European Journal of Control最新文献

英文中文

Average-based aperiodic intermittent control for secure synchronization of antagonistic networks 对抗网络安全同步的基于平均的非周期间歇控制

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

European Journal of Control

Pub Date : 2025-11-08 DOI: 10.1016/j.ejcon.2025.101411

Lingzhong Zhang , Jianquan Lu , Bowen Li , Jürgen Kurths

This paper studies the bipartite mean-square bounded synchronization of coupled neural networks (NNs) under anti-attack aperiodic intermittent control (AIC). A deception attack model targeting controller–actuator channels in antagonistically coupled NNs is proposed, addressing integrity breaches in communication channels and malicious command injections via intermittent access points. By incorporating averaging into intermittent control, the proposed strategy substantially enhances synchronization robustness of antagonistic networks against deceptive actuators. Through rigorous analysis employing the average AIC interval methodology, some sufficient conditions ensuring bipartite mean-square bounded synchronization for the coupled NNs are established, and the traditional strict upper/lower bounds on AIC width parameters are relaxed. To ensure the synchronization errors remain within the prescribed upper bound, the coupling strength, attack probability and the average AIC width are co-designed. Elastic interval boundary conditions for aperiodic control are derived via an average control duration analysis. Finally, numerical examples are given to demonstrate the derived results.

研究了抗攻击非周期间歇控制下耦合神经网络的二部均方有界同步问题。提出了一种针对拮抗耦合神经网络中控制器-执行器通道的欺骗攻击模型，解决了通信通道完整性破坏和通过间歇接入点注入恶意命令的问题。通过在间歇控制中加入平均，所提出的策略大大提高了对抗网络对欺骗性致动器的同步鲁棒性。通过对平均AIC区间方法的严密分析，建立了保证耦合神经网络二部均方有界同步的充分条件，放宽了传统的AIC宽度参数严格的上下界。为了保证同步误差在规定的上限内，对耦合强度、攻击概率和平均AIC宽度进行了协同设计。通过对平均控制时间的分析，导出了非周期控制的弹性区间边界条件。最后，通过数值算例对所得结果进行了验证。

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引用次数: 0

Bias correction and instrumental variables for direct data-driven model-reference control 偏差校正和仪器变量直接数据驱动的模型参考控制

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.2025.101327

Manas Mejari , Valentina Breschi , Milad Banitalebi Dehkordi , Simone Formentin , Dario Piga

Managing noisy data is a central challenge in direct data-driven control design. We propose an approach for synthesizing model-reference controllers for linear time-invariant (LTI) systems using noisy state-input data, employing novel noise mitigation techniques. We demonstrate that data-based covariance parameterization of the controller enables to incorporate bias-correction and instrumental variable techniques. This reduces measurement noise effects as data volume increases. The number of decision variables remains independent of dataset size, making this method scalable to large datasets. The approach’s effectiveness is demonstrated with a numerical example.

管理噪声数据是直接数据驱动控制设计的核心挑战。我们提出了一种利用噪声状态输入数据合成线性时不变（LTI）系统的模型参考控制器的方法，采用了新的噪声抑制技术。我们证明了基于数据的控制器协方差参数化能够结合偏差校正和工具变量技术。随着数据量的增加，这减少了测量噪声的影响。决策变量的数量与数据集大小无关，使该方法可扩展到大型数据集。通过数值算例验证了该方法的有效性。

引用次数: 0

Model predictive building climate control for mitigating heat pump noise pollution 模型预测建筑气候控制减轻热泵噪声污染

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.2025.101323

Yun Li , Jicheng Shi , Colin N. Jones , Neil Yorke-Smith , Tamas Keviczky

Noise pollution from heat pumps (HPs) has been an emerging concern to their broader adoption, especially in densely populated areas. This paper explores a model predictive control (MPC) approach for climate control of buildings, aimed at minimizing the noise nuisance generated by HPs. By exploiting a piecewise linear approximation of HP noise patterns and assuming linear building thermal dynamics, the proposed design can be generalized to handle various HP acoustic patterns with mixed-integer linear programming (MILP). Additionally, two computationally efficient options for defining the noise cost function in the proposed MPC design are discussed. Numerical experiments on a high-fidelity building simulator are performed to demonstrate the viability and effectiveness of the proposed design. Simulation results show that minimizing the excess of HP noise over ambient noise is effective in mitigating the HP noise nuisance. Further, compared with the conventional MPC-based building climate control scheme, the proposed approach can effectively reduce the HP noise pollution with only a minor energy cost increase.

热泵（HPs）的噪音污染已成为其广泛采用的一个新兴问题，特别是在人口稠密的地区。本文探讨了一种用于建筑物气候控制的模型预测控制（MPC）方法，旨在最大限度地减少hp产生的噪声。通过利用高压噪声模式的分段线性近似并假设线性建筑热动力学，所提出的设计可以推广到使用混合整数线性规划（MILP）处理各种高压声学模式。此外，讨论了在MPC设计中定义噪声代价函数的两种计算效率选项。在高保真建筑模拟器上进行了数值实验，验证了该设计的可行性和有效性。仿真结果表明，减小高压噪声对环境噪声的影响可以有效地减轻高压噪声的危害。此外，与传统的基于mpc的建筑气候控制方案相比，该方法可以有效地降低高压噪声污染，且能源成本增加较少。

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引用次数: 0

A passivity analysis for nonlinear consensus on balanced digraphs 平衡有向图非线性一致的无源性分析

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.2025.101368

Feng-Yu Yue, Daniel Zelazo

This work deals with the output consensus problems for multi-agent systems over balanced digraphs. While passivity-based approaches are widely used for analyzing undirected consensus protocols, we show that they are generally not applicable to the directed linear consensus protocol. To address this limitation, we propose a general approach that enables a passivity-based analysis for network systems with directed couplings. Then, we mitigate the complexity introduced by nonlinearities and directed interconnections by reformulating the general output consensus problem as a convergence analysis on a submanifold. Within this framework, we further focus on the stabilization problem, a specific form of the output consensus problem, and establish a sufficient passivity-based condition for stabilizing multi-agent systems over balanced digraphs. The results are supported by a numerical example.

本文研究了平衡有向图上的多智能体系统的输出一致性问题。虽然基于被动性的方法被广泛用于分析无向共识协议，但我们表明它们通常不适用于有向线性共识协议。为了解决这一限制，我们提出了一种通用方法，可以对具有定向耦合的网络系统进行基于无源性的分析。然后，我们通过将一般输出一致性问题重新表述为子流形上的收敛分析，减轻了非线性和有向互连所带来的复杂性。在此框架内，我们进一步关注了稳定问题，即输出共识问题的一种特殊形式，并建立了平衡有向图上多智能体系统稳定的充分无源条件。数值算例验证了计算结果。

引用次数: 0

Dissipative iFIR filters for data-driven design 耗散iFIR滤波器的数据驱动设计

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.2025.101300

Zixing Wang, Yi Zhang, Fulvio Forni

We tackle the problem of providing closed-loop stability guarantees with a scalable data-driven design. We combine virtual reference feedback tuning with dissipativity constraints on the controller for closed-loop stability. The constraints are formulated as a set of linear inequalities in the frequency domain. This leads to a convex problem that is scalable with respect to the length of the data and the complexity of the controller. An extension of virtual reference feedback tuning to include disturbance dynamics is also discussed. The proposed data-driven control design is illustrated by a soft gripper impedance control example.

我们通过可扩展的数据驱动设计来解决提供闭环稳定性保证的问题。我们将虚拟参考反馈调谐与控制器的耗散性约束相结合以实现闭环稳定性。这些约束在频域中被表述为一组线性不等式。这将导致一个凸问题，该问题与数据的长度和控制器的复杂性有关。讨论了将虚拟参考反馈调谐扩展到扰动动力学的方法。最后以软夹持器阻抗控制为例说明了数据驱动控制设计。

引用次数: 0

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。

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