IEEE Transactions on Control Systems Technology最新文献_第2页

Deep Reinforcement Learning With Integer Optimization for Dynamic Slab Assignment Problem 动态配板问题的整数优化深度强化学习

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-31 DOI: 10.1109/TCST.2025.3552543

Tianyang Li;Ying Meng;Lixin Tang;Yuxuan Zhang

{"title":"Deep Reinforcement Learning With Integer Optimization for Dynamic Slab Assignment Problem","authors":"Tianyang Li;Ying Meng;Lixin Tang;Yuxuan Zhang","doi":"10.1109/TCST.2025.3552543","DOIUrl":"https://doi.org/10.1109/TCST.2025.3552543","url":null,"abstract":"This article investigates a dynamic slab assignment problem (DSAP) that arises in the slab production process of steel industry. In DSAP, a set of slabs and orders arrive dynamically at each time step of a planning period, and their information cannot be observed in advance. For a planning period, a series of decisions need to be made on allocating the slabs to customer orders, self-designed orders, or holding them in inventory to maximize total rewards. To address DSAP effectively, we formulate a Markov decision process (MDP) model and propose a deep reinforcement learning algorithm combined with an integer programming (DRLIP) model. DRLIP decomposes each decision time step into two stages, i.e., dynamic selection stage and static assignment stage. The dynamic selection stage primarily uses a double-pointer network (DPN) to select the slabs and orders to be involved in matching. In the static assignment stage, an extension of a multiknapsack problem is constructed based on the selected slabs and orders. We formulate an integer programming (IP) model to solve this multiknapsack problem for obtaining an optimal assignment decision, which in turn provides a reward for each time step. To evaluate the effectiveness of DRLIP, we use a global method, three advanced heuristic methods, and a scenario tree method for comparison on practical and randomly generated problem instances. Computational results show that DRLIP yields a mean gap of 21.5% versus the optimum from the global method and outperforms the other comparison methods.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1586-1600"},"PeriodicalIF":3.9,"publicationDate":"2025-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891245","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 Supplemental Lighting Control Using LED Lamps in Greenhouses Considering Multicrops and Spatial Supplemental Light Distribution 考虑多组和空间补光分布的温室LED灯最优补光控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-31 DOI: 10.1109/TCST.2025.3553000

Seyyed Shaho Alaviani;Marc W. van Iersel;Javad Mohammadpour Velni

{"title":"Optimal Supplemental Lighting Control Using LED Lamps in Greenhouses Considering Multicrops and Spatial Supplemental Light Distribution","authors":"Seyyed Shaho Alaviani;Marc W. van Iersel;Javad Mohammadpour Velni","doi":"10.1109/TCST.2025.3553000","DOIUrl":"https://doi.org/10.1109/TCST.2025.3553000","url":null,"abstract":"This brief aims at developing an <italic>optimal supplemental lighting control method using light-emitting diode (LED) lamps in controlled environmental agriculture. Existing results in the literature have <italic>not contemplated the problem under <italic>supplemental light distribution and/or <italic>multicrops in greenhouses where “supplemental light distribution” is referred to the horizontal pattern it casts and amount of light that reaches certain vertical angles and “multicrops” is defined as cultivating different plants in a greenhouse. To the best knowledge of the authors, this work is the <italic>first that fills the aforementioned gap. To address the problem, an approach for <italic>sectioning LED lamps’ control sources in a greenhouse is proposed, and an optimization problem is formulated for minimizing the electricity cost, light intensity regulation, and/or peak of supplemental lights minimization under <italic>both supplemental light distribution and multicrops cases for which a learning-based algorithm is given under sunlight prediction (which is based on the Markov process). A switched algorithm is then proposed to reduce electricity cost to the lowest possible. Finally, a numerical example is provided in order to demonstrate the result and its advantages.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1946-1952"},"PeriodicalIF":3.9,"publicationDate":"2025-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891042","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

Fishing for Data: Modeling, Optimal Planning, and Iterative Learning Control for Flexible Link Robots 搜集数据：柔性连杆机器人的建模、最优规划和迭代学习控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-26 DOI: 10.1109/TCST.2025.3550030

Michele Pierallini;Ramesh Krishnan Muttathil Gopanunni;Franco Angelini;Antonio Bicchi;Manolo Garabini

{"title":"Fishing for Data: Modeling, Optimal Planning, and Iterative Learning Control for Flexible Link Robots","authors":"Michele Pierallini;Ramesh Krishnan Muttathil Gopanunni;Franco Angelini;Antonio Bicchi;Manolo Garabini","doi":"10.1109/TCST.2025.3550030","DOIUrl":"https://doi.org/10.1109/TCST.2025.3550030","url":null,"abstract":"In this work, we address the problem of precise motion planning and control of flexible-link robots for throwing small objects. Thanks to lightweight materials and elastic bodies, flexible robots can perform fast motions with few actuators. However, they need a planning and control strategy capable of exploiting the robot’s elasticity, negotiating with the system’s underactuation, and compensating for the model’s uncertainties. To solve this challenging task, we 1) compare multiple discrete models for continuum robots’ dynamics and, after selecting a lumped-parameter (LPs) model, experimentally identify its parameters; 2) plan the robot motion via a differential-dynamic-programming-based strategy tailored for flexible-link robots; and 3) employ an iterative learning control (ILC) approach to close the reality-gap. Combining these three steps allows us to execute precise throwing tasks with flexible-link robots. The strategy’s effectiveness has been validated via simulations and experiments with varying trajectories and payloads. We applied the aforementioned approach to realize a throwing motion with a fishing rod for environmental monitoring.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1667-1683"},"PeriodicalIF":3.9,"publicationDate":"2025-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891021","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

Abstracted Model Reduction: A General Framework for Efficient Interconnected System Reduction 抽象模型约简：高效互联系统约简的通用框架

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-26 DOI: 10.1109/TCST.2025.3550027

Luuk Poort;Lars A. L. Janssen;Bart Besselink;Rob H. B. Fey;Nathan van de Wouw

{"title":"Abstracted Model Reduction: A General Framework for Efficient Interconnected System Reduction","authors":"Luuk Poort;Lars A. L. Janssen;Bart Besselink;Rob H. B. Fey;Nathan van de Wouw","doi":"10.1109/TCST.2025.3550027","DOIUrl":"https://doi.org/10.1109/TCST.2025.3550027","url":null,"abstract":"This article introduces the concept of abstracted model reduction: a framework to improve the tractability of structure-preserving methods for the complexity reduction of interconnected system models. To effectively reduce high-order, interconnected models, it is usually not sufficient to consider the subsystems separately. Instead, structure-preserving reduction methods should be employed, which consider the interconnected dynamics to select which subsystem dynamics to retain in reduction. However, structure-preserving methods are often not computationally tractable. To overcome this issue, we propose to connect each subsystem model to a low-order abstraction of its environment to reduce it both effectively and efficiently. By means of a high-fidelity structural dynamics model from the lithography industry, we show, on the one hand, significantly increased accuracy with respect to standard subsystem reduction and, on the other hand, similar accuracy to direct application of expensive structure-preserving methods, while significantly reducing computational cost. Furthermore, we formulate a systematic approach to automatically determine sufficient abstraction and reduction orders to preserve stability and guarantee a given frequency-dependent error specification. We apply this approach to the lithography equipment use case and show that the environment model can indeed be reduced by over 80% without significant loss in the accuracy of the reduced interconnected model.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1684-1699"},"PeriodicalIF":3.9,"publicationDate":"2025-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891162","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

Eco-Driving of Metro Trains Considering Variable Efficiency of Propulsion System 考虑推进系统变效率的地铁列车生态驾驶

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-24 DOI: 10.1109/TCST.2025.3549274

Arun Kumar Kantheti;Denis Berdjag;Sébastien Delprat;Aamir Kamran

{"title":"Eco-Driving of Metro Trains Considering Variable Efficiency of Propulsion System","authors":"Arun Kumar Kantheti;Denis Berdjag;Sébastien Delprat;Aamir Kamran","doi":"10.1109/TCST.2025.3549274","DOIUrl":"https://doi.org/10.1109/TCST.2025.3549274","url":null,"abstract":"The main goal of energy-efficient train control (EETC) is to devise strategies and methods in order to consume the least amount of energy while respecting the system and the operational constraints. Typically, such problems are tackled by breaking the trajectory into various singular and regular phases. The main focus of this article is to provide a numerically efficient algorithm to solve this problem in a unified way instead of dealing with phases. In this research work, a convex nonlinear model for propulsion power is proposed. Using this model, the EETC problem is formulated as an optimal control problem (OCP) using Pontryagin’s maximum principle (PMP). Maximum effort limitation of the propulsion system, and acceleration and deceleration limits are considered as control constraints. Track speed limits are considered as state constraints. The optimality conditions allow formulating a boundary value problem (BVP). An initialization procedure is proposed, which enables to design continuation procedures (CPs) to solve the BVP. The results are compared with the dynamic programming (DP) solution. A tradeoff analysis between journey time and energy consumption is presented.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1616-1626"},"PeriodicalIF":3.9,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891053","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

Leader-Follower Formation Tracking Control of Mobile Robots: A Visual Observer-Based Approach 移动机器人的Leader-Follower队列跟踪控制：一种基于视觉观测器的方法

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-20 DOI: 10.1109/TCST.2025.3546695

Shunping Huang;Haifeng Zeng;Weiyao Lan;Xiao Yu

引用次数: 0

Switching Economic Iterative Learning for Combined Path and Power Take-Off Control of a Drag-Powered Underwater Kite 拖曳式水下风筝组合路径与动力起飞控制的切换经济迭代学习

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-19 DOI: 10.1109/TCST.2025.3566255

Andrew Abney;Chris Vermillion

{"title":"Switching Economic Iterative Learning for Combined Path and Power Take-Off Control of a Drag-Powered Underwater Kite","authors":"Andrew Abney;Chris Vermillion","doi":"10.1109/TCST.2025.3566255","DOIUrl":"https://doi.org/10.1109/TCST.2025.3566255","url":null,"abstract":"This brief presents the development of an online iterative learning technique for the optimization of both the flight path parameters and rotor control parameters for an underwater energy-harvesting kite. In this technique, a coupled control parameter space is explored through a switching exploration strategy, whereby only a subset of the total system parameters is adapted at each iteration. This formulation, termed switching economic iterative learning control (se-ILC), seeks to intelligently explore this coupled design space to rapidly converge near the global optimum. This work examines the high-level control of an underwater energy-harvesting kite as an application example of se-ILC. First, we establish generalized performance bounds for economic iterative learning control (e-ILC) in the presence of a time-varying environment subjected to parametric uncertainties. Leveraging an existing dynamic model, we then examine the performance of the se-ILC formulation applied to this specific application example, exploring the coupled path and rotor angular velocity parameter spaces. We demonstrate that the se-ILC strategy enables convergence to within tighter bounds (compared with standard e-ILC) of the true optimum in the presence of an imperfect performance characterization.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1960-1966"},"PeriodicalIF":3.9,"publicationDate":"2025-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891161","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

An Invariant Extended Kalman Filter for Wind Estimation Using a Small, Fixed-Wing Uncrewed Aerial Vehicle 小型固定翼无人机风估计的不变扩展卡尔曼滤波

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-19 DOI: 10.1109/TCST.2025.3564884

Zakia Ahmed;Craig A. Woolsey

{"title":"An Invariant Extended Kalman Filter for Wind Estimation Using a Small, Fixed-Wing Uncrewed Aerial Vehicle","authors":"Zakia Ahmed;Craig A. Woolsey","doi":"10.1109/TCST.2025.3564884","DOIUrl":"https://doi.org/10.1109/TCST.2025.3564884","url":null,"abstract":"This article presents the design and implementation of an invariant extended Kalman filter (EKF) for wind estimation using a small, fixed-wing uncrewed aerial vehicle (UAV). First, it is shown that the UAV’s dynamics, extended to include a trivial model for the wind velocity dynamics, are invariant with respect to the Lie group <inline-formula> <tex-math>$text {SE}(3)$ </tex-math></inline-formula>, the special Euclidean group of rigid transformations. It is also shown that an output comprising the vehicle’s inertial state and airspeed is equivariant with respect to <inline-formula> <tex-math>$text {SE}(3)$ </tex-math></inline-formula>. Based on these analysis results, an invariant EKF is then designed for the extended state equations and is implemented on experimental flight data. Wind estimates from the invariant EKF are compared with estimates obtained using a conventional EKF for two nominal aircraft motions: constant altitude, wings level flight, and constant altitude turning flight. The obtained wind estimates are then compared with wind measurements reconstructed using data from the aircraft’s air data unit comprising an angle of attack (AoA) flow vane, flank angle flow vane, and Kiel probe. The experimental results corroborate the expectation that the invariant EKF outperforms a conventional EKF in wind estimation accuracy.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1799-1809"},"PeriodicalIF":3.9,"publicationDate":"2025-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891200","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 Relaxation-Based Nonconservative Chance Constrained Stochastic MPC 基于自适应松弛的非保守机会约束随机MPC

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-17 DOI: 10.1109/TCST.2025.3547260

Avik Ghosh;Cristian Cortes-Aguirre;Yi-An Chen;Adil Khurram;Jan Kleissl

{"title":"Adaptive Relaxation-Based Nonconservative Chance Constrained Stochastic MPC","authors":"Avik Ghosh;Cristian Cortes-Aguirre;Yi-An Chen;Adil Khurram;Jan Kleissl","doi":"10.1109/TCST.2025.3547260","DOIUrl":"https://doi.org/10.1109/TCST.2025.3547260","url":null,"abstract":"Chance constrained stochastic model predictive controllers (CC-SMPCs) tradeoff full constraint satisfaction for economical plant performance under uncertainty. Previous CC-SMPC works are over-conservative in constraint violations leading to worse economic performance. Other past works require a priori information about the uncertainty set, limiting their application. This article considers a discrete linear time-invariant (LTI) system with hard constraints on inputs and chance constraints on states, with unknown uncertainty distribution, statistics, or samples. This work proposes a novel adaptive online update rule to relax the state constraints based on the time average of past constraint violations, to achieve reduced conservativeness in closed-loop. Under an ideal control policy assumption, it is proven that the time average of constraint violations asymptotically converges to the maximum allowed violation probability. The method is applied for optimal battery energy storage system (BESS) dispatch in a grid-connected microgrid (MG) with photovoltaic (PV) generation and load demand, with chance constraints on BESS state of charge (SOC). Realistic simulations show the superior electricity cost-saving potential of the proposed method as compared with the traditional economic model predictive control (EMPC) without chance constraints, and a state-of-the-art approach with chance constraints. We satisfy the chance constraints nonconservatively in closed-loop, effectively trading off increased cost savings with minimal adverse effects on BESS lifetime.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1543-1559"},"PeriodicalIF":3.9,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891066","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

Quasiperiodic Disturbance Observer for Wideband Harmonic Suppression 宽带谐波抑制的准周期扰动观测器

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-16 DOI: 10.1109/TCST.2025.3566560

Hisayoshi Muramatsu

{"title":"Quasiperiodic Disturbance Observer for Wideband Harmonic Suppression","authors":"Hisayoshi Muramatsu","doi":"10.1109/TCST.2025.3566560","DOIUrl":"https://doi.org/10.1109/TCST.2025.3566560","url":null,"abstract":"Periodic disturbances composed of harmonics typically occur during periodic operations, impairing the performance of mechanical and electrical systems. To improve the performance, control of periodic-disturbance suppression has been studied, such as repetitive control and periodic-disturbance observers. However, actual periodic disturbances are typically quasiperiodic owing to perturbations in each cycle, identification errors of the period, variations in the period, and/or aperiodic disturbances. For robustness against quasiperiodicity, although wideband harmonic suppression is expected, conventional methods have tradeoffs among harmonic suppression bandwidth, amplification of aperiodic disturbances, and deviation of harmonic suppression frequencies. This article proposes a quasiperiodic disturbance observer (QDOB) to compensate for quasiperiodic disturbances while simultaneously achieving the wideband harmonic suppression, nonamplification of aperiodic disturbances, and proper harmonic suppression frequencies. A quasiperiodic disturbance is defined as comprising harmonics and surrounding signals. On the basis of this definition, the QDOB is designed using a periodic-pass filter of a first-order periodic/aperiodic separation filter for its Q-filter, time delay integrated with a zero-phase low-pass filter, and an inverse plant model with a first-order low-pass filter. The periodic-pass filter achieves the wideband harmonic suppression while the zero-phase and first-order low-pass filters prevent the amplification of aperiodic disturbances and deviation of harmonic suppression frequencies. For the implementation, the Q-filter is discretized by an exact mapping of the s-plane to the z-plane, and the inverse plant model is discretized by the backward Euler method. The experiments validated the frequency response and position-control precision of the QDOB while comparing it with conventional methods.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1895-1904"},"PeriodicalIF":3.9,"publicationDate":"2025-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11006295","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891022","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