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European journal of control
Hermes Science Publications
European journal of control

Hermes Science Publications

双月刊

0947-3580

European journal of control/Journal European journal of controlSCIISTP
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    Stabilization of hybrid stochastic differential delay equations by feedback control based on discrete-time state observation

    Zhang Y.-Q.Lv G.Chen X.
    1.1-1.7页
    查看更多>>摘要：© 2024 European Control AssociationFor an unstable hybrid stochastic differential delay equation， this paper designs a feedback control based on discrete-time state observation to make the controlled system become almost sure exponential stability。 In order to reveal the relationship between the two features contained in the system， namely， the dependence of duration between two consecutive observations on time-delay， the method of Lyapunov functional and auxiliary system are combined in this paper。 It is shown that the underlying system possesses almost sure exponential stability for sufficiently small time-interval between two consecutive observations。 Finally， an illustrative example is given to show the effectiveness of the proposed control strategy。
      原文链接:
    • NETL
    • NSTL
    • Elsevier

    One superior pursuer and multiple-evader differential games with two lifelines

    Xu N.Deng F.Shi X.Huang W....
    1.1-1.15页
    查看更多>>摘要：© 2024 European Control AssociationThis paper investigates a pursuit-evasion game with multiple evaders and a superior pursuer situated on a two-dimensional plane， divided by two lifelines into the play area and goal areas。 The goal of the evaders is to reach one of the two goal areas， while the pursuer aims to capture them before they reach the lifeline。 This paper constructs barriers without time delay and with time delay， respectively。 For each evader， the entire barrier divides the game area into regions of dominance for the evader and pursuer， respectively。 Cooperative and non-cooperative strategies between two evaders are studied when the evaders’ positions are within the pursuer's dominance region。 We consider the impact of different strategies adopted by the evaders and variations in the distance between the two lifelines on the number of captures by the pursuer。 Furthermore， Apollonius circles and Cartesian ovals are used to determine optimal target points for the evaders under different circumstances。 Subsequently， we extend the cooperative strategies of the evaders to multiplayer cooperative games， transform them into optimization problems， and use optimization algorithm to derive the cooperative strategies of multiple evaders。 Finally， numerical simulations for various cases are presented in this paper。
      原文链接:
    • NETL
    • NSTL
    • Elsevier

    Invariant set estimation for piecewise affine dynamical systems using piecewise affine barrier function

    Samanipour P.Poonawala H.
    1.1-1.9页
    查看更多>>摘要：© 2024This paper introduces an algorithm for estimating the invariant set of closed-loop controlled dynamical systems identified using single-hidden layer Rectified linear units (ReLU) neural networks or piecewise affine (PWA) functions， particularly addressing the challenge of providing safety guarantees for single-hidden layer ReLU networks commonly used in safety–critical applications。 The invariant set of PWA dynamical system is estimated using single-hidden layer ReLU networks or its equivalent PWA function。 This method entails formulating the barrier function as a PWA function and converting the search process into a linear optimization problem using vertices。 We incorporate a domain refinement strategy to increase flexibility in case the optimization does not find a valid barrier function。 Moreover， the objective of the optimization is to find a less conservative invariant set based on the current partition。 Our experimental results demonstrate the effectiveness and efficiency of our approach， demonstrating its potential for ensuring the safety of PWA dynamical systems。
      原文链接:
    • NETL
    • NSTL
    • Elsevier

    Robust convex LPV control of a Helicopter-UAV transporting a suspended payload

    Gasga P.Lopez-Estrada F.R.Gomez-Penate S.Valencia-Palomo G....
    1.1-1.15页
    查看更多>>摘要：© 2024 European Control AssociationThis paper develops a robust integral sliding mode controller for a helicopter-type unmanned aerial vehicle with a suspended payload。 The nonlinear model is rewritten by considering a convex Linear Parameter Varying model that captures the nonlinear system dynamics。 Then， a controller is developed by considering a nominal integrator comparator scheme and a discontinuous control based on sliding modes。 The first part of the controller is dedicated to tracking the desired trajectory， while the second is devoted to attenuating the effect of external disturbance through a sliding surface。 A set of linear matrix inequalities obtained from a Lyapunov quadratic function gives sufficient conditions to compute the controller gains。 Numerical simulations are carried out to illustrate the effectiveness of the proposed approach in tracking the desired trajectory and attenuating the load oscillations under the presence of external disturbance。
      原文链接:
    • NETL
    • NSTL
    • Elsevier

    Optimized dead-zone inverse control using reinforcement learning and sliding-mode mechanism for a class of high-order nonlinear systems

    Ma S.Sun W.Wen G.
    1.1-1.8页
    查看更多>>摘要：© 2024 European Control AssociationAn optimized control method is developed for a class of high-order nonlinear dynamic systems having controller dead-zone phenomenon。 Dead-zone refers to the controller with zero behavior within a certain range， so it will inevitably affect system performance。 In order to make the optimized control eliminate the effect of dead zone， the adaptive dead-zone inverse and reinforcement learning (RL) techniques are combined。 The main idea is to find the desired optimized control using RL as the input of dead-zone inverse function and then to design the adaptive algorithm to estimate the unknown parameters of dead-zone inverse function， so that the competent system control can be yielded from the dead-zone function。 However， most existing RL algorithms are difficult to apply in the dead zone inverse methods because of the algorithm complexity。 The proposed RL greatly simplifies the algorithm because it derives the training rules from the negative gradient of a simple positive function yielded by the partial derivative of Hamilton–Jacobi–Bellman (HJB) equation。 Meanwhile， the proposed dead-zone inverse method also requires fewer adaptive parameters。 Finally， the proposed control is attested through theoretical proofs and simulation examples。
      原文链接:
    • NETL
    • NSTL
    • Elsevier

    Robust partial eigenvalue assignment of second order descriptor systems

    Xie H.Liu C.
    1.1-1.12页
    查看更多>>摘要：© 2024 European Control AssociationPartial eigenvalue assignment problem (PEAP) of second order descriptor systems is investigated by using acceleration–velocity–displacement feedback。 First， we derive parametric expressions of the solutions to the PEAP of a second order descriptor system， i。e。， giving the expressions of acceleration， velocity and displacement feedback matrices such that the closed-loop system is regular and has the index at most 1， and some eigenvalues of the open-loop system are replaced by the desired ones， and the other eigenpairs of the open-loop system are kept unchanged。 Then a numerical method is proposed for robust partial eigenvalue assignment of a second order descriptor system so that the closed-loop system is as robust as possible。 Our method avoids to use the unchanged eigenpairs of the open-loop system and it is effective whether the closed-loop system has infinite eigenvalue or not。 Numerical experiments are reported to test the efficiency of the proposed method。
      原文链接:
    • NETL
    • NSTL
    • Elsevier

    Event-triggered finite-time extended dissipative control for switched linear neutral systems with time-varying delays and frequent asynchronism

    Yan R.Wu B.Wang Y.-E.Liu L....
    1.1-1.23页
    查看更多>>摘要：© 2024 European Control AssociationThis study focuses on the event-triggered finite-time extended dissipative control for the switched linear neutral systems with time-varying delays and frequent asynchronism。 In comparison to previous event-triggered control， which restrict the minimum dwell time， we allow frequent switching to occur within an inter-event interval based on average dwell time (ADT) approach。 Firstly， given the challenge of acquiring all information about the state， a dynamic output feedback controller (DOFC) is adopted to stabilize the switched neutral system。 Secondly， the subjects of finite-time boundedness and extended dissipative performance for the resulting closed-loop system are analyzed by means of controller-mode-dependent Lyapunov functional。 Furthermore， a lemma is applied to establish the sufficient criteria for co-designing the DOFC and mode-dependent event-triggered mechanism (ETM)。 Additionally， it is demonstrated that the Zeno phenomenon cannot occur since there exists a positive minimum threshold on the inter-event intervals。 Finally， two examples are given to illustrate the efficacy of the obtained methods。
      原文链接:
    • NETL
    • NSTL
    • Elsevier

    Adaptive finite-time consensus tracking for nonlinear second-order multi-agent systems based on integral sliding mode

    Wang S.Zhan X.Wu J.Yan H....
    1.1-1.8页
    查看更多>>摘要：© 2024 European Control AssociationThis paper delves into the investigation of finite-time consensus for second-order nonlinear multi-agent systems (MASs) with external disturbances under directed topology。 The MASs considered in this study consist of n followers and a leader， and the followers are subject to bounded disturbances。 First， a continuous nonsingular integral terminal sliding mode is designed， which can effectively eliminate the singularity and chattering。 Then， a finite-time disturbance observer is introduced to estimate and compensate for disturbances。 Subsequently， an integral sliding mode adaptive controller is designed to enhance system's robustness， improve response speed， and increase tracking accuracy。 Furthermore， Lyapunov theory is utilized to demonstrate that the system achieves finite-time consensus under a directed connected topology。 Finally， we apply a simulation to verify the efficacy of the proposed consensus control protocol。
      原文链接:
    • NETL
    • NSTL
    • Elsevier

    Output feedback integral sliding mode predictive control for linear discrete time systems

    Xiao H.Zhang S.Zhao D.Yan X....
    1.1-1.12页
    查看更多>>摘要：© 2024 European Control AssociationIn this paper， a new output feedback integral sliding model predictive control (OF-ISMPC) strategy is proposed for linear discrete-time systems when the states are unmeasured， which avoids the utilization of a state observer。 The proposed OF-ISMPC can ensure strong robustness while at the same time achieving optimal performance of the controlled system。 The role of the output feedback integral sliding mode control (OF-ISMC) is to compensate for any matched disturbances。 The role of the output feedback robust model predictive control (OF-RMPC) is to solve the optimization problem with constraints。 Moreover， the impact of unmatched disturbances on the system is reduced by defining the integral sliding surface as a function of an optimal projection matrix。 The input-to-state practical stability for the closed-loop system is proved。 Finally， numerical simulations and experimental results are provided to validate the effectiveness of the proposed approach。
      原文链接:
    • NETL
    • NSTL
    • Elsevier

    Computation of feedback control laws based on switched tracking of demonstrations

    Fejlek J.Ratschan S.
    1.1-1.13页
    查看更多>>摘要：© 2024 European Control AssociationA common approach in robotics is to learn tasks by generalizing from special cases given by a so-called demonstrator。 In this paper， we apply this paradigm and present an algorithm that uses a demonstrator (typically given by a trajectory optimizer) to automatically synthesize feedback controllers for steering a system described by ordinary differential equations into a goal set。 The resulting feedback control law switches between the demonstrations that it uses as reference trajectories。 In comparison to the direct use of trajectory optimization as a control law， for example， in the form of model predictive control， this allows for a much simpler and more efficient implementation of the controller。 The synthesis algorithm comes with rigorous convergence and optimality results， and computational experiments confirm its efficiency。
      原文链接:
    • NETL
    • NSTL
    • Elsevier