IEEE Transactions on Control Systems Technology最新文献_第7页

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

Reactive Robot Navigation Using Quasi-Conformal Mappings and Control Barrier Functions 基于拟保角映射和控制障碍函数的反应机器人导航

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-17 DOI: 10.1109/TCST.2025.3526377

Gennaro Notomista;Gary P. T. Choi;Matteo Saveriano

引用次数: 0

An Enhanced Kernel Partial Least-Squares Fault Reconstruction Fused With Pattern Classification 融合模式分类的改进核偏最小二乘故障重构

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-16 DOI: 10.1109/TCST.2025.3527279

Meizhi Liu;Xiangyu Kong;Changhua Hu;Hongzeng Li;Ziwen Wang

{"title":"An Enhanced Kernel Partial Least-Squares Fault Reconstruction Fused With Pattern Classification","authors":"Meizhi Liu;Xiangyu Kong;Changhua Hu;Hongzeng Li;Ziwen Wang","doi":"10.1109/TCST.2025.3527279","DOIUrl":"https://doi.org/10.1109/TCST.2025.3527279","url":null,"abstract":"Partial least squares (PLS) is a well-known multivariate statistical process monitoring (MSPM) method. However, there are two key issues that restrict its application in reconstruction-based fault diagnosis, including weak fault representation ability and uncertainty caused by the overlap among different types of faults. To cope with these two issues, an enhanced kernel PLS (eKPLS) fault reconstruction approach fused with pattern classification is proposed in this study. For the first issue, a fine-grained fault subspace extraction method is developed. These fine-grained fault subspaces exhibit richer fault details, conferring upon the model heightened fault representation ability. For the second issue, the fault magnitude is supplemented into the paradigm of fault reconstruction, and a rediagnosis mechanism is designed to overcome the uncertainty in fault diagnosis. Thus, the ideas of fault reconstruction and pattern classification are fused into a consolidated framework, allowing us to complement their strengths together. Finally, several experiments on a hydraulic system and Tennessee Eastman process (TEP) are performed to validate the effectiveness of the proposed method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1119-1124"},"PeriodicalIF":4.9,"publicationDate":"2025-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883416","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

Harmonic Control of Three-Phase AC/DC Converter With Time-Domain Guarantees 具有时域保证的三相AC/DC变换器谐波控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-13 DOI: 10.1109/TCST.2024.3520460

Maxime Grosso;Pierre Riedinger;Jamal Daafouz;Serge Pierfederici;Hicham Janati Idrissi;Blaise Lapôtre

{"title":"Harmonic Control of Three-Phase AC/DC Converter With Time-Domain Guarantees","authors":"Maxime Grosso;Pierre Riedinger;Jamal Daafouz;Serge Pierfederici;Hicham Janati Idrissi;Blaise Lapôtre","doi":"10.1109/TCST.2024.3520460","DOIUrl":"https://doi.org/10.1109/TCST.2024.3520460","url":null,"abstract":"In light of recent advances in harmonic modeling and control theory, we present a novel approach for controlling a three-phase grid-tied ac-dc converter. Our methodology involves deriving an infinite-dimensional harmonic bilinear model and employing forwarding control techniques to design globally stable state feedback. This framework enables the integration of control objectives tailored to harmonic distortion, mitigation, and the tracking of periodic trajectories, leveraging integral actions. Moreover, we demonstrate the transposition of our harmonic control design into a periodic nonlinear control scheme in the time domain, preserving the established stability guarantees. These assurances stem from recent fundamental theoretical findings, outlining the conditions for a bijection between harmonic- and time-domain trajectories. Through illustrative simulations and experimental setups, we assess the methodology’s effectiveness in real-time total harmonic distortion (THD) reduction and rejection of specific harmonic disturbances. The obtained results affirm the successful accomplishment of our control objectives, validating the efficacy of the proposed harmonic control approach.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"887-902"},"PeriodicalIF":4.9,"publicationDate":"2025-01-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883420","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

Synchronization Stability Analysis of SRF-PLL and DSOGI-PLL Using Port-Hamiltonian Framework 基于port - hamilton框架的SRF-PLL和DSOGI-PLL同步稳定性分析

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2025-01-10 DOI: 10.1109/TCST.2024.3523711

Sai Sowmya Nagam;Bikash C. Pal;Heng Wu;Frede Blaabjerg

引用次数: 0