IEEE Transactions on Control Systems Technology最新文献

{"title":"New Fixed-Time Observer-Based Model-Free Fixed-Time Sliding Mode of Joint Angle Commanded NAO Humanoid Robot","authors":"Mahmoud Farhat;Yassine Kali;Maarouf Saad;Mohammad Habibur Rahman;Roberto E. Lopez-Herrejon","doi":"10.1109/TCST.2024.3469051","DOIUrl":"https://doi.org/10.1109/TCST.2024.3469051","url":null,"abstract":"In this article, we present a new fixed-time observer (FTO) with time delay estimation (TDE)-based model-free fixed-time sliding mode for the problem of robust walking of the NAO robot. The proposed technique ensures convergence in fixed time, regardless of initial conditions, thereby enhancing both convergence speed and robustness. This method allows for precise tracking of the joint angles’ positions without depending on the robot’s dynamic models while reducing the chattering via a modified exponential reaching law (MERL). To address the complexities of stabilizing the walking dynamics of the NAO robot, which include highly nonlinear dynamics and limited computational process, the proposed strategy utilizes the TDE technique for system model estimation. To mitigate estimation errors, a novel observer with guaranteed fixed-time stability is proposed. This last helps to enhance the tracking performance. Using the Lyapunov theory and experimental validation, within the proposed composite control method, the proposed nonsingular terminal sliding surface’s fixed-time stability along with the system state’s stability is verified. Significantly improved stability and accuracy in the robot’s joint movements are demonstrated through experimental results, validating the efficacy of the tracking trajectory for robotic systems such as the NAO humanoid robot.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"304-315"},"PeriodicalIF":4.9,"publicationDate":"2024-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905718","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}

{"title":"Real-Time Gear-Shift Optimization for an Autonomous Wheel Loader","authors":"Sencheng Yu;Xingyong Song;Zongxuan Sun","doi":"10.1109/TCST.2024.3460648","DOIUrl":"https://doi.org/10.1109/TCST.2024.3460648","url":null,"abstract":"Off-road vehicles, such as wheel loaders, consume a significant amount of fuel during the transportation of materials. The gear-shifting process is crucial in fuel savings for transportation, and therefore, optimization of gearshifts is important for vehicle control. For an autonomous off-road vehicle, there is potential for more fuel savings by proper coordination of gearshift optimization and optimization of other control inputs. This brief proposes a new method for integrating gear-shifting into transportation optimization for an autonomous wheel loader to minimize fuel consumption. Tests conducted on short loading cycles show that this method can save around 10%–20% of fuel on average compared with a conventional gearshift-scheduling method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"384-391"},"PeriodicalIF":4.9,"publicationDate":"2024-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142912529","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}

{"title":"Layer-to-Layer Melt Pool Control in Laser Powder Bed Fusion","authors":"Dominic Liao-McPherson;Efe C. Balta;Mohamadreza Afrasiabi;Alisa Rupenyan;Markus Bambach;John Lygeros","doi":"10.1109/TCST.2024.3464118","DOIUrl":"https://doi.org/10.1109/TCST.2024.3464118","url":null,"abstract":"Additive manufacturing (AM) processes are flexible and efficient technologies for producing complex geometries. However, ensuring reliability and repeatability is challenging due to the complex physics and various sources of uncertainty in the process. In this work, we investigate closed-loop control of the melt pool dimensions in a 2-D laser powder bed fusion (LPBF) process. We propose a trajectory optimization-based layer-to-layer (L2L) controller based on a linear parameter-varying (LPV) model that adjusts the laser power input to the next layer to track a desired melt pool depth and validate our controller by placing it in closed-loop high-fidelity multilayer smoothed particle hydrodynamics simulator of the 2-D LPBF process. Detailed numerical case studies demonstrate successful regulation of the melt pool depth on brick and overhang geometries and provide first of its kind results on the effectiveness of L2L input optimization for the LPBF process as well as detailed insight into the physics of the controlled process. Computational complexity and process performance results illustrate the method’s effectiveness and provide an outlook for its implementation onto real systems.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"207-218"},"PeriodicalIF":4.9,"publicationDate":"2024-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905855","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}

{"title":"Statistically Oriented Optimal Control and Disturbance Prediction for Piezoelectric Semi-Active Vibration Suppression","authors":"Mizuki Abe;Koyo Mishima;Yushin Hara;Keisuke Otsuka;Kanjuro Makihara","doi":"10.1109/TCST.2024.3463333","DOIUrl":"https://doi.org/10.1109/TCST.2024.3463333","url":null,"abstract":"This study proposes a novel predictive input optimization and disturbance prediction strategy for semi-active vibration control using a piezoelectric transducer, leveraging the statistically oriented prediction and optimization scheme and Gaussian process (GP) enhanced disturbance prediction. Here, semi-active switching, which manipulates the piezoelectric charge, is executed to suppress vibration. State-dependent discontinuity of the semi-active input trajectory owing to the switching makes it challenging to formulate a prediction-based optimization strategy in conventional methods. Incorporating the dynamical model of disturbance is also crucial to compensate for those undesired effects effectively. The proposed GP-enhanced disturbance predictor, which combines the empirical model and GP regression, provides the disturbance trajectory over a finite time horizon. The empirical model approximates the periodic disturbance with known frequencies, while the GP regression model handles other unknown components, enabling the predictor to function under different conditions. Furthermore, the predicted disturbance trajectory is applied for control optimization, allowing the controller to determine the optimal control input trajectory that compensates for future disturbances. The proposed strategy employs the tree-based scheme to formulate a prediction and optimization algorithm that determines the optimal semi-active input trajectory. Further, it includes a statistically oriented switching criterion that reduces the computational costs by selecting the trajectory to be predicted. This criterion utilizes kernel density estimation to learn the probability density function of suppression performance, allowing the controller to adaptively select trajectories to predict online while not excluding promising ones. The effectiveness of the proposed statistically oriented predictive switching vibration control with tree-based formulation and optimization (S-PSTFO) strategy was validated through experiments, demonstrating superior suppression performance over the conventional method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"165-180"},"PeriodicalIF":4.9,"publicationDate":"2024-10-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10703149","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905716","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}

{"title":"Temperature Control of Nonlinear Uncertain Systems via Model-Free Cascaded Controller: Application to an Infrared Emissometer","authors":"J. Gabirondo-López;I. Arredondo;J. M. Igartua","doi":"10.1109/TCST.2024.3464111","DOIUrl":"https://doi.org/10.1109/TCST.2024.3464111","url":null,"abstract":"This article introduces a cascade control system designed to precisely manage complex heating processes characterized by two actuator saturations, the absence of any cooling system, variable properties of the sample being heated, and a wide temperature span. The proposed control system combines an industrial PID for furnace heating element control with a model-free controller to control the temperature of the heated sample. We clearly describe the procedure to tune the controller and to accurately model the whole heating process. We have performed simulations to compare the performance of the control system we propose to the performance of conventional cascade controllers; our control system is superior in terms of accuracy and adaptability. We have successfully implemented the control system in an experimental instrument: an infrared emissometer. We have proved that the implementation is effective in controlling both tuned plants and unknown plants, without the need to modify the previous control configurations. The tests we have done also demonstrate that the achieved final model represents the whole experimental system with a high degree of accuracy, as the results from the simulations match with the experimental results.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"219-228"},"PeriodicalIF":4.9,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10701453","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142905720","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}

{"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}

{"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}

{"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}

{"title":"Predictive Control for Autonomous Driving With Uncertain, Multimodal Predictions","authors":"Siddharth H. Nair, Hotae Lee, Eunhyek Joa, Yan Wang, H. Eric Tseng, Francesco Borrelli","doi":"10.1109/tcst.2024.3451370","DOIUrl":"https://doi.org/10.1109/tcst.2024.3451370","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"144 1","pages":""},"PeriodicalIF":4.8,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142250991","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}

{"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}