IEEE Transactions on Control Systems Technology最新文献_第10页

Decentralized Water-Level Balancing for Irrigation Channels in Storage Critical Operations 水库关键工况下灌溉渠道分散水位平衡研究

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2025-12-31 DOI: 10.1109/TCST.2025.3626796

Timm Strecker;Michael Cantoni

引用次数: 0

Safe Lane-Keeping With Control Barrier Functions: From Theory to Practical Implementation 具有控制屏障功能的安全车道保持：从理论到实践

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-02-25 DOI: 10.1109/TCST.2026.3657870

Illés Vörös;Chenhuan Jiang;Hanyu Gan;Dénes Takács;Xiao Li;Ilya Kolmanovsky;John Talbot;James Dallas;John Subosits;Gábor Orosz

{"title":"Safe Lane-Keeping With Control Barrier Functions: From Theory to Practical Implementation","authors":"Illés Vörös;Chenhuan Jiang;Hanyu Gan;Dénes Takács;Xiao Li;Ilya Kolmanovsky;John Talbot;James Dallas;John Subosits;Gábor Orosz","doi":"10.1109/TCST.2026.3657870","DOIUrl":"https://doi.org/10.1109/TCST.2026.3657870","url":null,"abstract":"This article presents the design and analysis of a safe lane-keeping controller based on a kinematic single-track vehicle model. A control barrier function (CBF) is derived for the lane-keeping problem using geometrical considerations. This is used to design a safety filter that can be applied on top of a nominal lane-keeping controller and guarantees that the vehicle remains within the lane boundaries. The effects of applying the safety filter to the controlled vehicle are thoroughly analyzed using a series of numerical simulations and phase portraits, including changes in the global dynamics, passenger comfort, and input signals. The results are validated with experiments on a test vehicle that verify that the safety filter is able to keep the vehicle inside the lane boundaries. The results highlight the benefits of safety filters in lateral vehicle control, and can be used as a basis for the design of more complex controllers involving higher fidelity vehicle models to enhance the safety of both human-driven and automated vehicles (AVs).","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1162-1176"},"PeriodicalIF":4.4,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148505438","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

Adaptive Estimation of Pennes’ Bio-Heat Equation: Observer Design and PINNs-Based Implementation Pennes生物热方程的自适应估计：观测器设计与基于pons的实现

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-02-03 DOI: 10.1109/TCST.2026.3656581

Guglielmo Cappellini;A. Cristofaro;E. De Santis;E. Staffetti;G. Trappolini;M. Vendittelli

{"title":"Adaptive Estimation of Pennes’ Bio-Heat Equation: Observer Design and PINNs-Based Implementation","authors":"Guglielmo Cappellini;A. Cristofaro;E. De Santis;E. Staffetti;G. Trappolini;M. Vendittelli","doi":"10.1109/TCST.2026.3656581","DOIUrl":"https://doi.org/10.1109/TCST.2026.3656581","url":null,"abstract":"This article presents a multiple-model (MM) adaptive framework for state estimation of uncertain parabolic reaction-diffusion partial differential equations, with specific application to superficial oncological hyperthermia (HT). The effectiveness of such thermal processes critically depends on real-time temperature assessment—a significant difficulty when relying on intrinsically sparse thermometry. This challenge is further compounded by uncertainties in patient-specific properties, particularly blood perfusion rate, during tissue heating. The problem is formulated as a state estimation of the governing Pennes’ bio-heat equation (PBHE), developing an MM adaptive estimation framework capable of dealing with uncertain parameters in the process dynamics and using only noninvasive boundary measurements. The validation process revealed limitations in traditional numerical simulation methods, prompting a novel implementation leveraging physics-informed learning—an approach well-suited for scenarios with known governing equations but limited training data. The experimental validation using a muscle-equivalent phantom with controlled perfusion simulation provides evidence of the method’s effectiveness in realistic conditions. This is the first demonstration of adaptive estimation of parabolic partial differential equations (PDEs) based on physiscs informed learning methods. The proposed methodology offers three key advantages: elimination of domain discretization requirements, thereby enabling continuous spatiotemporal monitoring; real-time estimation capabilities for PDE solutions; scalability to higher dimensional input spaces for an increased adaptability.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1133-1148"},"PeriodicalIF":4.4,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11371673","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507188","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

On the Optimization of Hard and Soft Sensing via Symbolic Regression for Enhanced Fault Detection in Feedback Control Systems 基于符号回归优化软、硬测量的反馈控制系统故障强化检测方法研究

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-02-03 DOI: 10.1109/TCST.2026.3653926

Efi Safikou;Krishna R. Pattipati;George M. Bollas

{"title":"On the Optimization of Hard and Soft Sensing via Symbolic Regression for Enhanced Fault Detection in Feedback Control Systems","authors":"Efi Safikou;Krishna R. Pattipati;George M. Bollas","doi":"10.1109/TCST.2026.3653926","DOIUrl":"https://doi.org/10.1109/TCST.2026.3653926","url":null,"abstract":"Detecting faults in closed-loop control systems is inherently challenging, as feedback mechanisms may obscure or delay the observation of fault effects. Advanced and robust fault detection tools are critical for ensuring safety and reliability in engineering systems. To address this challenge, we propose a physics-informed data-driven framework for designing informative inferential sensors. Using symbolic regression, a genetic programming (GP) approach generates mathematical expressions that effectively represent system parameters, even with limited training datasets. These expressions are optimized using statistical estimation theory, specifically the D-optimality criterion, to achieve enhanced sensitivity to faults. To validate the proposed approach, we integrate an extended Kalman filter (EKF) for fault estimation within a closed-loop dynamic model of a plate-fin cross-flow heat exchanger. The system is evaluated under varying levels of parameter uncertainty and measurement noise variance. The effectiveness and robustness of the developed methodology are demonstrated by comparing the EKF performance, with and without the inclusion of inferential sensor data alongside physical sensor measurements. The results demonstrate that the inferential sensor significantly enhances fault detection accuracy and reliability.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1576-1583"},"PeriodicalIF":3.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147828973","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

On the SDP Relaxation of Direct Torque Finite Control Set Model Predictive Control 直接转矩有限控制集模型预测控制的SDP松弛

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-03-16 DOI: 10.1109/TCST.2026.3662319

Luca M. Hartmann;Orcun Karaca;Tinus Dorfling;Tobias Geyer;Adam Kurpisz

引用次数: 0

Switching Control of Underactuated Multichannel Systems With Input Constraints for Cooperative Manipulation 带输入约束的欠驱动多通道系统的切换控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-03-31 DOI: 10.1109/TCST.2026.3673874

Dongjae Lee;Dimos V. Dimarogonas;Hyoun Jin Kim

{"title":"Switching Control of Underactuated Multichannel Systems With Input Constraints for Cooperative Manipulation","authors":"Dongjae Lee;Dimos V. Dimarogonas;Hyoun Jin Kim","doi":"10.1109/TCST.2026.3673874","DOIUrl":"https://doi.org/10.1109/TCST.2026.3673874","url":null,"abstract":"This work presents an event-triggered switching control framework for a class of nonlinear underactuated multichannel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation, where multiple underactuated agents collaboratively push or pull an object to a target pose. Unlike existing approaches for multichannel systems, our method addresses underactuation and the potential loss of controllability by additionally addressing channel assignment of agents. To simultaneously account for channel assignment, input constraints, and stabilization, we formulate the control problem as a mixed integer linear programming (MILP) and derive sufficient conditions for its feasibility. To improve real-time computation efficiency, we introduce an event-triggered control scheme that maintains stability even between switching events through a quadratic programming (QP)-based stabilizing controller. We theoretically establish the semi-global exponential stability of the proposed method and the asymptotic stability of its extension to nonprehensile cooperative manipulation under noninstantaneous switching. The proposed framework is further validated through numerical simulations on 2-D and 3-D free-flyer systems and multirobot nonprehensile pushing tasks.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1451-1464"},"PeriodicalIF":3.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147828925","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

Safety-Guaranteed Adaptive Control of Teleoperation Systems Under Event-Triggered Mechanisms 事件触发机制下遥操作系统的安全保证自适应控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-02-26 DOI: 10.1109/TCST.2026.3662978

Yuling Li;Rong Su

引用次数: 0

Fault Isolation for the Ink Deposition Process in High-End Industrial Printers 高端工业打印机油墨沉积过程的故障隔离

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-03-25 DOI: 10.1109/TCST.2026.3664927

Casper van Peijpe;Farhad Ghanipoor;Youri de Loore;Pim Hacking;Nathan van de Wouw;Peyman Mohajerin Esfahani

{"title":"Fault Isolation for the Ink Deposition Process in High-End Industrial Printers","authors":"Casper van Peijpe;Farhad Ghanipoor;Youri de Loore;Pim Hacking;Nathan van de Wouw;Peyman Mohajerin Esfahani","doi":"10.1109/TCST.2026.3664927","DOIUrl":"https://doi.org/10.1109/TCST.2026.3664927","url":null,"abstract":"This brief presents a mathematical framework for modeling the dynamic effects of three fault categories and six fault variants in the ink channels of high-end industrial printers. It also introduces a hybrid approach that combines model-based and data-based methods to detect and isolate these faults effectively. A key challenge in these systems is that the same piezo device is used for actuation (generating ink droplets) and for sensing, and, as a consequence, sensing is only available when there is no actuation. The proposed fault detection (FD) filter, based on the healthy model, uses the piezo self-sensing signal to generate a residual, while taking the above challenge into account. The system is flagged as faulty if the residual energy exceeds a threshold. Fault isolation (FI) is achieved through linear regression (LR) or a k-nearest neighbors (KNN) approach to identify the most likely fault category and variant. The resulting hybrid fault detection and isolation (FDI) method overcomes traditional limitations of model-based methods by isolating different types of faults affecting the same entries (i.e., equations) in the ink channel dynamics. Moreover, it is shown to outperform purely data-driven methods in FI, especially when data is scarce. Experimental validation demonstrates superior FDI performance compared to state-of-the-art methods.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1617-1624"},"PeriodicalIF":3.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147828844","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

Trajectory Tracking of Autonomous Vehicles Using Data-Driven Modeling and Neural Predictive Controller (NPC) 基于数据驱动建模和神经预测控制器的自动驾驶汽车轨迹跟踪

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-02-18 DOI: 10.1109/TCST.2026.3660313

Mahrokh Hosseinkhani Hezaveh;Mehdi Foroozan Koodiyani;Howard Schwartz;Ioannis Lambadaris

{"title":"Trajectory Tracking of Autonomous Vehicles Using Data-Driven Modeling and Neural Predictive Controller (NPC)","authors":"Mahrokh Hosseinkhani Hezaveh;Mehdi Foroozan Koodiyani;Howard Schwartz;Ioannis Lambadaris","doi":"10.1109/TCST.2026.3660313","DOIUrl":"https://doi.org/10.1109/TCST.2026.3660313","url":null,"abstract":"The technology of autonomous vehicles is advancing rapidly, relying heavily on high-precision simulations and high-performance controllers. This study uses actual driving data to model coupled lateral and longitudinal vehicle dynamics with two neural network (NN) structures: a time-distributed multilayer perceptron (TD-MLP) and a long short-term memory (LSTM). Inputs include accelerator pedal position, brake pressure, steering wheel angle, gear number, and road slope, while outputs are acceleration and yaw rate. In addition, a bidirectional LSTM (Bi-LSTM) predicts vehicle control inputs based on expert driver data. A resolution of the path to be tracked is provided to the NN driver, which generates control commands that are subsequently fed into vehicle NN models. The vehicle’s output states are used to compute the quadratic cost function for trajectory tracking. The minimum cost is identified, and the corresponding control inputs are selected as the optimal inputs for each prediction horizon. A comparative analysis was performed between the neural predictive controller (NPC) algorithm and the traditional nonlinear model predictive controller (NMPC), utilizing the interior point optimizer (IPOPT). Incorporating high-fidelity models within NMPC leads to substantial computational overhead. The NPC method maintains both computational efficiency and is adaptive to road slope disturbances, without the need for a classical adaptive control design, making it suitable for real-time control applications.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1625-1632"},"PeriodicalIF":3.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147828989","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

Practical Stability and Robust Distributed Economic MPC of Renewable Power System Load Frequency Control 可再生能源系统负荷频率控制的实用稳定性和鲁棒分布经济MPC

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-03-23 DOI: 10.1109/TCST.2026.3670950

Xiaobing Kong;Xiangjie Liu;Lele Ma;Ce Wang;Yi Zhang;Kwang Y. Lee

{"title":"Practical Stability and Robust Distributed Economic MPC of Renewable Power System Load Frequency Control","authors":"Xiaobing Kong;Xiangjie Liu;Lele Ma;Ce Wang;Yi Zhang;Kwang Y. Lee","doi":"10.1109/TCST.2026.3670950","DOIUrl":"https://doi.org/10.1109/TCST.2026.3670950","url":null,"abstract":"Load frequency control (LFC) plays a key role in improving power system stability and economic security. This is becoming quite challenging with high renewable power penetration into the power grid, as renewable power is typically random and intermittent energy, which gives rise to a huge impact on power quality. This article proposes a robust distributed economic model predictive control (RDEMPC) to incorporate distributed economic optimization and robust control for achieving the frequency regulation task. The local robust controller consists of a nominal distributed model predictive control (DMPC) and an ancillary feedback law. The ancillary term is designed to effectively cope with the wind disturbance, based on the difference between the actual state and the nominal state. The economic indexes, especially the maintenance cost from the wind-power generation, have been incorporated into the RDEMPC design. The stability of the robust distributed economic model predictive controller can be guaranteed by finding a Lyapunov function for each generation area that decreases with time. Simulation on the multiarea hybrid power system demonstrates the effectiveness of the RDEMPC in both improving the economic performance and reducing the wind speed disturbance.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1494-1506"},"PeriodicalIF":3.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147828924","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