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

A Sensitivity Analysis of Wave Energy Converter Model Predictive Control Systems With Wave Excitation Force Estimation and Prediction 基于波浪激振力估计和预测的波浪能量转换器模型预测控制系统的灵敏度分析

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-30 DOI: 10.1109/TCST.2024.3456689

Zechuan Lin;Xuanrui Huang;Xi Xiao;John V. Ringwood

{"title":"A Sensitivity Analysis of Wave Energy Converter Model Predictive Control Systems With Wave Excitation Force Estimation and Prediction","authors":"Zechuan Lin;Xuanrui Huang;Xi Xiao;John V. Ringwood","doi":"10.1109/TCST.2024.3456689","DOIUrl":"https://doi.org/10.1109/TCST.2024.3456689","url":null,"abstract":"Understanding the sensitivity of energy-maximizing control for wave energy converters (WECs), to various model errors, is crucial for application. Many advanced WEC controllers, especially model predictive control (MPC)-like controllers, require estimation and prediction of wave excitation force (WEF). However, previous studies only focus on the controller in isolation, without considering the error coupling effects when a complete estimation-prediction loop is involved. In this study, it is revealed through numerical analysis that the complete MPC system has sensitivity behavior completely different from the isolated MPC; under certain model errors, the system can become particularly unpredictable, exhibiting potential instability and self-locking phenomena, which cannot be observed from the examination of control sensitivity alone. Meanwhile, different tuning options for the WEF estimator and predictor are examined, where the accuracy-robustness tradeoff is shown to be critical for performance amelioration under errors. Based on the analysis, this study challenges the widely assumed “separation principle” of WEF estimation/prediction and WEC control, highlights the importance of incorporating a complete estimation-prediction loop in sensitivity examination, and draws practical guidelines for WEC control application.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"136-147"},"PeriodicalIF":4.9,"publicationDate":"2024-09-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905851","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

Enhancing the Force Transparency of the Energy-Reflection-Based Time-Domain Passivity Approach 增强基于能量反射的时域无源方法的力透明度

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-27 DOI: 10.1109/TCST.2024.3458831

Michael Panzirsch;Harsimran Singh;Xiao Xu;Alexander Dietrich;Thomas Hulin;Eckehard Steinbach;Alin Albu-Schaeffer

{"title":"Enhancing the Force Transparency of the Energy-Reflection-Based Time-Domain Passivity Approach","authors":"Michael Panzirsch;Harsimran Singh;Xiao Xu;Alexander Dietrich;Thomas Hulin;Eckehard Steinbach;Alin Albu-Schaeffer","doi":"10.1109/TCST.2024.3458831","DOIUrl":"https://doi.org/10.1109/TCST.2024.3458831","url":null,"abstract":"The time-domain passivity approach (TDPA) was developed and applied to tackle a variety of control challenges such as noncollocated force sensing, authority scaling, or delayed coupling in robotic applications. Specifically for delay, recently, the energy-reflection-based TDPA (TDPA-ER) was proposed to improve position tracking and force-feedback quality. In contrast to the conventional TDPA, the TDPA-ER intrinsically prevents position drift, thus substantially increasing the coupling rigidity. Here, we extend the TDPA-ER to further enhance the force transparency perceived by the operator in teleoperation scenarios. The extension is based on two independent control strategies that, among others, reorganize the energy distribution of TDPA-ER and ensure more continuous force profiles through the deflection-domain passivity approach (DDPA). Experiments confirm the improvement of force-feedback quality and force continuity with regard to TDPA-ER. Furthermore, it is shown that interactions with dynamic objects and active environments can be handled robustly with the proposed teleoperation control strategies.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"181-188"},"PeriodicalIF":4.9,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905834","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 Ground Fault Detection for Inverter-Based Microgrid Systems 基于逆变器的微电网系统接地故障实时检测

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-27 DOI: 10.1109/TCST.2024.3458467

Jingwei Dong;Yucheng Liao;Haiwei Xie;Jochen Cremer;Peyman Mohajerin Esfahani

{"title":"Real-Time Ground Fault Detection for Inverter-Based Microgrid Systems","authors":"Jingwei Dong;Yucheng Liao;Haiwei Xie;Jochen Cremer;Peyman Mohajerin Esfahani","doi":"10.1109/TCST.2024.3458467","DOIUrl":"https://doi.org/10.1109/TCST.2024.3458467","url":null,"abstract":"Ground fault detection in inverter-based microgrid (IBM) systems is challenging, particularly in a real-time setting, as the fault current deviates slightly from the nominal value. This difficulty is reinforced when there are partially decoupled disturbances and modeling uncertainties. The conventional solution of installing more relays to obtain additional measurements is costly and also increases the complexity of the system. In this brief, we propose a data-assisted diagnosis scheme based on an optimization-based fault detection filter with the output current as the only measurement. Modeling the microgrid dynamics and the diagnosis filter, we formulate the filter design as a quadratic programming (QP) problem that accounts for decoupling partial disturbances, robustness to nondecoupled disturbances and modeling uncertainties by training with data, and ensuring fault sensitivity simultaneously. To ease the computational effort, we also provide an approximate but analytical solution to this QP. Additionally, we use classical statistical results to provide a thresholding mechanism that enjoys probabilistic false-alarm guarantees. Finally, we implement the IBM system with Simulink and real-time digital simulator (RTDS) to verify the effectiveness of the proposed method through simulations.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"392-399"},"PeriodicalIF":4.9,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142912577","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

Predictive Control for Autonomous Driving With Uncertain, Multimodal Predictions 不确定、多模式预测下的自动驾驶预测控制

IF 4.8 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-17 DOI: 10.1109/tcst.2024.3451370

Siddharth H. Nair, Hotae Lee, Eunhyek Joa, Yan Wang, H. Eric Tseng, Francesco Borrelli

引用次数: 0

High-Speed Interception Multicopter Control by Image-Based Visual Servoing 通过基于图像的视觉伺服实现高速拦截式多旋翼飞行器控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-11 DOI: 10.1109/TCST.2024.3451293

Kun Yang;Chenggang Bai;Zhikun She;Quan Quan

{"title":"High-Speed Interception Multicopter Control by Image-Based Visual Servoing","authors":"Kun Yang;Chenggang Bai;Zhikun She;Quan Quan","doi":"10.1109/TCST.2024.3451293","DOIUrl":"10.1109/TCST.2024.3451293","url":null,"abstract":"In recent years, reports of illegal drones threatening public safety have increased. For the invasion of fully autonomous drones, traditional methods, such as radio frequency interference and GPS shielding, may fail. This article proposes a scheme that uses an autonomous multicopter with a strapdown camera to intercept a maneuvering intruder unmanned aerial vehicle (UAV). The interceptor multicopter can autonomously detect and intercept intruders moving at high speed in the air. The strapdown camera avoids the complex mechanical structure of the electro-optical pod, making the interceptor multicopter compact. However, the coupling of the camera and multicopter motion makes interception tasks difficult. To solve this problem, an image-based visual servoing (IBVS) controller is proposed to make the interception fast and accurate. Then, in response to the time delay of sensor imaging and image processing relative to attitude changes in high-speed scenarios, a delayed Kalman filter (DKF) observer is generalized to predict the current image position and increase the update frequency. Finally, hardware-in-the-loop (HITL) simulations and outdoor flight experiments verify that this method has a high interception accuracy and success rate. In the flight experiments, a high-speed interception is achieved with a terminal speed of 20m/s.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"119-135"},"PeriodicalIF":4.9,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142219175","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 Mixed-Integer Quadratic Programming for Vehicle Decision-Making and Motion Planning 用于车辆决策和运动规划的实时混合整数二次编程

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-06 DOI: 10.1109/TCST.2024.3449703

Rien Quirynen;Sleiman Safaoui;Stefano Di Cairano

引用次数: 0

Hierarchical Control for Vehicle Repositioning in Autonomous Mobility-on-Demand Systems 按需自主移动系统中车辆重新定位的分层控制

IF 4.8 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-06 DOI: 10.1109/tcst.2024.3448300

Pengbo Zhu, Giancarlo Ferrari-Trecate, Nikolas Geroliminis

引用次数: 0

Sharable Clothoid-Based Continuous Motion Planning for Connected Automated Vehicles 基于可共享布洛依的自动驾驶汽车连续运动规划

IF 4.8 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-06 DOI: 10.1109/tcst.2024.3448328

Sanghoon Oh, Qi Chen, H. Eric Tseng, Gaurav Pandey, Gábor Orosz

引用次数: 0

Single Intersection MPC Traffic Signal Control in Presence of Automated Vehicles 自动驾驶汽车出现时的单路口 MPC 交通信号控制

IF 4.8 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-05 DOI: 10.1109/tcst.2024.3449188

Francesco Liberati, Manuel Donsante, Andrea Tortorelli

引用次数: 0

Joint Estimation and Planar Affine Formation Control With Displacement Measurements 利用位移测量进行联合估计和平面仿射编队控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-09-04 DOI: 10.1109/TCST.2024.3449008

Qingkai Yang;Xiaozhen Zhang;Hao Fang;Ming Cao;Jie Chen

{"title":"Joint Estimation and Planar Affine Formation Control With Displacement Measurements","authors":"Qingkai Yang;Xiaozhen Zhang;Hao Fang;Ming Cao;Jie Chen","doi":"10.1109/TCST.2024.3449008","DOIUrl":"10.1109/TCST.2024.3449008","url":null,"abstract":"This article investigates the problem of planar affine formation maneuver control with a matrix-valued formation shape variation parameter. The matrix representation renders full degree of freedom (DOF) motion associated with linear mappings in the context of affine transformation. Unlike the typical leader–follower setup, where all the leaders know the prescribed formation information, only a portion of leaders are informed of the matrix parameter in this article. To achieve affine formation stabilization, two types of distributed estimators are developed for the remaining leaders to infer constant and dynamic matrix parameters, utilizing only local displacement measurements. Then, we establish a joint estimation and cooperative control framework, generating corresponding formation shape changes in consistent with the matrix parameter. The system stability and precise estimation convergence are verified via both rigorous theoretical analyses and simulations with large-scale swarms. Finally, experiments conducted on the Crazyflie robots also validate the effectiveness and practicality of the proposed control approach.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"92-105"},"PeriodicalIF":4.9,"publicationDate":"2024-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142219186","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