IEEE Transactions on Control Systems Technology最新文献_第6页

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

Vector Field Path Following of Time-Varying Sinusoidal Paths for Underwater Snake Robots 水下蛇形机器人时变正弦路径的矢量场路径跟踪

IF 3.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-04-29 DOI: 10.1109/TCST.2026.3677852

Ivan Gushkov;Amer Orucevic;Kristin Y. Pettersen;Weijia Yao;Marianna Wrzos-Kaminska;Jan Tommy Gravdahl

引用次数: 0

Generation of Interpretable Residuals for Fault Diagnosis Based on Projection Techniques: Leveraging Variable Redundancy 基于投影技术的可解释残差故障诊断生成：利用可变冗余

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.2026.3676142

Abel Alberto Cuadrado Vega;Ignacio Díaz Blanco;José María Enguita González;Diego García Pérez;Ana González Muñiz

{"title":"Generation of Interpretable Residuals for Fault Diagnosis Based on Projection Techniques: Leveraging Variable Redundancy","authors":"Abel Alberto Cuadrado Vega;Ignacio Díaz Blanco;José María Enguita González;Diego García Pérez;Ana González Muñiz","doi":"10.1109/TCST.2026.3676142","DOIUrl":"https://doi.org/10.1109/TCST.2026.3676142","url":null,"abstract":"A challenging but common scenario in fault diagnosis (FD) of processes concerns both an abundance of normal operation data and expert knowledge available, but no fault data and no predefined set of faults. In that scenario, a possible method may consist in generating residuals from the process variables, which are interpretable in the sense that nonzero residuals correspond to variables actually involved in the fault, so the kind of fault occurring can be identified by applying expert knowledge about the process. Under these conditions, we lay out the theoretical framework of the generation of residuals with projection techniques with no additional requirements other than to use models that involve low-dimensional latent spaces embedded in high-dimensional ambient spaces. We claim that the estimation of additive faults improves with higher differences between the dimension of the ambient space (measured input data space) and the dimension of the latent space. This improvement can be even greater in the case of sparse faults. In order to take advantage of that fact, we propose possible ways to obtain solutions to a sparse fault reconstruction problem for cases where a linear model is applicable. Some justifications for this idea are provided with simulations and illustrated with a real example using data from a rotating machine.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1563-1575"},"PeriodicalIF":3.9,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11457319","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147828902","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

Dynamical Modeling and Motion Control of Electro-Conjugate Fluid With Complex Hysteresis Nonlinearity 复杂滞后非线性电共轭流体动力学建模与运动控制

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2025-11-19 DOI: 10.1109/TCST.2025.3631984

Yue Zhang;Yawu Wang;Jundong Wu;Chun-Yi Su

{"title":"Dynamical Modeling and Motion Control of Electro-Conjugate Fluid With Complex Hysteresis Nonlinearity","authors":"Yue Zhang;Yawu Wang;Jundong Wu;Chun-Yi Su","doi":"10.1109/TCST.2025.3631984","DOIUrl":"https://doi.org/10.1109/TCST.2025.3631984","url":null,"abstract":"As a category of intelligent fluid drive technology, the electro-conjugate fluid (ECF) drive technology has a broad application prospect in the field of soft robotics, with its advantages of high output power density and simple drive structure. Since the driving principle of the ECF has not been exactly determined in physics, there are still a large number of gaps in its research. This article aims to fill the gap in the precise motion control of the ECF to promote its practical applications. To this end, the dynamical properties of the ECF are explored first. In the exploration experiment, the ECF shows complex hysteresis nonlinearity. Then, based on the modified Maxwell-slip (M-S) model, a control-oriented dynamical model of the ECF that can describe these intrinsic properties is constructed via the phenomenological modeling approach. Based on this dynamical model, an inverse hysteresis compensator (IHC)-dynamical sliding mode controller (DSMC) cascaded control framework is developed to realize the motion control of the ECF. In this control framework, the control law of the DSMC is designed following the backstepping approach to significantly reduce chattering. The stability of the control system is proved by theoretical analyses, and the effectiveness of the proposed control framework is demonstrated via actual experiments. To our best knowledge, this article is the first effort to establish the precise dynamical model of the ECF and to realize its precise motion control.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 2","pages":"725-736"},"PeriodicalIF":4.4,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148484448","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 Overtaking Game 超车游戏

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2025-11-06 DOI: 10.1109/TCST.2025.3626071

David J. N. Limebeer;Nehal Gordhan

引用次数: 0

Toward Reliable Probabilistic Robustness: A Nonconservative Uncertainty Bound for Gaussian Processes With Applications to Constrained Motion Control 面向可靠的概率鲁棒性：高斯过程的非保守不确定性界及其在约束运动控制中的应用

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-02-24 DOI: 10.1109/TCST.2026.3663686

Jiacheng Li;Qingchen Liu;Qichao Ma;Man Li;Jiahu Qin

{"title":"Toward Reliable Probabilistic Robustness: A Nonconservative Uncertainty Bound for Gaussian Processes With Applications to Constrained Motion Control","authors":"Jiacheng Li;Qingchen Liu;Qichao Ma;Man Li;Jiahu Qin","doi":"10.1109/TCST.2026.3663686","DOIUrl":"https://doi.org/10.1109/TCST.2026.3663686","url":null,"abstract":"The excessive conservatism in existing uncertainty bounds for Gaussian processes (GPs) significantly restricts the solution space, leading to unreliable probabilistic robustness in practical applications. In this article, we propose a novel approach to derive a nonconservative uncertainty bound (NCUB) based on the online Lipschitz constant estimation, which ensures the reliable probabilistic robustness for control systems. We meticulously design uncertainty bound-based controllers for two constrained robot motion control applications. The first application addresses quadrotor attitude control under conditions of inaccurate dynamics modeling or external disturbances. Our NCUB is combined with the control barrier function (CBF) technique to simultaneously provide the tracking accuracy and safety guarantee for the quadrotor in simulation cases. It demonstrates more reliable probabilistic robustness compared with the existing uncertainty bound. The second application focuses on the interaction control for manipulators in the absence of precise force sensors. In this scenario, GP approximates the contact model and enforces a force constraint within a model predictive control (MPC) framework. The NCUB plays a critical role in appropriately tightening the constraint to enhance the environmental interaction. These applications validate the significant effectiveness of our NCUB in constrained motion control tasks.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1367-1380"},"PeriodicalIF":4.4,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148505154","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

Multiobjective Energy Management Strategy for Series Hybrid Electric Vehicles With Prediction Uncertainty Awareness: A Min–Max Game 具有预测不确定性意识的串联混合动力汽车多目标能量管理策略：最小-最大博弈

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-03-10 DOI: 10.1109/TCST.2026.3661157

Mingjun Zha;Weida Wang;Chao Yang;Liuquan Yang;Ruihu Chen;Xuelong Du;Hui Liu

{"title":"Multiobjective Energy Management Strategy for Series Hybrid Electric Vehicles With Prediction Uncertainty Awareness: A Min–Max Game","authors":"Mingjun Zha;Weida Wang;Chao Yang;Liuquan Yang;Ruihu Chen;Xuelong Du;Hui Liu","doi":"10.1109/TCST.2026.3661157","DOIUrl":"https://doi.org/10.1109/TCST.2026.3661157","url":null,"abstract":"Hybrid electric vehicles (HEVs) have emerged as a promising solution for achieving carbon neutrality and overcoming energy-related challenges. The efficacy of HEVs, in part, is contingent upon the implementation of effective energy management strategies (EMSs). Recently, on the one hand, most EMSs have primarily emphasized fuel economy while overlooking the potential consequences of frequent and high-power usage of electronic components, which may lead to motor overheating and the degradation of the motor’s maximum capacity. On the other hand, benefiting from future driving conditions in a finite horizon, prediction-based EMSs can proactively make some adjustments to energy allocation in advance, garnering significant attention from numerous researchers. However, inherent prediction uncertainties will mislead predictive EMSs to make overconfident decisions and ultimately introduce risks to thermal dynamics. Targeting the issues above, this article presents a min–max game-based generator temperature-sensitive EMS for series HEVs (SHEVs). First, a multiobjective energy management problem with a comprehensive consideration of fuel economy and generator temperature is formulated. Then, a min–max game framework for robust decision-making is structured to deal with the potential adverse effects of prediction uncertainty. Finally, to improve computational efficiency, a closed-form solution is proposed to solve the Stackelberg equilibrium pair for the min–max game, which avoids performing optimization in each iteration. Simulation and hardware-in-the-loop test results demonstrate that the proposed strategy enhances fuel economy while effectively lowering generator temperature.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1217-1231"},"PeriodicalIF":4.4,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148505429","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

Mixed-Integer MPC-Based Motion Planning Using Hybrid Zonotopes With Tight Relaxations 基于混合整数mpc的运动规划与紧松弛混合分区

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.2026.3661166

Joshua A. Robbins;Jacob A. Siefert;Sean Brennan;Herschel C. Pangborn

{"title":"Mixed-Integer MPC-Based Motion Planning Using Hybrid Zonotopes With Tight Relaxations","authors":"Joshua A. Robbins;Jacob A. Siefert;Sean Brennan;Herschel C. Pangborn","doi":"10.1109/TCST.2026.3661166","DOIUrl":"https://doi.org/10.1109/TCST.2026.3661166","url":null,"abstract":"Autonomous vehicle (AV) motion planning problems often involve nonconvex constraints, which present a major barrier to applying model predictive control (MPC) in real time on embedded hardware. This article presents an approach for efficiently solving mixed-integer MPC motion planning problems using a hybrid zonotope representation of the obstacle-free space. The MPC optimization problem is formulated as a multistage mixed-integer quadratic program (MIQP) using a hybrid zonotope representation of the nonconvex constraints. Risk-aware planning is supported by assigning costs to different regions of the obstacle-free space within the MPC cost function. A multistage MIQP solver is presented that exploits the structure of the hybrid zonotope constraints. For some hybrid zonotope representations, it is shown that the convex relaxation is <italic>tight</i>, i.e., equal to the convex hull. In conjunction with logical constraints derived from the AV motion planning context, this property is leveraged to generate tight quadratic program (QP) subproblems within a branch-and-bound mixed-integer solver. Simulation and processor-in-the-loop (PIL) studies are presented for obstacle-avoidance and risk-aware motion planning problems using polytopic maps and occupancy grids. In most cases, the proposed solver finds the optimal solution an order of magnitude faster than a state-of-the-art commercial solver. PIL studies demonstrate the utility of the solver for real-time implementations on embedded hardware.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1177-1192"},"PeriodicalIF":4.4,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148506764","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

MagTile: A Modular Platform for Controlling Electromagnetically Actuated Agents for Ethorobotics Applications MagTile：用于控制机器人应用的电磁驱动代理的模块化平台

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-02-19 DOI: 10.1109/TCST.2026.3662320

Akhil Sankar;Cy Westbrook;Mohammad Tuqan;Guosong Yang;Daniel Burbano

{"title":"MagTile: A Modular Platform for Controlling Electromagnetically Actuated Agents for Ethorobotics Applications","authors":"Akhil Sankar;Cy Westbrook;Mohammad Tuqan;Guosong Yang;Daniel Burbano","doi":"10.1109/TCST.2026.3662320","DOIUrl":"https://doi.org/10.1109/TCST.2026.3662320","url":null,"abstract":"Ethorobotics, the study of animal–robot interactions, has advanced behavioral research by enabling controlled, repeatable experiments through the use of biomimetic robotic agents. Existing platforms, however, often lack flexibility, scalability, and computational tools for in-silico experimentation, limiting their easy deployment across diverse experimental configurations. Here, we introduce MagTile, a modular and scalable platform for controlling ensembles of electromagnetically actuated agents. Our design utilizes standard components and 3-D-printed parts, enabling multiagent actuation without the need for complex onboard electronics. We formulate a mathematical model of MagTile and analyze its convergence properties using Lyapunov stability theory. The model serves as the foundation for establishing a computational framework, facilitating simulation, testing, and optimization of experimental conditions prior to physical deployment, thereby improving efficiency and reducing trial-and-error experimentation. The effectiveness of our platform was validated through a series of illustrative experiments showcasing multiagent coordination, vision-based collision avoidance, and collective behavior using biomimetic fish.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1338-1352"},"PeriodicalIF":4.4,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148508685","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

Design and Experimental Validation of a Safe Control Strategy for Reconfigurable Batteries 可重构电池安全控制策略的设计与实验验证

IF 4.4 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2026-03-01 Epub Date: 2026-02-26 DOI: 10.1109/TCST.2026.3665280

Iman Ebrahimi;Ricardo de Castro

{"title":"Design and Experimental Validation of a Safe Control Strategy for Reconfigurable Batteries","authors":"Iman Ebrahimi;Ricardo de Castro","doi":"10.1109/TCST.2026.3665280","DOIUrl":"https://doi.org/10.1109/TCST.2026.3665280","url":null,"abstract":"In this article, we present a novel control strategy for optimizing the management of reconfigurable batteries, particularly in electric vehicles (EVs) and energy storage systems. Our approach uniquely integrates control allocation (CA) with control barrier functions (CBF) to enhance operational efficiency while enforcing electrothermal safety constraints. Specifically, the proposed control scheme regulates the output voltage and ensures state-of-charge (SoC) balancing across battery modules, addressing the common weakest-module problem. Additionally, it dynamically adjusts power distribution to provide over-temperature protection, mitigating the risk of thermal runaway. Our feasibility analysis establishes the conditions under which the CBF-based safety constraints are satisfied, ensuring the existence of feasible control actions. Furthermore, we define comprehensive performance metrics to evaluate and compare the controller’s effectiveness. This includes CBF gain tuning based on feasibility results. We perform scalability analysis, demonstrating the controller’s effectiveness in systems with a large number of modules, which is critical for EV applications where computational efficiency is paramount. Finally, experimental validation on a small-scale prototype showcases the practical capability of our CBF-based optimal controller.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 3","pages":"1404-1418"},"PeriodicalIF":4.4,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148505431","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