IEEE Transactions on Control Systems Technology最新文献

Steering Control of an Autonomous Unicycle 自动独轮车的转向控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-10-03 DOI: 10.1109/TCST.2025.3587096

Máté B. Vizi;Gábor Orosz;Dénes Takács;Gábor Stépán

引用次数: 0

Approximate Nonlinear Model Predictive Control With Safety-Augmented Neural Networks 基于安全增强神经网络的近似非线性模型预测控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-09-11 DOI: 10.1109/TCST.2025.3590268

Henrik Hose;Johannes Köhler;Melanie N. Zeilinger;Sebastian Trimpe

{"title":"Approximate Nonlinear Model Predictive Control With Safety-Augmented Neural Networks","authors":"Henrik Hose;Johannes Köhler;Melanie N. Zeilinger;Sebastian Trimpe","doi":"10.1109/TCST.2025.3590268","DOIUrl":"https://doi.org/10.1109/TCST.2025.3590268","url":null,"abstract":"Model predictive control (MPC) achieves stability and constraint satisfaction for general nonlinear systems but requires computationally expensive online optimization. This brief studies approximations of such MPC controllers via neural networks (NNs) to achieve fast online evaluation. We propose safety augmentation that yields deterministic guarantees for convergence and constraint satisfaction despite approximation inaccuracies. We approximate the entire input sequence of the MPC with NNs, which allows us to verify online if it is a feasible solution to the MPC problem. We replace the NN solution by a safe candidate based on standard MPC techniques whenever it is infeasible or has worse cost. Our method requires a single evaluation of the NN and forward integration of the input sequence online, which is fast to compute on resource-constrained systems, typically within 0.2 ms. The proposed control framework is illustrated using three numerical nonlinear MPC benchmarks of different complexities, demonstrating computational speedups that are orders of magnitude higher than online optimization. In the examples, we achieve deterministic safety through the safety-augmented NNs, where a naive NN implementation fails.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2490-2497"},"PeriodicalIF":3.9,"publicationDate":"2025-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145339718","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Data-Based Estimation and Control of a Multistage Press Hardening Process 基于数据的多阶段冲压硬化过程估计与控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-08-27 DOI: 10.1109/TCST.2025.3589411

Malte Wrobel;Juri Martschin;Henry Baumann;A. Erman Tekkaya;Thomas Meurer

{"title":"Data-Based Estimation and Control of a Multistage Press Hardening Process","authors":"Malte Wrobel;Juri Martschin;Henry Baumann;A. Erman Tekkaya;Thomas Meurer","doi":"10.1109/TCST.2025.3589411","DOIUrl":"https://doi.org/10.1109/TCST.2025.3589411","url":null,"abstract":"In multistage press hardening processes, where a sheet material undergoes rapid austenitization, tempering, stretch-forming (SF), and die bending (DB), the resulting product properties are influenced by the thermo-mechanical history. This work aims at controlling the product properties of the formed blanks by making use of the model-based estimation and control of the spatial-temporal temperature distribution in the sheet. A data-driven dynamical model is constructed using dynamic mode decomposition (DMD) based on finite element (FE) simulation data. This model is further extended by means of parametric DMD to accommodate changes in process parameters like stroke rate, blank holder force, and austenitization temperature. The approach is validated and the model accuracy is improved through experimental analysis. The dynamics of the available temperature sensors are identified, whereupon a Kalman filter is developed based on the parametric DMD model to estimate the spatial-temporal temperature distribution. A time-varying, stage-dependent output matrix is employed to account for different numbers and locations of thermocouples in the three stages. Additionally, an optimal control strategy is implemented to achieve desired temperature trajectories, allowing targeted manipulation of the blank’s geometry and properties. Experimental validation of this system design and control strategy is carried out under real-time constraints.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2426-2438"},"PeriodicalIF":3.9,"publicationDate":"2025-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145341069","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Balancing Services Provision via Optimization and Management of the Flexibility Offered by a Pool of Energy Resources 通过优化和管理能源池提供的灵活性来平衡服务提供

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-08-27 DOI: 10.1109/TCST.2025.3583100

Daniel Zamudio;Alessandro Falsone;Federico Bianchi;Maria Prandini

引用次数: 0

Adaptive Learning Control for Time-Varying Parameter Pneumatic Artificial Muscle Robots With Force/Torque Perturbation and Input Delays 力/转矩摄动和输入延迟时变参数气动人工肌肉机器人的自适应学习控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-08-04 DOI: 10.1109/TCST.2025.3593243

Tong Yang;Changda Fan;Yongchun Fang;Ning Sun

{"title":"Adaptive Learning Control for Time-Varying Parameter Pneumatic Artificial Muscle Robots With Force/Torque Perturbation and Input Delays","authors":"Tong Yang;Changda Fan;Yongchun Fang;Ning Sun","doi":"10.1109/TCST.2025.3593243","DOIUrl":"https://doi.org/10.1109/TCST.2025.3593243","url":null,"abstract":"This article proposes a comprehensive adaptive learning controller to improve control accuracy and resist disturbance force/torques for pneumatic artificial muscles (PAMs), as well as handling various problems, e.g., time-varying parameters, unmodeled dynamics, and input delay. The modified neural networks compensate for nonlinear structures with time-varying parameters, where it is unnecessary to repeatedly calculate activation functions, reducing computational efforts. Specifically, a new integral term of input delay errors and closed-loop filter-based auxiliary signals is introduced into the designed update law and controller. When PAMs suffer from external disturbance force/torques during man–machine interaction, a modified force/torque observer is designed independently of measurement values and model knowledge (e.g., measured outputs and dynamic matrices in PAMs), to avoid sampling errors, noise, and so on. As far as we know, this is the first solution to handle time-varying parameters, resist input delay, and compensate for force/torque impacts together for PAMs, without any structure limits or a prior model information. It is proven that the tracking errors exponentially converge to zero; moreover, all closed-loop signals are uniformly ultimately bounded (UUB) when disturbance forces/torques are injected into the system. Some experimental verification is also conducted on a self-built platform.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2366-2377"},"PeriodicalIF":3.9,"publicationDate":"2025-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145339685","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Resilient Sequential Fusion on Lie Groups for Consistent Collaborative Localization 基于李群的弹性序列融合协同定位

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-08-04 DOI: 10.1109/TCST.2025.3589462

Yuqiang Jin;Hu Sun;Wen-An Zhang

{"title":"Resilient Sequential Fusion on Lie Groups for Consistent Collaborative Localization","authors":"Yuqiang Jin;Hu Sun;Wen-An Zhang","doi":"10.1109/TCST.2025.3589462","DOIUrl":"https://doi.org/10.1109/TCST.2025.3589462","url":null,"abstract":"Collaborative localization (CL) in multiagent systems has become an increasingly prominent research area, particularly under an uncertain and partially connected dynamic communication environment. This article presents a CL framework based on a resilient sequential fusion approach that guarantees consistency in matrix Lie groups. The proposed method is inherited from the pipeline of the distribution Kalman filter, which utilizes invariant error defined on a manifold to establish the global state propagation and update process for estimating the pose of all agents in the predefined reference frame. Furthermore, the communication update process is treated separately by generalizing the covariance intersection (CI) fusion into the designed geometric group structure, enabling flexible updates while maintaining the consistency of estimates and ensuring the independence of the filter update process. Specifically, to address the potential issues in agents’ communication, a weighted fusion criterion with an analytical form is proposed, allowing communication fusion to be performed on the manifold with arbitrary information fusion order and structure. Extensive validation through simulations and real-world experiments demonstrates that the proposed method is resilient to varying communication conditions and achieves superior performance compared with state-of-the-art methods.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2320-2333"},"PeriodicalIF":3.9,"publicationDate":"2025-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145339710","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Asynchronous Distributed Collision Avoidance With Intention Consensus for Inland Autonomous Ships 基于意向一致的内陆自主船舶异步分布式避碰

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-07-23 DOI: 10.1109/TCST.2025.3587842

Hoang Anh Tran;Nikolai Lauvås;Tor Arne Johansen;Rudy R. Negenborn

{"title":"Asynchronous Distributed Collision Avoidance With Intention Consensus for Inland Autonomous Ships","authors":"Hoang Anh Tran;Nikolai Lauvås;Tor Arne Johansen;Rudy R. Negenborn","doi":"10.1109/TCST.2025.3587842","DOIUrl":"https://doi.org/10.1109/TCST.2025.3587842","url":null,"abstract":"This article focuses on the problem of collaborative collision avoidance (CCAS) for autonomous inland ships. Two solutions are provided to solve the problem in a distributed manner. We first present a distributed model predictive control (MPC) algorithm that allows ships to directly negotiate their intention to avoid collision in a synchronous communication framework. Moreover, we introduce a new approach to shape the ship’s behavior to follow the waterway traffic regulations. The conditional convergence toward a stationary solution of this algorithm is guaranteed by the theory of the alternating direction method of multipliers (ADMM). To overcome the problem of asynchronous communication between ships, we adopt a new asynchronous nonlinear ADMM (Async-NADMM) and present an asynchronous distributed MPC algorithm based on it. Several simulations and field experiments show that the proposed algorithms can guarantee a safe distance between ships in complex scenarios while following the traffic regulations. Furthermore, the asynchronous algorithm has an efficient computational time and satisfies the real-time computing requirements of ships in field experiments.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2410-2425"},"PeriodicalIF":3.9,"publicationDate":"2025-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145339691","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Equipping Vehicular Platoons With Partial-State Immersion and Invariance Adaptation 为车辆队列配备部分状态沉浸和不变性自适应

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-07-17 DOI: 10.1109/TCST.2025.3587878

Di Liu;Simone Baldi;Kang Yang;Alessandro Astolfi

引用次数: 0

A Convex Model Predictive Control Barrier Function Approach for Differentially Flat Systems 差分平面系统的凸模型预测控制屏障函数方法

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-07-14 DOI: 10.1109/TCST.2025.3585086

M. Cody Priess

引用次数: 0

Adaptive Interval Observer-Based Fault-Tolerant Control for a 3-DOF Helicopter Without Angular Velocity Measurement 基于自适应区间观测器的无角速度三自由度直升机容错控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-07-10 DOI: 10.1109/TCST.2025.3583619

Xianghua Wang;Chee Pin Tan;Youqing Wang;Qingyuan Qi;Xiangrong Wang

{"title":"Adaptive Interval Observer-Based Fault-Tolerant Control for a 3-DOF Helicopter Without Angular Velocity Measurement","authors":"Xianghua Wang;Chee Pin Tan;Youqing Wang;Qingyuan Qi;Xiangrong Wang","doi":"10.1109/TCST.2025.3583619","DOIUrl":"https://doi.org/10.1109/TCST.2025.3583619","url":null,"abstract":"This brief presents a novel active fault-tolerant control (FTC) scheme for an unstable three-degree-of-freedom (3-DOF) helicopter subject to motor faults. The helicopter is instrumented only with angular position sensors and has no independent velocity sensors, which makes its FTC design more challenging. Although some works have developed FTC for helicopters using only angular information, they required stringent assumptions on the system. To circumvent this problem, a reduced-order sliding mode observer (SMO) is first introduced to obtain auxiliary signals, which become the outputs of an analytical system. Next, an interval observer (IO) is designed for the analytical system, and a fault-tolerant controller is established, and their parameters are jointly optimized to ensure that the helicopter performs at an acceptable level, whether there is a fault or not. The IOs use adaptive parameters, which provide tighter bounds, resulting in more accurate estimation of faults. Finally, simulations and experiments on a 3-DOF helicopter platform are conducted to demonstrate the efficacy of our proposed scheme.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2476-2482"},"PeriodicalIF":3.9,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145339727","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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