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

Decentralized Model Predictive Control for Platooning: Enhancing Human--Driver Collaboration 基于分散模型的队列预测控制：增强人-驾驶员协作

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.2026.3679021

Justin M. Kennedy;Lixin Yang;Daniel E. Quevedo;Falko Dressler

{"title":"Decentralized Model Predictive Control for Platooning: Enhancing Human--Driver Collaboration","authors":"Justin M. Kennedy;Lixin Yang;Daniel E. Quevedo;Falko Dressler","doi":"10.1109/TCST.2026.3679021","DOIUrl":"https://doi.org/10.1109/TCST.2026.3679021","url":null,"abstract":"Recent advances in cooperative adaptive cruise control have demonstrated the potential for vehicle platooning to revolutionize road transportation through enhanced safety, reduced congestion, and improved energy efficiency. While autonomous vehicle technology continues to evolve rapidly, current regulatory frameworks and safety considerations necessitate human–driver supervision. This creates a unique challenge in developing control systems that can effectively balance autonomous operation with human intervention. To enhance the human–driver collaboration with autonomous vehicle platooning, in this article, we present a novel decentralized model predictive control framework that explicitly incorporates human–driver interaction while maintaining desired intervehicle distances and velocities in platoon formations. This framework employs a distributed architecture where each vehicle operates independently and exchanges local measurements through vehicle-to-vehicle communication. To overcome the inherent unreliability of wireless communications in real-world scenarios, we develop a robust distributed state estimation strategy. This approach enables each vehicle to combine local sensor measurements with received data to construct accurate estimates of the full platoon state. Based on these estimates, vehicles compute optimal control actions locally while achieving performance comparable to an ideal centralized controller with perfect communication. Through extensive Plexe simulations, we demonstrate that the proposed decentralized model predictive controller achieves comparable performance to the ideal centralized case, even under partial state information and communication constraints.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 4","pages":"1763-1776"},"PeriodicalIF":4.4,"publicationDate":"2026-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507629","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

Efficient, Structured Controller Synthesis for Linear Parameter-Varying Systems 线性变参数系统的高效、结构化控制器综合

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-04-07 DOI: 10.1109/TCST.2026.3677853

Emily Burgin;Harald Pfifer

{"title":"Efficient, Structured Controller Synthesis for Linear Parameter-Varying Systems","authors":"Emily Burgin;Harald Pfifer","doi":"10.1109/TCST.2026.3677853","DOIUrl":"https://doi.org/10.1109/TCST.2026.3677853","url":null,"abstract":"A structured output-feedback controller synthesis in linear fractional transformation (LFT) formulation is derived. It is presented as a novel approach to the control of linear parameter-varying (LPV) systems. The LFT formulation leads to a controller synthesis with no approximation steps and it scales better than a gridded formulation when increasing the number of scheduling parameters. The proposed approach has better computational efficiency than a traditional output-feedback controller synthesis, as it solves two small semi-definite programs (SDP) in a two-step synthesis, rather than one large SDP posed by the traditional approach. This two-step synthesis also results in the controller’s fixed structure. The design process uses a recently proposed weighting scheme to impose unambiguous, tractable and physically interpretable closed-loop performance requirements; suitable for use on many aerospace applications. An exemplary spacecraft control problem demonstrates the computational superiority of the novel approach over standard output-feedback synthesis when using different scheduling parameters. There is also minimal loss in performance in the structured controller compared to the output-feedback controller.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1520-1534"},"PeriodicalIF":3.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147828828","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

Reliability-Based Design and Control of Crystallization Systems Under Parametric and Process Uncertainties 参数和工艺不确定条件下结晶系统可靠性设计与控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-03-30 DOI: 10.1109/TCST.2026.3670402

Yash G. Barhate;Zoltan K. Nagy

{"title":"Reliability-Based Design and Control of Crystallization Systems Under Parametric and Process Uncertainties","authors":"Yash G. Barhate;Zoltan K. Nagy","doi":"10.1109/TCST.2026.3670402","DOIUrl":"https://doi.org/10.1109/TCST.2026.3670402","url":null,"abstract":"Population balance model-based approaches are widely employed in crystallization process design to meet the industry-specific critical quality attributes (CQAs). However, their reliability is often limited by parameter uncertainties arising from noisy experimental data, which if, unaccounted for, can lead to suboptimal or failed designs. This study introduces a novel reliability-based design optimization (RBDO) framework for open-loop design of crystallization systems under uncertainty. The framework formulates CQA constraints as probabilistic constraints with user-defined reliability thresholds, enabling quantified, risk-informed process design. To solve the resulting RBDO problems efficiently, a surrogate modeling-based, nested simulation-optimization workflow is developed. The proposed methodology is applied to both batch and continuous pharmaceutical crystallization systems, demonstrating its ability to generate robust design trajectories with significantly higher probabilities of meeting CQAs under both parametric and operational uncertainties compared to the deterministic designs. The computational efficiency and accuracy of the approach are further validated through benchmarking against back-mapping-based solutions of the underlying chance constrained formulations.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1550-1562"},"PeriodicalIF":3.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147828969","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

Structured Dataset Management for Data-Enabled Predictive Control of Nonlinear Systems 非线性系统数据支持预测控制的结构化数据集管理

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-03-09 DOI: 10.1109/TCST.2026.3666551

Alexandre Faye-Bédrin;Paul Chauchat;Stanislav Aranovskiy;Romain Bourdais

引用次数: 0

An Input-Output Linearization-Based Robust Controller for Single-Track Models With Steering Actuator Delays 具有舵机延迟的单轨道模型的输入-输出线性化鲁棒控制器

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-02-18 DOI: 10.1109/TCST.2026.3661159

Sumit Chourasiya;Luca Bascetta;Marcello Farina;Gianni Ferretti

{"title":"An Input-Output Linearization-Based Robust Controller for Single-Track Models With Steering Actuator Delays","authors":"Sumit Chourasiya;Luca Bascetta;Marcello Farina;Gianni Ferretti","doi":"10.1109/TCST.2026.3661159","DOIUrl":"https://doi.org/10.1109/TCST.2026.3661159","url":null,"abstract":"Input-output linearization is a powerful analytical tool to support the design of controllers for vehicles characterized by nonholonomic constraints. Nonetheless, the presence of actuator dynamics and of significant delays, particularly in the steering actuation, can significantly hamper the applicability of this technique. This article proposes an extension to an input-output linearization approach presented in the literature, which allows for including the actuator dynamics into the linearization law, and to compensate for the effect of delays and nonidealities on the linearized system, introducing a further control action, designed with the advanced gain scheduling technique. As a result, a linear time-invariant decoupled system is obtained, which allows us to design the trajectory tracking controller using linear control tools. Simulation results, based on three different vehicle simulators, ranging from a single-track model with linear and nonlinear tire models to a dual-track model, are also presented. The performance and robustness of the inner controller, composed of the linearizing law and the advanced gain scheduling controller, are thoroughly analyzed and compared with the results obtained using the former input-output linearization available in the literature. Furthermore, the results of the application of the proposed control framework as part of a trajectory tracking controller show the efficacy of the proposal.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1272-1286"},"PeriodicalIF":4.4,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11398852","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148504784","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

Stochastic Model Predictive Control With Gaussian Wind Direction Preview for Wake Steering 随机模型预测控制与高斯风向预告尾流转向

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2025-12-24 DOI: 10.1109/TCST.2025.3639652

Aoife Henry;Michael Sinner;Lucy Pao

引用次数: 0

Reactive Multiobstacle Avoidance for Underactuated Marine Vehicles 欠驱动船舶反应性多障碍避障研究

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2025-12-02 DOI: 10.1109/TCST.2025.3635696

Aurora Haraldsen;Martin Syre Wiig;Kristin Ytterstad Pettersen

引用次数: 0

Adaptive Proximity Control of Spacecraft With Collision and Occlusion Avoidance 基于碰撞和遮挡的航天器自适应接近控制

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2025-11-05 DOI: 10.1109/TCST.2025.3627017

Bin Chen;Xiaodong Shao;Haoran Li;Yuan Tian;Qinglei Hu;Ming Liu

{"title":"Adaptive Proximity Control of Spacecraft With Collision and Occlusion Avoidance","authors":"Bin Chen;Xiaodong Shao;Haoran Li;Yuan Tian;Qinglei Hu;Ming Liu","doi":"10.1109/TCST.2025.3627017","DOIUrl":"https://doi.org/10.1109/TCST.2025.3627017","url":null,"abstract":"This article addresses the relative position tracking problem for safety-critical spacecraft proximity operations (SPOs), in the presence of collision and occlusion avoidance constraints as well as mass uncertainty. A spherical keep-out zone is established around the target to prevent collisions with its appendages, while a capsule-shaped envelope is designed for the pursuer to enable analytical calculations of collision distances between the pursuer and obstacles. To prevent visual occlusion of target features by obstacles, an ice-cream-shaped visibility cone encompassing all the extracted target features is constructed. Given this, the occlusion avoidance problem is formulated as a collision avoidance problem between the intervening obstacle and the visibility cone, which has a continuously differentiable collision distance. Subsequently, a dynamically scaled immersion and invariance (I&I) adaptive controller is developed, leveraging potential functions to handle collision and occlusion avoidance as well as velocity constraints. The I&I adaptive controller enables the pursuer to asymptotically reach the desired position without colliding with the target and obstacles, while maintaining visibility of target features, despite the presence of mass uncertainty. Simulation results demonstrate the effectiveness of the proposed method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 2","pages":"630-643"},"PeriodicalIF":4.4,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148485392","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

Data-Enabled Neighboring Extremal: Case Study on Model-Free Trajectory Tracking for Robotic Arm 数据支持邻极值：机械臂无模型轨迹跟踪实例研究

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-02-06 DOI: 10.1109/TCST.2026.3655416

Amin Vahidi-Moghaddam;Keyi Zhu;Kaixiang Zhang;Ziyou Song;Zhaojian Li

{"title":"Data-Enabled Neighboring Extremal: Case Study on Model-Free Trajectory Tracking for Robotic Arm","authors":"Amin Vahidi-Moghaddam;Keyi Zhu;Kaixiang Zhang;Ziyou Song;Zhaojian Li","doi":"10.1109/TCST.2026.3655416","DOIUrl":"https://doi.org/10.1109/TCST.2026.3655416","url":null,"abstract":"Data-enabled predictive control (DeePC) has recently emerged as a powerful data-driven approach for efficient system controls with constraints handling capabilities. It performs optimal controls by directly harnessing input-output (I/O) data, bypassing the process of explicit model identification that can be costly and time-consuming. However, its high computational complexity, driven by a large-scale optimization problem (typically in a higher dimension than its model-based counterpart—model predictive control (MPC), hinders real-time applications. To overcome this limitation, we propose the data-enabled neighboring extremal (DeeNE) framework, which significantly reduces computational cost while preserving control performance. DeeNE leverages first-order optimality perturbation analysis to efficiently update a precomputed nominal DeePC solution in response to changes in initial conditions and reference trajectories. We validate its effectiveness on a 7-DoF KINOVA Gen3 robotic arm, demonstrating substantial computational savings and robust, data-driven control performance.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1122-1132"},"PeriodicalIF":4.4,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148507216","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

Finite-Time Boundedness Control of Dynamic Wireless Charging System via a Switched Impulsive LPV Model 基于切换脉冲LPV模型的动态无线充电系统的有限时间有界控制

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-03-16 DOI: 10.1109/TCST.2026.3671331

Yang Song;Xin Liu;Zhi Chen;Kang Li

{"title":"Finite-Time Boundedness Control of Dynamic Wireless Charging System via a Switched Impulsive LPV Model","authors":"Yang Song;Xin Liu;Zhi Chen;Kang Li","doi":"10.1109/TCST.2026.3671331","DOIUrl":"https://doi.org/10.1109/TCST.2026.3671331","url":null,"abstract":"The dynamic wireless charging system (DWCS) is characterized by two typical features: 1) pronounced mutual inductance (MI) fluctuations caused by the motion of the receiver (R) coil with the vehicle and 2) impulsive state jump effect induced by switching of the transmitter (T) coil. This article considers the coupled effects of longitudinal displacement and lateral misalignment of the R coil on the MI and derives the corresponding MI formulation. On this basis, combined with the generalized state-space averaging (GSSA) method, a switching impulsive linear parameter-varying (SI-LPV) model is established to describe the dynamic behavior of the DWCS. This framework characterizes the hybrid dynamics, specifically the instantaneous state discontinuities during T-coils switching. Consequently, an average dwell time (ADT)-based finite-time boundedness (FTB) state-feedback controller is designed to ensure that, within a finite charging time window, the system states are always maintained within prescribed safety bounds. Experimental results demonstrate that the proposed scheme effectively suppresses voltage fluctuations and exhibits robust performance against vehicle speed variations and load disturbances.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1535-1549"},"PeriodicalIF":3.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147828821","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