IEEE Transactions on Control Systems Technology最新文献_第8页

Stochastic Optimal Control of an Optical Sorter With Material Recirculation 具有物料再循环的光学分选机的随机最优控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-23 DOI: 10.1109/TCST.2024.3477294

Markus Walker;Marcel Reith-Braun;Albert Bauer;Florian Pfaff;Georg Maier;Robin Gruna;Thomas Längle;Jürgen Beyerer;Harald Kruggel-Emden;Uwe D. Hanebeck

{"title":"Stochastic Optimal Control of an Optical Sorter With Material Recirculation","authors":"Markus Walker;Marcel Reith-Braun;Albert Bauer;Florian Pfaff;Georg Maier;Robin Gruna;Thomas Längle;Jürgen Beyerer;Harald Kruggel-Emden;Uwe D. Hanebeck","doi":"10.1109/TCST.2024.3477294","DOIUrl":"https://doi.org/10.1109/TCST.2024.3477294","url":null,"abstract":"The optical bulk material sorting is a key technology on our way toward a circular economy and efficient recycling. However, controlling the sorting accuracy has so far been severely limited, as the achievable accuracy of conventional sorters is strongly determined by the mass flow and the mixing ratio of the incoming particle stream. To enable closed-loop control, in the previous work, we introduced a modification to the sorter design, in which controlled fractions of the already sorted mass flows are returned to the inlet of the sorter. In this article, we now propose two open-loop and two closed-loop feedback (CLF) stochastic model predictive controllers (MPCs) for the control of sorting systems with recirculation operating under dynamically changing conditions. In addition, we propose to integrate a desired minimum accuracy as a chance constraint into our controllers’ stochastic formulation. Our evaluations using a coupled discrete element-computational fluid dynamics (DEM-CFD) simulation show that our controllers considerably improve on the system without recirculation and outperform the previously known controllers. Furthermore, we found that they are able to maintain a predefined minimum quality even in highly dynamic scenarios, making the approach highly valuable for tasks where achieving a certain quality at any point in time is crucial.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"354-368"},"PeriodicalIF":4.9,"publicationDate":"2024-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142912564","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

Multilevel Control Strategy of Human–Exoskeleton Cooperative Motion With Multimodal Wearable Training Evaluation 基于多模态可穿戴训练评估的人-外骨骼协同运动多级控制策略

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-22 DOI: 10.1109/TCST.2024.3477299

Haoran Zhan;Jiange Kou;Qing Guo;Chen Wang;Zhenlei Chen;Yan Shi;Tieshan Li

{"title":"Multilevel Control Strategy of Human–Exoskeleton Cooperative Motion With Multimodal Wearable Training Evaluation","authors":"Haoran Zhan;Jiange Kou;Qing Guo;Chen Wang;Zhenlei Chen;Yan Shi;Tieshan Li","doi":"10.1109/TCST.2024.3477299","DOIUrl":"https://doi.org/10.1109/TCST.2024.3477299","url":null,"abstract":"A multilevel control strategy is proposed for a lower limb exoskeleton to realize different human training modes. In the high-level control layer, the human training mode is decided by the operator’s motion intention to generate the reference gait trajectory. Meanwhile, both the joint estimation torque by the long short-term memory (LSTM) network and the human-exoskeleton interactive torques are used to evaluate the wearable comfort performance of the operator. In the middle-level control layer, a variable admittance controller is designed to plan three training modes of human-exoskeleton cooperative motion: passive, active, and passive-to-active mode (PAM). In the low-level control loop, a fixed-time convergent controller with radial basis function neural network (RBFNN) estimation law and input deadzone compensation is presented to guarantee the exoskeleton joint position tracks the desired trajectory of the admittance loop output. To avoid the Zeno phenomenon of the designed controller, an event-triggered mechanism (ETM) is used to determine the execution time for sampling and transmitting signals. Finally, the effectiveness of the proposed control strategy is verified by both simulation and experimental results.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 2","pages":"434-448"},"PeriodicalIF":4.9,"publicationDate":"2024-10-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143489120","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

Stochastic Co-Design of Storage and Control for Water Distribution Systems 配水系统储控随机协同设计

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-18 DOI: 10.1109/TCST.2024.3477304

Ye Wang;Erik Weyer;Chris Manzie;Angus R. Simpson;Lisa Blinco

{"title":"Stochastic Co-Design of Storage and Control for Water Distribution Systems","authors":"Ye Wang;Erik Weyer;Chris Manzie;Angus R. Simpson;Lisa Blinco","doi":"10.1109/TCST.2024.3477304","DOIUrl":"https://doi.org/10.1109/TCST.2024.3477304","url":null,"abstract":"Water distribution systems (WDSs) are typically designed with a conservative estimate of the ability of a control system to utilize the available infrastructure. The controller is designed and tuned after a WDS has been laid out, a methodology that may introduce unnecessary conservativeness in both system design and control, adversely impacting operational efficiency and increasing economic costs. To address these limitations, we introduce a method to simultaneously design infrastructure and develop control parameters, the co-design problem, with the aim of improving the overall efficiency of the system. Nevertheless, the co-design of a WDS is a challenging task given the presence of stochastic variables (e.g., water demands and electricity prices). In this article, we propose a tractable stochastic co-design method to design the best tank size and optimal control parameters for WDS, where the expected operating costs are established based on Markov chain theory. We also give a theoretical result showing that the average long-run operating cost converges to the expected operating cost with probability 1. Furthermore, this method is not only applicable to greenfield projects for the co-design of WDSs but can also be utilized to improve the operations of existing WDSs in brownfield projects. The effectiveness and applicability of the co-design method are validated through three illustrative examples and a real-world case study in South Australia.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"274-287"},"PeriodicalIF":4.9,"publicationDate":"2024-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905719","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-Based Settling-Time Optimization for Linear Feedback Control Systems Using Global Extremum Seeking 基于数据的线性反馈控制系统全局极值寻优

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-16 DOI: 10.1109/TCST.2024.3473300

Wouter Weekers;Dragan Kostić;Alessandro Saccon;Nathan van de Wouw

{"title":"Data-Based Settling-Time Optimization for Linear Feedback Control Systems Using Global Extremum Seeking","authors":"Wouter Weekers;Dragan Kostić;Alessandro Saccon;Nathan van de Wouw","doi":"10.1109/TCST.2024.3473300","DOIUrl":"https://doi.org/10.1109/TCST.2024.3473300","url":null,"abstract":"High-performance control designs are indispensable in high-end industrial applications. At the same time, tuning a controller for optimal performance only on the basis of model knowledge is generally hampered by model uncertainty, unknown disturbances, and variation in the dynamics between systems of the same make due to manufacturing tolerances. Data-driven control methods facilitate system-specific controller tuning in an automated fashion while taking these aspects into account through measured performance data. This article presents a data-based extremum-seeking approach for the optimization of transient system performance in terms of settling time. A novel cascaded global optimization approach tackles the problem that the settling time depends discontinuously on controller parameters. In addition, it ensures that the resulting controller designs have guaranteed closed-loop stability and robustness margins. The effectiveness of the proposed approach in optimizing transient system behavior is shown experimentally in an industrial case study on a wire bonder system. Herein, it is also shown how to achieve improved performance uniformly over a range of setpoint designs and for position-dependent dynamics.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"343-353"},"PeriodicalIF":4.9,"publicationDate":"2024-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142912441","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

Multiple Model Predictive Control of the Cardiovascular System Using Vagal Nerve Stimulation 迷走神经刺激对心血管系统的多模型预测控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-16 DOI: 10.1109/TCST.2024.3473772

Yuyu Yao;Mayuresh V. Kothare

引用次数: 0

Adaptive Critic Optimal Control of an Uncertain Robot Manipulator With Applications 不确定机械臂的自适应临界最优控制及其应用

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-15 DOI: 10.1109/TCST.2024.3470388

Ravi Prakash;Laxmidhar Behera;Sarangapani Jagannathan

{"title":"Adaptive Critic Optimal Control of an Uncertain Robot Manipulator With Applications","authors":"Ravi Prakash;Laxmidhar Behera;Sarangapani Jagannathan","doi":"10.1109/TCST.2024.3470388","DOIUrl":"https://doi.org/10.1109/TCST.2024.3470388","url":null,"abstract":"Realistic manipulation tasks involve a prolonged sequence of motor skills in varying control environments consisting of uncertain robot dynamic models and end-effector payloads. To address these challenges, this article proposes an adaptive critic (AC)-based basis function neural network (BFNN) optimal controller. Using a single neural network (NN) with a basis function, the proposed optimal controller simultaneously learns task-related optimal cost function, robot internal dynamics, and optimal control law. This is achieved through the development of a novel BFNN tuning law using closed-loop system stability. Therefore, the proposed optimal controller provides real-time, implementable, cost-effective control solutions for practical robotic tasks. The stability and performance of the proposed control scheme are verified theoretically via the Lyapunov stability theory and experimentally using a 7-DoF Barrett WAM robot manipulator with uncertain dynamics. The proposed controller is then integrated with learning from demonstration (LfD) to handle the temporal and spatial robustness of a real-world task. The validations for various realistic robotic tasks, e.g., cleaning the table, serving water, and packing items in a box, highlight the efficacy of the proposed approach in addressing the challenges of real-world robotic manipulation tasks.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"316-326"},"PeriodicalIF":4.9,"publicationDate":"2024-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905852","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

Distance-Based Multiple Noncooperative Ground Target Encirclement for Complex Environments 复杂环境下基于距离的多非合作地面目标包围

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-14 DOI: 10.1109/TCST.2024.3469032

Fen Liu;Shenghai Yuan;Kun Cao;Wei Meng;Lihua Xie

{"title":"Distance-Based Multiple Noncooperative Ground Target Encirclement for Complex Environments","authors":"Fen Liu;Shenghai Yuan;Kun Cao;Wei Meng;Lihua Xie","doi":"10.1109/TCST.2024.3469032","DOIUrl":"https://doi.org/10.1109/TCST.2024.3469032","url":null,"abstract":"This article proposes a comprehensive strategy for complex multitarget-multidrone encirclement in an obstacle-rich and global positioning system (GPS)-denied environment, motivated by practical scenarios such as pursuing vehicles or humans in urban canyons. The drones have omnidirectional range sensors that can robustly detect ground targets and obtain noisy relative distances. After each drone task is assigned, a novel distance-based target state estimator (DTSE) is proposed by estimating the measurement output noise variance and utilizing the Kalman filter. By integrating anti-synchronization (AS) techniques and pseudo-force functions, an acceleration controller enables two tasking drones to cooperatively encircle a target from opposing positions while navigating obstacles. The algorithm’s effectiveness for the discrete-time double-integrator system is established theoretically, particularly regarding observability. Moreover, the versatility of the algorithm is showcased in aerial-to-ground scenarios, supported by compelling simulation results. Experimental validation demonstrates the effectiveness of the proposed approach.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"261-273"},"PeriodicalIF":4.9,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905854","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

Nonlinear Controller for MMC-HVdc Operating in Grid-Forming Mode MMC-HVdc成网运行的非线性控制器

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-14 DOI: 10.1109/TCST.2024.3467808

Luís F. Normandia Lourenço;Alessio Iovine;Gilney Damm;Alfeu J. Sguarezi Filho

{"title":"Nonlinear Controller for MMC-HVdc Operating in Grid-Forming Mode","authors":"Luís F. Normandia Lourenço;Alessio Iovine;Gilney Damm;Alfeu J. Sguarezi Filho","doi":"10.1109/TCST.2024.3467808","DOIUrl":"https://doi.org/10.1109/TCST.2024.3467808","url":null,"abstract":"The development of the modular multilevel converter (MMC) enabled the efficient creation of high-power high-voltage direct current (HVdc) transmission systems. As a result, MMC-HVdc transmission systems became the main alternative to integrate remote renewable energy sources being deployed in accelerating rates to fight climate change. As the number of online classical synchronous generators (SGs) decreases while the one of converter-based power sources increases, power systems are suffering from lower inertia levels and from fewer providers of ancillary services. Therefore, new control strategies, such as the grid-forming (GFM) converter operation, were developed to address the ongoing power system transformation. The main contribution of this article is to propose a nonlinear (NL) control strategy compatible with GFM operation for an MMC-HVdc transmission system controlled as a virtual synchronous machine (VSM). The control strategy is developed using NL control tools, such as feedback linearization, dynamic feedback linearization, and backstepping. In addition, this article provides a rigorous mathematical stability analysis applying Lyapunov theory. The proposed control strategy is then validated by simulations using the MATLAB/Simscape Electrical package in three situations: active power tracking, converter energy tracking, and a frequency support scenario. Results show the good performance of the proposed NL controller for all situations considered, presenting a fast response and a faster disturbance rejection compared with the classical proportional integral (PI) controller.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"229-244"},"PeriodicalIF":4.9,"publicationDate":"2024-10-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905850","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

Proactive Emergency Collision Avoidance for Automated Driving in Highway Scenarios 高速公路自动驾驶的主动紧急避碰

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-11 DOI: 10.1109/TCST.2024.3469470

Leila Gharavi;Azita Dabiri;Jelske Verkuijlen;Bart De Schutter;Simone Baldi

{"title":"Proactive Emergency Collision Avoidance for Automated Driving in Highway Scenarios","authors":"Leila Gharavi;Azita Dabiri;Jelske Verkuijlen;Bart De Schutter;Simone Baldi","doi":"10.1109/TCST.2024.3469470","DOIUrl":"https://doi.org/10.1109/TCST.2024.3469470","url":null,"abstract":"Uncertainty in the behavior of other traffic participants is a crucial factor in collision avoidance for automated driving; here, stochastic metrics could avoid overly conservative decisions. This article introduces a stochastic model predictive control (SMPC) planner for emergency collision avoidance in highway scenarios to proactively minimize collision risk while ensuring safety through chance constraints. To guarantee that the emergency trajectory can be attained, we incorporate nonlinear tire dynamics in the prediction model of the ego vehicle. Further, we exploit max-min-plus-scaling (MMPS) approximations of the nonlinearities to avoid conservatism, enforce proactive collision avoidance, and improve computational efficiency in terms of performance and speed. Consequently, our contributions include integrating a dynamic ego vehicle model into the SMPC planner, introducing the MMPS approximation for real-time implementation in emergency scenarios, and integrating SMPC with hybridized chance constraints and risk minimization. We evaluate our SMPC formulation in terms of proactivity and efficiency in various hazardous scenarios. Moreover, we demonstrate the effectiveness of our proposed approach by comparing it with a state-of-the-art SMPC planner and we validate that the generated trajectories can be attained using a high-fidelity vehicle model in IPG CarMaker.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 4","pages":"1164-1177"},"PeriodicalIF":4.9,"publicationDate":"2024-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144502893","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

Collision Avoidance for Ellipsoidal Rigid Bodies With Control Barrier Functions Designed From Rotating Supporting Hyperplanes 基于旋转支撑超平面控制屏障函数的椭球刚体避碰

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-10-08 DOI: 10.1109/TCST.2024.3467809

Riku Funada;Koju Nishimoto;Tatsuya Ibuki;Mitsuji Sampei

{"title":"Collision Avoidance for Ellipsoidal Rigid Bodies With Control Barrier Functions Designed From Rotating Supporting Hyperplanes","authors":"Riku Funada;Koju Nishimoto;Tatsuya Ibuki;Mitsuji Sampei","doi":"10.1109/TCST.2024.3467809","DOIUrl":"https://doi.org/10.1109/TCST.2024.3467809","url":null,"abstract":"This article proposes a collision avoidance method for ellipsoidal rigid bodies that utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate the problem in the special Euclidean groups \u0000<inline-formula> <tex-math>${SE}(2)$ </tex-math></inline-formula>\u0000 and \u0000<inline-formula> <tex-math>${SE}(3)$ </tex-math></inline-formula>\u0000, where the kinematics are described as rigid body motion (RBM). We consider the condition for separating two ellipsoidal rigid bodies by employing a signed distance from a supporting hyperplane of a rigid body to the other rigid body. Although a positive value of this signed distance implies that the two rigid bodies are collision-free, a naively designed supporting hyperplane yields a smaller value than the actual distance. To avoid such a conservative evaluation, the supporting hyperplane is rotated so that the signed distance from the supporting hyperplane to the other rigid body is maximized. We prove that the maximum value of this optimization problem is equal to the actual distance between two ellipsoidal rigid bodies, hence eliminating excessive conservativeness. We leverage this signed distance as a CBF to prevent collision while the supporting hyperplane is rotated via a gradient-based input. The designed CBF is integrated into a quadratic programming (QP) problem, where each rigid body calculates its collision-free input in a distributed manner, given communication among rigid bodies. We exemplify that our method can be extended to other kinematic models. The proposed method is demonstrated through simulation results.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"148-164"},"PeriodicalIF":4.9,"publicationDate":"2024-10-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10709633","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905853","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