful framework for modeling such systems. We propose a spectrum-based approach for their stability analysis and design of a time-periodic feedback controller of a fixed order. In the design procedure, we adopt two approaches to ensure the smoothness of the optimal time-periodic output gain. As our first approach, we penalize the total variation of the feedback gain, which is translated to a quadratic penalty term in the optimization problem. Conversely, in the second approach, the feedback gain is constrained to be characterized by a finite number of harmonics of its Fourier series representation. To demonstrate the efficacy and applicability of our results, as well as the effectiveness of the incorporated algebraic equations, we conclude our work with some numerical case studies.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101400"},"PeriodicalIF":2.6,"publicationDate":"2025-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145362450","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 : 2025-10-09DOI: 10.1016/j.ejcon.2025.101402
Navya Prakash, Praveen S. Babu
In many real-world scenarios, multi-agent systems exhibit both collaboration and competition, which can be modeled using a signed communication network where cooperative and competitive relationships coexist. Consensus over a structurally balanced signed graph leads to bipartite consensus, where one group of agents converges to a positive value while the other converges to its negative counterpart. This paper investigates bipartite consensus in leader-following linear multi-agent systems (MAS) under a signed directed communication network, where followers are subjected to matched disturbances. A continuous control protocol is proposed by integrating a nominal control component with a continuous super-twisting control that utilizes integral sliding mode (ISM) concepts for robust bipartite consensus. The nominal control component helps to achieve bipartite consensus, while the super-twisting control compensates for disturbances. The simulation results are presented to demonstrate the effectiveness of the proposed method.
{"title":"A robust controller design for a leader–follower bipartite consensus in linear multi-agent systems","authors":"Navya Prakash, Praveen S. Babu","doi":"10.1016/j.ejcon.2025.101402","DOIUrl":"10.1016/j.ejcon.2025.101402","url":null,"abstract":"<div><div>In many real-world scenarios, multi-agent systems exhibit both collaboration and competition, which can be modeled using a signed communication network where cooperative and competitive relationships coexist. Consensus over a structurally balanced signed graph leads to bipartite consensus, where one group of agents converges to a positive value while the other converges to its negative counterpart. This paper investigates bipartite consensus in leader-following linear multi-agent systems (MAS) under a signed directed communication network, where followers are subjected to matched disturbances. A continuous control protocol is proposed by integrating a nominal control component with a continuous super-twisting control that utilizes integral sliding mode (ISM) concepts for robust bipartite consensus. The nominal control component helps to achieve bipartite consensus, while the super-twisting control compensates for disturbances. The simulation results are presented to demonstrate the effectiveness of the proposed method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101402"},"PeriodicalIF":2.6,"publicationDate":"2025-10-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145320792","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 : 2025-10-08DOI: 10.1016/j.ejcon.2025.101401
Siyu Zhu, Fuxiao Tan
This paper proposes a decentralized event-triggered tracking control (ETC) framework for multi-agent systems (MAS), leveraging dynamic game theory to enhance scalability, reduce communication overhead, and ensure tracking performance. Each agent is modeled as a rational player in a non-cooperative dynamic game, minimizing a local cost that balances control effort and neighborhood deviation. A distributed event-triggering mechanism is developed, activating control updates only when the local tracking error surpasses a prescribed threshold. Theoretical analysis proves the existence of Nash equilibrium and the asymptotic stability of the closed-loop system under mild assumptions. Simulation results illustrate that the proposed framework achieves comparable tracking accuracy while significantly reducing the number of control updates, with simulations showing reductions in a parameter-dependent and adaptive manner.
{"title":"Game-theoretic event-triggered tracking control for scalable multi-agent systems","authors":"Siyu Zhu, Fuxiao Tan","doi":"10.1016/j.ejcon.2025.101401","DOIUrl":"10.1016/j.ejcon.2025.101401","url":null,"abstract":"<div><div>This paper proposes a decentralized event-triggered tracking control (ETC) framework for multi-agent systems (MAS), leveraging dynamic game theory to enhance scalability, reduce communication overhead, and ensure tracking performance. Each agent is modeled as a rational player in a non-cooperative dynamic game, minimizing a local cost that balances control effort and neighborhood deviation. A distributed event-triggering mechanism is developed, activating control updates only when the local tracking error surpasses a prescribed threshold. Theoretical analysis proves the existence of Nash equilibrium and the asymptotic stability of the closed-loop system under mild assumptions. Simulation results illustrate that the proposed framework achieves comparable tracking accuracy while significantly reducing the number of control updates, with simulations showing reductions in a parameter-dependent and adaptive manner.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101401"},"PeriodicalIF":2.6,"publicationDate":"2025-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145268583","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}
Kinematic control is one of the fundamental issues of redundant robot manipulators with joint physical constraints. In this paper, a new kinematic control scheme with discrete-time form is proposed for physically-constrained redundant robot manipulators. Specifically, with joint limits considered, the kinematic control of redundant robot manipulators is formulated as a linear system consisting of kinematic equation and inequality. Then, by designing a neural-dynamics model to solve such a system and by utilizing the Euler difference rule, the new discrete-time kinematic control (DTKC) scheme is thus established. Simulation results under the constrained UR5 and PA10 robot manipulators with path tracking, repetitive motion, and obstacle avoidance examples further validate the effectiveness of the proposed DTKC scheme. The DTKC applicability is finally indicated by implementing the proposed scheme on the practical E6 robot manipulator.
{"title":"Design and validation of new discrete-time kinematic control scheme for physically-constrained redundant robot manipulators","authors":"Zuoli Ye, Shukang Chen, Naimeng Cang, Xiyuan Zhang, Dongsheng Guo, Weidong Zhang","doi":"10.1016/j.ejcon.2025.101398","DOIUrl":"10.1016/j.ejcon.2025.101398","url":null,"abstract":"<div><div>Kinematic control is one of the fundamental issues of redundant robot manipulators with joint physical constraints. In this paper, a new kinematic control scheme with discrete-time form is proposed for physically-constrained redundant robot manipulators. Specifically, with joint limits considered, the kinematic control of redundant robot manipulators is formulated as a linear system consisting of kinematic equation and inequality. Then, by designing a neural-dynamics model to solve such a system and by utilizing the Euler difference rule, the new discrete-time kinematic control (DTKC) scheme is thus established. Simulation results under the constrained UR5 and PA10 robot manipulators with path tracking, repetitive motion, and obstacle avoidance examples further validate the effectiveness of the proposed DTKC scheme. The DTKC applicability is finally indicated by implementing the proposed scheme on the practical E6 robot manipulator.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101398"},"PeriodicalIF":2.6,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158886","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 : 2025-09-20DOI: 10.1016/j.ejcon.2025.101386
Zhipeng Zhang , Aocheng Wang , Haitao Li , Chengyi Xia
This paper investigates the safety synthesis problem of networked logical finite state machines with bounded communication delays in observation and control channels using the semi-tensor product (STP) of matrices. First, algebraic formulations for networked state estimation and state prediction are constructed. By defining a set of critical states that may transition to illegal states through observable events under communication delays, a more refined algorithm for state evolution is proposed. Then, based on the concept of minimal constraints, necessary and sufficient algebraic conditions are derived for the existence of a networked supervisor that satisfies the given safety specifications. The proposed method exhibits polynomial time complexity. Finally, the theoretical results are validated through an illustrative example.
{"title":"Algebraic calculation for safety synthesis of networked logical finite state machines","authors":"Zhipeng Zhang , Aocheng Wang , Haitao Li , Chengyi Xia","doi":"10.1016/j.ejcon.2025.101386","DOIUrl":"10.1016/j.ejcon.2025.101386","url":null,"abstract":"<div><div>This paper investigates the safety synthesis problem of networked logical finite state machines with bounded communication delays in observation and control channels using the semi-tensor product (STP) of matrices. First, algebraic formulations for networked state estimation and state prediction are constructed. By defining a set of critical states that may transition to illegal states through observable events under communication delays, a more refined algorithm for state evolution is proposed. Then, based on the concept of minimal constraints, necessary and sufficient algebraic conditions are derived for the existence of a networked supervisor that satisfies the given safety specifications. The proposed method exhibits polynomial time complexity. Finally, the theoretical results are validated through an illustrative example.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101386"},"PeriodicalIF":2.6,"publicationDate":"2025-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145221696","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 : 2025-09-18DOI: 10.1016/j.ejcon.2025.101396
Chems Eddine Boudjedir
This paper proposes a novel, practical prescribed-time control (PTC) scheme for the trajectory tracking of n-degree-of-freedom (n-DOF) robot manipulators subject to external disturbances. Unlike existing approaches, the proposed PTC scheme is entirely model-free. It leverages a time-delay estimation (TDE) technique to compensate for unknown dynamics and disturbances, eliminating the need for upper bounds. A key innovation is the design of a new time-varying gain which increases only as the time approaches the prescribed value. This ensures the feasibility of the control signal and avoids saturation issues which often make practical deployment difficult. The controller also remains effective beyond the prescribed time, overcoming a significant limitation of previous studies. Rigorous Lyapunov analysis guarantees that position and velocity tracking errors will converge within the prescribed time. Comparative simulations on a parallel Delta robot demonstrate the superiority and practicality of the scheme over existing methods.
{"title":"A widely-practical model-free prescribed time control for trajectory tracking of n-DOF robot manipulators","authors":"Chems Eddine Boudjedir","doi":"10.1016/j.ejcon.2025.101396","DOIUrl":"10.1016/j.ejcon.2025.101396","url":null,"abstract":"<div><div>This paper proposes a novel, practical prescribed-time control (PTC) scheme for the trajectory tracking of n-degree-of-freedom (n-DOF) robot manipulators subject to external disturbances. Unlike existing approaches, the proposed PTC scheme is entirely model-free. It leverages a time-delay estimation (TDE) technique to compensate for unknown dynamics and disturbances, eliminating the need for upper bounds. A key innovation is the design of a new time-varying gain which increases only as the time approaches the prescribed value. This ensures the feasibility of the control signal and avoids saturation issues which often make practical deployment difficult. The controller also remains effective beyond the prescribed time, overcoming a significant limitation of previous studies. Rigorous Lyapunov analysis guarantees that position and velocity tracking errors will converge within the prescribed time. Comparative simulations on a parallel Delta robot demonstrate the superiority and practicality of the scheme over existing methods.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101396"},"PeriodicalIF":2.6,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145109492","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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