European Journal of Control最新文献

英文中文

On differential controllability and observability functions 微分可控性和可观测性函数

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-11-01 DOI: 10.1016/j.ejcon.2025.101301

Yu Kawano , Bart Besselink , Jacquelien M.A. Scherpen

Differential balancing theory for nonlinear model reduction relies on differential controllability and observability functions. In this paper, we further investigate them from two different perspectives. First, we establish novel connections between these differential energy functions and their incremental counterparts by assuming the existence of the corresponding optimal state feedback for each controllability function. Specifically, an upper bound on the incremental controllability/observability function is provided by the corresponding differential energy function. Conversely, an upper bound on the differential controllability function can be estimated from the incremental controllability function. Furthermore, the differential observability function can be constructed from the incremental observability function. Second, we explore the positive definiteness of the differential controllability/observability function in the context of controllability/observability and stability, generalizing well-known results on the Gramians of linear systems to the nonlinear case.

非线性模型约简的微分平衡理论依赖于微分可控性和可观测性函数。在本文中，我们将从两个不同的角度进一步研究它们。首先，我们通过假设每个可控性函数存在相应的最优状态反馈，在这些微分能量函数和它们的增量对应函数之间建立了新的联系。具体地说，增量可控性/可观测性函数的上界由相应的微分能量函数提供。相反，微分可控性函数的上界可以由增量可控性函数估计。此外，可由增量可观测函数构造微分可观测函数。其次，我们在可控性/可观察性和稳定性的背景下，探讨了微分可控性/可观察性函数的正确定性，将已知的线性系统格拉姆函数的结果推广到非线性情况。

引用次数: 0

A hybrid algorithm for iterative adaptation of feedforward controllers: An application on electromechanical switches 前馈控制器迭代自适应的混合算法：在机电开关上的应用

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-11-01 DOI: 10.1016/j.ejcon.2025.101305

Eloy Serrano-Seco, Eduardo Moya-Lasheras, Edgar Ramirez-Laboreo

Electromechanical switching devices such as relays, solenoid valves, and contactors offer several technical and economic advantages that make them widely used in industry. However, uncontrolled operations result in undesirable impact-related phenomena at the end of the stroke. As a solution, different soft-landing controls have been proposed. Among them, feedforward control with iterative techniques that adapt its parameters is a solution when real-time feedback is not available. However, these techniques typically require a large number of operations to converge or are computationally intensive, which limits a real implementation. In this paper, we present a new algorithm for the iterative adaptation that is able to eventually adapt the search coordinate system and to reduce the search dimensional size in order to accelerate convergence. Moreover, it automatically toggles between a derivative-free and a gradient-based method to balance exploration and exploitation. To demonstrate the high potential of the proposal, each novel part of the algorithm is compared with a state-of-the-art approach via simulation.

机电开关装置，如继电器，电磁阀和接触器提供了一些技术和经济上的优势，使它们在工业中广泛应用。然而，在冲程结束时，不受控制的操作会导致与冲击相关的不良现象。为了解决这个问题，人们提出了不同的软着陆控制方法。其中，采用参数自适应迭代技术的前馈控制是一种无法获得实时反馈的解决方案。然而，这些技术通常需要大量的操作来收敛，或者是计算密集型的，这限制了真正的实现。在本文中，我们提出了一种新的迭代自适应算法，该算法能够最终适应搜索坐标系并减小搜索维数以加速收敛。此外，它可以在无导数和基于梯度的方法之间自动切换，以平衡勘探和开采。为了证明该提议的高潜力，通过仿真将算法的每个新部分与最先进的方法进行比较。

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引用次数: 0

Robustified time-optimal point-to-point motion planning and control under uncertainty 不确定条件下鲁棒时间最优点对点运动规划与控制

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-11-01 DOI: 10.1016/j.ejcon.2025.101314

Shuhao Zhang, Jan Swevers

This paper proposes a novel approach to formulate time-optimal point-to-point motion planning and control under uncertainty. The approach defines a robustified two-stage Optimal Control Problem (OCP), in which stage 1, with a fixed time grid, is seamlessly stitched with stage 2, which features a variable time grid. Stage 1 optimizes not only the nominal trajectory, but also feedback gains and corresponding state covariances, which robustify constraints in both stages. The outcome is a minimized uncertainty in stage 1 and a minimized total motion time for stage 2, both contributing to the time optimality and safety of the total motion. A timely replanning strategy is employed to handle changes in constraints and maintain feasibility, while a tailored iterative algorithm is proposed for efficient, real-time OCP execution.

提出了一种新的不确定条件下的时间最优点对点运动规划与控制方法。该方法定义了一个鲁棒的两阶段最优控制问题（OCP），其中具有固定时间网格的阶段1与具有可变时间网格的阶段2无缝拼接。阶段1不仅优化标称轨迹，还优化反馈增益和相应的状态协方差，从而鲁棒化了两个阶段的约束。结果是阶段1的不确定性最小化，阶段2的总运动时间最小化，两者都有助于总运动的时间最优性和安全性。采用及时的重新规划策略来处理约束的变化并保持可行性，同时提出一种定制的迭代算法来实现高效、实时的OCP执行。

引用次数: 0

Active fault-tolerant flatness-based control for a three-phase grid connected inverter with LCL filters 带LCL滤波器的三相并网逆变器主动容错平坦度控制

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-11-01 DOI: 10.1016/j.ejcon.2025.101331

Marouane Laaziz , Florentina Nicolau , Malek Ghanes , Jean-Pierre Barbot , Nadia Machkour

In this paper, we propose an active fault-tolerant control law, based on a fault estimation method and on differential flatness, for a three-phase inverter, connected to the grid by LCL filters. The system is vulnerable to multiple faults, therefore an active fault-tolerant control is required to preserve the electrical power conversion between renewable resources and the grid. First, the fault estimation is achieved using our recent algorithm (Laaziz et al., 2024), based on a left inversion technique and on the super-twisting differentiator, and then, an active fault-tolerant control law based on a differential flatness approach is applied. In the paper, we provide a flatness analysis of the inverter and its LCL filters in healthy and faulty conditions. In particular, we show that the flat output is the same for both healthy and faulty systems, which is crucial for the active fault-tolerant control law design. This common flat output is computed thanks to a new model of the inverter and its output LCL filters. Several simulation results demonstrate the effectiveness of the proposed method under both healthy and faulty conditions, including symmetric and asymmetric faults.

本文针对采用LCL滤波器并网的三相逆变器，提出了一种基于故障估计方法和差分平坦度的主动容错控制律。系统易受多种故障的影响，因此需要主动容错控制来保证可再生资源与电网之间的电力转换。首先，使用我们最新的基于左反演技术和超扭转微分器的算法（Laaziz et al., 2024）实现故障估计，然后应用基于微分平坦度方法的主动容错控制律。本文给出了逆变器及其LCL滤波器在正常和故障状态下的平整度分析。特别是，我们证明了健康系统和故障系统的平坦输出是相同的，这对于主动容错控制律的设计至关重要。这种常见的平坦输出是由于一种新型的逆变器及其输出LCL滤波器而计算出来的。仿真结果证明了该方法在健康和故障条件下的有效性，包括对称和非对称故障。

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引用次数: 0

Dissipativity-preserving model reduction for linear systems using moment matching 基于矩匹配的线性系统保持耗散模型约简

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-11-01 DOI: 10.1016/j.ejcon.2025.101290

Mohammad Fahim Shakib, Alessio Moreschini, Giordano Scarciotti

This article introduces a novel model reduction method that preserves dissipativity properties while achieving moment matching at user-specified interpolation points. Building on the time-domain moment matching framework, our approach leverages the flexibility of free parameters in reduced-order models to ensure the preservation of

(Q, S, R)

-dissipativity, independent of the state dimension of the reduced model or the location of the interpolation points. By preserving dissipativity, this method enables more reliable and efficient reduced-order models for large-scale systems, while maintaining key physical and stability properties. Numerical examples are presented to illustrate the effectiveness and applicability of the proposed approach.

本文介绍了一种新的模型约简方法，该方法在用户指定的插值点上实现矩匹配的同时保持了耗散性。在时域矩匹配框架的基础上，我们的方法利用了降阶模型中自由参数的灵活性，以确保保持（Q，S，R）-耗散性，而与降阶模型的状态维数或插值点的位置无关。通过保留耗散率，该方法可以为大型系统提供更可靠、更有效的降阶模型，同时保持关键的物理和稳定性。数值算例说明了该方法的有效性和适用性。

引用次数: 0

Symbolic control: Unveiling free robustness margins 符号控制：揭示自由鲁棒边距

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-11-01 DOI: 10.1016/j.ejcon.2025.101296

Youssef Ait Si , Antoine Girard , Adnane Saoud

This paper addresses the challenge of ensuring robustness in the presence of system perturbations for symbolic control techniques. Given a discrete-time control system that is related to its symbolic model by an alternating simulation relation. In this paper, we focus on computing the maximum robustness margin under which the symbolic model remains valid for a perturbed-version of the discrete-time control system. We first show that symbolic models are inherently equipped with a certain free robustness margins. We then provide constructive procedures to compute uniform and non-uniform (state and input dependent) robustness margins. We also show that the tightness of the robustness margin depends on the tightness of the reachability technique used to compute the symbolic model. We then explain how the computed robustness margin can be used for the sake of controller synthesis. Finally, we present two illustrative examples to demonstrate the effectiveness of our approach.

本文解决了符号控制技术在存在系统扰动时确保鲁棒性的挑战。给定一个离散时间控制系统，该系统通过交替仿真关系与其符号模型相关联。在本文中，我们着重于计算符号模型对于摄动版本的离散时间控制系统保持有效的最大鲁棒性裕度。我们首先证明了符号模型固有地具有一定的自由鲁棒性边界。然后，我们提供建设性的程序来计算均匀和非均匀（状态和输入相关）鲁棒性边际。我们还表明，鲁棒性裕度的紧密性取决于用于计算符号模型的可达性技术的紧密性。然后，我们解释了计算的鲁棒性裕度如何用于控制器综合。最后，我们提出了两个说明性的例子来证明我们的方法的有效性。

引用次数: 0

Robust stability and performance analysis in the presence of LTI and LTV uncertainties with bounded rates of variation 具有有限变化率的LTI和LTV不确定性存在下的鲁棒稳定性和性能分析

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-11-01 DOI: 10.1016/j.ejcon.2025.101298

Tommaso Casati , Clément Roos , Jean-Marc Biannic , Hélène Evain

The assessment of robust stability and performance of systems affected by Linear Time-Invariant (LTI) and Linear Time-Varying (LTV) uncertainties with bounded rates of variation is still an open problem and yet of importance. To this purpose, Integral Quadratic Constraints (IQCs) can be used to derive sufficient conditions in terms of Frequency Domain Inequalities (FDIs) involving both dynamic and static multipliers. In this paper, a new fully frequency-based approach is proposed which offers two main advantages. Firstly, LTI uncertainties are characterized by the independent frequency-by-frequency multipliers of

μ

-analysis, which are much less conservative than those used in IQC approaches, for which a basis must be chosen arbitrarily. Secondly, sub-optimal (but relevant) solutions can be obtained by iteratively optimizing the static and frequency-dependent multipliers. This lightens the computational load and makes the method more applicable to real systems.

具有有限变化率的线性时不变（LTI）和线性时变（LTV）不确定性影响的系统鲁棒稳定性和性能的评估仍然是一个开放的问题，但也很重要。为此，积分二次约束（IQCs）可用于导出涉及动态和静态乘法器的频域不等式（FDIs）的充分条件。本文提出了一种新的基于全频率的方法，该方法具有两个主要优点。首先，LTI不确定性由μ-分析的独立频乘子来表征，这比IQC方法中使用的基必须任意选择的方法保守得多。其次，通过迭代优化静态乘法器和频率相关乘法器，可以获得次优（但相关）解。这减轻了计算量，使该方法更适用于实际系统。

引用次数: 0

Distributed learning and optimization of a multi-agent macroscopic probabilistic model 多智能体宏观概率模型的分布式学习与优化

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-11-01 DOI: 10.1016/j.ejcon.2025.101332

Riccardo Brumali, Guido Carnevale, Giuseppe Notarstefano

In this paper, we propose MAcroscopic Consensus and micRoscopic gradient-based OPTimization (MACROPT), a novel distributed method for a network of agents able to learn a probabilistic macroscopic model and concurrently optimize it by acting on the microscopic agents’ states. The macroscopic model is defined through the aggregation of local kernels each representing a probabilistic feature of a single agent (e.g., its local sensing model), while the optimization is done with respect to a given cost index, e.g., the Kullback–Leibler divergence with respect to a target distribution. MACROPT improves the macroscopic model by microscopically coordinating the agents according to a distributed gradient-based policy. Concurrently, it allows each agent to locally learn the macroscopic model through a consensus-based mechanism. We analyze the resulting interconnected method through the lens of system theory. We demonstrate that MACROPT asymptotically converges to the set of stationary points of the nonconvex cost function. The theoretical findings are supported by numerical simulations in sensor network event-detection scenarios.

在本文中，我们提出了宏观共识和微观梯度优化（MACROPT），这是一种新的分布式智能体网络方法，能够学习概率宏观模型并通过作用于微观智能体的状态来同时优化该模型。宏观模型是通过局部核的聚合来定义的，每个局部核代表单个代理的概率特征（例如，其局部感知模型），而优化是根据给定的成本指数完成的，例如，相对于目标分布的Kullback-Leibler散度。MACROPT通过基于分布式梯度的策略在微观上协调智能体来改进宏观模型。同时，它允许每个智能体通过基于共识的机制局部学习宏观模型。我们通过系统论的视角来分析由此产生的互联方法。证明了MACROPT渐近收敛于非凸代价函数的平稳点集。这些理论发现得到了传感器网络事件检测场景的数值模拟的支持。

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引用次数: 0

Cyber–physical security of vehicles: Zero dynamics attacks against vehicle’s lateral dynamics 车辆的网络物理安全：针对车辆横向动态的零动态攻击

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-11-01 DOI: 10.1016/j.ejcon.2025.101316

Ghadeer Shaaban , Hassen Fourati , Alain Kibangou , Christophe Prieur , Mohammad Pirani

Modern vehicles have evolved from mechanical systems to complex and connected ones controlled by numerous digital computers interconnected through internal networks. While this development has improved their efficiency and safety, it also brings new potential risks, particularly cyber-attacks. Several studies have explored the security of vehicle dynamics against such threats. Among these dynamics, the vehicle’s lateral dynamics are crucial for maintaining stability and control during turns and maneuvers, making them a key focus of research. However, only a few recent studies have specifically investigated the security of lateral dynamics. This paper explores the potential for zero dynamics attacks on the vehicle’s lateral dynamics, where the attacker can remain undetected by leaving no trace on the system’s outputs. Three scenarios are studied: when the output includes yaw rate, lateral acceleration, and their combination. These two critical measurements of a vehicle’s lateral motion are accessible through the inertial measurement units (IMU) in every vehicle. For each scenario, the impact of zero dynamics attacks on system performance is analyzed and illustrated through simulations. Finally, the paper provides recommendations for securing vehicles’ lateral dynamics against such attacks.

现代交通工具已经从机械系统发展到由众多通过内部网络相互连接的数字计算机控制的复杂互联系统。这种发展虽然提高了它们的效率和安全性，但也带来了新的潜在风险，特别是网络攻击。一些研究已经探讨了车辆动力学对此类威胁的安全性。在这些动力学中，车辆的横向动力学对车辆在转弯和机动过程中保持稳定性和控制至关重要，是研究的重点。然而，最近只有少数研究专门研究了横向动力的安全性。本文探讨了对车辆横向动力学进行零动态攻击的可能性，在这种情况下，攻击者可以通过在系统输出中不留痕迹而不被发现。研究了三种情况：当输出包括横摆角速度、横向加速度及其组合时。通过每辆车的惯性测量单元（IMU）可以获得车辆横向运动的这两个关键测量值。针对每种情况，通过仿真分析和说明了零动态攻击对系统性能的影响。最后，本文提供了保护车辆横向动力学免受此类攻击的建议。

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Robust visual servoing under human supervision for assembly tasks 在人类监督下的装配任务鲁棒视觉伺服

IF 2.6 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

European Journal of Control

Pub Date : 2025-11-01 DOI: 10.1016/j.ejcon.2025.101312

Victor Nan Fernandez-Ayala , Jorge Silva , Meng Guo , Dimos V. Dimarogonas

We propose a framework enabling mobile manipulators to reliably complete pick-and-place tasks for assembling structures from construction blocks. The picking uses an eye-in-hand visual servoing controller for object tracking with Control Barrier Functions (CBFs) to ensure fiducial markers in the blocks remain visible. An additional robot with an eye-to-hand setup ensures precise placement, critical for structural stability. We integrate human-in-the-loop capabilities for flexibility and fault correction and analyze robustness to camera pose errors, proposing adapted barrier functions to handle them. Lastly, experiments validate the framework on 6-DoF mobile arms.

我们提出了一个框架，使移动机械手能够可靠地完成从构建块组装结构的拾取和放置任务。拣选使用眼手视觉伺服控制器进行对象跟踪，具有控制障碍功能（CBFs），以确保块中的基准标记保持可见。另一个配有眼对手装置的机器人确保了精确的放置，这对结构的稳定性至关重要。我们整合了人在环的灵活性和故障纠正能力，并分析了相机姿态错误的鲁棒性，提出了自适应的屏障函数来处理它们。最后，在六自由度移动臂上进行了实验验证。

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