IEEE Transactions on Control Systems Technology最新文献_第3页

Fault Detection for Brushless Direct-Current Motor Using Descriptor System-Based Set-Membership Estimation 基于广义系统集隶属度估计的无刷直流电机故障检测

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-13 DOI: 10.1109/TCST.2025.3547257

Zhenhua Wang;Danxu Lian;Vicenç Puig;Yi Shen

引用次数: 0

Nonlinear Model Predictive Control for Electric Bus Operations Based on Generalized Disjunctive Programming Method 基于广义析取规划法的电动客车运行非线性模型预测控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-13 DOI: 10.1109/TCST.2025.3560220

Yin Yuan;Shukai Li;Chengpu Yu;Lixing Yang;Ziyou Gao

{"title":"Nonlinear Model Predictive Control for Electric Bus Operations Based on Generalized Disjunctive Programming Method","authors":"Yin Yuan;Shukai Li;Chengpu Yu;Lixing Yang;Ziyou Gao","doi":"10.1109/TCST.2025.3560220","DOIUrl":"https://doi.org/10.1109/TCST.2025.3560220","url":null,"abstract":"This article investigates the nonlinear model predictive control (NMPC) for electric bus operations (EBOs) under dynamic environments, based on the generalized disjunctive programming (GDP) method. Specifically, we construct discrete-event model to capture the dynamic of bus traffic, passenger load, and current electricity. With the safety constraints, we incorporate algebraic equations, disjunctions, and logical propositions to formulate a nonconvex GDP model, for the nonlinear optimal control problem with both discrete and continuous components. Tailored to the nonlinearity and disjunctions, we design a GDP-based branch and bound (GDPB) algorithm with domain reduction under the model prediction control scheme. The main idea entails branching on constraints regarding disjunctive terms and spatial disjunctions, to convert the complex original problem with discrete and continuous variables as well as nonlinear and nonconvex constraints and cost functions into quadratic programming (QP) subproblems with reduced domains. It can ensure the rapid attainment of exact solutions for embedded applications. Extensive experiments confirm the effectiveness of the proposed control (PC) method. Additionally, the solution algorithm demonstrates desirable computational efficiency, suitable for online implementations.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1820-1834"},"PeriodicalIF":3.9,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891204","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

Model Validity in Observers: When to Increase the Complexity of Your Model? 观察者中的模型有效性：何时增加模型的复杂性？

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-13 DOI: 10.1109/TCST.2025.3545381

Agapius Bou Ghosn;Philip Polack;Arnaud de La Fortelle

引用次数: 0

Singular-Perturbation Control of a Tendon-Driven Soft Robot: Theory and Experiments 肌腱驱动软机器人的奇异摄动控制：理论与实验

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-11 DOI: 10.1109/TCST.2025.3546564

Lucas Novaki Ribeiro;Pablo Borja;Cosimo Della Santina;Bastian Deutschmann

{"title":"Singular-Perturbation Control of a Tendon-Driven Soft Robot: Theory and Experiments","authors":"Lucas Novaki Ribeiro;Pablo Borja;Cosimo Della Santina;Bastian Deutschmann","doi":"10.1109/TCST.2025.3546564","DOIUrl":"https://doi.org/10.1109/TCST.2025.3546564","url":null,"abstract":"The existing model-based control strategies for tendon-driven continuum soft robots neglect the dynamics of the actuation system. Nevertheless, such dynamics have an important impact on the closed-loop performance. This work analyzes the influence of the actuation dynamics in tendon-driven continuum soft robots performing trajectory-tracking tasks. To this end, we use singular perturbation (SP) theory to design controllers that account for such dynamics. We provide the analytical formulation of the SP controllers and their in-depth experimental validation. Additionally, we use high- and low-stiffness tendons to experimentally compare the performance of the proposed SP controllers against traditional feedback control schemes that disregard the actuation dynamics. The experimental results show that SP controllers outperform the approaches that neglect the actuation dynamics by reducing oscillations and achieving lower errors without relying on high gains. Furthermore, it is shown that neglecting the actuation dynamics may lead to instability when the tendons have a low stiffness coefficient.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1929-1936"},"PeriodicalIF":3.9,"publicationDate":"2025-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891054","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 Optimal Safe Speed Control for Autonomous Vehicles Approaching Unsignalized Crosswalks With Pedestrians 自动驾驶汽车接近有行人的无信号人行横道的交互感知最优安全速度控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-07 DOI: 10.1109/TCST.2025.3561056

Branimir Škugor;Jakov Topić;Joško Deur;Vladimir Ivanovic;H. Eric Tseng

{"title":"Interaction-Aware Optimal Safe Speed Control for Autonomous Vehicles Approaching Unsignalized Crosswalks With Pedestrians","authors":"Branimir Škugor;Jakov Topić;Joško Deur;Vladimir Ivanovic;H. Eric Tseng","doi":"10.1109/TCST.2025.3561056","DOIUrl":"https://doi.org/10.1109/TCST.2025.3561056","url":null,"abstract":"The proposed autonomous vehicle (AV) safe speed strategy is based on a scenario- and grid-based stochastic model predictive control (SMPC) and a probabilistic neural network (NN) model aimed to predict pedestrian behavior when approaching unsignalized crosswalk. The SMPC problem is formulated to minimize the vehicle traveling time, while accounting for vehicle-pedestrian interaction and keeping the risk of collision with pedestrian low. The vehicle control trajectory is conveniently described by only two parameters to be optimized: the vehicle acceleration and the target speed. Apart from reducing the computational complexity, this simplification facilitates the NN prediction model design in terms of lowering the number of model inputs. The proposed SMPC strategy is verified against a baseline control strategy by means of large-scale stochastic simulations. The verification results indicate that the SMPC strategy on average results in significantly lower vehicle traveling time and less aggressive decelerations, while avoiding pedestrian collisions.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1864-1878"},"PeriodicalIF":3.9,"publicationDate":"2025-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891041","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 Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions 基于速度障碍控制障碍函数的动态避碰

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-07 DOI: 10.1109/TCST.2025.3546076

Jihao Huang;Jun Zeng;Xuemin Chi;Koushil Sreenath;Zhitao Liu;Hongye Su

{"title":"Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions","authors":"Jihao Huang;Jun Zeng;Xuemin Chi;Koushil Sreenath;Zhitao Liu;Hongye Su","doi":"10.1109/TCST.2025.3546076","DOIUrl":"https://doi.org/10.1109/TCST.2025.3546076","url":null,"abstract":"Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions (CLFs) and control barrier functions (CBFs), leading to invalid controllers. Existing methods often rely on state-feedback-based CLFs and high-order CBFs (HOCBFs), which are computationally expensive to construct and fail to maintain effectiveness in dynamic environments with fast-moving, nearby obstacles. To address these challenges, we propose constructing velocity obstacle (VO)-based CBFs (VOCBFs) in the velocity space to enhance dynamic collision avoidance capabilities, instead of relying on distance-based CBFs that require the introduction of HOCBFs. Additionally, by extending VOCBFs using variants of VO, we enable reactive collision avoidance between robots. We formulate a safety-critical controller for acceleration-controlled unicycle robots as a mixed-integer quadratic programming (MIQP), integrating state-feedback-based CLFs for navigation and VOCBFs for collision avoidance. To enhance the efficiency of solving the MIQP, we split the MIQP into multiple suboptimization problems and employ a decision network to reduce computational costs. Numerical simulations demonstrate that our approach effectively guides the robot to its target while avoiding collisions. Compared to HOCBFs, VOCBFs exhibit significantly improved dynamic obstacle avoidance performance, especially when obstacles are fast moving and close to the robot. Furthermore, we extend our method to distributed multirobot systems.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1601-1615"},"PeriodicalIF":3.9,"publicationDate":"2025-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891243","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

Stochastic Learning of Computational Resource Usage as Graph-Structured Multimarginal Schrödinger Bridge 图结构多边际计算资源使用的随机学习Schrödinger桥

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-06 DOI: 10.1109/TCST.2025.3560511

Georgiy A. Bondar;Robert Gifford;Linh Thi Xuan Phan;Abhishek Halder

引用次数: 0

Empowering Autonomous Underwater Vehicles Using Learning-Based Model Predictive Control With Dynamic Forgetting Gaussian Processes 基于动态遗忘高斯过程的学习模型预测控制在自主水下航行器中的应用

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-06 DOI: 10.1109/TCST.2025.3539218

Abdelhakim Amer;Mohit Mehndiratta;Yury Brodskiy;Erdal Kayacan

{"title":"Empowering Autonomous Underwater Vehicles Using Learning-Based Model Predictive Control With Dynamic Forgetting Gaussian Processes","authors":"Abdelhakim Amer;Mohit Mehndiratta;Yury Brodskiy;Erdal Kayacan","doi":"10.1109/TCST.2025.3539218","DOIUrl":"https://doi.org/10.1109/TCST.2025.3539218","url":null,"abstract":"Autonomous underwater vehicles (AUVs) present several challenges due to the complex and simultaneous interplay of various factors, including but not limited to unmodeled dynamics, highly nonlinear behavior, intercouplings, communication delays, and environmental disturbances. In particular, environmental disturbances degrade trajectory tracking performance for model-based controllers, e.g., model predictive control (MPC) algorithms. Data-driven methods such as the Gaussian process (GP) are effective at learning disturbances in real time; however, the underlying offline hyperparameter tuning process limits their overall effectiveness. To overcome this limitation, we propose a novel dynamic forgetting GP (DF-GP) methodology that compensates for operational disturbances, thus circumventing the need for hyperparameter retuning. In essence, the proposed method optimally combines the predictions of individual GPs—designed with handcrafted forgetting factors, rendering precise disturbance estimation of varying timescales. What is more, the predicted disturbances update the model parameters in MPC, facilitating a learning-based control framework that ensures accurate tracking performance in different underwater scenarios. Rigorous simulation and real-world experiments demonstrate the efficiency and efficacy of the proposed framework. The results show a 25% improvement in disturbance estimation and tracking performance, demonstrating that the proposed framework outperforms its direct competitors.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1913-1920"},"PeriodicalIF":3.9,"publicationDate":"2025-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891058","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

Automatic Learning-Based Calibration of Assisted Motorcycle Gearshift: A Comparative Study 基于自动学习的摩托车辅助换挡标定比较研究

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-05 DOI: 10.1109/TCST.2025.3561504

Edoardo Catenaro;Lorenzo Sabug;Giulio Panzani;Davide Sette;Fredy Ruiz;Lorenzo Fagiano;Sergio M. Savaresi

引用次数: 0

Comfort-Oriented Energy Management for an e-Bike in Series Configuration With Experimental Validation 电动自行车串联配置的舒适性能量管理及实验验证

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-03-04 DOI: 10.1109/TCST.2025.3545346

Stefano Radrizzani;Giulio Panzani;Sergio M. Savaresi

{"title":"Comfort-Oriented Energy Management for an e-Bike in Series Configuration With Experimental Validation","authors":"Stefano Radrizzani;Giulio Panzani;Sergio M. Savaresi","doi":"10.1109/TCST.2025.3545346","DOIUrl":"https://doi.org/10.1109/TCST.2025.3545346","url":null,"abstract":"Given the intrinsic hybrid nature of electric bikes (e-bikes), they call for energy management strategies (EMSs), to optimize the energy and power flows in the vehicle. The additional challenge in e-bikes, compared to traditional hybrid electric vehicles (HEVs), is having a human power source. Specifically, human power cannot be directly controlled and his/her energy consumption cannot be easily measured or estimated. In this work, we address the energy management for a series-parallel bike, focusing in particular on the series architecture. In detail, we propose a comfort-oriented EMS able to indirectly control the human power to make the cyclist ride close to his/her preferred operating point. Toward this aim, the equivalent consumption minimization strategy (ECMS) is properly extended, to deal with this unique scenario. The solution is implemented on the vehicle control unit (VCU); therefore, the effectiveness of the ECMS-based energy management is proven through an experimental validation when the rider is present in the loop. Results show how the cyclist’s operating point is indirectly affected by the behavior of the proposed EMS keeping it close to the preferred operating point.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1560-1571"},"PeriodicalIF":3.9,"publicationDate":"2025-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891056","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