European Journal of Control最新文献

英文中文

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。

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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。

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引用次数: 0

In silico analysis of metabolic burden effects on a multicellular integral controller 多细胞积分控制器代谢负荷效应的计算机分析

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.2025.101322

Giovanni Campanile , Vittoria Martinelli , Davide Salzano , Davide Fiore , Mario di Bernardo

Metabolic burden is a critical limiting factor in the design of synthetic circuits, affecting both their reliability and performance. To mitigate its effects, distributing control functions across different cell populations within a multicellular control architecture offers a promising solution, while simultaneously enhancing modularity and re-usability of the circuits. We first present a model that explicitly accounts for limited ribosome availability within cells. Using this framework, we then derive a mathematical model of a multicellular antithetic integral controller that incorporates these shared resources. Through numerical bifurcation analysis and in silico agent-based experiments in BSim, we compare the multicellular controller against its traditional single-cell (embedded) implementation, evaluating both resource utilization and stability.

代谢负荷是合成电路设计中的一个重要限制因素，影响着合成电路的可靠性和性能。为了减轻其影响，在多细胞控制体系结构中分布不同细胞群的控制功能提供了一个有前途的解决方案，同时增强了电路的模块化和可重用性。我们首先提出了一个明确解释细胞内有限核糖体可用性的模型。利用这个框架，我们推导了一个包含这些共享资源的多细胞反积分控制器的数学模型。通过数值分岔分析和基于硅代理的BSim实验，我们将多细胞控制器与传统的单细胞（嵌入式）控制器进行了比较，评估了资源利用率和稳定性。

引用次数: 0

Special Issue on the European Control Conference 2025 2025年欧洲控制会议特刊

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.2025.101399

引用次数: 0

Foreground–background separation and video reconstruction using moment matching 基于矩匹配的前背景分离与视频重建

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.2025.101291

Debraj Bhattacharjee , Mohammad Fahim Shakib , Alessandro Astolfi

We study the foreground–background separation problem for a video stream in the moment matching framework. We first show how a video stream can be represented as the steady-state output of a dynamical system. We then leverage this technique to reconstruct image sequences in a video stream. In addition, we show that foreground–background separation is a special case of this reconstruction algorithm. Finally, we highlight the computational benefits of the proposed method when compared to other methods that associate a sequence of images with a dynamical system.

研究了矩匹配框架下视频流的前景背景分离问题。我们首先展示如何将视频流表示为动态系统的稳态输出。然后我们利用这种技术来重建视频流中的图像序列。此外，我们还证明了前景背景分离是该重建算法的一个特例。最后，我们强调了与其他将图像序列与动态系统相关联的方法相比，所提出方法的计算优势。

引用次数: 0

Learning-based model augmentation with LFRs 基于学习的lfr模型增强

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.2025.101304

Jan H. Hoekstra , Chris Verhoek , Roland Tóth , Maarten Schoukens

Nonlinear system identification (NL-SI) has proven to be effective in obtaining accurate models for highly complex systems. In particular, recent encoder-based methods for artificial neural network state-space (ANN-SS) models have achieved state-of-the-art performance on various benchmarks, while offering consistency and computational efficiency. Inclusion of prior knowledge of the system can be exploited to increase (i) estimation speed, (ii) accuracy, and (iii) interpretability of the resulting models. This paper proposes an encoder-based model augmentation method that incorporates prior knowledge from first-principles (FP) models. We introduce a novel linear-fractional-representation (LFR) model structure that allows for the unified representation of various augmentation structures including the ones that are commonly used in the literature, and an identification algorithm for estimating the proposed structure together with appropriate initialization methods. The performance and generalization capabilities of the proposed method are demonstrated in the identification of a hardening mass–spring-damper system simulation case study and the Bouc-Wen nonlinear system identification benchmark.

非线性系统辨识（NL-SI）已被证明是获得高度复杂系统精确模型的有效方法。特别是，最近基于编码器的人工神经网络状态空间（ANN-SS）模型方法在各种基准测试中取得了最先进的性能，同时提供了一致性和计算效率。可以利用系统的先验知识来提高(i)估计速度，（ii）准确性，以及（iii）结果模型的可解释性。本文提出了一种基于编码器的模型增强方法，该方法结合了第一原理模型的先验知识。我们引入了一种新的线性分数表示（LFR）模型结构，该模型结构允许统一表示各种增强结构，包括文献中常用的增强结构，以及用于估计拟议结构的识别算法以及适当的初始化方法。通过一个硬化质量-弹簧-阻尼器系统的仿真案例研究和Bouc-Wen非线性系统的辨识基准，验证了该方法的性能和泛化能力。

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引用次数: 0

An extremum seeking algorithm for 1D static maps with delay-based derivative estimation 基于延时导数估计的一维静态地图极值搜索算法

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.2025.101339

Denis Efimov , Emilia Fridman

For an even power convex or concave function of a scalar variable having a global and unique extremum, an algorithm of the extremum seeking is proposed, which does not use any dither excitation signal, hence, being asymptotically exact, and it is based on online time derivative estimation of the measured output. Two approaches are discussed, first, with utilization of the super-twisting differentiator, and second, where the derivative is estimated via the time-delay method. For analysis of the latter, an extension of the invariance principle is formulated for functional differential inclusions. The efficiency of the suggested extremum seeking algorithms is illustrated through numeric experiments.

对于具有全局唯一极值的标量变量的偶幂凸或凹函数，提出了一种不使用任何抖动激励信号的求极值算法，该算法是渐近精确的，它基于测量输出的在线时间导数估计。讨论了两种方法，一种是利用超扭转微分器，另一种是利用时滞法估计导数。对于后者的分析，给出了函数微分包含的不变性原理的扩展。数值实验证明了所提极值搜索算法的有效性。

引用次数: 0

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