IEEE Transactions on Control Systems Technology最新文献_第4页

Dynamic Target Zone Modulation for Physical Activity Management in Artificial Pancreas Using Pulsatile Zone Model Predictive Control 基于脉动区模型预测控制的人工胰腺运动管理动态靶区调制

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-04-08 DOI: 10.1109/TCST.2026.3676649

Nicola Licini;Roberto Trevisan;Giuseppe Lepore;Fabio Previdi;Antonio Ferramosca

{"title":"Dynamic Target Zone Modulation for Physical Activity Management in Artificial Pancreas Using Pulsatile Zone Model Predictive Control","authors":"Nicola Licini;Roberto Trevisan;Giuseppe Lepore;Fabio Previdi;Antonio Ferramosca","doi":"10.1109/TCST.2026.3676649","DOIUrl":"https://doi.org/10.1109/TCST.2026.3676649","url":null,"abstract":"Physical activity (PA) presents a significant challenge for artificial pancreas (AP) systems in managing Type 1 Diabetes, primarily by elevating the risk of hypoglycemia both during and after exercise. This work introduces and evaluates a novel exercise-aware pulsatile zone model predictive control (pZMPC) strategy designed to enhance glycemic safety and control around PA; in this proposal, the controller proactively mitigates this risk by dynamically modulating glucose target zones, elevating the target in anticipation of, during, and following announced PA. The performance of this strategy was systematically evaluated through in silico simulations across a cohort of ten virtual adult patients, under various scenarios designed to mimic real-life events, and using two control-relevant metabolic models, one of which explicitly accounted for exercise effects as an uncontrollable input. Compared to a standard pZMPC controller without exercise-specific adaptations, the proposed pZMPC with dynamic target zone modulation demonstrated an improvement in glycemic safety, reducing the incidence and duration of exercise-induced hypoglycemia. Furthermore, the strategy successfully decreased overall glycemic variability and maintained robust control even in the presence of uncertainties in PA information.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"1899-1910"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11477895","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507626","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

Tradeoffs Between Resilience, Safety, and String Stability in Vehicle Platoons With Feasibility-Aware Control Barrier Functions 具有可行性感知控制障碍函数的车辆队列中弹性、安全性和管柱稳定性的权衡

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.2026.3673361

Ruijie Ma;Chengcheng Zhao;Lin Cai

{"title":"Tradeoffs Between Resilience, Safety, and String Stability in Vehicle Platoons With Feasibility-Aware Control Barrier Functions","authors":"Ruijie Ma;Chengcheng Zhao;Lin Cai","doi":"10.1109/TCST.2026.3673361","DOIUrl":"https://doi.org/10.1109/TCST.2026.3673361","url":null,"abstract":"This article investigates how to achieve resilience, safety, and string stability simultaneously for vehicle platoons under false data injection (FDI) attacks. We utilize the resilient control barrier function-quadratic programming (CBF-QP) framework to formulate the control objective. Specifically, a network-redundancy-based resilient controller serves as the nominal controller to ensure internal stability, while safety and string stability are characterized by control barrier function (CBF) constraints for control inputs optimization. We introduce a novel concept of boundary robustness to preserve the validity of CBF constraints by incorporating a robustness margin under bounded attacks. As strict enforcement of multiple CBFs may cause controller infeasibility, we improve quadratic programming (QP) feasibility via parameter predesign and a feasibility-CBF with bounded adaptive relaxation. Our analysis reveals conflicts among resilience, safety, and string stability, and we propose a conditional activation-relaxation approach to achieve tradeoffs among them. Comparative simulations and experiments involving four TurtleBot3s are conducted to demonstrate the effectiveness of the proposed method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"1719-1734"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507925","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

Observer-Based Adaptive Prescribed Performance Control for Vehicular Platoons With Actuator Faults and Mixed Dead Zone--Saturation Constraints 带有执行器故障和混合死区—饱和约束的车辆队列观测器自适应预定性能控制

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-12 DOI: 10.1109/TCST.2026.3670446

Long Cheng;Xiangyong Chen;Tao Yang;Guanghui Wen;Feng Zhao;Jianlong Qiu

引用次数: 0

Control Barrier Function for Aligning Large Language Models 调整大型语言模型的控制障碍函数

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-27 DOI: 10.1109/TCST.2026.3675329

Yuya Miyaoka;Masaki Inoue

引用次数: 0

Cyclic Nullspace Coordination: Perpetual Flight of Aerial Carriers for Static Suspension 循环零空间协调：航空载体静态悬架的永久飞行

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-06-01 DOI: 10.1109/TCST.2026.3692228

Chiara Gabellieri;Yaolei Shen;Martina Paolucci;Antonio Franchi

{"title":"Cyclic Nullspace Coordination: Perpetual Flight of Aerial Carriers for Static Suspension","authors":"Chiara Gabellieri;Yaolei Shen;Martina Paolucci;Antonio Franchi","doi":"10.1109/TCST.2026.3692228","DOIUrl":"https://doi.org/10.1109/TCST.2026.3692228","url":null,"abstract":"This work demonstrates that the nonstop flights of three or more carriers are compatible with holding a constant pose of a cable-suspended load. It also presents an algorithm for generating the carriers’ coordinated nonstop trajectories. The proposed method builds upon two pillars: 1) the choice of <inline-formula> <tex-math>$n$ </tex-math></inline-formula> special linearly independent directions of internal forces within the <inline-formula> <tex-math>$3n-6$ </tex-math></inline-formula>-dimensional nullspace of the grasp matrix of the load, chosen as the edges of a Hamiltonian cycle on the graph that connects the cable attachment points on the load. Adjacent pairs of directions are used to generate <inline-formula> <tex-math>$n$ </tex-math></inline-formula> forces evolving on distinct 2-D affine subspaces, despite the attachment points being generically in 3-D and 2) the construction of elliptical trajectories within these subspaces by mapping, through appropriate graph coloring, each edge of the Hamiltonian cycle to a periodic coordinate while ensuring that no adjacent coordinates exhibit simultaneous zero derivatives. Combined with conditions for load statics and attachment point positions, these choices ensure that each of the <inline-formula> <tex-math>$n$ </tex-math></inline-formula> force trajectories projects onto the corresponding cable constraint sphere with nonzero tangential velocity, enabling perpetual motion of the carriers while the load is still. The work provides a scalable constructive design for any <inline-formula> <tex-math>$nge 3$ </tex-math></inline-formula> with tuning guidelines, quantifies sensitivity and single-carrier failures, and provides a fixed-wing–compatible planner that preserves load statistics under speed/bank/flight-path constraints. The theoretical findings are validated through simulations and laboratory experiments with quadrotor uncrewed aerial vehicles (UAVs).","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"2022-2036"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148442727","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

Real-Time Short-Term Delay Compensation for Optoelectronic Tracking Control System Under Uncertainty of Target Model 目标模型不确定性下光电跟踪控制系统的实时短期延迟补偿

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-04-01 DOI: 10.1109/TCST.2026.3677447

Xiushuo Wang;Zhaobing Chen;Letang Xue;Zhaolong Wu;Xiangru Ding;Lihua Cao

{"title":"Real-Time Short-Term Delay Compensation for Optoelectronic Tracking Control System Under Uncertainty of Target Model","authors":"Xiushuo Wang;Zhaobing Chen;Letang Xue;Zhaolong Wu;Xiangru Ding;Lihua Cao","doi":"10.1109/TCST.2026.3677447","DOIUrl":"https://doi.org/10.1109/TCST.2026.3677447","url":null,"abstract":"To address various short-term delay issues caused by detectors, fast steering mirrors (FSMs), and lasers in the photoelectric tracking system (PTS) based on a moving platform, this article presents a prediction method that integrates an improved tracking differentiator (TD), an adaptive zero-order hold (AZOH), and a Markov probability correction model. The method utilizes the tracking differentiator with speed feed forward and rapid exponential integral function (SFREITD) to extract velocity information from delayed data and enables initial prediction of global stochastic data. Additionally, the AZOH is introduced to address the issue of data prediction failure when the velocity is zero. Finally, the Markov probability model is applied to correct the prediction results. The superior performance of SFREITD has been fully verified through time-domain simulations in MATLAB. Meanwhile, based on a single-detector photoelectric platform, the prediction trajectories and prediction errors of inertial spatial angles are presented. The results demonstrate that the proposed scheme offers greater practical application value than traditional prediction methods such as segmented data fitting and long short-term memory (LSTM) networks and can effectively resolve the delay problem of global stochastic data.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"1845-1860"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507627","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 Observer-Based Collaborative Control for Underactuated Dual Ship-Mounted Crane System Considering Spatial Constraints 考虑空间约束的欠驱动双船吊系统观测器协同控制

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-30 DOI: 10.1109/TCST.2026.3673753

Shujie Wu;Yuzhe Qian;Ken Zhong;Haibo Zhang

{"title":"An Observer-Based Collaborative Control for Underactuated Dual Ship-Mounted Crane System Considering Spatial Constraints","authors":"Shujie Wu;Yuzhe Qian;Ken Zhong;Haibo Zhang","doi":"10.1109/TCST.2026.3673753","DOIUrl":"https://doi.org/10.1109/TCST.2026.3673753","url":null,"abstract":"The dual ship-mounted crane (DSMC) systems are equipment that enables collaborative lifting operations at sea. During engineering transport tasks at sea, the DSMC systems exhibit advantages, such as high lifting capacity and a smooth transportation process. However, DSMC systems have additional state variables, strong coupling, and underactuated characteristics, which require consideration of complex spatial geometric relationships and mechanical structure constraints. In addition, simultaneous consideration of the differing impacts of waves on the two ships, coupled with a lack of information exchange between the booms, can lead to additional steady-state errors and significant load swings. To this end, this article proposes a collaborative control method based on disturbance observers, enabling precise and coordinated transport and hoisting even in the presence of unknown wave disturbances. An observer with switching logic is designed to estimate and compensate for unknown signal disturbances such as wave interference and unmodeled dynamics, effectively enhancing the system’s ability to resist unknown disturbances. Furthermore, carefully designed collaborative signals ensure information exchange between the booms, significantly improving system coordination. Theoretical analysis using Lyapunov methods and LaSalle’s invariance principle examines the asymptotic stability of the closed-loop system at equilibrium points. Finally, the effectiveness and robustness of the method are validated through a series of hardware experiments.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"1777-1788"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507903","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

Systematic Gain-Tuned Adaptive Backstepping Control for Electric Cycloidal Propellers With Uncertainties and Disturbances 具有不确定性和扰动的电动摆线螺旋桨系统增益调谐自适应反演控制

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-21 DOI: 10.1109/TCST.2026.3692725

Subhashis Nandy;Manish Patel;Yoonsoo Kim

{"title":"Systematic Gain-Tuned Adaptive Backstepping Control for Electric Cycloidal Propellers With Uncertainties and Disturbances","authors":"Subhashis Nandy;Manish Patel;Yoonsoo Kim","doi":"10.1109/TCST.2026.3692725","DOIUrl":"https://doi.org/10.1109/TCST.2026.3692725","url":null,"abstract":"This work addresses the emerging challenge of robust control in electric cycloidal propulsion systems, a technology with significant potential for maritime sustainability. Current control strategies often have limited effectiveness in accurately capturing the nonlinear, coupled electromechanical dynamics and in handling disturbances and uncertainties related to independent blade actuation, which also involves multiblade synchronization challenges. To overcome these limitations, a robust adaptive backstepping (AB) controller is developed to regulate both propeller disk speed and six-blade pitch angles synchronously, explicitly accounting for coupled electromechanical dynamics, external disturbances, and parameter uncertainties. The approach computes actuator torques directly for independent electric motors driving the propeller disk and blades, achieving close alignment with experimental power–speed, hydrodynamic, and kinematic phase data. Compared to the existing nonlinear control method, it demonstrates 52%–86% higher tracking accuracy, 49.5%–59.7% reduced control fluctuations, and 37.5%–66.7% faster convergence, validated through extensive simulations. Unlike prior cycloidal propulsion studies that overlook full electromechanical coupling, do not address a systematic methodology for controller gain tuning, and disregard disturbances and uncertainties, this work presents the first unified, torque-level control framework for multiblade electric cycloidal propellers.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"2105-2121"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148443146","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

A Data-Driven Predictive Control Architecture for Train Thermal Energy Management 基于数据驱动的列车热能管理预测控制体系结构

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-03-27 DOI: 10.1109/TCST.2026.3690759

Ahmed Aboudonia;Johannes Estermann;Keith Moffat;Manfred Morari;John Lygeros

引用次数: 0

Safe and Nonconservative Contingency Planning for Autonomous Vehicles via Online Learning-Based Reachable Set Barriers 基于在线学习的可达设置障碍自动驾驶汽车的安全和非保守应急计划

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-07-01 Epub Date: 2026-04-06 DOI: 10.1109/TCST.2026.3675339

Rui Yang;Lei Zheng;Shuzhi Sam Ge;Jun Ma

{"title":"Safe and Nonconservative Contingency Planning for Autonomous Vehicles via Online Learning-Based Reachable Set Barriers","authors":"Rui Yang;Lei Zheng;Shuzhi Sam Ge;Jun Ma","doi":"10.1109/TCST.2026.3675339","DOIUrl":"https://doi.org/10.1109/TCST.2026.3675339","url":null,"abstract":"Autonomous vehicles must navigate dynamically uncertain environments while balancing safety and efficiency. This challenge is exacerbated by unpredictable human-driven vehicle (HV) behaviors and perception inaccuracies, necessitating planners who adapt to evolving uncertainties while maintaining safe trajectories. Overly conservative planning degrades driving efficiency, while deterministic methods risk failure in unexpected scenarios. To address these issues, we propose a real-time contingency trajectory optimization framework. Our method employs event-triggered online learning of HV control-intent sets to dynamically quantify multimodal HV uncertainties and incrementally refine their forward reachable sets (FRSs). Crucially, we enforce invariant safety through FRS-based barrier constraints that ensure safety without reliance on accurate trajectory prediction. These constraints are seamlessly embedded in contingency trajectory optimization and solved efficiently through consensus alternating direction method of multipliers (ADMM). The system continuously adapts to HV behavioral uncertainties, preserving feasibility and safety without excessive conservatism. High-fidelity simulations on highway and urban scenarios, along with a series of real-world experiments, demonstrate significant improvements in driving efficiency and passenger comfort while maintaining safety under uncertainty. The project page is available at <uri>https://pathetiue.github.io/frscp.github.io/</uri>","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"1805-1820"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507628","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