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

Distance-Based Multiple Noncooperative Ground Target Encirclement for Complex Environments 复杂环境下基于距离的多非合作地面目标包围

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-14 DOI: 10.1109/TCST.2024.3469032

Fen Liu;Shenghai Yuan;Kun Cao;Wei Meng;Lihua Xie

{"title":"Distance-Based Multiple Noncooperative Ground Target Encirclement for Complex Environments","authors":"Fen Liu;Shenghai Yuan;Kun Cao;Wei Meng;Lihua Xie","doi":"10.1109/TCST.2024.3469032","DOIUrl":"https://doi.org/10.1109/TCST.2024.3469032","url":null,"abstract":"This article proposes a comprehensive strategy for complex multitarget-multidrone encirclement in an obstacle-rich and global positioning system (GPS)-denied environment, motivated by practical scenarios such as pursuing vehicles or humans in urban canyons. The drones have omnidirectional range sensors that can robustly detect ground targets and obtain noisy relative distances. After each drone task is assigned, a novel distance-based target state estimator (DTSE) is proposed by estimating the measurement output noise variance and utilizing the Kalman filter. By integrating anti-synchronization (AS) techniques and pseudo-force functions, an acceleration controller enables two tasking drones to cooperatively encircle a target from opposing positions while navigating obstacles. The algorithm’s effectiveness for the discrete-time double-integrator system is established theoretically, particularly regarding observability. Moreover, the versatility of the algorithm is showcased in aerial-to-ground scenarios, supported by compelling simulation results. Experimental validation demonstrates the effectiveness of the proposed approach.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"261-273"},"PeriodicalIF":4.9,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905854","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

Nonlinear Controller for MMC-HVdc Operating in Grid-Forming Mode MMC-HVdc成网运行的非线性控制器

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-14 DOI: 10.1109/TCST.2024.3467808

Luís F. Normandia Lourenço;Alessio Iovine;Gilney Damm;Alfeu J. Sguarezi Filho

{"title":"Nonlinear Controller for MMC-HVdc Operating in Grid-Forming Mode","authors":"Luís F. Normandia Lourenço;Alessio Iovine;Gilney Damm;Alfeu J. Sguarezi Filho","doi":"10.1109/TCST.2024.3467808","DOIUrl":"https://doi.org/10.1109/TCST.2024.3467808","url":null,"abstract":"The development of the modular multilevel converter (MMC) enabled the efficient creation of high-power high-voltage direct current (HVdc) transmission systems. As a result, MMC-HVdc transmission systems became the main alternative to integrate remote renewable energy sources being deployed in accelerating rates to fight climate change. As the number of online classical synchronous generators (SGs) decreases while the one of converter-based power sources increases, power systems are suffering from lower inertia levels and from fewer providers of ancillary services. Therefore, new control strategies, such as the grid-forming (GFM) converter operation, were developed to address the ongoing power system transformation. The main contribution of this article is to propose a nonlinear (NL) control strategy compatible with GFM operation for an MMC-HVdc transmission system controlled as a virtual synchronous machine (VSM). The control strategy is developed using NL control tools, such as feedback linearization, dynamic feedback linearization, and backstepping. In addition, this article provides a rigorous mathematical stability analysis applying Lyapunov theory. The proposed control strategy is then validated by simulations using the MATLAB/Simscape Electrical package in three situations: active power tracking, converter energy tracking, and a frequency support scenario. Results show the good performance of the proposed NL controller for all situations considered, presenting a fast response and a faster disturbance rejection compared with the classical proportional integral (PI) controller.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"229-244"},"PeriodicalIF":4.9,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905850","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

Proactive Emergency Collision Avoidance for Automated Driving in Highway Scenarios 高速公路自动驾驶的主动紧急避碰

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-11 DOI: 10.1109/TCST.2024.3469470

Leila Gharavi;Azita Dabiri;Jelske Verkuijlen;Bart De Schutter;Simone Baldi

{"title":"Proactive Emergency Collision Avoidance for Automated Driving in Highway Scenarios","authors":"Leila Gharavi;Azita Dabiri;Jelske Verkuijlen;Bart De Schutter;Simone Baldi","doi":"10.1109/TCST.2024.3469470","DOIUrl":"https://doi.org/10.1109/TCST.2024.3469470","url":null,"abstract":"Uncertainty in the behavior of other traffic participants is a crucial factor in collision avoidance for automated driving; here, stochastic metrics could avoid overly conservative decisions. This article introduces a stochastic model predictive control (SMPC) planner for emergency collision avoidance in highway scenarios to proactively minimize collision risk while ensuring safety through chance constraints. To guarantee that the emergency trajectory can be attained, we incorporate nonlinear tire dynamics in the prediction model of the ego vehicle. Further, we exploit max-min-plus-scaling (MMPS) approximations of the nonlinearities to avoid conservatism, enforce proactive collision avoidance, and improve computational efficiency in terms of performance and speed. Consequently, our contributions include integrating a dynamic ego vehicle model into the SMPC planner, introducing the MMPS approximation for real-time implementation in emergency scenarios, and integrating SMPC with hybridized chance constraints and risk minimization. We evaluate our SMPC formulation in terms of proactivity and efficiency in various hazardous scenarios. Moreover, we demonstrate the effectiveness of our proposed approach by comparing it with a state-of-the-art SMPC planner and we validate that the generated trajectories can be attained using a high-fidelity vehicle model in IPG CarMaker.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 4","pages":"1164-1177"},"PeriodicalIF":4.9,"publicationDate":"2024-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144502893","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

Collision Avoidance for Ellipsoidal Rigid Bodies With Control Barrier Functions Designed From Rotating Supporting Hyperplanes 基于旋转支撑超平面控制屏障函数的椭球刚体避碰

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-08 DOI: 10.1109/TCST.2024.3467809

Riku Funada;Koju Nishimoto;Tatsuya Ibuki;Mitsuji Sampei

{"title":"Collision Avoidance for Ellipsoidal Rigid Bodies With Control Barrier Functions Designed From Rotating Supporting Hyperplanes","authors":"Riku Funada;Koju Nishimoto;Tatsuya Ibuki;Mitsuji Sampei","doi":"10.1109/TCST.2024.3467809","DOIUrl":"https://doi.org/10.1109/TCST.2024.3467809","url":null,"abstract":"This article proposes a collision avoidance method for ellipsoidal rigid bodies that utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate the problem in the special Euclidean groups \u0000<inline-formula> <tex-math>${SE}(2)$ </tex-math></inline-formula>\u0000 and \u0000<inline-formula> <tex-math>${SE}(3)$ </tex-math></inline-formula>\u0000, where the kinematics are described as rigid body motion (RBM). We consider the condition for separating two ellipsoidal rigid bodies by employing a signed distance from a supporting hyperplane of a rigid body to the other rigid body. Although a positive value of this signed distance implies that the two rigid bodies are collision-free, a naively designed supporting hyperplane yields a smaller value than the actual distance. To avoid such a conservative evaluation, the supporting hyperplane is rotated so that the signed distance from the supporting hyperplane to the other rigid body is maximized. We prove that the maximum value of this optimization problem is equal to the actual distance between two ellipsoidal rigid bodies, hence eliminating excessive conservativeness. We leverage this signed distance as a CBF to prevent collision while the supporting hyperplane is rotated via a gradient-based input. The designed CBF is integrated into a quadratic programming (QP) problem, where each rigid body calculates its collision-free input in a distributed manner, given communication among rigid bodies. We exemplify that our method can be extended to other kinematic models. The proposed method is demonstrated through simulation results.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"148-164"},"PeriodicalIF":4.9,"publicationDate":"2024-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10709633","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905853","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

Decision-Making for Autonomous Vehicles With Interaction-Aware Behavioral Prediction and Social-Attention Neural Network 基于交互感知行为预测和社会注意神经网络的自动驾驶汽车决策

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-03 DOI: 10.1109/TCST.2024.3460650

Xiao Li;Kaiwen Liu;H. Eric Tseng;Anouck Girard;Ilya Kolmanovsky

{"title":"Decision-Making for Autonomous Vehicles With Interaction-Aware Behavioral Prediction and Social-Attention Neural Network","authors":"Xiao Li;Kaiwen Liu;H. Eric Tseng;Anouck Girard;Ilya Kolmanovsky","doi":"10.1109/TCST.2024.3460650","DOIUrl":"https://doi.org/10.1109/TCST.2024.3460650","url":null,"abstract":"Autonomous vehicles need to accomplish their tasks while interacting with human drivers in traffic. It is thus crucial to equip autonomous vehicles with artificial reasoning to better comprehend the intentions of the surrounding traffic, thereby facilitating the accomplishments of the tasks. In this work, we propose a behavioral model that encodes drivers’ interacting intentions into latent social-psychological parameters. Leveraging a Bayesian filter, we develop a receding-horizon optimization-based controller for autonomous vehicle decision-making which accounts for the uncertainties in the interacting drivers’ intentions. For online deployment, we design a neural network architecture based on the attention mechanism which imitates the behavioral model with online estimated parameter priors. We also propose a decision tree search algorithm to solve the decision-making problem online. The proposed behavioral model is then evaluated in terms of its capabilities for real-world trajectory prediction. We further conduct extensive evaluations of the proposed decision-making module, in forced highway merging scenarios, using both simulated environments and real-world traffic datasets. The results demonstrate that our algorithms can complete the forced merging tasks in various traffic conditions while ensuring driving safety.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 4","pages":"1285-1300"},"PeriodicalIF":4.9,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144502949","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

Safe Control Architecture via Model Predictive Control 基于模型预测控制的安全控制架构

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-01 DOI: 10.1109/TCST.2024.3461173

Maryam Nezami;Ngoc Thinh Nguyen;Georg Männel;Robin Kensbock;Hossam Seddik Abbas;Georg Schildbach

{"title":"Safe Control Architecture via Model Predictive Control","authors":"Maryam Nezami;Ngoc Thinh Nguyen;Georg Männel;Robin Kensbock;Hossam Seddik Abbas;Georg Schildbach","doi":"10.1109/TCST.2024.3461173","DOIUrl":"https://doi.org/10.1109/TCST.2024.3461173","url":null,"abstract":"Ensuring the safe operation of autonomous systems is a critical challenge that demands the development of sophisticated control strategies. This article proposes a safe control architecture (SCA) that employs a supervisor model predictive control (MPC) (supervisor) strategy to ensure the persistent satisfaction of state and input constraints. The supervisor continuously monitors the safety of potentially unsafe inputs generated by an operating controller (OC). If an input is predicted to lead the system to a future state where constraint violations are inevitable, it is deemed unsafe and thus blocked from the system. Instead, a backup input, generated by the supervisor in the previous time step, is applied to the system. However, uncertainties in system dynamics are unavoidable and can lead to incorrect decisions by the supervisor, which is based on MPC with a nominal model. This article proposes to enhance the robustness of the SCA by the integration of tube MPC. The resulting robust SCA (RSCA) has the capability to ensure safe operation of autonomous systems under model uncertainties, making it a practical solution for safety-critical autonomous systems, such as vehicles, drones, or medical robots. This article also proves the recursive feasibility and stability of the RSCA. The effectiveness of the approach is validated for an autonomous vehicle in IPG CarMaker, a high-fidelity simulation environment with realistic data on roads, vehicle dynamics, and obstacles.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 4","pages":"1207-1220"},"PeriodicalIF":4.9,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144502815","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

Temperature Control of Nonlinear Uncertain Systems via Model-Free Cascaded Controller: Application to an Infrared Emissometer 基于无模型级联控制器的非线性不确定系统温度控制：在红外发射仪上的应用

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-01 DOI: 10.1109/TCST.2024.3464111

J. Gabirondo-López;I. Arredondo;J. M. Igartua

{"title":"Temperature Control of Nonlinear Uncertain Systems via Model-Free Cascaded Controller: Application to an Infrared Emissometer","authors":"J. Gabirondo-López;I. Arredondo;J. M. Igartua","doi":"10.1109/TCST.2024.3464111","DOIUrl":"https://doi.org/10.1109/TCST.2024.3464111","url":null,"abstract":"This article introduces a cascade control system designed to precisely manage complex heating processes characterized by two actuator saturations, the absence of any cooling system, variable properties of the sample being heated, and a wide temperature span. The proposed control system combines an industrial PID for furnace heating element control with a model-free controller to control the temperature of the heated sample. We clearly describe the procedure to tune the controller and to accurately model the whole heating process. We have performed simulations to compare the performance of the control system we propose to the performance of conventional cascade controllers; our control system is superior in terms of accuracy and adaptability. We have successfully implemented the control system in an experimental instrument: an infrared emissometer. We have proved that the implementation is effective in controlling both tuned plants and unknown plants, without the need to modify the previous control configurations. The tests we have done also demonstrate that the achieved final model represents the whole experimental system with a high degree of accuracy, as the results from the simulations match with the experimental results.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"219-228"},"PeriodicalIF":4.9,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10701453","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905720","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

A Sensitivity Analysis of Wave Energy Converter Model Predictive Control Systems With Wave Excitation Force Estimation and Prediction 基于波浪激振力估计和预测的波浪能量转换器模型预测控制系统的灵敏度分析

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-30 DOI: 10.1109/TCST.2024.3456689

Zechuan Lin;Xuanrui Huang;Xi Xiao;John V. Ringwood

{"title":"A Sensitivity Analysis of Wave Energy Converter Model Predictive Control Systems With Wave Excitation Force Estimation and Prediction","authors":"Zechuan Lin;Xuanrui Huang;Xi Xiao;John V. Ringwood","doi":"10.1109/TCST.2024.3456689","DOIUrl":"https://doi.org/10.1109/TCST.2024.3456689","url":null,"abstract":"Understanding the sensitivity of energy-maximizing control for wave energy converters (WECs), to various model errors, is crucial for application. Many advanced WEC controllers, especially model predictive control (MPC)-like controllers, require estimation and prediction of wave excitation force (WEF). However, previous studies only focus on the controller in isolation, without considering the error coupling effects when a complete estimation-prediction loop is involved. In this study, it is revealed through numerical analysis that the complete MPC system has sensitivity behavior completely different from the isolated MPC; under certain model errors, the system can become particularly unpredictable, exhibiting potential instability and self-locking phenomena, which cannot be observed from the examination of control sensitivity alone. Meanwhile, different tuning options for the WEF estimator and predictor are examined, where the accuracy-robustness tradeoff is shown to be critical for performance amelioration under errors. Based on the analysis, this study challenges the widely assumed “separation principle” of WEF estimation/prediction and WEC control, highlights the importance of incorporating a complete estimation-prediction loop in sensitivity examination, and draws practical guidelines for WEC control application.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"136-147"},"PeriodicalIF":4.9,"publicationDate":"2024-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905851","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

Enhancing the Force Transparency of the Energy-Reflection-Based Time-Domain Passivity Approach 增强基于能量反射的时域无源方法的力透明度

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-27 DOI: 10.1109/TCST.2024.3458831

Michael Panzirsch;Harsimran Singh;Xiao Xu;Alexander Dietrich;Thomas Hulin;Eckehard Steinbach;Alin Albu-Schaeffer

{"title":"Enhancing the Force Transparency of the Energy-Reflection-Based Time-Domain Passivity Approach","authors":"Michael Panzirsch;Harsimran Singh;Xiao Xu;Alexander Dietrich;Thomas Hulin;Eckehard Steinbach;Alin Albu-Schaeffer","doi":"10.1109/TCST.2024.3458831","DOIUrl":"https://doi.org/10.1109/TCST.2024.3458831","url":null,"abstract":"The time-domain passivity approach (TDPA) was developed and applied to tackle a variety of control challenges such as noncollocated force sensing, authority scaling, or delayed coupling in robotic applications. Specifically for delay, recently, the energy-reflection-based TDPA (TDPA-ER) was proposed to improve position tracking and force-feedback quality. In contrast to the conventional TDPA, the TDPA-ER intrinsically prevents position drift, thus substantially increasing the coupling rigidity. Here, we extend the TDPA-ER to further enhance the force transparency perceived by the operator in teleoperation scenarios. The extension is based on two independent control strategies that, among others, reorganize the energy distribution of TDPA-ER and ensure more continuous force profiles through the deflection-domain passivity approach (DDPA). Experiments confirm the improvement of force-feedback quality and force continuity with regard to TDPA-ER. Furthermore, it is shown that interactions with dynamic objects and active environments can be handled robustly with the proposed teleoperation control strategies.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"181-188"},"PeriodicalIF":4.9,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905834","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

Interaction-Aware Traffic Prediction and Scenario-Based Model Predictive Control for Autonomous Vehicles on Highways 基于交互感知的高速公路自动驾驶车辆交通预测和基于场景的模型预测控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-25 DOI: 10.1109/TCST.2024.3458817

Xiaorong Zhang;Sahar Zeinali;Georg Schildbach

引用次数: 0