IEEE Transactions on Control Systems Technology最新文献_第5页

Adaptive Residual-Based Modulating Function Regressor for Decoupled Estimation of Leak Size and Localization in Uncertain Water Network Systems 基于残差自适应调制函数回归量的不确定管网泄漏大小解耦估计与定位

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-02-11 DOI: 10.1109/TCST.2025.3537820

Italo Aranda-Cetraro;Gustavo Pérez-Zuñiga

引用次数: 0

Stator Flux Observers for Speed-Controlled PMSMs in Low-Speed Sensorless Applications: Comparative Tests and Hybrid Strategy 低速无传感器调速永磁同步电机的定子磁链观测器：比较测试和混合策略

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-02-06 DOI: 10.1109/TCST.2025.3536203

Emilio Carfagna;Cristiano Maria Verrelli;Giovanni Migliazza;Fabio Bernardi;Emilio Lorenzani

{"title":"Stator Flux Observers for Speed-Controlled PMSMs in Low-Speed Sensorless Applications: Comparative Tests and Hybrid Strategy","authors":"Emilio Carfagna;Cristiano Maria Verrelli;Giovanni Migliazza;Fabio Bernardi;Emilio Lorenzani","doi":"10.1109/TCST.2025.3536203","DOIUrl":"https://doi.org/10.1109/TCST.2025.3536203","url":null,"abstract":"In-depth performance analysis of stator flux observers (SFOs) is carried out, in the very low-speed range, for sensorless speed-controlled drives based on permanent magnet synchronous machines (PMSMs), in the presence of no idealities of the voltage source inverter (VSI) and uncertainties in the motor electrical parameters. The original contribution of this brief is twofold. First, it relies on the presentation of experiments, within this framework, which comparatively illustrate the closed-loop performance of: 1) a stator flux (open-loop) estimator with a low-pass filter (LPF), endowed with an additional phase shift and magnitude compensation based on the estimation of machine speed and 2) two adaptive observers constituting the most recent representatives of the class of the theoretically based contributions for PMSMs. While the former can achieve more satisfactory results when speed variations are relatively small, its performance degrades—when speed variations become relevant—when compared to the aforementioned adaptive SFOs which, in turn, still exhibit the advantage of estimating an additional critical parameter (under reliable knowledge of the motor inductance) related to demagnetization effects. Indeed, the crucial role of the adaptation is highlighted throughout the sections, while the conditions underlying the design and the stability proofs of such adaptive SFOs are shown to provide actually effective tools and restrictions under which satisfactory performances for the considered adaptive SFOs can be achieved in practice. Second, the common notation of the brief finally leads to the original formulation of a new comprehensive set of equations that simultaneously covers all the tested solutions and defines a hybrid strategy that might be very effective in practical applications.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1905-1912"},"PeriodicalIF":3.9,"publicationDate":"2025-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891196","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

Q-Learning-Based Optimal Control via Adaptive Critic Network for a Wankel Rotary Engine 基于q学习的Wankel旋转发动机自适应评价网络最优控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-02-04 DOI: 10.1109/TCST.2025.3533312

Anthony Siming Chen;Guido Herrmann;Reza Islam;Chris Brace;James W. G. Turner;Stuart Burgess

引用次数: 0

Constraint-Adaptive Model Predictive Control for Radio Frequency Hyperthermia Cancer Treatments 射频热疗癌症治疗的约束自适应模型预测控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-02-04 DOI: 10.1109/TCST.2025.3533315

S. A. N. Nouwens;M. M. Paulides;W. P. M. H. Heemels

{"title":"Constraint-Adaptive Model Predictive Control for Radio Frequency Hyperthermia Cancer Treatments","authors":"S. A. N. Nouwens;M. M. Paulides;W. P. M. H. Heemels","doi":"10.1109/TCST.2025.3533315","DOIUrl":"https://doi.org/10.1109/TCST.2025.3533315","url":null,"abstract":"During a mild hyperthermia treatment, tumors are heated to temperatures ranging from <inline-formula> <tex-math>$39~^{circ } $ </tex-math></inline-formula>C to <inline-formula> <tex-math>$45~^{circ } $ </tex-math></inline-formula>C for 60–90 min. This thermal therapy can be a successful adjuvant to conventional cancer treatments such as chemotherapy and radiotherapy. In order to extract the maximum potential from the thermal therapy, it is crucial to heat the tumor to the desired therapeutic temperature while minimally heating the healthy tissue. Due to the recent development of magnetic resonance (MR)-compatible heating devices, MR thermometry techniques can be employed to noninvasively monitor the internal patient temperature in real time. This development enables closed-loop control strategies to improve the clinical value of the hyperthermia treatment. In this article, we propose a novel model predictive control (MPC) solution based on the alternating direction method of multipliers in combination with constraint removal techniques to compute optimal control inputs for radio frequency (RF)-based mild hyperthermia in real time based on models with <inline-formula> <tex-math>$10^{5}$ </tex-math></inline-formula>–<inline-formula> <tex-math>$10^{6}$ </tex-math></inline-formula> states and temperature safety constraints. We validated the proposed controller on high-fidelity patient models with and without patient model mismatches. We will show that the proposed control strategy can track a desired tumor temperature reference, while ensuring patient safety through <inline-formula> <tex-math>$10^{5}$ </tex-math></inline-formula>–<inline-formula> <tex-math>$10^{6}$ </tex-math></inline-formula> constraints and maintaining real-time feasibility with a computation time of 6 s, which is sufficiently fast considering the thermal dynamics.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1021-1036"},"PeriodicalIF":4.9,"publicationDate":"2025-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883424","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

Trajectory Planning of Radio Source Tracking for the New Feed Cabin Mechanism in FAST FAST新型馈源座舱机构的射电源跟踪轨迹规划

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-02-04 DOI: 10.1109/TCST.2025.3534531

Bin Zhang;Zhaoyang Li;Xiaoyan Wang;Weiwei Shang;Xinyu Gao;Yifan Ma;Rui Yao;Hui Li;Jianing Yin;Qingge Yang;Qingwei Li

{"title":"Trajectory Planning of Radio Source Tracking for the New Feed Cabin Mechanism in FAST","authors":"Bin Zhang;Zhaoyang Li;Xiaoyan Wang;Weiwei Shang;Xinyu Gao;Yifan Ma;Rui Yao;Hui Li;Jianing Yin;Qingge Yang;Qingwei Li","doi":"10.1109/TCST.2025.3534531","DOIUrl":"https://doi.org/10.1109/TCST.2025.3534531","url":null,"abstract":"To reduce the weight of the feed cabin and increase the observation range of the five-hundred-meter aperture spherical radio telescope (FAST) for reaching the galactic center, a new feed cabin mechanism (NFCM) with a lightweight nine-cable-driven structure has recently been proposed, which theoretically has satisfactory performance for the forthcoming upgrade of FAST. However, trajectory planning suitable for the NFCM is still lacking when tracking radio sources. Consequently, an optimal trajectory planning method is proposed in this article that can achieve smooth motion of the NFCM within a specific period by considering the observation requirements of FAST. Based on the motion analysis for radio source tracking, the trajectory relationship between the radio source and the NFCM is deduced by considering the rotation of the Earth. Then, based on the quintic B-spline, the observation-related cable force characteristics are designed as the objective function to obtain the optimal trajectory of the NFCM, where multiple constraints in different spaces are uniformly mapped to the observation space for optimization complexity reduction by using the graphic-based method. The simulation results show that the optimized observation trajectory of the NFCM using constraint mapping is smooth enough to track the radio source, which brings an acceptable continuity of cable length variation for effectively reducing the potential mechanical shock, and the cable force characteristics with constraints are also well guaranteed. In addition, the effectiveness of constraints, the optimality of cable force characteristics, and the feasibility of the planned trajectory are further demonstrated in simulations.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1051-1068"},"PeriodicalIF":4.9,"publicationDate":"2025-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883469","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

Robust Predictive Motion Planning by Learning Obstacle Uncertainty 基于学习障碍不确定性的鲁棒预测运动规划

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-02-03 DOI: 10.1109/TCST.2025.3533378

Jian Zhou;Yulong Gao;Ola Johansson;Björn Olofsson;Erik Frisk

{"title":"Robust Predictive Motion Planning by Learning Obstacle Uncertainty","authors":"Jian Zhou;Yulong Gao;Ola Johansson;Björn Olofsson;Erik Frisk","doi":"10.1109/TCST.2025.3533378","DOIUrl":"https://doi.org/10.1109/TCST.2025.3533378","url":null,"abstract":"Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst case characterization gives a conservative uncertainty prediction and may result in infeasible motion planning for the ego robotic system. In this article, an efficient, robust, and safe motion-planning algorithm is developed by learning the obstacle uncertainties online. More specifically, the unknown yet intended control set of obstacles is efficiently computed by solving a linear programming (LP) problem. The learned control set is used to compute forward reachable sets (FRSs) of obstacles that are less conservative than the worst case prediction. Based on the forward prediction, a robust model predictive controller is designed to compute a safe reference trajectory for the ego robotic system that remains outside the reachable sets of obstacles over the prediction horizon. The method is applied to a car-like mobile robot in both simulations and hardware experiments to demonstrate its effectiveness.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1006-1020"},"PeriodicalIF":4.9,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883468","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

Switching Frequency Limitation With Finite Control Set Model Predictive Control via Slack Variables 有限控制集开关频率限制模型的松弛变量预测控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-02-03 DOI: 10.1109/TCST.2025.3527876

Luca M. Hartmann;Orcun Karaca;Tinus Dorfling;Tobias Geyer

引用次数: 0

Sensitivity-Based Distributed NMPC: Experimental Results for a Levitating Planar Motion System 基于灵敏度的分布式NMPC：悬浮平面运动系统的实验结果

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-24 DOI: 10.1109/TCST.2025.3530165

Maximilian Pierer von Esch;Eva Nistler;Andreas Völz;Knut Graichen

引用次数: 0

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