European Journal of Control最新文献

英文中文

Robust tube-based reinforcement learning control for systems with parametric uncertainty 参数不确定系统的鲁棒管强化学习控制

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.2025.101326

Jiayue Wang , Hamid Reza Feyzmahdavian, Soroush Rastegarpour, Alf J. Isaksson

This paper presents a novel dual-agent reinforcement learning (Rl) framework designed to improve the robustness of Rl-based control in industrial processes. To address the challenges posed by modeling errors and uncertainties, the framework draws inspiration from the robust control principles of tube Mpc. It features two specialized Rl agents: a nominal agent trained on an idealized process model in a simulated environment and a corrective agent trained to compensate for the discrepancies between the simulated model and actual system dynamics. To ensure realistic error compensation without direct access to the physical process, the simulation is systematically perturbed during training using parametric variations and Gaussian disturbances. A comprehensive case study demonstrates the effectiveness of the proposed method, highlighting its ability to maintain stable, reliable, and adaptive control performance under uncertain operating conditions in industrial applications.

本文提出了一种新的双智能体强化学习（Rl）框架，旨在提高工业过程中基于Rl的控制的鲁棒性。为了解决建模误差和不确定性带来的挑战，该框架从管Mpc的鲁棒控制原理中汲取灵感。它具有两个专门的Rl代理：在模拟环境中根据理想化过程模型训练的名义代理和经过训练的纠正代理，以补偿模拟模型与实际系统动力学之间的差异。为了在不直接接触物理过程的情况下确保真实的误差补偿，在训练过程中使用参数变化和高斯扰动系统地干扰模拟。一个全面的案例研究证明了该方法的有效性，突出了其在工业应用中不确定操作条件下保持稳定、可靠和自适应控制性能的能力。

引用次数: 0

Input-to-task redundancy and dynamic control allocation for multi-agent systems 多智能体系统的输入任务冗余与动态控制分配

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.2025.101287

Lorenzo Govoni, Andrea Cristofaro

This paper introduces the notion of input-to-task redundancy in multi-agent systems and extends the dynamic control allocation paradigm to input-constrained multi-agent systems. In particular, it is shown that a proper selection of a subset of the system outputs can entail a weak redundancy condition with respect to a given task to be executed, thereby providing additional degrees of freedom to cope with potential input constraints. Moreover, we propose a way of quantitatively characterizing the additional freedom in the controllability of the system by means of a redundancy degree suitably defined. The efficacy of the approach has been tested and validated by numerical simulations in a platooning application.

本文引入了多智能体系统中输入任务冗余的概念，并将动态控制分配范式扩展到输入约束的多智能体系统中。特别是，它表明，适当选择系统输出的子集可能导致相对于要执行的给定任务的弱冗余条件，从而提供额外的自由度来处理潜在的输入约束。此外，我们还提出了一种通过适当定义冗余度来定量表征系统可控性中的附加自由度的方法。仿真结果表明，该方法的有效性得到了验证。

引用次数: 0

A control Lyapunov function approach to event-triggered parameterized control for discrete-time linear systems 离散线性系统事件触发参数化控制的控制李雅普诺夫函数方法

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.2025.101325

Anusree Rajan , Kushagra Parmeshwar , Pavankumar Tallapragada

This paper proposes an event-triggered parameterized control method using a control Lyapunov function approach for discrete time linear systems with external disturbances. In this control method, each control input to the plant is a linear combination of a fixed set of linearly independent scalar functions. The controller updates the coefficients of the parameterized control input in an event-triggered manner so as to minimize a quadratic cost function subject to quadratic constraints and communicates the same to the actuator. We design an event-triggering rule that guarantees global uniform ultimate boundedness of trajectories of the closed loop system and non-trivial inter-event times. We illustrate our results through a numerical example and we also compare the performance of the proposed control method with other existing control methods in the literature.

针对具有外部扰动的离散时间线性系统，提出了一种基于控制李雅普诺夫函数的事件触发参数化控制方法。在这种控制方法中，对被控对象的每个控制输入是一组固定的线性无关标量函数的线性组合。控制器以事件触发的方式更新参数化控制输入的系数，使受二次约束的二次代价函数最小，并将其传递给执行器。我们设计了一个事件触发规则，保证闭环系统轨迹的全局一致最终有界性和事件间时间的非平凡性。我们通过一个数值例子来说明我们的结果，并将所提出的控制方法与文献中其他现有控制方法的性能进行了比较。

引用次数: 0

Data-driven LPV control based on Quadratic Matrix Inequalities: Experimental application to the Quanser Aero 基于二次矩阵不等式的数据驱动LPV控制：在匡思尔飞行器上的实验应用

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.2025.101299

Michelangelo Faleschini , Damiano Rotondo , Maria Letizia Corradini

This paper presents the application of a recently proposed data-driven Linear Parameter Varying (LPV) controller design method to the Quanser Aero. The employed approach is based on Quadratic Matrix Inequalities (QMIs) and the strict matrix S-lemma. The existing approach is tweaked with the aim of forcing a higher control aggressiveness. Simulation and experimental results involving stabilization and multi-step-reference tracking are used to illustrate the validity and performance of the design.

本文介绍了一种最新提出的数据驱动线性参数变化（LPV）控制器设计方法在Quanser Aero上的应用。该方法基于二次矩阵不等式和严格矩阵s引理。现有的方法进行了调整，目的是强制更高的控制侵略性。仿真和实验结果验证了该设计的有效性和性能。

引用次数: 0

Observer-based asymptotic active fault diagnosis under hybrid bounded and Gaussian uncertainties 混合有界和高斯不确定性下基于观测器的渐近主动故障诊断

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.2025.101288

Ziling Li , Yiming Wan , Xueqian Wang , Feng Xu

This paper extends an asymptotic active fault diagnosis (AFD) framework using a bank of observers to linear time-invariant (LTI) systems under the effect of hybrid bounded and Gaussian uncertainties. Each observer is designed to match a healthy/faulty actuator mode. Bounded uncertainties are represented using zonotopes, while Gaussian uncertainties are modeled as ellipsoids based on the specified confidence level. The output confidence domains are expressed as the Minkowski sum of a zonotope and an ellipsoid, i.e., an ellipsotope. At each step, the proposed AFD method designs an input and a group of observer gains such that output confidence domains estimated by observers at the next step keep away from each other as far as possible. By designing inputs and injecting them into the system and optimizing observer gains step by step, AFD is eventually achieved. At the end of this paper, the effectiveness of the proposed method is illustrated by examples.

本文将利用一组观测器的渐近主动故障诊断框架推广到有界不确定性和高斯不确定性混合作用下的线性时不变系统。每个观察者都设计为匹配健康/故障执行器模式。有界不确定性使用分区表示，而高斯不确定性基于指定的置信水平建模为椭球。输出置信域表示为分区与椭球体的Minkowski和，即椭球体。在每一步中，所提出的AFD方法设计了一个输入和一组观察者增益，使得观察者在下一步估计的输出置信域尽可能远离彼此。通过设计输入并将其注入系统，逐步优化观测器增益，最终实现AFD。最后，通过算例说明了所提方法的有效性。

引用次数: 0

Fault detection via output-based barrier functions 通过基于输出的障碍函数进行故障检测

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.2025.101283

Luca Ballotta, Andrea Peruffo, Riccardo M.G. Ferrari, Manuel Mazo Jr.

Model-based fault detection identifies anomalies by comparing a system’s output with the prediction from a model. Although such a technique can be very powerful, it may suffer from the computational complexity of its underlying models, especially for large systems. An alternative approach that circumvents this cost increase uses barrier functions, which abstract the system’s behaviour into a single value. In this paper, we propose a fault detection mechanism via output-based barrier functions, that does not require to estimate the full state, copes with noisy processes, and is tailored to safety-critical faults as given by a user-defined safe region. We leverage such a mechanism by introducing so-called

p

-fault tolerant sets, which guarantee that a faulty system requires at least

p

time steps before reaching any unsafe state. Our approach is validated through numerical experiments on two systems with linear and nonlinear dynamics, along with the classic three-tank model.

基于模型的故障检测通过比较系统的输出与模型的预测来识别异常。尽管这种技术可能非常强大，但它可能会受到其底层模型的计算复杂性的影响，特别是对于大型系统。规避这种成本增加的另一种方法是使用障碍函数，它将系统的行为抽象为单个值。在本文中，我们通过基于输出的屏障函数提出了一种故障检测机制，该机制不需要估计完整状态，可以处理噪声过程，并且可以根据用户定义的安全区域定制安全关键故障。我们通过引入所谓的p容错集来利用这种机制，它保证故障系统在达到任何不安全状态之前至少需要p个时间步。我们的方法通过两个系统的数值实验验证了线性和非线性动力学，以及经典的三罐模型。

引用次数: 0

Optimal dynamic control of bounded Jacobian discrete-time systems via interval observers 基于区间观测器的有界雅可比离散系统最优动态控制

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.2025.101328

Mohammad Khajenejad

This paper presents an optimal dynamic control framework for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations affected by both state and process noise. Rather than directly stabilizing the uncertain system, we focus on stabilizing an interval observer in a higher-dimensional space, whose states bound the true system states. Our nonlinear dynamic control method introduces added flexibility over traditional static and linear approaches, effectively compensating for system nonlinearities and enabling potentially tighter closed-loop intervals. Additionally, we establish a separation principle that allows for the design of observer and control gains. We further derive tractable matrix inequalities to ensure system stability in the closed-loop configuration. The simulation results show that the proposed dynamic control approach significantly outperforms a static counterpart method.

本文提出了具有非线性观测值同时受状态噪声和过程噪声影响的有界雅可比非线性离散时间（DT）系统的最优动态控制框架。而不是直接稳定不确定系统，我们关注的是稳定一个区间观测器在一个高维空间，其状态约束的真实系统状态。我们的非线性动态控制方法比传统的静态和线性方法引入了额外的灵活性，有效地补偿了系统的非线性，并实现了潜在的更紧密的闭环区间。此外，我们建立了一个分离原则，允许设计观测器和控制增益。进一步推导出可处理的矩阵不等式，以保证系统在闭环组态下的稳定性。仿真结果表明，所提出的动态控制方法明显优于静态控制方法。

引用次数: 0

A robust periodic controller for spacecraft attitude tracking 航天器姿态跟踪的鲁棒周期控制器

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.2025.101318

Frederik Thiele, Felix Biertümpfel, Harald Pfifer

This paper presents a novel approach for robust periodic attitude control of satellites. Respecting the periodicity of the satellite dynamics in the synthesis allows to achieve constant performance and robustness requirements over the orbit. The proposed design follows a mixed sensitivity control design employing a physically motivated weighting scheme. The controller is calculated using a novel structured linear time-periodic output feedback synthesis with guaranteed optimal

L_{2}

-performance. The synthesis poses a convex optimization problem and avoids grid-wise evaluations of coupling conditions inherent for classical periodic

H_{\infty}

-synthesis. Moreover, the controller has a transparent and easy to implement structure. A solar power plant satellite is used to demonstrate the effectiveness of the proposed method for periodic satellite attitude control.

提出了一种新的卫星鲁棒周期姿态控制方法。在综合中考虑卫星动力学的周期性，可以在轨道上实现恒定的性能和鲁棒性要求。提出的设计遵循采用物理激励加权方案的混合灵敏度控制设计。控制器的计算采用了一种新颖的结构化线性时间周期输出反馈综合，保证了最优的l2性能。该综合提出了一个凸优化问题，避免了经典周期H∞综合固有的耦合条件的网格化评估。此外，该控制器具有透明、易于实现的结构。以某太阳能电站卫星为例，验证了该方法对卫星姿态周期控制的有效性。

引用次数: 0

Stochastic model predictive control with switched latent force models 具有切换潜在力模型的随机模型预测控制

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.2025.101366

Daniel Landgraf, Thore Wietzke, Knut Graichen

Switched latent force models (LFMs) are combinations of a first-principles physical model and a Gaussian process prior, where the driving force of the LFM may switch at certain time points. This allows to use expert knowledge to create an analytical state space model that describes large parts of the system behavior, while deviating parts are modeled using data-based methods. This paper proposes the combination of stochastic model predictive control and switched LFMs by reformulating the Gaussian process priors as linear state space models with additive white Gaussian noise. For this purpose, a stochastic optimization problem is formulated that can be solved by a deterministic approximation of the uncertainty propagation and the chance constraints. The switching points of the LFM introduce further uncertainty to the system that must be considered for the prediction of the state trajectories. Therefore, Gaussian mixture models are used to describe the probability density functions of the predicted states. The computation cost of the approach can be reduced by using a separate disturbance predictor, which allows to formulate the optimization problem of the model predictive controller independently of the internal disturbance states. The performance of the proposed method is illustrated for the control of a building energy system.

开关潜力模型（LFMs）是第一原理物理模型和高斯过程先验的结合，其中LFM的驱动力可能在某些时间点发生转换。这允许使用专家知识来创建描述大部分系统行为的分析状态空间模型，同时使用基于数据的方法对偏离部分进行建模。本文通过将高斯过程先验重新表述为加性高斯白噪声的线性状态空间模型，提出了随机模型预测控制与开关LFMs的结合。为此，建立了一个随机优化问题，该问题可以通过不确定性传播和机会约束的确定性近似来解决。LFM的开关点给系统引入了更多的不确定性，这是预测状态轨迹时必须考虑的。因此，使用高斯混合模型来描述预测状态的概率密度函数。该方法通过使用单独的扰动预测器来减少计算量，从而可以独立于内部扰动状态来制定模型预测控制器的优化问题。最后以某建筑能源系统为例，说明了该方法的有效性。

{"title":"Stochastic model predictive control with switched latent force models","authors":"Daniel Landgraf, Thore Wietzke, Knut Graichen","doi":"10.1016/j.ejcon.2025.101366","DOIUrl":"10.1016/j.ejcon.2025.101366","url":null,"abstract":"<div><div>Switched latent force models (LFMs) are combinations of a first-principles physical model and a Gaussian process prior, where the driving force of the LFM may switch at certain time points. This allows to use expert knowledge to create an analytical state space model that describes large parts of the system behavior, while deviating parts are modeled using data-based methods. This paper proposes the combination of stochastic model predictive control and switched LFMs by reformulating the Gaussian process priors as linear state space models with additive white Gaussian noise. For this purpose, a stochastic optimization problem is formulated that can be solved by a deterministic approximation of the uncertainty propagation and the chance constraints. The switching points of the LFM introduce further uncertainty to the system that must be considered for the prediction of the state trajectories. Therefore, Gaussian mixture models are used to describe the probability density functions of the predicted states. The computation cost of the approach can be reduced by using a separate disturbance predictor, which allows to formulate the optimization problem of the model predictive controller independently of the internal disturbance states. The performance of the proposed method is illustrated for the control of a building energy system.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101366"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645440","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

Koopman-based control using sum-of-squares optimization: Improved stability guarantees and data efficiency 使用平方和优化的基于koopman的控制：提高稳定性保证和数据效率

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.2025.101367

Robin Strässer, Julian Berberich, Frank Allgöwer

In this paper, we propose a novel controller design approach for unknown nonlinear systems using the Koopman operator. In particular, we use the recently proposed stability- and feedback-oriented extended dynamic mode decomposition (SafEDMD) architecture to generate a data-driven bilinear surrogate model with certified error bounds. Then, by accounting for the obtained error bounds in a controller design based on the bilinear system, one can guarantee closed-loop stability for the true nonlinear system. While existing approaches over-approximate the bilinearity of the surrogate model, thus introducing conservatism and providing only local guarantees, we explicitly account for the bilinearity by using sum-of-squares (SOS) optimization in the controller design. More precisely, we parametrize a rational controller stabilizing the error-affected bilinear surrogate model and, consequently, the underlying nonlinear system. The resulting SOS optimization problem provides explicit data-driven controller design conditions for unknown nonlinear systems based on semidefinite programming. Our approach significantly reduces conservatism by establishing a larger region of attraction and improved data efficiency. The proposed method is evaluated using numerical examples, demonstrating its advantages over existing approaches.

本文提出了一种利用库普曼算子设计未知非线性系统控制器的新方法。特别地，我们使用最近提出的面向稳定性和反馈的扩展动态模式分解（SafEDMD）体系结构来生成具有认证误差界的数据驱动双线性代理模型。然后，在基于双线性系统的控制器设计中，通过计算得到的误差界，可以保证真正非线性系统的闭环稳定性。现有的方法过于逼近代理模型的双线性性，从而引入保守性并仅提供局部保证，我们通过在控制器设计中使用平方和（SOS）优化来明确地考虑双线性性。更准确地说，我们参数化了一个合理的控制器，稳定了受误差影响的双线性代理模型，从而稳定了潜在的非线性系统。所得到的SOS优化问题为基于半定规划的未知非线性系统提供了明确的数据驱动控制器设计条件。我们的方法通过建立更大的吸引力区域和提高数据效率显著降低了保守性。通过数值算例对该方法进行了评价，证明了其优于现有方法的优点。

{"title":"Koopman-based control using sum-of-squares optimization: Improved stability guarantees and data efficiency","authors":"Robin Strässer, Julian Berberich, Frank Allgöwer","doi":"10.1016/j.ejcon.2025.101367","DOIUrl":"10.1016/j.ejcon.2025.101367","url":null,"abstract":"<div><div>In this paper, we propose a novel controller design approach for unknown nonlinear systems using the Koopman operator. In particular, we use the recently proposed stability- and feedback-oriented extended dynamic mode decomposition (SafEDMD) architecture to generate a data-driven bilinear surrogate model with certified error bounds. Then, by accounting for the obtained error bounds in a controller design based on the bilinear system, one can guarantee closed-loop stability for the true nonlinear system. While existing approaches over-approximate the bilinearity of the surrogate model, thus introducing conservatism and providing only local guarantees, we explicitly account for the bilinearity by using sum-of-squares (SOS) optimization in the controller design. More precisely, we parametrize a rational controller stabilizing the error-affected bilinear surrogate model and, consequently, the underlying nonlinear system. The resulting SOS optimization problem provides explicit data-driven controller design conditions for unknown nonlinear systems based on semidefinite programming. Our approach significantly reduces conservatism by establishing a larger region of attraction and improved data efficiency. The proposed method is evaluated using numerical examples, demonstrating its advantages over existing approaches.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101367"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645534","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

首页上一页

下一页尾页

类型

全部化学•材料生命科学医学物理工程技术环境•农林材料科学地球科学法学管理学化学环境科学与生态学计算机科学教育学经济学农林科学人文科学生物学数学物理与天体物理心理学综合性期刊其他工业工程理学历史学农学文学信息工程

数据库

全部 ACS Publications Elsevier ieeexplore Springer The Royal Society of Chemistry Wiley

期刊

European Journal of Control

全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.

﹀