IEEE Transactions on Control Systems Technology最新文献

Optimal Cyclic Control of a Structurally Constrained Morphing Energy-Harvesting Kite Using an Experimentally Validated Simulation Model

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-09 DOI: 10.1109/TCST.2024.3520438

Jacob B. Fine;Carson M. McGuire;Vinson O. Williams;Michael Jenkins;Hannah McDaniel;Maya Keele;Matthew Bryant;Ashok Gopalarathnam;Chris Vermillion

{"title":"Optimal Cyclic Control of a Structurally Constrained Morphing Energy-Harvesting Kite Using an Experimentally Validated Simulation Model","authors":"Jacob B. Fine;Carson M. McGuire;Vinson O. Williams;Michael Jenkins;Hannah McDaniel;Maya Keele;Matthew Bryant;Ashok Gopalarathnam;Chris Vermillion","doi":"10.1109/TCST.2024.3520438","DOIUrl":"https://doi.org/10.1109/TCST.2024.3520438","url":null,"abstract":"This work presents an experimentally validated dynamic model, control trajectory optimization methodology, and representative simulation results for a morphing underwater kite. Morphing, defined as real-time modification of the kite’s geometry to either curtail structural loading or enhance power generation, is motivated by the fact that the optimal design of an energy-harvesting kite is highly sensitive to flow speed and tether length, particularly in the presence of structural limitations that render load curtailment necessary at high flow speeds and short tether lengths. To achieve morphing behavior, an inboard Fowler flap (capable of modifying the chord and camber of an inboard wing section) was employed in tandem with a symmetric aileron bias, enabling simultaneous control over both the wing’s overall lift coefficient and center of lift without requiring the mechanical complexity associated with span morphing. The effects of these morphing parameters were integrated into an existing dynamic simulation framework, and experiments were conducted using a customized scaled tow testing setup to refine and experimentally validate the simulation model. Following the refinement of this model, a morphing trajectory optimizer was designed to optimize the morphing input trajectories over a spooling cycle using flow data from the previous cycle. Finally, using the refined simulation model and multicycle controller, simulations of large-scale kites operating in a realistic flow environment were conducted. In these simulations, a kite capable of morphing was shown to generate between 8.1% and 25.3% more energy than non-morphing kite designs.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"744-759"},"PeriodicalIF":4.9,"publicationDate":"2025-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489114","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

L1Quad: L1 Adaptive Augmentation of Geometric Control for Agile Quadrotors With Performance Guarantees

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-03 DOI: 10.1109/TCST.2024.3521182

Zhuohuan Wu;Sheng Cheng;Pan Zhao;Aditya Gahlawat;Kasey A. Ackerman;Arun Lakshmanan;Chengyu Yang;Jiahao Yu;Naira Hovakimyan

{"title":"L1Quad: L1 Adaptive Augmentation of Geometric Control for Agile Quadrotors With Performance Guarantees","authors":"Zhuohuan Wu;Sheng Cheng;Pan Zhao;Aditya Gahlawat;Kasey A. Ackerman;Arun Lakshmanan;Chengyu Yang;Jiahao Yu;Naira Hovakimyan","doi":"10.1109/TCST.2024.3521182","DOIUrl":"https://doi.org/10.1109/TCST.2024.3521182","url":null,"abstract":"Quadrotors that can operate predictably in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications. We present <inline-formula> <tex-math>$boldsymbol {mathcal {L}}_{1}$ </tex-math></inline-formula>Quad, a control architecture that ensures uniformly bounded transient response of the quadrotor’s uncertain dynamics on the special Euclidean group SE(3). By leveraging the geometric controller and the <inline-formula> <tex-math>$boldsymbol {mathcal {L}}_{1}$ </tex-math></inline-formula> adaptive controller, the <inline-formula> <tex-math>$boldsymbol {mathcal {L}}_{1}$ </tex-math></inline-formula>Quad architecture provides a theoretically justified framework for the design and analysis of quadrotor’s tracking controller in the presence of nonlinear (time- and state-dependent) uncertainties on both the translational and rotational dynamics. In addition, we validate the performance of the <inline-formula> <tex-math>$boldsymbol {mathcal {L}}_{1}$ </tex-math></inline-formula>Quad architecture through extensive experiments for 11 types of uncertainties across various trajectories. The results demonstrate that the <inline-formula> <tex-math>$boldsymbol {mathcal {L}}_{1}$ </tex-math></inline-formula>Quad can achieve consistently small tracking errors despite the uncertainties and disturbances and significantly outperforms existing state-of-the-art controllers.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"597-612"},"PeriodicalIF":4.9,"publicationDate":"2025-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10820973","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489084","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Switched Hybrid Control for Spacecraft Attitude Control With Flexible and Guaranteed Performance

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-12-27 DOI: 10.1109/TCST.2024.3508580

Jiakun Lei;Tao Meng;Dongyu Li;Kun Wang;Weijia Wang;Zhonghe Jin

{"title":"Switched Hybrid Control for Spacecraft Attitude Control With Flexible and Guaranteed Performance","authors":"Jiakun Lei;Tao Meng;Dongyu Li;Kun Wang;Weijia Wang;Zhonghe Jin","doi":"10.1109/TCST.2024.3508580","DOIUrl":"https://doi.org/10.1109/TCST.2024.3508580","url":null,"abstract":"This article addresses the challenge of achieving spacecraft attitude control with guaranteed performance while significantly reducing actuator activation frequency. To tackle this issue, we propose the concept of switched hybrid control and further integrate it with a modified prescribed-performance control (PPC) scheme. To enhance the robustness of the PPC control, we introduce the concept of a zeroing barrier function (ZBF). Coupled with a projection-operator-based modification dynamics, this approach assesses and adjusts the envelope in response to the risk of violating performance envelope constraints. Subsequently, a control mode switching strategy, considering the safety of the performance envelope and the system’s motion velocity, is proposed. This strategy automatically switches between intermittent and continuous control modes to select an appropriate control command execution strategy, thereby reducing actuator activation frequency under proper circumstances. Furthermore, we demonstrate the boundedness of the closed-loop system for different control modes and establish a uniform upper bound of the Lyapunov certificate throughout the entire time domain, thereby proving the overall uniformly ultimately bounded (UUB) of the system. Finally, numerical simulation results are presented to validate the effectiveness of the proposed control scheme.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"582-596"},"PeriodicalIF":4.9,"publicationDate":"2024-12-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489118","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

A Joint Analysis and Estimation Effort for Cell-to-Cell Variations in Lithium-Ion Battery Packs

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-12-24 DOI: 10.1109/TCST.2024.3516364

Preston T. Abadie;Tania R. Jahan;Donald J. Docimo

{"title":"A Joint Analysis and Estimation Effort for Cell-to-Cell Variations in Lithium-Ion Battery Packs","authors":"Preston T. Abadie;Tania R. Jahan;Donald J. Docimo","doi":"10.1109/TCST.2024.3516364","DOIUrl":"https://doi.org/10.1109/TCST.2024.3516364","url":null,"abstract":"This article studies parameter variations in battery packs and estimation of the imbalance propagated by such heterogeneity. Battery pack use has drastically increased in several areas, ranging from personal vehicles to utility-scale power distribution. However, manufacturing tolerances allow for slight variations between battery cells, which can cause uneven current distributions and hinder pack operation. Current work in the literature studies these parameter discrepancies by analyzing their effects or estimating the imbalances, but there are scarce efforts toward combining these tenets of addressing parameter mismatch. This article presents a modeling framework conducive to both analysis and estimation, allowing for investigation of battery dynamics due to unequal parameters, providing analytical representations of the impact of cell mismatch on state and output dynamics. Furthermore, the framework facilitates the development of an online state estimator with reduced computational cost. After parameterization of 66 lithium-ion cells, the framework is used to determine the contributions of multiple types of parameter heterogeneity on output imbalances. The proposed estimator is then validated experimentally, showing how the fewer required calculations benefit estimation runtime. The results show that this estimation scheme is capable of providing estimates within 0.6% state of charge (SOC) of a baseline estimator’s error while providing over a 60% reduction in computational cost.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"760-774"},"PeriodicalIF":4.9,"publicationDate":"2024-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10813457","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Data-Driven Closed-Loop Reachability Analysis for Nonlinear Human-in-the-Loop Systems Using Gaussian Mixture Model

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-12-24 DOI: 10.1109/TCST.2024.3518118

Joonwon Choi;Sooyung Byeon;Inseok Hwang

{"title":"Data-Driven Closed-Loop Reachability Analysis for Nonlinear Human-in-the-Loop Systems Using Gaussian Mixture Model","authors":"Joonwon Choi;Sooyung Byeon;Inseok Hwang","doi":"10.1109/TCST.2024.3518118","DOIUrl":"https://doi.org/10.1109/TCST.2024.3518118","url":null,"abstract":"This article presents data-driven algorithms to perform the reachability analysis of nonlinear human-in-the-loop (HITL) systems. Such systems require consideration of the human control policy, otherwise might result in a conservative reachable set. However, formulating the human control policy in a mathematically tractable form is challenging, and thus, it is commonly ignored or simplified in many applications. To tackle this problem, we propose Gaussian mixture model (GMM)-based data-driven algorithms that can explicitly consider the human control policy during the reachability analysis of an HITL system. The proposed algorithms learn the human control policy as a GMM using the given trajectory. Then, the control input from the human operator is predicted based on the trained GMM by leveraging the Gaussian mixture regression (GMR), thereby facilitating the closed-loop forward stochastic reachability analysis. In this article, we examine two types of human control policies, state-independent and state-dependent, and propose the respective algorithms. We also tested our proposed algorithms using the human subject experimental data and demonstrated to generate more accurate results compared with other existing algorithms.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"788-798"},"PeriodicalIF":4.9,"publicationDate":"2024-12-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489134","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

Turbidity Control in Sedimentation Columns by Direction-Dependent Models

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-12-23 DOI: 10.1109/TCST.2024.3512876

Jesus-Pablo Toledo-Zucco;Daniel Sbarbaro;João Manoel Gomes da Silva

引用次数: 0

Control of Periodically Waked Wind Turbines

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-12-13 DOI: 10.1109/TCST.2024.3508577

Aemilius A. W. van Vondelen;Atindriyo K. Pamososuryo;Sachin T. Navalkar;Jan-Willem van Wingerden

{"title":"Control of Periodically Waked Wind Turbines","authors":"Aemilius A. W. van Vondelen;Atindriyo K. Pamososuryo;Sachin T. Navalkar;Jan-Willem van Wingerden","doi":"10.1109/TCST.2024.3508577","DOIUrl":"https://doi.org/10.1109/TCST.2024.3508577","url":null,"abstract":"Periodic wakes are created on upstream wind turbines by pitching strategies, such as the Helix approach, to enhance wake mixing and thereby increase power production for wind turbines directly in their wake. Consequently, a cyclic load is not only generated on the actuating turbine’s blades but also on the waked wind turbine. While the upstream load is the result of the pitching required for wake mixing, the downstream load originates from interaction with the periodic wake and only causes fatigue damage. This study proposes two novel individual pitch control schemes in which such a periodic load on the downstream turbine can be treated: by attenuation or amplification. The former method improves the fatigue life of the downstream turbine, whereas the latter enhances wake mixing further downstream by exploiting the already-present periodic content in the wake; both were validated on a three-turbine wind farm in high-fidelity large-eddy simulations. Fatigue damage reductions of around 10% were found in the load mitigation case, while an additional power enhancement of 6% was generated on the third turbine when implementing the amplification strategy. Both objectives can easily be toggled depending on a wind farm operator’s demands and the desired loads/energy capture tradeoff.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"700-713"},"PeriodicalIF":4.9,"publicationDate":"2024-12-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10798995","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489119","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fast Zone Model Predictive Control for High Capacity Battery Subpack of Electric Vehicle

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-12-11 DOI: 10.1109/TCST.2024.3508579

Changbeom Hong;Sanghoon Shin;Hyeonwoo Cho;Daeki Hong;Se-Kyu Oh;Yeonsoo Kim

{"title":"Fast Zone Model Predictive Control for High Capacity Battery Subpack of Electric Vehicle","authors":"Changbeom Hong;Sanghoon Shin;Hyeonwoo Cho;Daeki Hong;Se-Kyu Oh;Yeonsoo Kim","doi":"10.1109/TCST.2024.3508579","DOIUrl":"https://doi.org/10.1109/TCST.2024.3508579","url":null,"abstract":"As the demand for electric vehicles (EVs) increases, battery thermal management is required to guarantee safety and improve driving performance. The batteries need to be operated within an appropriate temperature range while minimizing energy consumption. We propose a fast zone model predictive control (MPC), which determines the optimal flow rate and inlet temperature of the coolant to control the temperatures of 48 cells in subpack. When the battery temperatures are within the proper temperature range, the proposed zone MPC focuses on minimizing power consumption while maintaining the temperature within the zone. When the temperature is outside the zone, the set-point MPC with terminal cost is used to determine the optimal input sequence. To achieve computational efficiency, a control-oriented battery thermal model is first established considering the temperature distribution of all cells. Second, the zone MPC formulation is converted into quadratic programming (QP). The nondifferentiable objective function of zone nonlinear MPC (NMPC) is approximated with a soft-plus function, and then, new variables are introduced to convert the nonlinear objective function into the quadratic form. Finally, the nonlinear dynamics are handled with the successive linearization method, which leads to QP formulation. By applying the proposed MPC, total energy consumption for cooling and heating cases under 1C-rate discharge was reduced by 27.11% and 78.73%, respectively, compared with the set-point MPC.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"729-743"},"PeriodicalIF":4.9,"publicationDate":"2024-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489085","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 Microgrid Scheduling With Synthetic Inertia From Electric Vehicles Within a Network of Charging Stations

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-12-11 DOI: 10.1109/TCST.2024.3512432

Yixun Wen;Zhongda Chu;Amber Srivastava;Fei Teng;Boli Chen

{"title":"Resilient Microgrid Scheduling With Synthetic Inertia From Electric Vehicles Within a Network of Charging Stations","authors":"Yixun Wen;Zhongda Chu;Amber Srivastava;Fei Teng;Boli Chen","doi":"10.1109/TCST.2024.3512432","DOIUrl":"https://doi.org/10.1109/TCST.2024.3512432","url":null,"abstract":"Vehicle-to-grid technologies are proposed as potential providers of virtual inertia for microgrids (MGs). This article addresses an energy and charging scheduling problem for an MG and investigates how to utilize a network of electric vehicle (EV) charging stations (CSs) to provide sufficient virtual initial for frequency regulation that guarantees the safe transition of MG to the islanded operation during extreme events. The charging behavior of EV within a CS network is complex and can be actively influenced by charge point power and tariff set up by the CS network operator subject to MG operation requirements. A novel modeling framework is proposed to capture these aspects and integrate them into the MG energy management. The goal is to determine the optimal power allocation among distributed energy resources within an MG, minimizing operation costs while ensuring sufficient frequency support with virtual inertia contribution from EVs. To deal with inevitable uncertainties associated with EV arrivals at a CS, we employ joint distributionally robust chance constraints (DRCCs) to mitigate the impact of uncertainty and enhance the robustness of the algorithm. These joint DRCCs are decomposed into individual ones via an optimized Bonferroni approximation (BoA) method, then suitably relaxed into convex forms, which maintains the solvability of the overall problem. The effectiveness of the method is validated with case studies based on a modified IEEE 14-bus system.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"775-787"},"PeriodicalIF":4.9,"publicationDate":"2024-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489189","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

Optimal Power Flow Pursuit via Feedback-Based Safe Gradient Flow

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-12-04 DOI: 10.1109/TCST.2024.3504254

Antonin Colot;Yiting Chen;Bertrand Cornélusse;Jorge Cortés;Emiliano Dall’Anese

{"title":"Optimal Power Flow Pursuit via Feedback-Based Safe Gradient Flow","authors":"Antonin Colot;Yiting Chen;Bertrand Cornélusse;Jorge Cortés;Emiliano Dall’Anese","doi":"10.1109/TCST.2024.3504254","DOIUrl":"https://doi.org/10.1109/TCST.2024.3504254","url":null,"abstract":"This article considers the problem of controlling inverter-interfaced distributed energy resources (DERs) in a distribution grid to solve an ac optimal power flow (OPF) problem in real time. The ac OPF includes voltage constraints and seeks to minimize costs associated with the economic operation, power losses, or the power curtailment from renewables. We develop an online feedback optimization method to drive the DERs’ power setpoints to solutions of an ac OPF problem based only on voltage measurements (and without requiring measurements of the power consumption of noncontrollable assets). The proposed method—grounded on the theory of control barrier functions (CBFs)—is based on a continuous approximation of the projected gradient flow, appropriately modified to accommodate measurements from the power network. We provide results in terms of local exponential stability and assess the robustness to errors in the measurements and in the system Jacobian matrix. We show that the proposed method ensures anytime satisfaction of the voltage constraints when no model and measurement errors are present; if these errors are present and are small, the voltage violation is practically negligible. We also discuss extensions of the framework to virtual power plant (VPP) setups and cases where constraints on power flows and currents must be enforced. Numerical experiments on a 93-bus distribution system with realistic load and production profiles show superior performance in terms of voltage regulation relative to existing methods.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"658-670"},"PeriodicalIF":4.9,"publicationDate":"2024-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489124","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