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

An Adaptive Data-Enabled Policy Optimization Approach for Autonomous Bicycle Control 一种自适应数据支持的自主自行车控制策略优化方法

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-19 DOI: 10.1109/TCST.2026.3673360

Niklas Persson;Feiran Zhao;Mojtaba Kaheni;Florian Dörfler;Alessandro V. Papadopoulos

{"title":"An Adaptive Data-Enabled Policy Optimization Approach for Autonomous Bicycle Control","authors":"Niklas Persson;Feiran Zhao;Mojtaba Kaheni;Florian Dörfler;Alessandro V. Papadopoulos","doi":"10.1109/TCST.2026.3673360","DOIUrl":"https://doi.org/10.1109/TCST.2026.3673360","url":null,"abstract":"This brief presents a unified control framework that integrates a feedback linearization (FL) controller in the inner loop with an adaptive data-enabled policy optimization (DeePO) controller in the outer loop to balance an autonomous bicycle. While the FL controller stabilizes and partially linearizes the inherently unstable and nonlinear system, its performance is compromised by unmodeled dynamics and time-varying characteristics. To overcome these limitations, the DeePO controller is introduced to enhance adaptability and robustness. The initial control policy of DeePO is obtained from a finite set of offline, persistently exciting (PE) input and state data. To improve stability and compensate for system nonlinearities and disturbances, a robustness-promoting regularizer refines the initial policy, while the adaptive section of the DeePO framework is enhanced with a forgetting factor to improve adaptation to time-varying dynamics. The proposed FL-DeePO approach is evaluated through simulations and real-world experiments on an instrumented autonomous bicycle. Results demonstrate its superiority over the FL-only approach and a reinforcement learning (RL) controller, achieving more precise tracking of the reference lean angle and lean rate.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"2122-2129"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148442506","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

Defense Strategy Under Partial Information in One-Versus-One Reach-Avoid Game 一对一达避博弈中部分信息下的防御策略

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-04-30 DOI: 10.1109/TCST.2026.3686837

Zihao Ma;Hao Liu;Rui Yan;Frank L. Lewis

引用次数: 0

Event-Triggered Tracking Control of Underwater Underactuated Vehicle With Communication Constraint 具有通信约束的水下欠驱动航行器事件触发跟踪控制

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-10 DOI: 10.1109/TCST.2026.3670445

Xian Yang;Jing Yan;Tianming Chen;Xiaoyuan Luo;Xinping Guan

{"title":"Event-Triggered Tracking Control of Underwater Underactuated Vehicle With Communication Constraint","authors":"Xian Yang;Jing Yan;Tianming Chen;Xiaoyuan Luo;Xinping Guan","doi":"10.1109/TCST.2026.3670445","DOIUrl":"https://doi.org/10.1109/TCST.2026.3670445","url":null,"abstract":"Human-on-the-loop (HOTL) systems are recognized as a practical tool for enabling underwater vehicles to track reference trajectories effectively. However, communication constraints inherent in underwater environments make it challenging to accomplish this tracking task. This article addresses the event-triggered tracking issue for an underwater underactuated vehicle (UUV) in the presence of communication constraints. First, a single event-triggered transmission policy is designed to transmit the collected UUV state information to a control center. Based on this policy, a nonlinear tracking controller is developed to drive the UUV toward the desired trajectory. To further enlarge the triggering interval and reduce communication energy consumption, a hybrid event-triggered transmission policy is also proposed. Subsequently, a nonlinear tracking controller is developed using feedback linearization. For both developed tracking controllers, a hybrid network technique is employed to establish the event-triggered conditions during the communication process. Additionally, the closed-loop stability of the tracking controllers is analyzed in terms of both jump and flow dynamics. Finally, simulation and experimental results are presented to validate the effectiveness of the proposed approach. It is demonstrated that the developed tracking solution ensures system stability while reducing energy consumption.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"1702-1718"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148508817","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

Thermal Modeling of Battery Cells for Optimal Tab and Surface Cooling Control 电池单元热建模及表面冷却控制

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-24 DOI: 10.1109/TCST.2026.3675726

Godwin K. Peprah;Yicun Huang;Torsten Wik;Faisal Altaf;Changfu Zou

{"title":"Thermal Modeling of Battery Cells for Optimal Tab and Surface Cooling Control","authors":"Godwin K. Peprah;Yicun Huang;Torsten Wik;Faisal Altaf;Changfu Zou","doi":"10.1109/TCST.2026.3675726","DOIUrl":"https://doi.org/10.1109/TCST.2026.3675726","url":null,"abstract":"Optimal cooling that minimizes thermal gradients and the average temperature is essential for enhanced battery safety and health. This work presents a new modeling approach for battery cells of different shapes by integrating the Chebyshev spectral-Galerkin (CSG) method and model component decomposition. As a result, a library of reduced-order, computationally efficient battery thermal models is obtained, characterized by different numbers of states. These models are validated against a high-fidelity finite-element model and are compared with a thermal equivalent circuit (TEC) model under real-world vehicle driving and battery cooling scenarios. Illustrative results demonstrate that the proposed model with four states can faithfully capture the 2-D thermal dynamics, while the model with only one state significantly outperforms the widely used two-state TEC model in both accuracy and computational efficiency, reducing computation time by 28.7%. Furthermore, our developed models allow for independent control of tab and surface cooling (SC) channels, enabling effective thermal performance optimization. Additionally, the proposed model’s versatility and effectiveness are demonstrated through various applications, including the evaluation of different cooling scenarios, closed-loop temperature control, and the thermal assessment of cell aspect ratio.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"1831-1844"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11455107","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148506810","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

Neurodynamics for Robust Kinematic Control of Serial Manipulators Under Deception Attack 欺骗攻击下串联机械臂鲁棒运动控制的神经动力学

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-17 DOI: 10.1109/TCST.2026.3671332

Chaofan Zhang;Yanqiong Zhao;Yinyan Zhang;Shuai Li

引用次数: 0

DC-FLMPC: An Online Ultimately Bounded 3-D Path-Following Controller of Fixed-Wing UAVs Under Wind Disturbance DC-FLMPC：风干扰下固定翼无人机在线最终有界三维路径跟踪控制器

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-07 DOI: 10.1109/TCST.2026.3686432

Bingjun Zhang;Quanbo Ge;Fei Qiao;Bingtao Zhu;Yi Zhu;Peng He

{"title":"DC-FLMPC: An Online Ultimately Bounded 3-D Path-Following Controller of Fixed-Wing UAVs Under Wind Disturbance","authors":"Bingjun Zhang;Quanbo Ge;Fei Qiao;Bingtao Zhu;Yi Zhu;Peng He","doi":"10.1109/TCST.2026.3686432","DOIUrl":"https://doi.org/10.1109/TCST.2026.3686432","url":null,"abstract":"This article studies the path-following controller for low-speed fixed-wing unmanned aerial vehicles (UAVs) with environmental wind and input limitations. A novel disturbance-compensated fast Lyapunov-based model predictive control (DC-FLMPC) framework is proposed for fixed-wing UAVs, representing the first Lyapunov-based model predictive control (LMPC) application specifically designed for fixed-wing UAV path-following with wind disturbance compensation. First, combined with the estimation of the environmental wind by a nonlinear disturbance observer (NDO), an LMPC is employed to explicitly consider the practical constraints, such as input and practical asymptotic stability constraints. Second, a refined continuation/generalized minimal residual (rC/GMRES) algorithm is developed with smooth maximum functions to handle inequality constraints, enabling real-time solution of stability-constrained optimization problems. Third, an adaptive horizon adjustment strategy dynamically adjusts the prediction horizon length based on the rate of change in tracking error, saving computational resources while maintaining stability. More importantly, the backstepping control (BC) technique constructs NDO-based stability constraints ensuring practical asymptotic stability under wind disturbance with rigorous theoretical guarantees. Furthermore, the recursive feasibility and closed-loop stability of the DC-FLMPC algorithm are theoretically analyzed. Finally, numerical simulations are given to demonstrate the effectiveness of the proposed algorithm.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"2073-2088"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148443135","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

Constructibility and Reachability-Based Optimal Information-Aware Motion Generator 基于可构造性和可达性的最优信息感知运动发生器

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-12 DOI: 10.1109/TCST.2026.3690758

Olga Napolitano;Lucia Pallottino;Daniele Fontanelli;Paolo Salaris

{"title":"Constructibility and Reachability-Based Optimal Information-Aware Motion Generator","authors":"Olga Napolitano;Lucia Pallottino;Daniele Fontanelli;Paolo Salaris","doi":"10.1109/TCST.2026.3690758","DOIUrl":"https://doi.org/10.1109/TCST.2026.3690758","url":null,"abstract":"This article introduces a novel framework for addressing an online, information-aware optimal control problem that aims to maximize the informativeness of intermittent noisy sensor data needed for successfully completion of an assigned task while minimizing the detrimental impact of actuation and process noise on the above mentioned information. Central to our approach is the development of new quantitative metrics derived from three fundamental system-theoretic constructs: the constructibility gramian (CG), the reachability gramian (RG), and the cross gramian (XG). The CG captures the quality and quantity of information provided by sensor measurements, the RG measures the information loss due to the influence of noise in the control and system dynamics, and the XG integrates both aspects into a unified representation of information flow within the system. To validate our approach, we conduct an extensive comparative study against two state-of-the-art baseline methods. The evaluation includes simulations of a differential-drive robot tasked with estimating its unknown position using noisy sensor data under varying levels of actuation noise. Our results, supported by statistical analysis, demonstrate that our proposed metrics consistently yield higher information gain and more accurate state estimates. Additionally, we reinforce our findings through real-time experimental tests on a Turtlebot 4 platform, highlighting the practical effectiveness of our method in real-world robotic applications.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"2089-2104"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148443157","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

Online Lifelong Optimal Adaptive Control of Partially Uncertain Strict Feedback Discrete-Time Systems With Application to Quadrotor UAVs 部分不确定严格反馈离散系统在线终身最优自适应控制及其在四旋翼无人机上的应用

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-07 DOI: 10.1109/TCST.2026.3682792

Maxwell Geiger;Sarangapani Jagannathan

{"title":"Online Lifelong Optimal Adaptive Control of Partially Uncertain Strict Feedback Discrete-Time Systems With Application to Quadrotor UAVs","authors":"Maxwell Geiger;Sarangapani Jagannathan","doi":"10.1109/TCST.2026.3682792","DOIUrl":"https://doi.org/10.1109/TCST.2026.3682792","url":null,"abstract":"This article considers the infinite time horizon optimal adaptive tracking control of partially uncertain strict feedback discrete-time (DT) systems with application to quadrotor uncrewed aerial vehicles (UAVs). First, the strict feedback DT system is transformed into an equivalent affine nonlinear DT system in terms of the tracking error dynamics. The optimal adaptive tracking control problem is solved using an augmented system approach, where a horizon of future bounded reference trajectory points is used in the augmented state, when compared to using a single point. It is assumed that the internal dynamics of the strict feedback system are unknown, but the control coefficient matrix is known. By applying approximate dynamic programming (ADP) using exclusively multilayer neural networks (MNNs), the optimal control policy is obtained without any other stabilizing controller. Lastly, regularization penalties are introduced for both the actor and critic NNs to support multitask learning. Upper bounds for the multitask learning hyperparameter <inline-formula> <tex-math>$lambda $ </tex-math></inline-formula> are proved for the first time in the online learning regime. Under our proposed MNN weight update laws, the tracking and weight estimation errors are proved to be uniformly ultimately bounded (UUB) using Lyapunov analysis. In particular, we consider the case of a quadrotor UAV where the system drift dynamics are unknown, but the control input matrix is known, corresponding to knowledge of the mass and principal moments of inertia of the UAV. The efficacy and reliability of the method are demonstrated through computer simulations and hardware implementation on the Quanser QDrone2 UAV, where the cost is reduced as much as 68% without the regularization penalty when compared to the initial control policy. With the regularization penalty, the cost is reduced by 2% compared to without using the penalty.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"2005-2021"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148443180","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

Response to "Comment on ‘Efficient Group Key Management for Resilient Operation of LoRaWAN-Based Smart Grid Applications' " 对“基于lorawan的智能电网应用弹性运行的高效组密钥管理”的评论”的回应

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-04-21 DOI: 10.1109/TCST.2026.3682769

Yacoub Hanna;Mumin Cebe;Juan Leon;Kemal Akkaya

引用次数: 0

Extremum Seeking MTPA Control of PMSMs Through Position Sensor Offset Control 基于位置传感器偏移控制的永磁同步电机MTPA极值寻优控制

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-26 DOI: 10.1109/TCST.2026.3674788

Ramitha K. Dissanayake;Sandun S. Kuruppu

{"title":"Extremum Seeking MTPA Control of PMSMs Through Position Sensor Offset Control","authors":"Ramitha K. Dissanayake;Sandun S. Kuruppu","doi":"10.1109/TCST.2026.3674788","DOIUrl":"https://doi.org/10.1109/TCST.2026.3674788","url":null,"abstract":"Maximum torque per ampere (MTPA) control enables the optimal use of a salient-pole-permanent magnet synchronous machine (Salient-PMSM) in an application. MTPA implementations range from offline to online methods. The novel salient-PMSM MTPA control approach proposed in this article applies <italic>indirect-extremum seeking control</i> (i-ESC) to maximize the torque output through a synthetic function derived from orthogonal basis functions already present in the field-oriented control (FOC)-based torque-controlled permanent magnet synchronous machines (PMSMs). The approach has been further extended to include all operating conditions, including nonoptimal operating points if required. The proposed approach leverages the relation between rotor position offset and rotor reference frame voltages applied to the motor in arriving at the proposed method. The proposed method achieves torque control without degradation under rotor position sensor offsets, which is an added benefit when compared with existing methods. The proposed concept has been validated through analytical results, simulation results, and experimental results.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"1861-1870"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507623","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