European Journal of Control最新文献

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Model reference adaptive control for state and input constrained linear systems 状态和输入约束线性系统的模型参考自适应控制

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-01-31 DOI: 10.1016/j.ejcon.2025.101196

Sudipta Chattopadhyay, Srikant Sukumar, Vivek Natarajan

State and input constraints are ubiquitous in all engineering systems and developing adaptive controllers for uncertain linear systems under pre-specified state and input constraints is a problem of fundamental interest. For uncertain linear systems, a computationally inexpensive control method is the model reference adaptive control (MRAC). Although MRAC controllers come with strong stability guarantees they do not guarantee system operation within the pre-defined state and input constraints. Several modifications of the MRAC framework have been proposed to address input constraints in uncertain linear systems. Considering the infeasibility of arbitrary reference trajectories, reference modification has been implemented in the case of input constraints in the literature. The resulting conditions on the reference and input signals are difficult to verify online. Similar results on state and input constraints together have also been proposed, albeit resulting in more complex and unverifiable conditions on the control. In this paper, we have developed a modified MRAC controller that can handle state and input constraints in uncertain linear systems. We have also provided easily verifiable conditions on the control and reference under which our stability results hold. Obtaining such a verifiable condition is crucial in practical implementations on safety–critical systems. A combination of reference modification and barrier Lyapunov methods in adaptive control are employed to arrive at these results.

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引用次数: 0

A robust trajectory tracking controller for a magnetic system: A sliding mode-based approach

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-01-31 DOI: 10.1016/j.ejcon.2025.101189

Carlos Aguilar-Ibanez , Miguel S. Suarez-Castanon , Belem Saldivar , Juan Carlos Martínez-García , Octavio Gutiérrez-Frias

A robust control strategy is developed to address the position trajectory tracking problem in a perturbed magnetic levitation system. The system consists of two electromagnets, each controlled by its respective input voltage. To enhance the model’s complexity, perturbations are introduced into the electrical and mechanical subsystems. The controller design begins under the assumption of a disturbance-free system. Subsequently, an integral sliding mode controller (ISMC) is incorporated to compensate for matching disturbances initially excluded from the model, and a super-twisting observer (STO) is employed to estimate and reject disturbances affecting the mechanical dynamics. The proposed control strategy enforces the convergence of two invariant manifolds to the origin. The first manifold ensures the asymptotic convergence of the position-tracking error to zero, while the second stabilizes the magnetic system and prevents magnetic flux saturation and singularities. The stability properties of the closed-loop system are rigorously analyzed using Lyapunov-based methods, ensuring robustness against bounded disturbances. Numerical simulations are conducted to evaluate the performance of the control scheme, demonstrating its efficacy in achieving precise trajectory tracking and disturbance rejection under the imposed perturbations.

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引用次数: 0

State estimation for a class of nonlinear time-varying uncertain systems under multiharmonic disturbance 多谐干扰下一类非线性时变不确定系统的状态估计

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-01-27 DOI: 10.1016/j.ejcon.2025.101185

Alexey A. Margun , Van H. Bui , Alexey A. Bobtsov , Denis V. Efimov

The paper considers the observer synthesis for nonlinear, time-varying plants with uncertain parameters under multiharmonic disturbance. It is assumed that the relative degree of the plant is known, the regressor linearly depends on the state vector and may have a nonlinear relationship with the output signal. The proposed solution consists of three steps. Initially, an unknown input state observer is synthesized. This observer, however, necessitates the measurement of output derivatives equal to the plant’s relative degree. To relax this limitation, an alternative representation of the observer is introduced. Further, based on this observer, the unknown parameters and disturbances are reconstructed using an autoregression model and the dynamic regressor extension and mixing (DREM) approach. This approach allows the estimates to be obtained in a finite time. Finally, based on these estimates, an observer has been constructed that does not require measurements of the output derivatives. The effectiveness and efficiency of this solution are demonstrated through a computer simulation.

{"title":"State estimation for a class of nonlinear time-varying uncertain systems under multiharmonic disturbance","authors":"Alexey A. Margun , Van H. Bui , Alexey A. Bobtsov , Denis V. Efimov","doi":"10.1016/j.ejcon.2025.101185","DOIUrl":"10.1016/j.ejcon.2025.101185","url":null,"abstract":"<div><div>The paper considers the observer synthesis for nonlinear, time-varying plants with uncertain parameters under multiharmonic disturbance. It is assumed that the relative degree of the plant is known, the regressor linearly depends on the state vector and may have a nonlinear relationship with the output signal. The proposed solution consists of three steps. Initially, an unknown input state observer is synthesized. This observer, however, necessitates the measurement of output derivatives equal to the plant’s relative degree. To relax this limitation, an alternative representation of the observer is introduced. Further, based on this observer, the unknown parameters and disturbances are reconstructed using an autoregression model and the dynamic regressor extension and mixing (DREM) approach. This approach allows the estimates to be obtained in a finite time. Finally, based on these estimates, an observer has been constructed that does not require measurements of the output derivatives. The effectiveness and efficiency of this solution are demonstrated through a computer simulation.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101185"},"PeriodicalIF":2.5,"publicationDate":"2025-01-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182568","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}

引用次数: 0

Corrigendum to “Actuator fault-tolerant mixed passivity and H∞ control for autonomous marine surface vehicles: a sampled-data approach” [European Journal of Control 81 (2025) 101167]

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-01-23 DOI: 10.1016/j.ejcon.2025.101188

Soundararajan Vimal Kumar, Jonghoek Kim

引用次数: 0

On the relation between approaches for boundary feedback control of hyperbolic systems 论双曲系统边界反馈控制方法之间的关系

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-01-21 DOI: 10.1016/j.ejcon.2025.101182

Michael Herty , Ferdinand Thein

Stabilization of partial differential equations is a topic of utmost importance in mathematics as well as in engineering sciences. Concerning one dimensional problems there exists a well developed theory. Due to numerous important applications the interest in boundary feedback control of multi-dimensional hyperbolic systems is increasing. In the present work we want to discuss the relation between some of the most recent results available in the literature. The key result of the present work is to show that the type of system discussed in Yang and Yong (2024) identifies a particular class which falls into the framework presented in Herty and Thein (2024).

引用次数: 0

Observer-reliant event-triggered security control design for stochastic third-order PDE systems with multiple attacks 针对具有多重攻击的随机三阶 PDE 系统的依赖观测器的事件触发安全控制设计

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-01-18 DOI: 10.1016/j.ejcon.2025.101186

Nidhi Shukla , N. Keerthana , R. Sakthivel , V.T. Elayabharath , Jaydev Dabas

This study accentuates the issues of state estimation and event-triggered security control design for stochastic third-order parabolic partial differential equation systems subject to nonlinearity, external disturbances, and multiple cyber attacks. Considering the unavailability of system states, a Luenberger-type state observer is implemented to acquire the approximations of actual system states for effectively addressing the problem of state unavailability. With the primary intent of utilizing network resources efficiently, we design an event-triggered controller for third-order PDE systems to effectively reduce the data transmission of the communication channel. Additionally, deception and denial-of-service attacks are assumed to occur in the communication network, which is governed by two independent sequences of Bernoulli-distributed random variables, each with its own probability. Furthermore, the dissipative performance is utilized to mitigate the effects of external disturbances. Thereafter, by constructing an appropriate Lyapunov–Krasovskii functional, a set of suitable criteria is derived within the framework of linear matrix inequalities to guarantee the mean-square exponential stability and

{ψ_{1}, ψ_{2}, ψ_{3}} - ρ

dissipativity of the considered system. Further, a precise layout for the intended controller and observer gain matrices is established by employing the postulated criteria. At the end, two numerical examples are provided to demonstrate the effectiveness and relevance of the established theoretical findings.

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引用次数: 0

Distributed event-triggered adaptive finite-time formation control for multiple under-actuated AUVs using command filtered backstepping technique with prescribed performance 利用具有规定性能的指令滤波反步进技术，为多艘欠动 AUV 提供分布式事件触发自适应有限时间编队控制

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-01-15 DOI: 10.1016/j.ejcon.2025.101183

Ngo An Thuyen , Pham Nguyen Nhut Thanh , Ho Pham Huy Anh

This study proposes an event-triggered adaptive finite time formation control for multiple under-actuated autonomous underwater vehicles (AUVs) with prescribed performance regarding to time-varying external disturbances and model uncertainties. Firstly, a state transformation is performed as to rectify the under-actuated issue of the vehicle and streamline the subsequent procedure for designing the controller. The distributed formation tracking error is then determined by applying the graph theory. Also, a mapping function is implemented to convert the constrained errors into new unconstrained variables as to achieve the prescribed performance. Second, the control law is formulated utilizing the finite time backstepping approach and event-triggering conditions, where the finite-time filter is adopted to reduce computational complexity. An adaptive strategy is developed to deal with model uncertainties and external disturbances using the universal approximation ability of radial basis function neural networks (RBFNNs). This strategy permits updating only two parameters per follower. The problem of control input saturation is also considered and resolved with the design of the finite-time auxiliary system. Consequently, all signals of the closed-loop system exhibit stability and achieve finite-time convergence while successfully avoiding the Zeno behavior. Eventually, case study using numerical simulations demonstrates the feasibility, superiority and effectiveness of the proposed controller.

{"title":"Distributed event-triggered adaptive finite-time formation control for multiple under-actuated AUVs using command filtered backstepping technique with prescribed performance","authors":"Ngo An Thuyen , Pham Nguyen Nhut Thanh , Ho Pham Huy Anh","doi":"10.1016/j.ejcon.2025.101183","DOIUrl":"10.1016/j.ejcon.2025.101183","url":null,"abstract":"<div><div>This study proposes an event-triggered adaptive finite time formation control for multiple under-actuated autonomous underwater vehicles (AUVs) with prescribed performance regarding to time-varying external disturbances and model uncertainties. Firstly, a state transformation is performed as to rectify the under-actuated issue of the vehicle and streamline the subsequent procedure for designing the controller. The distributed formation tracking error is then determined by applying the graph theory. Also, a mapping function is implemented to convert the constrained errors into new unconstrained variables as to achieve the prescribed performance. Second, the control law is formulated utilizing the finite time backstepping approach and event-triggering conditions, where the finite-time filter is adopted to reduce computational complexity. An adaptive strategy is developed to deal with model uncertainties and external disturbances using the universal approximation ability of radial basis function neural networks (RBFNNs). This strategy permits updating only two parameters per follower. The problem of control input saturation is also considered and resolved with the design of the finite-time auxiliary system. Consequently, all signals of the closed-loop system exhibit stability and achieve finite-time convergence while successfully avoiding the Zeno behavior. Eventually, case study using numerical simulations demonstrates the feasibility, superiority and effectiveness of the proposed controller.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101183"},"PeriodicalIF":2.5,"publicationDate":"2025-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182565","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}

引用次数: 0

Integrating passenger transportation costs into service network design: A bilevel optimal control approach using macroscopic fundamental diagram

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-01-12 DOI: 10.1016/j.ejcon.2025.101184

Muhammad Saadullah , Zhipeng Zhang , Hao Hu

Service Network Design (SND) problem traditionally focuses on optimizing scheduling and routing costs of freight vehicles. However, it often overlooks the costs related to passenger vehicles. This study addresses this gap by proposing a bilevel optimal control framework that integrates the Macroscopic Fundamental Diagram (MFD) to estimate passenger transportation costs due to freight traffic movement. The lower-level aims at maximizing passenger vehicles while reducing freight vehicle accumulation. The upper-level ensures the total vehicle accumulation is regulated under a predefined threshold. A Model Predictive Controller (MPC) approach is used to solve the optimal control problem. A framework is presented to use the accumulation results for the calculation of passenger transportation costs along with travelled distance and time spent by vehicles in the traffic network. This change in passenger transportation costs due to freight vehicles is integrated into SND objective function. The methodology is implemented on Islamabad's Road network, estimating passenger transportation costs for various freight and passenger traffic mixes. The results indicate that as the number of passenger vehicles increases, the impact of freight vehicles on the passenger transportation costs is minimized. This SND-MFD integration presents significant potential for urban planners and logistics firms, facilitating informed decisions for optimizing the transportation mix, enhancing traffic flow and reducing costs.

{"title":"Integrating passenger transportation costs into service network design: A bilevel optimal control approach using macroscopic fundamental diagram","authors":"Muhammad Saadullah , Zhipeng Zhang , Hao Hu","doi":"10.1016/j.ejcon.2025.101184","DOIUrl":"10.1016/j.ejcon.2025.101184","url":null,"abstract":"<div><div>Service Network Design (SND) problem traditionally focuses on optimizing scheduling and routing costs of freight vehicles. However, it often overlooks the costs related to passenger vehicles. This study addresses this gap by proposing a bilevel optimal control framework that integrates the Macroscopic Fundamental Diagram (MFD) to estimate passenger transportation costs due to freight traffic movement. The lower-level aims at maximizing passenger vehicles while reducing freight vehicle accumulation. The upper-level ensures the total vehicle accumulation is regulated under a predefined threshold. A Model Predictive Controller (MPC) approach is used to solve the optimal control problem. A framework is presented to use the accumulation results for the calculation of passenger transportation costs along with travelled distance and time spent by vehicles in the traffic network. This change in passenger transportation costs due to freight vehicles is integrated into SND objective function. The methodology is implemented on Islamabad's Road network, estimating passenger transportation costs for various freight and passenger traffic mixes. The results indicate that as the number of passenger vehicles increases, the impact of freight vehicles on the passenger transportation costs is minimized. This SND-MFD integration presents significant potential for urban planners and logistics firms, facilitating informed decisions for optimizing the transportation mix, enhancing traffic flow and reducing costs.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101184"},"PeriodicalIF":2.5,"publicationDate":"2025-01-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182564","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}

引用次数: 0

Robust sensor fault estimation based on a sliding mode observer for linear parameter-varying systems with inexact scheduling parameters

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-01-09 DOI: 10.1016/j.ejcon.2024.101174

Xingjie Niu, Bei Lu, Qifu Li

This paper presents a sliding mode observer-based sensor fault estimation scheme for multi-affine linear parameter-varying systems with inexact scheduling parameters. A sliding mode related to the fault is maintained by selecting the observer’s discontinuous switching function. Subsequently, the fault is reconstructed using the equivalent output error injection signal. Based on the output error between the system and the observer, an additional nonlinear function is introduced in the observer to address the influence of inexact scheduling parameters on the estimation process.

H_{\infty}

optimization technology combining with a parameter-dependent Lyapunov function is employed to guarantee the robustness of the observer. By selecting auxiliary variables and using the projection lemma, a sufficient observer synthesis condition is derived as linear matrix inequalities with a single line-search parameter. The numerical examples demonstrate the superiority and effectiveness of the proposed method.

{"title":"Robust sensor fault estimation based on a sliding mode observer for linear parameter-varying systems with inexact scheduling parameters","authors":"Xingjie Niu, Bei Lu, Qifu Li","doi":"10.1016/j.ejcon.2024.101174","DOIUrl":"10.1016/j.ejcon.2024.101174","url":null,"abstract":"<div><div>This paper presents a sliding mode observer-based sensor fault estimation scheme for multi-affine linear parameter-varying systems with inexact scheduling parameters. A sliding mode related to the fault is maintained by selecting the observer’s discontinuous switching function. Subsequently, the fault is reconstructed using the equivalent output error injection signal. Based on the output error between the system and the observer, an additional nonlinear function is introduced in the observer to address the influence of inexact scheduling parameters on the estimation process. <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> optimization technology combining with a parameter-dependent Lyapunov function is employed to guarantee the robustness of the observer. By selecting auxiliary variables and using the projection lemma, a sufficient observer synthesis condition is derived as linear matrix inequalities with a single line-search parameter. The numerical examples demonstrate the superiority and effectiveness of the proposed method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"82 ","pages":"Article 101174"},"PeriodicalIF":2.5,"publicationDate":"2025-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143182563","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}

引用次数: 0

Anti-disturbance bumpless transfer control of switched linear systems with unmeasurable states and multiple disturbances

IF 2.5 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-01-03 DOI: 10.1016/j.ejcon.2024.101170

Chao Liu, Hongyu Yang, Xiaoyang Liu, Qiong Cao, Xianying Huang

This paper investigates the anti-disturbance bumpless transfer (ADBT) control problem of switched linear systems suffering from unmeasurable states and multiple disturbances. A switching estimator is designed to observe the system state and the unmeasurable disturbance. Then, an ADBT controller that can generate continuous control input is constructed on the grounds of the gain interpolation technique. In contrast to the existing bumpless transfer (BT) control schemes, the proposed one does not depend on the lower bound of the dwell time of sub-modes and allows that the switching signal is not pre-given. A sufficient condition is derived to ensure the solvability of the ADBT control problem. The switched RLC circuit model is employed to show the effectiveness of the proposed ADBT control scheme.

引用次数: 0

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