Abstract In real‐time processes, time delays are inherent due to various factors, such as delays in volume, mass, and information transfer, leading to a deterioration in process performance and stability. Therefore, this paper proposes a fractional‐order tilted integral derivative (TID) controller design for stable and unstable fractional‐order processes with time delay, where the optimal controller parameters are designed using a deterministic approach. An inner loop controller is designed using stability analysis and a graphical approach for unstable fractional‐order time delay processes. The proposed approach offers flexibility and fine‐tuning in designing the controller for a specific application. A systematic reference to the disturbance ratio is carried out to assess the disturbance handling capacity of the proposed controller. It shows the sensitivity of the designed controller against disturbances in the frequency spectrum graphically. Numerous performance indices and time‐domain parameters are computed and compared with state‐of‐the‐art techniques to analyze the efficacy. Furthermore, it is validated on the experimental setup of a four‐tank system. Simulation and experimental results demonstrate that the proposed approach outperforms recent techniques in terms of process control and disturbance rejection.

Gnaneshwar K

Rishika Trivedi

Sudeep Sharma

Prabin Kumar Padhy

Asian Journal of Control

A frequency domain fractional order tilted integral derivative controller design for fractional order time delay processes

分数阶时滞过程的频域分数阶倾斜积分微分控制器设计

Abstract In this paper, the finite‐time stability and stabilization of nonlinear systems with delays is studied, via a Takagi–Sugeno approach. By using a novel Lyapunov–Krasovskii functional and introducing some fuzzy free‐weighting matrices, sufficient conditions are derived, for bounded and differentiable time‐varying delays in terms of an upper bound of the delay derivatives. Then, we achieve closed‐loop stabilization in finite time through an efficient parallel distributed compensation design. The sufficient conditions are formulated as linear matrix inequalities to achieve the desired performance. Finally, the proposed methodology is applied to various case studies, highlighting its significance.

Nabil El Fezazi

Mohamed Fahim

Said Idrissi

Rashid Farkous

Teresa Alvarez

El Houssaine Tissir

New delay‐dependent finite‐time stabilization of Takagi–Sugeno fuzzy approaches for delayed nonlinear systems

新的依赖于延迟的有限时间稳定化方法：针对延迟非线性系统的Takagi-Sugeno模糊方法

Abstract In this paper, a model‐free H ∞ control method is developed for discrete‐time linear parameter‐varying (LPV) systems by leveraging Q‐learning, which employs the data encompassing system states, control inputs, exogenous disturbance, and time‐varying convex hull rather than the dynamical model known a priori. A policy iteration algorithm presented via linear matrix inequality formed by such collected data is developed with convergence guarantee. Our analysis demonstrates that, in the presence of sufficiently rich disturbances, the attenuation level converges to a lower value than the traditional H ∞ control solution derived from an exact LPV model. A numerical example is demonstrated to verify the stabilization, disturbance attenuation, adaptivity, and convergence of the H ∞ attenuation level. Moreover, a continuous stirred tank reactor (CSTR) approximated by a discrete‐time LPV system is employed to show the practical potential of the developed model‐free approach.

Hongye Wang

Jiwei Wen

Haiying Wan

Huiwen Xue

Q‐learning‐based H∞ control for LPV systems

基于Q学习的LPV系统H∞控制

Abstract Trajectory tracking control of wheeled mobile robots (WMRs) is still a remarkable problem for many applications. In the present paper, a hybrid control is presented based on dynamic and kinematic equations of motion for wheeled mobile robots in the presence of the sum of the external disturbances and parametric uncertainty. The designed control for the WMR utilizes control and guidance to reach the reference path. In many studies, a control strategy is normally employed for WMR. However, in this study, hybrid control was used for the mentioned purpose. Akin to other studies, the kinematic control scheme here was based on the predictive control, and the dynamic control scheme was designed based on the robust control. Therefore, in this article, having introduced the kinematic model, a nonlinear predictive control was proved and designed. In the next step, a finite‐time integral type terminal sliding mode control (FITSMC) was designed based on the nonlinear dynamic model in order to automatically adjust the control gain and eliminate online disturbances and destructive chattering phenomena completely. In particular, a finite‐time disturbance observer was designed to estimate the external disturbances. The proof of the new proposed control scheme was presented using Lyapunov stability theory and numerical results. The mentioned integrated scheme, including predictive control (outer loop) and nonlinear adaptive control (inner loop), ensures the convergence and optimal tracking performance of all signals, as a result of which the tracking errors can arbitrarily converge to the origin in a finite time. In the final step, the simulation results were presented to show the effectiveness of the proposed scheme using MATLAB software, and the introduced control design was compared with a similar controller quantitatively and qualitatively.

Fahimeh Kordi

Saleh Mobayen

Hamidreza Rezaalikhani

Javad Nikoukar

Hybrid trajectory tracking control of wheeled mobile robots using predictive kinematic control and dynamic robust control

基于预测运动学控制和动态鲁棒控制的轮式移动机器人混合轨迹跟踪控制

Abstract This paper focuses to analyze the finite‐time stability (FNTS) and fixed‐time stability (FXTS) of a class of discontinuous neural networks (NNs) with time‐varying delays. Firstly, considering the fuzzy logics and discontinuities in the NNs, a novel FNTS/FXTS approach based functional differential inclusion (FDI) theory is proposed. Under the framework of the Filippov state solution, the generalized Lyapunov functional method developed can obtain an indefinite time derivative almost anywhere along the system's state solutions. Some novel FNTS and FXTS analysis of the trivial state solution for FDI are provided. In particular, the settling time (ST) of FNTS/FXTS is presented. For the requirements of FNTS and FXTS, two control laws are designed for the discontinuous delayed neural networks (DNNs), respectively. Finally, the correctness and the advantages of the proposed method are demonstrated through its DNNs applications.

Zhi‐Zhou Zhang

Wei‐Long Zhao

Yue‐Liang Pan

Zheng Zi

Yuan Xie

Jin‐Chu Zhang

Finite‐time/fixed‐time stability and stabilization of a class of delayed neural networks system with discontinuous activation

一类具有不连续激活函数的时滞神经网络系统的有限时间/固定时间稳定性与镇定

Abstract This paper tries to solve the general problem of controller gain tuning. To that end, sensitivity analysis has been utilized. The study provides vital results to extend the usage of sensitivity analysis for the class of finite‐time stable dynamics. The controller gain tuning procedure is elaborated by considering the examples of state feedback control and predefined time control. An insight into the selection of the gains or system parameters for these class of systems is presented with the help of sensitivity analysis. The sensitivity of the solution for these class of systems with the variation in the gains or system parameters is studied. Having know‐how about the adjustment of these system gains or parameters will be beneficial from the point of view of practical applications. Thus, the proposed approach finds utility in controller gain tuning, which is an important aspect of control design.

Anil Kumar Pal

Sunil Kumar

Shyam Kamal

Henry Leung

Xiaogang Xiong

Tuning the controller gains using sensitivity analysis

使用灵敏度分析调整控制器增益

Abstract This paper proposes a solution for the landing of quadrotor UAV on moving platform with unknown speed. To ensure landing target within the field of view, a feasible region is first defined with the angle between the centroid of quadrotor and target in an expected range. Then an adaptive controller is designed to complete the landing process constrained in the feasible region for all targets with smaller speed than a control gain. Furthermore, to restrain the disturbance of target speed, the controller is improved to regulate landing process with an induced angle. The robust controller restrains the possible oscillation caused by uncertainty of target speed. Both numerical simulations and real‐world experiment validated the proposed solution.

Junyan Li

Chunli Zhu

Yuezu Lv

Lei Chen

Landing control of a quadrotor on a moving platform with unknown speed in the field of view

四旋翼在视野内未知速度移动平台上的着陆控制

Abstract The finite‐time practical tracking problem is studied for a class of high‐order nonlinear systems with time‐varying full‐state constraints via event‐triggered control. In order to remove the feasibility conditions required by the traditional barrier Lyapunov functions (BLFs) method when dealing with state constraints, this paper introduces the nonlinear transformation functions (NTFs) for the states to transform the constrained system into an equivalent unconstrained system. An event‐triggered controller is designed with a wider application range and more suitable for the tracking control system by combining the switching threshold event‐triggered strategy. The purpose of reducing resource consumption is realized. The finite‐time stability of the closed‐loop system is proved by the finite‐time theory without breaking the state constraints. Finally, numerical and practical examples are given to verify the effectiveness of the proposed results.

Zhong Guo

Yan Jiang

Finite‐time practical tracking for a class of high‐order nonlinear systems with time‐varying full‐state constraints via event‐triggered control

基于事件触发控制的高阶非线性系统时变全状态约束有限时间实际跟踪

Abstract This paper mainly gives sufficient coefficient‐based conditions of matrix‐valued real‐rational proper negative imaginary (NI) functions. The proper NI functions can be divided into three cases by relative order, namely, NI functions with relative order 0, 1, and 2. Based on the relationship between NI functions with poles at 0 and without poles at 0, as well as coefficient‐based conditions of positive real functions, sufficient coefficient‐based conditions are shown of NI functions with relative order 1 and 2. These main results are related to the numerical radius and Crawford number of matrices. Moreover, they are supplements to some existing results. NI functions with relative order 0 can be changed into the case of relative order 1, and the sufficient coefficient‐based conditions are also obtained of NI functions with relative order 0. In addition, the coefficient‐based conditions can be used to construct interval NI functions, and some examples are given to illustrate the main results.

Qian Zhang

Liu Liu

Yufeng Lu

Coefficient‐based conditions of matrix‐valued real‐rational proper negative imaginary functions

基于系数的矩阵值实有理真负虚函数条件

Abstract In this paper, nonlinear first order stochastic switched control systems with non‐instantaneous impulses (NIIs) in infinite‐dimensional spaces are considered. Semigroup theory of linear operators and a fixed‐point approach are used to develop the main results. First, we present the mild solution for the proposed system. Then, we derive sufficient conditions to ensure the total controllability and trajectory controllability results. Further, to validate the study, we provide examples.

Shahin Ansari

Muslim Malik

Controllability of nonlinear stochastic impulsive switched systems in Hilbert spaces

Hilbert空间中非线性随机脉冲切换系统的可控性

《亚洲控制杂志》是亚洲控制协会（ACA）和中国自动控制学会（CACS）的附属期刊，是起源于亚太地区的第一本国际期刊。 《亚洲控制杂志》发表关于控制领域原创理论和实践研究与发展的论文，涉及控制理论及其应用的各个方面。该杂志每年出版六期，旨在成为整个亚洲控制社区的重要平台WORLD.THE JOURNAL 提供了一个论坛，控制研究人员和从业人员可以在此交流控制领域最新进展的知识和经验，并为对这一不断发展的领域感兴趣的其他学科的学生和经验丰富的研究人员发挥教育作用。期刊范围广泛。主题包括：控制系统和组件的理论和设计，包括：使用几何、最优、随机和非线性方法的鲁棒和分布式控制博弈论和状态估计自适应控制，包括神经网络、学习、参数估计和系统故障检测人工智能、模糊和专家系统分层和人机系统考虑组件和系统可靠性的系统工程的所有部分新兴应用领域，例如：机器人、机电一体化用于计算机辅助设计、制造和控制各种工业过程的计算机、航天器和飞机、船舶、交通生物医学系统国民经济电力系统农业自然资源。

The Asian Journal of Control is an affiliated journal of the Asian Control Association (ACA) and the Chinese Association of Automatic Control (CACS), and it is the first international journal originating from the Asia-Pacific region. The journal publishes original theoretical and practical research papers in the field of control, covering all aspects of control theory and its applications. It is published six times a year and aims to be an important platform for the entire Asian control community. The journal provides a forum for control researchers and practitioners to exchange knowledge and experiences on the latest advancements in the field of control, and to educate students and experienced researchers from other disciplines interested in this evolving field. The scope of the journal is broad, including topics such as the theory and design of control systems and components, robust and distributed control using geometric, optimal, stochastic, and nonlinear methods; game theory and state estimation; adaptive control, including neural networks, learning, parameter estimation, and system fault detection; artificial intelligence, fuzzy and expert systems; hierarchical and human-machine systems; system engineering considerations for component and system reliability; and emerging application areas such as robotics, mechatronics, computer-aided design, manufacturing, and control of various industrial processes, spacecraft and aircraft, ships, transportation, biomedical systems, national economy, power systems, and agricultural natural resources.

《亚洲控制杂志》是亚洲控制协会（ACA）和中国自动控制学会（CACS）的附属期刊，是起源于亚太地区的第一本国际期刊。该杂志发表关于控制领域原创理论和实践研究与发展的论文，涵盖控制理论及其应用的各个方面。每年出版六期，旨在成为整个亚洲控制社区的重要平台。期刊提供了一个论坛，供控制研究人员和从业人员交流控制领域最新进展的知识和经验，并为对这一不断发展的领域感兴趣的其他学科的学生和经验丰富的研究人员发挥教育作用。期刊范围广泛，主题包括：控制系统和组件的理论与设计，涉及鲁棒和分布式控制的几何、最优、随机和非线性方法；博弈论和状态估计；自适应控制，包括神经网络、学习、参数估计和系统故障检测；人工智能、模糊和专家系统；分层和人机系统；考虑组件和系统可靠性的系统工程的各个部分；以及新兴应用领域，例如机器人、机电一体化、计算机辅助设计、制造和控制各种工业过程的计算机、航天器和飞机、船舶、交通、生物医学系统、国民经济、电力系统和农业自然资源。

期刊	Asian Journal of Control
ISSN	1561-8625, 1934-6093
h-index	62
Journal Impact	2.56
国际分区	AUTOMATION & CONTROL SYSTEMS(Q2)
国内分区	计算机科学(4区)计算机科学自动化与控制系统(4区)