Máté B. Vizi;Gábor Orosz;Dénes Takács;Gábor Stépán
{"title":"Steering Control of an Autonomous Unicycle","authors":"Máté B. Vizi;Gábor Orosz;Dénes Takács;Gábor Stépán","doi":"10.1109/TCST.2025.3587096","DOIUrl":"https://doi.org/10.1109/TCST.2025.3587096","url":null,"abstract":"The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady-state motions and their stability. The unicycle model is introduced as the simplest possible extension of the rolling wheel, where the location of the center of gravity is controlled. With the help of the Appellian approach, a state-space representation of the controlled nonholonomic system is built in a way that the most compact nonlinear equations of motion are constructed. Based on controllability analysis, feedback controllers are designed that successfully carry out lane changing and turning maneuvers. The behavior of the closed-loop system is demonstrated by numerical simulations.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2393-2409"},"PeriodicalIF":3.9,"publicationDate":"2025-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145341073","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}
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}
{"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}
Daniel Zamudio;Alessandro Falsone;Federico Bianchi;Maria Prandini
{"title":"Balancing Services Provision via Optimization and Management of the Flexibility Offered by a Pool of Energy Resources","authors":"Daniel Zamudio;Alessandro Falsone;Federico Bianchi;Maria Prandini","doi":"10.1109/TCST.2025.3583100","DOIUrl":"https://doi.org/10.1109/TCST.2025.3583100","url":null,"abstract":"Aggregators of energy resources providing balancing services to the grid face the twofold challenge of assessing the overall amount of flexibility of the pool of energy resources, and mapping the power requests by the grid back to each single energy resource during the service window. In this article, we propose a framework that allows to jointly optimize the power flexibility limits and determines the disaggregation policy for managing the pool of energy resources, thus avoiding an additional computational step in the operational service phase. The baseline power exchange profiles of the energy resources can also be optimized to enhance the pool flexibility, and practical constraints such as time availability of the resources within the service window or network congestion constraints can be included. Notably, the resulting optimization problem is amenable for privacy-preserving and scalable distributed resolution schemes.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2304-2319"},"PeriodicalIF":3.9,"publicationDate":"2025-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145339694","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}
{"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}
{"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}
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}
{"title":"Equipping Vehicular Platoons With Partial-State Immersion and Invariance Adaptation","authors":"Di Liu;Simone Baldi;Kang Yang;Alessandro Astolfi","doi":"10.1109/TCST.2025.3587878","DOIUrl":"https://doi.org/10.1109/TCST.2025.3587878","url":null,"abstract":"This work discusses how a large set of longitudinal vehicular platooning protocols proposed in the literature can be augmented, in the framework of immersion and invariance (I&I), with adaptation and partial-state feedback capabilities. The need for adaptation stems from uncertainty and heterogeneity of the vehicle driveline time constants; the need for partial-state feedback stems from tradeoffs in the intervehicle sensing technology. The presented I&I designs yield disturbance decoupling, a system-theoretic property guaranteeing string stability and collision avoidance specifications, crucial in platooning. The proposed protocols are discussed analytically and validated using different traffic scenarios in the Simulation of Urban MObility-Veins (SUMO-Veins) platform for vehicular networks and using data from a traffic smoothing field experiment.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2378-2392"},"PeriodicalIF":3.9,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145339714","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}
{"title":"A Convex Model Predictive Control Barrier Function Approach for Differentially Flat Systems","authors":"M. Cody Priess","doi":"10.1109/TCST.2025.3585086","DOIUrl":"https://doi.org/10.1109/TCST.2025.3585086","url":null,"abstract":"This brief provides a novel approach for online synthesis of predictive control barrier function (CBF)-based safety filters and controllers for differentially flat, input-constrained systems. A local convex approximation to the safe set is inflated around the current system state and used to formulate a set of discrete-time affine CBF constraints. These constraints are enforced over a finite prediction horizon using a discrete-time convex model predictive control (MPC) formulation that can be solved at each sample instant. This approach is tractable for cases when the original safe set is defined by one or more concave or convex-ellipsoidal barrier functions, and is applicable even when the number or configuration of these barriers can change during runtime. This methodology is extended to enable simultaneous control Lyapunov function (CLF) enforcement within the same MPC framework, and both approaches are demonstrated in simulation.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2470-2475"},"PeriodicalIF":3.9,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145341057","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}
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}