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

Tracking Control of Docking Maneuvers for a Fully Actuated Surface Vessel Using Backstepping 使用反向步法跟踪控制全驱动水面舰艇的对接动作

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-19 DOI: 10.1109/TCST.2024.3385666

Leticia Mayumi Kinjo;Tomas Ménard;Stefan Wirtensohn;Olivier Gehan;Johannes Reuter

引用次数: 0

Vehicle Sequencing at Signal-Free Intersections: Analytical Performance Guarantees Based on PDMP Formulation 无信号交叉口的车辆排序：基于 PDMP 配方的分析性能保证

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-18 DOI: 10.1109/TCST.2024.3387588

Xiangchen Cheng;Wei Tang;Ming Yang;Li Jin

引用次数: 0

Fixed-Time Controller Design for Aero-Engines: A Switched System Approach 航空发动机的固定时间控制器设计：开关系统方法

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-17 DOI: 10.1109/TCST.2024.3387788

Zhen Wu;Zhongyang Fei;Xuefang Lin-Shi;Xi-Ming Sun

引用次数: 0

Position-Dependent Motion Feedforward via Gaussian Processes: Applied to Snap and Force Ripple in Semiconductor Equipment 通过高斯过程实现位置相关运动前馈：应用于半导体设备的咬合和力波纹

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-16 DOI: 10.1109/TCST.2024.3385632

Maurice Poot;Max van Haren;Dragan Kostić;Jim Portegies;Tom Oomen

{"title":"Position-Dependent Motion Feedforward via Gaussian Processes: Applied to Snap and Force Ripple in Semiconductor Equipment","authors":"Maurice Poot;Max van Haren;Dragan Kostić;Jim Portegies;Tom Oomen","doi":"10.1109/TCST.2024.3385632","DOIUrl":"10.1109/TCST.2024.3385632","url":null,"abstract":"The requirements for high accuracy and throughput in next-generation data-intensive motion systems lead to situations where position-dependent feedforward is essential. This article aims to develop a framework for interpretable and task-flexible position-dependent feedforward through systematic learning with automated experimental design. A data-driven and interpretable framework is developed by employing Gaussian process (GP) regression, enabling accurate modeling of feedforward parameters as a continuous function of position. The data is efficiently collected and illustrated through an iterative learning control (ILC) algorithm. Moreover, a framework for experimental design in the sense of automatically determining the training positions is presented by exploiting the uncertainty estimates of the GP and the specified first-principles knowledge. Two relevant case studies show the importance and significant performance improvement of the approach for position-dependent snap feedforward for a simplified 1-D wafer stage simulation and experimental application to position-dependent motor force constant compensation in an industrial wirebonder.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"1968-1982"},"PeriodicalIF":4.9,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140611494","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

A Sparse ADMM-Based Solver for Linear MPC Subject to Terminal Quadratic Constraint 基于稀疏 ADMM 的线性 MPC 求解器（受终端二次约束

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-16 DOI: 10.1109/TCST.2024.3386062

Pablo Krupa;Rim Jaouani;Daniel Limon;Teodoro Alamo

{"title":"A Sparse ADMM-Based Solver for Linear MPC Subject to Terminal Quadratic Constraint","authors":"Pablo Krupa;Rim Jaouani;Daniel Limon;Teodoro Alamo","doi":"10.1109/TCST.2024.3386062","DOIUrl":"10.1109/TCST.2024.3386062","url":null,"abstract":"Model predictive control (MPC) typically includes a terminal constraint to guarantee stability of the closed-loop system under nominal conditions. In linear MPC, this constraint is generally taken on a polyhedral set, leading to a quadratic optimization problem. However, the use of an ellipsoidal terminal constraint may be desirable, leading to an optimization problem with a quadratic constraint. In this case, the optimization problem can be solved using second-order cone (SOC) programming solvers, since the quadratic constraint can be posed as a SOC constraint, at the expense of adding additional slack variables and possibly compromising the simple structure of the solver ingredients. In this brief, we present a sparse solver for linear MPC subject to a terminal ellipsoidal constraint based on the alternating direction method of multipliers (ADMM) algorithm in which we directly deal with the quadratic constraints without having to resort to the use of a SOC constraint nor the inclusion of additional decision variables. The solver is suitable for its use in embedded systems, since it is sparse, has a small memory footprint, and requires no external libraries. We compare its performance against other approaches from the literature.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2376-2384"},"PeriodicalIF":4.9,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140611629","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

Quadrotor Control System Design for Robust Monocular Visual Tracking 用于稳健单目视觉跟踪的四旋翼控制系统设计

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-16 DOI: 10.1109/TCST.2024.3387228

Mirko Leomanni;Francesco Ferrante;Alberto Dionigi;Gabriele Costante;Paolo Valigi;Mario Luca Fravolini

引用次数: 0

Deterministic Riccati Observers for Homography Decomposition 同构分解的确定性里卡提观测器

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-09 DOI: 10.1109/TCST.2024.3381810

Ninad Manerikar;Minh-Duc Hua;Tarek Hamel;Claude Samson

引用次数: 0

Slip-Regulated Optimal Control for Hybrid-Driven Underwater Hexapod Robot With Thrusters and C-Shaped Legs 带推进器和 C 型腿的混合驱动水下六足机器人的滑动调节优化控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-03 DOI: 10.1109/TCST.2024.3377949

Lepeng Chen;Rongxin Cui;Weisheng Yan;Feiyu Ma;Hui Xu;Haitao Yu;Haoquan Li

引用次数: 0

Resiliency-Driven Cyber–Physical Risk Assessment and Investment Planning for Power Substations 变电站弹性驱动的网络物理风险评估和投资规划

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-03 DOI: 10.1109/TCST.2024.3378990

Kush Khanna;Manimaran Govindarasu

{"title":"Resiliency-Driven Cyber–Physical Risk Assessment and Investment Planning for Power Substations","authors":"Kush Khanna;Manimaran Govindarasu","doi":"10.1109/TCST.2024.3378990","DOIUrl":"10.1109/TCST.2024.3378990","url":null,"abstract":"As energy systems move into the larger domains of cyber–physical systems (CPSs), cyber threats on energy system infrastructure are likely to increase. Cybersecurity strategies must be evaluated and analyzed regularly to establish and maintain cyber resilience in CPS. With increased physical and cyber assaults on electrical grid power substations, it is critical to prioritize expenditures to enhance operational CPS resilience. An integrated cyber–physical paradigm for power system risk analysis and investment planning for power substations is presented in this article. To address and effectively manage cyber–physical risks, the proposed approach integrates power system resilience with cyber vulnerabilities capturing the maturity indicator level (MIL) concept. The defense strategies are analyzed for various attack scenarios using defender–attacker interactions. The defender’s strategies for no-information, full-information, and partial-information defender–attacker interactions are compared to obtain the best possible investment strategy for minimizing the overall risk. The presented framework is simulated and validated for PJM five-bus and IEEE 39 bus systems.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 5","pages":"1743-1754"},"PeriodicalIF":4.9,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140588975","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

State Estimation Adaptable to Cyberattack Using a Hardware Programmable Bank of Kalman Filters 使用硬件可编程卡尔曼滤波器库进行适应网络攻击的状态估计

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-03 DOI: 10.1109/TCST.2024.3378991

Brien Croteau;Kiriakos Kiriakidis;Tracie A. Severson;Ryan Robucci;Saad Rahman;Riadul Islam

{"title":"State Estimation Adaptable to Cyberattack Using a Hardware Programmable Bank of Kalman Filters","authors":"Brien Croteau;Kiriakos Kiriakidis;Tracie A. Severson;Ryan Robucci;Saad Rahman;Riadul Islam","doi":"10.1109/TCST.2024.3378991","DOIUrl":"10.1109/TCST.2024.3378991","url":null,"abstract":"Sensor-estimator systems provide critical information on the state of cyber-physical plants. Often, these units operate in an environment of constrained computational resources. This condition makes them vulnerable to cyberattacks that aim especially to degrade their processing capability and effectively incapacitate them. In the event that computational nodes are lost, an approach to adapt the estimator’s algorithm and reprogram the adapted form on the surviving hardware is presented. To prepare the sensor-estimator system for degradation, the following co-design steps are developed: 1) the estimation algorithm, a bank of Kalman filters (KFs), is distributed so that multiple elemental filters are implemented on a collection of field-programmable gate arrays (FPGAs) and 2) the matrix operations of the conventional KF are programmed on the FPGAs using Faddeeva’s elimination. After the attack, adaptation of the filter bank is realized by leveraging dynamic partial reconfiguration (DPR) of the surviving FPGAs. A high-authority agent monitors the likelihood of all elemental filters, a measure of which filters currently provide the best estimates, and replaces the least likely elements of the bank with the most likely ones. The latter are loaded onto the freed-up fabric of the remaining FPGAs, while these units are running other elemental filters in order to process sensor data without interruption. We have demonstrated their method on a prototype system that uses a radar sensor to estimate the kinematics of a maneuvering unmanned surface vehicle (USV).","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 5","pages":"1730-1742"},"PeriodicalIF":4.9,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140576320","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