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

Autonomous Hook-Based Grasping and Transportation With Quadcopters 四轴飞行器的自动挂钩抓取和运输

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-23 DOI: 10.1109/TCST.2025.3529356

Péter Antal;Tamás Péni;Roland Tóth

{"title":"Autonomous Hook-Based Grasping and Transportation With Quadcopters","authors":"Péter Antal;Tamás Péni;Roland Tóth","doi":"10.1109/TCST.2025.3529356","DOIUrl":"https://doi.org/10.1109/TCST.2025.3529356","url":null,"abstract":"Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are attached to the quadcopter body. However, due to the large weight and power consumption of these aerial manipulators, their agility and flight time are limited. This article proposes a motion control and planning method for transportation with a lightweight, passive manipulator structure that consists of a hook attached to a quadrotor using a 1-DoF revolute joint. To perform payload grasping, transportation, and release, first, time-optimal reference trajectories are designed through specific waypoints to ensure the fast and reliable execution of the tasks. Then, a two-stage motion control approach is developed based on a robust geometric controller for precise and reliable reference tracking and a linear-quadratic payload regulator for rapid setpoint stabilization of the payload swing. Furthermore, mathematical guarantees are provided for closed-loop stability to ensure safe operation. The proposed control architecture and design are evaluated in a high-fidelity physical simulator and also in real flight experiments, using a custom-made quadrotor-hook manipulator platform.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"980-990"},"PeriodicalIF":4.9,"publicationDate":"2025-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883467","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 Observer and Parameter Estimation for a Series Elastic Actuator System 串联弹性作动器系统的自适应观测器与参数估计

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-22 DOI: 10.1109/TCST.2025.3529358

Jiangchao Song;Yashan Xing;Jing Na;Guanbin Gao;Xuemei Ren;Sheng Lu

{"title":"Adaptive Observer and Parameter Estimation for a Series Elastic Actuator System","authors":"Jiangchao Song;Yashan Xing;Jing Na;Guanbin Gao;Xuemei Ren;Sheng Lu","doi":"10.1109/TCST.2025.3529358","DOIUrl":"https://doi.org/10.1109/TCST.2025.3529358","url":null,"abstract":"The series elastic actuator (SEA) has been widely used in the exoskeletons. However, its mathematical model contains both unknown parameters and states, which need to be jointly estimated online via the measurable input and output. To address this issue, an adaptive observer is developed to reconstruct both unknown model parameters and states simultaneously. In particular, a constructive approach is proposed to extract the parameter estimation error, which is used to design a new adaptive law decoupled from the observer error dynamics. A high-gain modification is also incorporated into the observer to handle the dependency on the unknown system states in the regressor. As a result, the convergence of both the observation error and the estimation error can be proved under the standard excitation condition. Moreover, since the SEA used in the exoskeletons may operate under a weak excitation due to the slow training of rehabilitation, a further tailored adaptive law with the eigenvalue decomposition method is introduced to adapt the weak excitation. Finally, the effectiveness of the proposed methods is validated via experiments on a real-world SEA test rig.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1134-1141"},"PeriodicalIF":4.9,"publicationDate":"2025-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143892485","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

Reactive Robot Navigation Using Quasi-Conformal Mappings and Control Barrier Functions 基于拟保角映射和控制障碍函数的反应机器人导航

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-17 DOI: 10.1109/TCST.2025.3526377

Gennaro Notomista;Gary P. T. Choi;Matteo Saveriano

引用次数: 0

An Enhanced Kernel Partial Least-Squares Fault Reconstruction Fused With Pattern Classification 融合模式分类的改进核偏最小二乘故障重构

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-16 DOI: 10.1109/TCST.2025.3527279

Meizhi Liu;Xiangyu Kong;Changhua Hu;Hongzeng Li;Ziwen Wang

{"title":"An Enhanced Kernel Partial Least-Squares Fault Reconstruction Fused With Pattern Classification","authors":"Meizhi Liu;Xiangyu Kong;Changhua Hu;Hongzeng Li;Ziwen Wang","doi":"10.1109/TCST.2025.3527279","DOIUrl":"https://doi.org/10.1109/TCST.2025.3527279","url":null,"abstract":"Partial least squares (PLS) is a well-known multivariate statistical process monitoring (MSPM) method. However, there are two key issues that restrict its application in reconstruction-based fault diagnosis, including weak fault representation ability and uncertainty caused by the overlap among different types of faults. To cope with these two issues, an enhanced kernel PLS (eKPLS) fault reconstruction approach fused with pattern classification is proposed in this study. For the first issue, a fine-grained fault subspace extraction method is developed. These fine-grained fault subspaces exhibit richer fault details, conferring upon the model heightened fault representation ability. For the second issue, the fault magnitude is supplemented into the paradigm of fault reconstruction, and a rediagnosis mechanism is designed to overcome the uncertainty in fault diagnosis. Thus, the ideas of fault reconstruction and pattern classification are fused into a consolidated framework, allowing us to complement their strengths together. Finally, several experiments on a hydraulic system and Tennessee Eastman process (TEP) are performed to validate the effectiveness of the proposed method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1119-1124"},"PeriodicalIF":4.9,"publicationDate":"2025-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883416","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

Harmonic Control of Three-Phase AC/DC Converter With Time-Domain Guarantees 具有时域保证的三相AC/DC变换器谐波控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-13 DOI: 10.1109/TCST.2024.3520460

Maxime Grosso;Pierre Riedinger;Jamal Daafouz;Serge Pierfederici;Hicham Janati Idrissi;Blaise Lapôtre

{"title":"Harmonic Control of Three-Phase AC/DC Converter With Time-Domain Guarantees","authors":"Maxime Grosso;Pierre Riedinger;Jamal Daafouz;Serge Pierfederici;Hicham Janati Idrissi;Blaise Lapôtre","doi":"10.1109/TCST.2024.3520460","DOIUrl":"https://doi.org/10.1109/TCST.2024.3520460","url":null,"abstract":"In light of recent advances in harmonic modeling and control theory, we present a novel approach for controlling a three-phase grid-tied ac-dc converter. Our methodology involves deriving an infinite-dimensional harmonic bilinear model and employing forwarding control techniques to design globally stable state feedback. This framework enables the integration of control objectives tailored to harmonic distortion, mitigation, and the tracking of periodic trajectories, leveraging integral actions. Moreover, we demonstrate the transposition of our harmonic control design into a periodic nonlinear control scheme in the time domain, preserving the established stability guarantees. These assurances stem from recent fundamental theoretical findings, outlining the conditions for a bijection between harmonic- and time-domain trajectories. Through illustrative simulations and experimental setups, we assess the methodology’s effectiveness in real-time total harmonic distortion (THD) reduction and rejection of specific harmonic disturbances. The obtained results affirm the successful accomplishment of our control objectives, validating the efficacy of the proposed harmonic control approach.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"887-902"},"PeriodicalIF":4.9,"publicationDate":"2025-01-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883420","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

Synchronization Stability Analysis of SRF-PLL and DSOGI-PLL Using Port-Hamiltonian Framework 基于port - hamilton框架的SRF-PLL和DSOGI-PLL同步稳定性分析

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-10 DOI: 10.1109/TCST.2024.3523711

Sai Sowmya Nagam;Bikash C. Pal;Heng Wu;Frede Blaabjerg

引用次数: 0

Optimal Cyclic Control of a Structurally Constrained Morphing Energy-Harvesting Kite Using an Experimentally Validated Simulation Model 基于实验验证模型的结构约束变形集能风筝最优循环控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-09 DOI: 10.1109/TCST.2024.3520438

Jacob B. Fine;Carson M. McGuire;Vinson O. Williams;Michael Jenkins;Hannah McDaniel;Maya Keele;Matthew Bryant;Ashok Gopalarathnam;Chris Vermillion

{"title":"Optimal Cyclic Control of a Structurally Constrained Morphing Energy-Harvesting Kite Using an Experimentally Validated Simulation Model","authors":"Jacob B. Fine;Carson M. McGuire;Vinson O. Williams;Michael Jenkins;Hannah McDaniel;Maya Keele;Matthew Bryant;Ashok Gopalarathnam;Chris Vermillion","doi":"10.1109/TCST.2024.3520438","DOIUrl":"https://doi.org/10.1109/TCST.2024.3520438","url":null,"abstract":"This work presents an experimentally validated dynamic model, control trajectory optimization methodology, and representative simulation results for a morphing underwater kite. Morphing, defined as real-time modification of the kite’s geometry to either curtail structural loading or enhance power generation, is motivated by the fact that the optimal design of an energy-harvesting kite is highly sensitive to flow speed and tether length, particularly in the presence of structural limitations that render load curtailment necessary at high flow speeds and short tether lengths. To achieve morphing behavior, an inboard Fowler flap (capable of modifying the chord and camber of an inboard wing section) was employed in tandem with a symmetric aileron bias, enabling simultaneous control over both the wing’s overall lift coefficient and center of lift without requiring the mechanical complexity associated with span morphing. The effects of these morphing parameters were integrated into an existing dynamic simulation framework, and experiments were conducted using a customized scaled tow testing setup to refine and experimentally validate the simulation model. Following the refinement of this model, a morphing trajectory optimizer was designed to optimize the morphing input trajectories over a spooling cycle using flow data from the previous cycle. Finally, using the refined simulation model and multicycle controller, simulations of large-scale kites operating in a realistic flow environment were conducted. In these simulations, a kite capable of morphing was shown to generate between 8.1% and 25.3% more energy than non-morphing kite designs.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"744-759"},"PeriodicalIF":4.9,"publicationDate":"2025-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489114","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

Koopman System Approximation-Based Optimal Control of Multiple Mobile Robots 基于Koopman系统近似的多移动机器人最优控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-06 DOI: 10.1109/TCST.2024.3522793

Qianhong Zhao;Gang Tao

{"title":"Koopman System Approximation-Based Optimal Control of Multiple Mobile Robots","authors":"Qianhong Zhao;Gang Tao","doi":"10.1109/TCST.2024.3522793","DOIUrl":"https://doi.org/10.1109/TCST.2024.3522793","url":null,"abstract":"This article presents a study of the Koopman operator theory and its application to optimal control of a multiple-mobile-robot system. The operator, while operating on a set of observation functions of the state vector of a nonlinear system, produces a set of dynamic equations that, through a dynamic transformation, form a new dynamic system. The Koopman system technique is then applied to the development of a linear or bilinear model approximation of nonlinear utility functions for optimal control of a system of multiple (mobile) robots, by selecting the utility functions as the Koopman system state variables and expressing the set of Koopman variables as the state variables of a linear or bilinear system whose parameters are determined through optimization. An iterative algorithm is developed to estimate the parameters adaptively. Finally, the optimal control problems based on a linear or bilinear approximation model are formulated, by transforming the nonlinear programming problem to a linear programming problem. The above models are simulated on a three-mobile-robot system to verify their performance in both centralized and decentralized versions. From the simulation results, the bilinear model has more capacity to approximate the nonlinear utility functions. Both the centralized and decentralized bilinear approximation model-based control signals can achieve the control objective and are generated fast enough for real-time control.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"963-979"},"PeriodicalIF":4.9,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883395","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

L1Quad: L1 Adaptive Augmentation of Geometric Control for Agile Quadrotors With Performance Guarantees 具有性能保证的敏捷四旋翼机几何控制的L1自适应增强

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-03 DOI: 10.1109/TCST.2024.3521182

Zhuohuan Wu;Sheng Cheng;Pan Zhao;Aditya Gahlawat;Kasey A. Ackerman;Arun Lakshmanan;Chengyu Yang;Jiahao Yu;Naira Hovakimyan

{"title":"L1Quad: L1 Adaptive Augmentation of Geometric Control for Agile Quadrotors With Performance Guarantees","authors":"Zhuohuan Wu;Sheng Cheng;Pan Zhao;Aditya Gahlawat;Kasey A. Ackerman;Arun Lakshmanan;Chengyu Yang;Jiahao Yu;Naira Hovakimyan","doi":"10.1109/TCST.2024.3521182","DOIUrl":"https://doi.org/10.1109/TCST.2024.3521182","url":null,"abstract":"Quadrotors that can operate predictably in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications. We present <inline-formula> <tex-math>$boldsymbol {mathcal {L}}_{1}$ </tex-math></inline-formula>Quad, a control architecture that ensures uniformly bounded transient response of the quadrotor’s uncertain dynamics on the special Euclidean group SE(3). By leveraging the geometric controller and the <inline-formula> <tex-math>$boldsymbol {mathcal {L}}_{1}$ </tex-math></inline-formula> adaptive controller, the <inline-formula> <tex-math>$boldsymbol {mathcal {L}}_{1}$ </tex-math></inline-formula>Quad architecture provides a theoretically justified framework for the design and analysis of quadrotor’s tracking controller in the presence of nonlinear (time- and state-dependent) uncertainties on both the translational and rotational dynamics. In addition, we validate the performance of the <inline-formula> <tex-math>$boldsymbol {mathcal {L}}_{1}$ </tex-math></inline-formula>Quad architecture through extensive experiments for 11 types of uncertainties across various trajectories. The results demonstrate that the <inline-formula> <tex-math>$boldsymbol {mathcal {L}}_{1}$ </tex-math></inline-formula>Quad can achieve consistently small tracking errors despite the uncertainties and disturbances and significantly outperforms existing state-of-the-art controllers.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"597-612"},"PeriodicalIF":4.9,"publicationDate":"2025-01-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10820973","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489084","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

Energy-Optimal Attitude Control Strategies With Control Moment Gyroscopes 基于控制力矩陀螺仪的能量最优姿态控制策略

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-12-31 DOI: 10.1109/TCST.2024.3521322

Thomas L. Dearing;John Hauser;Xudong Chen;Marco M. Nicotra;Christopher Petersen

{"title":"Energy-Optimal Attitude Control Strategies With Control Moment Gyroscopes","authors":"Thomas L. Dearing;John Hauser;Xudong Chen;Marco M. Nicotra;Christopher Petersen","doi":"10.1109/TCST.2024.3521322","DOIUrl":"https://doi.org/10.1109/TCST.2024.3521322","url":null,"abstract":"In this work, an optimal spacecraft maneuver planner is developed for rest-to-rest attitude transfers using single gimbal control moment gyroscopes (CMGs). In contrast to conventional optimization approaches developed using simplified dynamical models, this work examines the optimal performance and unique control strategies available to a variable speed CMG array under comprehensive physical models for its dynamics and power consumption. This formulation employs a dynamical model which preserves the array’s (conservative) momentum exchange dynamics, a power model directly tracking the usage of the individual CMG motors, and typical operational safety constraints on input saturation, angular velocity, and camera exclusion cones. On average, the optimal control strategies produced under this comprehensive formulation present a 35% reduction in mean required electrical energy and a 44% reduction in maneuver time over the classic singularity robust (SR) control law. These improvements are observed to correlate with several specific control behaviors. To extend these improvements to practical spacecraft design restrictions, suggestions on how to reproduce these behaviors using existing feedback control methods are provided.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1093-1100"},"PeriodicalIF":4.9,"publicationDate":"2024-12-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883422","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