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

LP-Generated Control Lyapunov Functions With Application to Multicopter Control LP 生成的控制 Lyapunov 函数在多旋翼飞行器控制中的应用

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-14 DOI: 10.1109/TCST.2024.3396704

Huu-Thinh Do;Franco Blanchini;Stefano Miani;Ionela Prodan

引用次数: 0

Control Barrier Functions With Circulation Inequalities 带循环不等式的控制障碍函数

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-14 DOI: 10.1109/TCST.2024.3372802

Vinicius Mariano Gonçalves;Prashanth Krishnamurthy;Anthony Tzes;Farshad Khorrami

{"title":"Control Barrier Functions With Circulation Inequalities","authors":"Vinicius Mariano Gonçalves;Prashanth Krishnamurthy;Anthony Tzes;Farshad Khorrami","doi":"10.1109/TCST.2024.3372802","DOIUrl":"10.1109/TCST.2024.3372802","url":null,"abstract":"Control barrier functions (CBFs) when paired with quadratic programming (QP) offer an increasingly popular framework for control considering critical safety constraints. However, being closely related to artificial potential fields, they suffer from the classical stable spurious equilibrium point problem, in which the controller can fail to drive the system to the goal. The main contribution of this article is showing that this problem can be mitigated by introducing a circulation inequality as a constraint, which forces the system to explicitly circulate obstacles under some conditions. This circulation is introduced in the configuration space and is simple to implement once we have the CBF-constraint, adding a negligible complexity to the resulting optimization problem. Theoretical guarantees are provided for this framework, indicating, under appropriate conditions, the feasibility of the resulting optimization problem, continuity of the control input, characterization of the equilibrium points, a weak form of Lyapunov stability, and uniqueness of the equilibrium points. The provided experimental studies showcase the overall properties and applicability in different scenarios.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 4","pages":"1426-1441"},"PeriodicalIF":4.9,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140150950","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 Control of Race Car With Aerodynamic Slipstreaming Effect 具有空气动力滑流效应的赛车优化控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-13 DOI: 10.1109/TCST.2024.3395722

Xuze Liu;Abbas Fotouhi;Marco Cecotti;Daniel Auger

引用次数: 0

Safety-Guaranteed Ship Berthing Using Cascade Tube-Based Model Predictive Control 利用基于级联管的模型预测控制实现安全可靠的船舶靠泊

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-13 DOI: 10.1109/TCST.2024.3374152

Changyu Lee;Quoc Van Tran;Jinwhan Kim

引用次数: 0

Generic Homotopic Smoothing for Low-Thrust Optimal Control Problems With Power Constraints 有功率约束的低推力优化控制问题的通用同调平滑法

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-12 DOI: 10.1109/TCST.2024.3370908

Qian Xiao;Lincheng Li;Jingrui Zhang;Ming Xu

{"title":"Generic Homotopic Smoothing for Low-Thrust Optimal Control Problems With Power Constraints","authors":"Qian Xiao;Lincheng Li;Jingrui Zhang;Ming Xu","doi":"10.1109/TCST.2024.3370908","DOIUrl":"10.1109/TCST.2024.3370908","url":null,"abstract":"This brief is devoted to the power-constrained low-thrust optimal control problem (OCP). First, a general model for a class of power constraints is proposed by defining a piecewise smooth function, which describes the discontinuities of the control system. Subsequently, a recursive smoothing function is proposed to smooth the generalized discontinuous terms leading to a family of smooth OCPs, whose solutions converge to the solution of the discontinuous power-constrained OCP. The distinguished feature is that the variations of the control bound, caused by the power constraints, are embedded into the smoothing function, and are retrieved gradually. Consequently, the constrained and unconstrained OCPs are seamlessly connected, allowing an easy start and convergence improvement of the continuation. Moreover, a homotopy is constructed to guarantee a smooth connection, providing a differential homotopy path-tracking process. Finally, by comparing with the existing methods, typical scenarios are simulated to demonstrate the convergence improvement and efficiency of the proposed generic homotopic smoothing method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 4","pages":"1487-1494"},"PeriodicalIF":4.9,"publicationDate":"2024-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140116579","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

Dynamic Negotiation-Based Distributed EMPC With Varying Consensus Speeds of Heterogeneous Electric Vehicle Platoons 基于动态协商的分布式 EMPC，异构电动汽车编队的共识速度各不相同

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-12 DOI: 10.1109/TCST.2024.3371620

Defeng He;Jie Luo;Haiping Du

引用次数: 0

Passivity-Based Power Sharing and Voltage Regulation in DC Microgrids With Unactuated Buses 具有无扰动母线的直流微电网中基于无源状态的功率共享和电压调节

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-12 DOI: 10.1109/TCST.2024.3372308

Albertus Johannes Malan;Pol Jané-Soneira;Felix Strehle;Sören Hohmann

{"title":"Passivity-Based Power Sharing and Voltage Regulation in DC Microgrids With Unactuated Buses","authors":"Albertus Johannes Malan;Pol Jané-Soneira;Felix Strehle;Sören Hohmann","doi":"10.1109/TCST.2024.3372308","DOIUrl":"10.1109/TCST.2024.3372308","url":null,"abstract":"In this article, we propose a novel four-stage distributed controller for a dc microgrid that achieves proportional power sharing and average voltage regulation for the voltages at actuated and unactuated buses. The controller is presented for a dc microgrid comprising multiple distributed generation units (DGUs) with time-varying actuation states, dynamic \u0000<inline-formula> <tex-math>$RLC$ </tex-math></inline-formula>\u0000 lines, nonlinear constant impedance, current, and power (ZIP) loads, and a time-varying network topology. The controller comprising a nonlinear gain, proportional–integral (PI) controllers, and two dynamic distributed averaging stages is designed for asymptotic stability. This constitutes deriving passivity properties for the dc microgrid, along with each of the controller subsystems. Thereafter, design parameters are found through a passivity-based optimization using the worst-case subsystem properties. The resulting closed loop is robust against DGU actuation changes, network topology changes, and microgrid parameter changes. The stability and robustness of the proposed control are verified via simulations.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 4","pages":"1410-1425"},"PeriodicalIF":4.9,"publicationDate":"2024-03-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10471262","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140116476","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

Kinodynamic Motion Planning via Funnel Control for Underactuated Unmanned Surface Vehicles 通过漏斗控制实现欠驱动无人水面飞行器的动力运动规划

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-10 DOI: 10.1109/TCST.2024.3396027

Dženan Lapandić;Christos K. Verginis;Dimos V. Dimarogonas;Bo Wahlberg

引用次数: 0

Multivariate Process Monitoring for Safe Operation of Condensers in Thermal Power Plants Based on Normal Operating Zones 基于正常运行区的火力发电厂凝汽器安全运行多变量过程监控

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-08 DOI: 10.1109/TCST.2024.3370036

Zhen Wang;Jiandong Wang;Jindong Liu

{"title":"Multivariate Process Monitoring for Safe Operation of Condensers in Thermal Power Plants Based on Normal Operating Zones","authors":"Zhen Wang;Jiandong Wang;Jindong Liu","doi":"10.1109/TCST.2024.3370036","DOIUrl":"10.1109/TCST.2024.3370036","url":null,"abstract":"Detecting condenser abnormalities is essential to ensure the safe and efficient operation of thermal power plants. However, most of the existing methods do not consider relationships among multiple process variables or implement process monitoring in the space of original condenser process variables. This article proposes a safe operation monitoring method for condensers based on normal operating zones (NOZs). NOZs are high-dimensional geometric spaces formed by variation ranges under normal conditions of multiple related variables whose relationships are described by condenser gray-box models. One main challenge is how to analyze the influence of model parameter uncertainties on accuracies of the condenser safe operation monitoring. This challenge is resolved by defining the false alarm rate (FAR) and missed alarm rate (MAR) under NOZ model uncertainties that are organized from multiple sets of model parameters estimated from a large amount of condenser historical data. The NOZ model is formulated by achieving an optimal trade-off between FAR and MAR. Theoretical results for the upper bounds of FAR and MAR of NOZ models caused by parameter uncertainties are developed based on the Bayesian estimation rule. Industrial case studies are provided to demonstrate the effectiveness and practicability of the proposed method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 4","pages":"1399-1409"},"PeriodicalIF":4.9,"publicationDate":"2024-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140071983","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

Robust Balancing and Trajectory Control of a Self-Driving Bicycle 自动驾驶自行车的稳健平衡和轨迹控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-03-07 DOI: 10.1109/TCST.2024.3395575

T.-J. Yeh;Tzu-Chieh Lin;Alexander Chia-Bin Chen

{"title":"Robust Balancing and Trajectory Control of a Self-Driving Bicycle","authors":"T.-J. Yeh;Tzu-Chieh Lin;Alexander Chia-Bin Chen","doi":"10.1109/TCST.2024.3395575","DOIUrl":"10.1109/TCST.2024.3395575","url":null,"abstract":"The purpose of this research is to construct a self-driving bicycle that can balance itself and automatically track a designated trajectory in campus environments. For balancing, a lower level controller is designed based on the dynamic model of the bicycle. It allows the bicycle to achieve lateral stability and cornering action with robustness to speed variations. The design methodology adopts a linear-parameter-varying (LPV) approach by first decomposing the dynamic model into a convex combination of four linear subsystems with time-varying coefficients and then solving a set of linear matrix inequalities (LMIs) to compute the gain matrix for robust state feedback. For trajectory tracking, a high-level controller is designed using similar LPV approach. It allows the bicycle to robustly follow a pregenerated virtual vehicle motion on a given path regardless of the speed and yaw-rate changes of the virtual vehicle along the path. The control system is verified both numerically and experimentally on a prototype bicycle. In particular, the experiment shows that the self-driving bicycle can follow the testing route in campus with rms error less than 18 cm.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2410-2417"},"PeriodicalIF":4.9,"publicationDate":"2024-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140933101","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