In this paper, a novel ramp metering control with constraints compliance is introduced for a road traffic system with uncertain demand. The uncertain part of the flow entering the on-ramps is estimated relying on Integral Sliding Mode (ISM) based Unknown Input Observers (UIOs). The estimation is then employed in a Quadratic Programming (QP) problem, where constraints on queue lengths at the on-ramps are included via suitable Control Barrier Functions (CBFs). This results in an original approach that ensures adherence to queue length constraints by design, even under uncertain on-ramp demand conditions. The proposal is theoretically analyzed and assessed in simulation relying on the Cell Transmission Model (CTM) suitably extended to encompass the capacity drop effect. Simulation-based evaluations confirm the effectiveness of the proposed approach.
{"title":"Constrained ramp metering control based on sliding mode unknown input observers","authors":"Nikolas Sacchi , Michele Cucuzzella , Antonella Ferrara","doi":"10.1016/j.ejcon.2025.101369","DOIUrl":"10.1016/j.ejcon.2025.101369","url":null,"abstract":"<div><div>In this paper, a novel ramp metering control with constraints compliance is introduced for a road traffic system with uncertain demand. The uncertain part of the flow entering the on-ramps is estimated relying on Integral Sliding Mode (ISM) based Unknown Input Observers (UIOs). The estimation is then employed in a Quadratic Programming (QP) problem, where constraints on queue lengths at the on-ramps are included via suitable Control Barrier Functions (CBFs). This results in an original approach that ensures adherence to queue length constraints by design, even under uncertain on-ramp demand conditions. The proposal is theoretically analyzed and assessed in simulation relying on the Cell Transmission Model (CTM) suitably extended to encompass the capacity drop effect. Simulation-based evaluations confirm the effectiveness of the proposed approach.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101369"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645441","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 : 2025-10-30DOI: 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":"2025-10-30","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}
Pub Date : 2025-10-28DOI: 10.1016/j.ejcon.2025.101408
Atefeh Behnia, Mohammad Hossein Shafiei
This paper proposes a novel framework for designing an adaptive event-triggered output feedback controller for discrete-time systems with parametric uncertainty. The framework is developed using two distinct methodologies. The first approach decouples the design process: the output feedback gain is predefined independently of the event-triggered control (ETC) mechanism, followed by the synthesis of an excitation event law to guarantee closed-loop stability. The second, more integrated approach (the co-design method) simultaneously designs both the output feedback controller and the adaptive event-triggered control (AETC) law. The AETC law features an innovative adaptive update mechanism designed to preserve closed-loop performance while maximizing the average inter-event interval, thereby reducing communication and computational overhead. Simulation results reveal that the proposed co-design approach achieves reduction in control updates and improvement in RMS regulation error compared to conventional methods, demonstrating superior performance and efficient resource utilization.
{"title":"Emulation and co-design approaches for adaptive event-triggered output feedback control of discrete-time nonlinear systems","authors":"Atefeh Behnia, Mohammad Hossein Shafiei","doi":"10.1016/j.ejcon.2025.101408","DOIUrl":"10.1016/j.ejcon.2025.101408","url":null,"abstract":"<div><div>This paper proposes a novel framework for designing an adaptive event-triggered output feedback controller for discrete-time systems with parametric uncertainty. The framework is developed using two distinct methodologies. The first approach decouples the design process: the output feedback gain is predefined independently of the event-triggered control (ETC) mechanism, followed by the synthesis of an excitation event law to guarantee closed-loop stability. The second, more integrated approach (the co-design method) simultaneously designs both the output feedback controller and the adaptive event-triggered control (AETC) law. The AETC law features an innovative adaptive update mechanism designed to preserve closed-loop performance while maximizing the average inter-event interval, thereby reducing communication and computational overhead. Simulation results reveal that the proposed co-design approach achieves reduction in control updates and improvement in RMS regulation error compared to conventional methods, demonstrating superior performance and efficient resource utilization.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101408"},"PeriodicalIF":2.6,"publicationDate":"2025-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145466459","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 : 2025-10-24DOI: 10.1016/j.ejcon.2025.101403
Wen Kang , Emilia Fridman , Er-Xin Pang
This paper addresses non-local control design of 1-D nonlinear Korteweg–de Vries–Burgers equation in the presence of variable input delay, actuator saturation as well as sampled-data switching control. By using the modal decomposition approach, we divide the original system into unstable modes and infinitely many stable modes. Based on the unstable modes, we design a finite-dimensional controller to stabilize the system. The well-posedness of the closed-loop system is established by semigroup theory and the step method. To prove regional -stability of the closed-loop system, we construct an appropriate Lyapunov–Krasovskii functional and derive sufficient conditions for stability. An estimate is provided for the set of initial conditions starting from which the state trajectories of the system are exponentially converging to origin. Switched controller is designed based on the sampled-data state-depend switching law. Numerical example illustrates the efficiency of the method.
{"title":"Delayed stabilization of Korteweg–de Vries–Burgers equation by constrained control","authors":"Wen Kang , Emilia Fridman , Er-Xin Pang","doi":"10.1016/j.ejcon.2025.101403","DOIUrl":"10.1016/j.ejcon.2025.101403","url":null,"abstract":"<div><div>This paper addresses non-local control design of 1-D nonlinear Korteweg–de Vries–Burgers equation in the presence of variable input delay, actuator saturation as well as sampled-data switching control. By using the modal decomposition approach, we divide the original system into <span><math><mrow><mi>N</mi><mo>+</mo><mn>1</mn></mrow></math></span> unstable modes and infinitely many stable modes. Based on the <span><math><mrow><mi>N</mi><mo>+</mo><mn>1</mn></mrow></math></span> unstable modes, we design a finite-dimensional controller to stabilize the system. The well-posedness of the closed-loop system is established by semigroup theory and the step method. To prove regional <span><math><msup><mrow><mi>H</mi></mrow><mrow><mn>1</mn></mrow></msup></math></span>-stability of the closed-loop system, we construct an appropriate Lyapunov–Krasovskii functional and derive sufficient conditions for stability. An estimate is provided for the set of initial conditions starting from which the state trajectories of the system are exponentially converging to origin. Switched controller is designed based on the sampled-data state-depend switching law. Numerical example illustrates the efficiency of the method.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101403"},"PeriodicalIF":2.6,"publicationDate":"2025-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145416544","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 : 2025-10-22DOI: 10.1016/j.ejcon.2025.101404
Xiaoru Sun, Chris T. Freeman
An artificial neural network (ANN) is combined with gradient descent to form a model-free iterative learning control (ILC) approach than can be applied to a wide range of nonlinear discrete-time systems. The ANN is recursively trained on the entire set of past data collected from the system and uses a passivity condition to determine when the ANN can be used to compute the next ILC update, or if an identification test is needed. Convergence properties are established alongside design selections that ensure the passivity condition is fulfilled. By minimising the reliance on identification tests, this methodology is substantially faster than existing model-free ILC algorithms. It is tested on a key stroke rehabilitation problem using functional electrical stimulation (FES) for hand/wrist tracking. Experimental results using the new ILC approach with eight participants show that three hand/wrist references can be tracked using an average of 56% fewer experimental inputs compared with the most accurate previous approach. As the first approach to combine ILC and machine learning in upper limb rehabilitation, the results demonstrate how their combination addresses their individual deficiencies.
{"title":"Artificial neural network based iterative learning control for stroke rehabilitation","authors":"Xiaoru Sun, Chris T. Freeman","doi":"10.1016/j.ejcon.2025.101404","DOIUrl":"10.1016/j.ejcon.2025.101404","url":null,"abstract":"<div><div>An artificial neural network (ANN) is combined with gradient descent to form a model-free iterative learning control (ILC) approach than can be applied to a wide range of nonlinear discrete-time systems. The ANN is recursively trained on the entire set of past data collected from the system and uses a passivity condition to determine when the ANN can be used to compute the next ILC update, or if an identification test is needed. Convergence properties are established alongside design selections that ensure the passivity condition is fulfilled. By minimising the reliance on identification tests, this methodology is substantially faster than existing model-free ILC algorithms. It is tested on a key stroke rehabilitation problem using functional electrical stimulation (FES) for hand/wrist tracking. Experimental results using the new ILC approach with eight participants show that three hand/wrist references can be tracked using an average of 56% fewer experimental inputs compared with the most accurate previous approach. As the first approach to combine ILC and machine learning in upper limb rehabilitation, the results demonstrate how their combination addresses their individual deficiencies.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101404"},"PeriodicalIF":2.6,"publicationDate":"2025-10-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145362452","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 : 2025-10-22DOI: 10.1016/j.ejcon.2025.101405
Mohammadreza Doostmohammadian , Sergio Pequito
Distributed resource allocation (DRA) is fundamental to modern networked systems, spanning applications from economic dispatch in smart grids to CPU scheduling in data centers. Conventional DRA approaches require reliable communication, yet real-world networks frequently suffer from link failures, packet drops, and communication delays due to environmental conditions, network congestion, and security threats.
We introduce a novel resilient DRA algorithm that addresses these critical challenges, and our main contributions are as follows: (1) guaranteed constraint feasibility at all times, ensuring resource-demand balance even during algorithm termination or network disruption; (2) robust convergence despite sector-bound nonlinearities at nodes/links, accommodating practical constraints like quantization and saturation; and (3) optimal performance under merely uniformly-connected networks, eliminating the need for continuous connectivity.
Unlike existing approaches that require persistent network connectivity and provide only asymptotic feasibility, our graph-theoretic solution leverages network percolation theory to maintain performance during intermittent disconnections. This makes it particularly valuable for mobile multi-agent systems where nodes frequently move out of communication range. Theoretical analysis and simulations demonstrate that our algorithm converges to optimal solutions despite heterogeneous time delays and substantial link failures, significantly advancing the reliability of distributed resource allocation in practical network environments.
{"title":"Distributed allocation and resource scheduling algorithms resilient to link failure","authors":"Mohammadreza Doostmohammadian , Sergio Pequito","doi":"10.1016/j.ejcon.2025.101405","DOIUrl":"10.1016/j.ejcon.2025.101405","url":null,"abstract":"<div><div>Distributed resource allocation (DRA) is fundamental to modern networked systems, spanning applications from economic dispatch in smart grids to CPU scheduling in data centers. Conventional DRA approaches require reliable communication, yet real-world networks frequently suffer from link failures, packet drops, and communication delays due to environmental conditions, network congestion, and security threats.</div><div>We introduce a novel resilient DRA algorithm that addresses these critical challenges, and our main contributions are as follows: (1) guaranteed constraint feasibility at all times, ensuring resource-demand balance even during algorithm termination or network disruption; (2) robust convergence despite sector-bound nonlinearities at nodes/links, accommodating practical constraints like quantization and saturation; and (3) optimal performance under merely uniformly-connected networks, eliminating the need for continuous connectivity.</div><div>Unlike existing approaches that require persistent network connectivity and provide only asymptotic feasibility, our graph-theoretic solution leverages network percolation theory to maintain performance during intermittent disconnections. This makes it particularly valuable for mobile multi-agent systems where nodes frequently move out of communication range. Theoretical analysis and simulations demonstrate that our algorithm converges to optimal solutions despite heterogeneous time delays and substantial link failures, significantly advancing the reliability of distributed resource allocation in practical network environments.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101405"},"PeriodicalIF":2.6,"publicationDate":"2025-10-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145362451","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 : 2025-10-20DOI: 10.1016/j.ejcon.2025.101406
Moein Doakhan, Mansour Kabganian, Ali Azimi
This work addresses the problem of rigid-body payload transportation using flexible formation control of four quadrotors. While maintaining formation in aerial payload transportation provides advantages such as uniform load distribution, collision avoidance, and prevention of cable entanglement, a rigid formation may not always be feasible or optimal under every maneuver. In the proposed approach, the quadrotor formation is flexibly adapted to the desired maneuver, ensuring uniform and minimal energy consumption, which is a critical requirement given the finite flight endurance of quadrotors. To this end, the problem is formulated as a nonlinear constrained optimization, and a decomposition technique is proposed to enable real-time implementation. A three-loop control structure based on sliding mode control is developed, and simulation results demonstrate reduced energy consumption in the presence of disturbances and under nonlinear maneuvers.
{"title":"Aerial Payload Transportation with Energy-Efficient Flexible Formation Control of Quadrotors","authors":"Moein Doakhan, Mansour Kabganian, Ali Azimi","doi":"10.1016/j.ejcon.2025.101406","DOIUrl":"10.1016/j.ejcon.2025.101406","url":null,"abstract":"<div><div>This work addresses the problem of rigid-body payload transportation using flexible formation control of four quadrotors. While maintaining formation in aerial payload transportation provides advantages such as uniform load distribution, collision avoidance, and prevention of cable entanglement, a rigid formation may not always be feasible or optimal under every maneuver. In the proposed approach, the quadrotor formation is flexibly adapted to the desired maneuver, ensuring uniform and minimal energy consumption, which is a critical requirement given the finite flight endurance of quadrotors. To this end, the problem is formulated as a nonlinear constrained optimization, and a decomposition technique is proposed to enable real-time implementation. A three-loop control structure based on sliding mode control is developed, and simulation results demonstrate reduced energy consumption in the presence of disturbances and under nonlinear maneuvers.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101406"},"PeriodicalIF":2.6,"publicationDate":"2025-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145466458","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 : 2025-10-18DOI: 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":"2025-10-18","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 : 2025-10-09DOI: 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":"2025-10-09","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}
Pub Date : 2025-10-08DOI: 10.1016/j.ejcon.2025.101401
Siyu Zhu, Fuxiao Tan
This paper proposes a decentralized event-triggered tracking control (ETC) framework for multi-agent systems (MAS), leveraging dynamic game theory to enhance scalability, reduce communication overhead, and ensure tracking performance. Each agent is modeled as a rational player in a non-cooperative dynamic game, minimizing a local cost that balances control effort and neighborhood deviation. A distributed event-triggering mechanism is developed, activating control updates only when the local tracking error surpasses a prescribed threshold. Theoretical analysis proves the existence of Nash equilibrium and the asymptotic stability of the closed-loop system under mild assumptions. Simulation results illustrate that the proposed framework achieves comparable tracking accuracy while significantly reducing the number of control updates, with simulations showing reductions in a parameter-dependent and adaptive manner.
{"title":"Game-theoretic event-triggered tracking control for scalable multi-agent systems","authors":"Siyu Zhu, Fuxiao Tan","doi":"10.1016/j.ejcon.2025.101401","DOIUrl":"10.1016/j.ejcon.2025.101401","url":null,"abstract":"<div><div>This paper proposes a decentralized event-triggered tracking control (ETC) framework for multi-agent systems (MAS), leveraging dynamic game theory to enhance scalability, reduce communication overhead, and ensure tracking performance. Each agent is modeled as a rational player in a non-cooperative dynamic game, minimizing a local cost that balances control effort and neighborhood deviation. A distributed event-triggering mechanism is developed, activating control updates only when the local tracking error surpasses a prescribed threshold. Theoretical analysis proves the existence of Nash equilibrium and the asymptotic stability of the closed-loop system under mild assumptions. Simulation results illustrate that the proposed framework achieves comparable tracking accuracy while significantly reducing the number of control updates, with simulations showing reductions in a parameter-dependent and adaptive manner.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101401"},"PeriodicalIF":2.6,"publicationDate":"2025-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145268583","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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