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":"2025-12-01","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 : 2025-12-01Epub Date: 2025-09-18DOI: 10.1016/j.ejcon.2025.101394
Yong Sun , Yiming Sun , Ruifei Peng , Chunhe Song , Qingxin Li , Shimao Yu , Yuqi Liu
Robotic milling has emerged as a prominent research area for complex shaping owing to the inherent flexibility of manipulators. The investigation of robotic milling for rigid material has widely reported. However,because of the inherent attribute of rigid material, these methods mainly concentrate on the position and pose control of manipulators during task processing, lacking of reaction to material state, such as temperature and elastic deformation. This oversight becomes problematic when dealing with nonrigid materials since milling objectives are highly sensitive to changes in temperature and deformation. As a consequence, current robotic milling approaches designed for rigid materials may fail to ensure processing accuracy and security in such scenarios. To deal with this issue, this paper constructs a robotic milling simulation environment that incorporates a joint multi-fidelity surrogate model for nonrigid material milling with the consideration of temperature and deformation information. By means of reinforcement learning strategies to learn the knowledge of nonrigid material milling process, the elastic deformation can be effectively compensated and the temperature can be restricted within the preset bound while ensuring the processing efficiency. Finally, the effectiveness of the proposed control approach for nonrigid material milling is verified through simulation and experiment results.
{"title":"Optimization of robotic shaping control for non-rigid material with safety constraints","authors":"Yong Sun , Yiming Sun , Ruifei Peng , Chunhe Song , Qingxin Li , Shimao Yu , Yuqi Liu","doi":"10.1016/j.ejcon.2025.101394","DOIUrl":"10.1016/j.ejcon.2025.101394","url":null,"abstract":"<div><div>Robotic milling has emerged as a prominent research area for complex shaping owing to the inherent flexibility of manipulators. The investigation of robotic milling for rigid material has widely reported. However,because of the inherent attribute of rigid material, these methods mainly concentrate on the position and pose control of manipulators during task processing, lacking of reaction to material state, such as temperature and elastic deformation. This oversight becomes problematic when dealing with nonrigid materials since milling objectives are highly sensitive to changes in temperature and deformation. As a consequence, current robotic milling approaches designed for rigid materials may fail to ensure processing accuracy and security in such scenarios. To deal with this issue, this paper constructs a robotic milling simulation environment that incorporates a joint multi-fidelity surrogate model for nonrigid material milling with the consideration of temperature and deformation information. By means of reinforcement learning strategies to learn the knowledge of nonrigid material milling process, the elastic deformation can be effectively compensated and the temperature can be restricted within the preset bound while ensuring the processing efficiency. Finally, the effectiveness of the proposed control approach for nonrigid material milling is verified through simulation and experiment results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101394"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158887","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 : 2025-12-01Epub 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":"2025-12-01","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 : 2025-12-01Epub Date: 2025-08-19DOI: 10.1016/j.ejcon.2025.101347
Faiq Ghawash , Morten Hovd , Brad Schofield
In this work, we study the problem of designing a model predictive control (MPC) strategy for switched affine systems with dwell time constraints. We show that the task of simultaneous determination of the optimal operational mode and actuator inputs can be formulated within the generalized disjunctive programming (GDP) framework and highlight its computational advantages over traditional techniques. Although GDP provides an efficient parametrization of the associated mixed integer program, the combinatorial nature of the problem might require a large computational time limiting its applicability in real time scenarios. To this end, we propose a framework based on the multitask learning paradigm to approximate the solution of mixed integer MPC for switched affine systems. We also provide a computational method based on the offline solution of a mixed integer linear program to overapproximate the reachable sets of the closed loop system that helps to analyze the safety and stability of the system under the influence of the learned controller. Once trained offline, the resulting controller results in a solver free approach well suited for implementation on a resource constrained embedded hardware. Several illustrative examples are provided to show the efficacy of the proposed approach.
{"title":"Model predictive control of switched affine systems with dwell time constraints—Efficient formulation, approximation and embedded implementation","authors":"Faiq Ghawash , Morten Hovd , Brad Schofield","doi":"10.1016/j.ejcon.2025.101347","DOIUrl":"10.1016/j.ejcon.2025.101347","url":null,"abstract":"<div><div>In this work, we study the problem of designing a model predictive control (MPC) strategy for switched affine systems with dwell time constraints. We show that the task of simultaneous determination of the optimal operational mode and actuator inputs can be formulated within the generalized disjunctive programming (GDP) framework and highlight its computational advantages over traditional techniques. Although GDP provides an efficient parametrization of the associated mixed integer program, the combinatorial nature of the problem might require a large computational time limiting its applicability in real time scenarios. To this end, we propose a framework based on the multitask learning paradigm to approximate the solution of mixed integer MPC for switched affine systems. We also provide a computational method based on the offline solution of a mixed integer linear program to overapproximate the reachable sets of the closed loop system that helps to analyze the safety and stability of the system under the influence of the learned controller. Once trained offline, the resulting controller results in a solver free approach well suited for implementation on a resource constrained embedded hardware. Several illustrative examples are provided to show the efficacy of the proposed approach.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101347"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097555","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 : 2025-12-01Epub 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":"2025-12-01","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}
Information transfer is defined as a measure of the causal inferences between dynamical events. We quantify information transfers and study their responses to interventions or external signals within components of linear discrete stochastic systems. To quantify the causal inferences, we find the difference between the rate of change in the differential entropy of a marginal measure at a given coordinate in the presence and absence of another fixed coordinate. We also integrate theories from optimal control and information theory to compute control signals that result in desired information transfers within the dynamical components. To optimally steer the information transfer to the desired value, we convert the control problem into a nonlinear program, which can be solved numerically. We illustrate our theory with an example of a wireless communication system consisting of various transmitters and receivers. In particular, given a well-defined transmission channel model and the noise, we show that the signal-to-interference-plus-noise ratio, SINR of a receiver due to interference from various transmitters is a function of information transfers to the receiver from the transmitters, and controlling these transfers to desired values aligns with controlling the SINR experienced by the receiver.
{"title":"Information transfer and its control in linear discrete stochastic systems","authors":"Moirangthem Sailash Singh , Ramkrishna Pasumarthy , Umesh Vaidya , Steffen Leonhardt","doi":"10.1016/j.ejcon.2025.101392","DOIUrl":"10.1016/j.ejcon.2025.101392","url":null,"abstract":"<div><div>Information transfer is defined as a measure of the causal inferences between dynamical events. We quantify information transfers and study their responses to interventions or external signals within components of linear discrete stochastic systems. To quantify the causal inferences, we find the difference between the rate of change in the differential entropy of a marginal measure at a given coordinate in the presence and absence of another fixed coordinate. We also integrate theories from optimal control and information theory to compute control signals that result in desired information transfers within the dynamical components. To optimally steer the information transfer to the desired value, we convert the control problem into a nonlinear program, which can be solved numerically. We illustrate our theory with an example of a wireless communication system consisting of various transmitters and receivers. In particular, given a well-defined transmission channel model and the noise, we show that the signal-to-interference-plus-noise ratio, SINR of a receiver due to interference from various transmitters is a function of information transfers to the receiver from the transmitters, and controlling these transfers to desired values aligns with controlling the SINR experienced by the receiver.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101392"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097562","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 : 2025-12-01Epub Date: 2025-09-10DOI: 10.1016/j.ejcon.2025.101375
Marcin Witczak , Damiano Rotondo , Marcin Pazera , Vicenç Puig
The paper deals with the problem of integrated fault estimation and fault tolerant control for constrained linear systems with bounded external disturbances. In particular, the above coupling causes that control and estimation influence each other. Thus, to prevent an unacceptable performance of the entire system, a new integration strategy is proposed, The proposed framework is based on an output feedback framework that consists of two stages: off-line – a low-complexity LMI-based optimization task and on-line – a deterministic model predictive control problem. The proposed approach is assessed using a cascade two-tank system example.
{"title":"Output-feedback integrated fault-tolerant control for discrete-time systems subject to input and state constraints","authors":"Marcin Witczak , Damiano Rotondo , Marcin Pazera , Vicenç Puig","doi":"10.1016/j.ejcon.2025.101375","DOIUrl":"10.1016/j.ejcon.2025.101375","url":null,"abstract":"<div><div>The paper deals with the problem of integrated fault estimation and fault tolerant control for constrained linear systems with bounded external disturbances. In particular, the above coupling causes that control and estimation influence each other. Thus, to prevent an unacceptable performance of the entire system, a new integration strategy is proposed, The proposed framework is based on an output feedback framework that consists of two stages: <em>off-line</em> – a low-complexity LMI-based optimization task and <em>on-line</em> – a deterministic model predictive control problem. The proposed approach is assessed using a cascade two-tank system example.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101375"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145050239","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 : 2025-12-01Epub Date: 2025-11-08DOI: 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.
{"title":"Average-based aperiodic intermittent control for secure synchronization of antagonistic networks","authors":"Lingzhong Zhang , Jianquan Lu , Bowen Li , Jürgen Kurths","doi":"10.1016/j.ejcon.2025.101411","DOIUrl":"10.1016/j.ejcon.2025.101411","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101411"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145571524","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 : 2025-12-01Epub Date: 2025-10-30DOI: 10.1016/j.ejcon.2025.101407
Taewan Kim, Behçet Açıkmeşe
Funnel synthesis refers to a procedure for synthesizing a time-varying controlled invariant set and an associated control law around a nominal trajectory. The computation of the funnel involves solving a continuous-time differential equation or inequality, ensuring the invariance of the funnel. Previous approaches often compromise the invariance property of the funnel; for example, they may enforce the equation or the inequality only at discrete temporal nodes and do not have a formal guarantee of invariance at all times. This paper proposes a computational funnel synthesis method that can satisfy the invariance of the funnel without such compromises. We derive a finite number of linear matrix inequalities (LMIs) that imply the satisfaction of a continuous-time differential linear matrix inequality guaranteeing the invariance of the funnel at all times from the initial to the final time. To this end, we utilize LMI conditions ensuring matrix copositivity, which then imply continuous-time invariance. The primary contribution of the paper is to prove that the resulting funnel is indeed invariant over a finite time horizon. We validate the proposed method via a three-dimensional trajectory planning and control problem with obstacle avoidance constraints, and a six-degree-of-freedom powered descent guidance.
{"title":"Funnel synthesis via LMI copositivity conditions for nonlinear systems","authors":"Taewan Kim, Behçet Açıkmeşe","doi":"10.1016/j.ejcon.2025.101407","DOIUrl":"10.1016/j.ejcon.2025.101407","url":null,"abstract":"<div><div>Funnel synthesis refers to a procedure for synthesizing a time-varying controlled invariant set and an associated control law around a nominal trajectory. The computation of the funnel involves solving a continuous-time differential equation or inequality, ensuring the invariance of the funnel. Previous approaches often compromise the invariance property of the funnel; for example, they may enforce the equation or the inequality only at discrete temporal nodes and do not have a formal guarantee of invariance at all times. This paper proposes a computational funnel synthesis method that can satisfy the invariance of the funnel without such compromises. We derive a finite number of linear matrix inequalities (LMIs) that imply the satisfaction of a continuous-time differential linear matrix inequality guaranteeing the invariance of the funnel at all times from the initial to the final time. To this end, we utilize LMI conditions ensuring matrix copositivity, which then imply continuous-time invariance. The primary contribution of the paper is to prove that the resulting funnel is indeed invariant over a finite time horizon. We validate the proposed method via a three-dimensional trajectory planning and control problem with obstacle avoidance constraints, and a six-degree-of-freedom powered descent guidance.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101407"},"PeriodicalIF":2.6,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145466460","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}
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。
{"title":"Active fault-tolerant flatness-based control for a three-phase grid connected inverter with LCL filters","authors":"Marouane Laaziz , Florentina Nicolau , Malek Ghanes , Jean-Pierre Barbot , Nadia Machkour","doi":"10.1016/j.ejcon.2025.101331","DOIUrl":"10.1016/j.ejcon.2025.101331","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101331"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645419","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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