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

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

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