IEEE Transactions on Control Systems Technology最新文献

{"title":"Real-Time Mixed-Integer Quadratic Programming for Vehicle Decision-Making and Motion Planning","authors":"Rien Quirynen;Sleiman Safaoui;Stefano Di Cairano","doi":"10.1109/TCST.2024.3449703","DOIUrl":"10.1109/TCST.2024.3449703","url":null,"abstract":"We develop a real-time feasible mixed-integer programming-based decision-making (MIP-DM) system for automated driving (AD). Using a linear vehicle model in a road-aligned coordinate frame, the lane change constraints, collision avoidance, and traffic rules can be formulated as mixed-integer inequalities, resulting in a mixed-integer quadratic program (MIQP). The proposed MIP-DM performs maneuver selection and trajectory generation by solving the MIQP at each sampling instant. While solving MIQPs in real time has been considered intractable in the past, we show that our recently developed solver \u0000<monospace>BB-ASIPM</monospace>\u0000 is capable of solving MIP-DM problems on embedded hardware in real time. The performance of this approach is illustrated in simulations in various scenarios, including merging points and traffic intersections, and hardware-in-the-loop (HIL) simulations in dSPACE Scalexio and MicroAutoBox-III (MABX-III). Finally, we show experiments using small-scale vehicles.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"77-91"},"PeriodicalIF":4.9,"publicationDate":"2024-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142219176","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":"Hierarchical Control for Vehicle Repositioning in Autonomous Mobility-on-Demand Systems","authors":"Pengbo Zhu, Giancarlo Ferrari-Trecate, Nikolas Geroliminis","doi":"10.1109/tcst.2024.3448300","DOIUrl":"https://doi.org/10.1109/tcst.2024.3448300","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"59 1","pages":""},"PeriodicalIF":4.8,"publicationDate":"2024-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142219177","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":"Sharable Clothoid-Based Continuous Motion Planning for Connected Automated Vehicles","authors":"Sanghoon Oh, Qi Chen, H. Eric Tseng, Gaurav Pandey, Gábor Orosz","doi":"10.1109/tcst.2024.3448328","DOIUrl":"https://doi.org/10.1109/tcst.2024.3448328","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"2021 1","pages":""},"PeriodicalIF":4.8,"publicationDate":"2024-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142219179","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":"Single Intersection MPC Traffic Signal Control in Presence of Automated Vehicles","authors":"Francesco Liberati, Manuel Donsante, Andrea Tortorelli","doi":"10.1109/tcst.2024.3449188","DOIUrl":"https://doi.org/10.1109/tcst.2024.3449188","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"62 1","pages":""},"PeriodicalIF":4.8,"publicationDate":"2024-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142219178","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":"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}

{"title":"Control-Oriented Forecasting for Soil Moisture","authors":"Gregory Conde;Sandra M. Guzmán","doi":"10.1109/TCST.2024.3445660","DOIUrl":"10.1109/TCST.2024.3445660","url":null,"abstract":"The challenge of increasing irrigation efficiency to meet the demands of a growing population while protecting natural resources requires the contributions of multiple disciplines, including engineering, agronomical, horticultural, and environmental sciences. Specifically, automatic control can play a pivotal role in improving irrigation scheduling. In this context, incorporating real-time soil moisture (SM) forecasting in irrigation can potentially improve the efficiency of crop water management. However, the complexity of the analytical models that describe soil-water dynamics limits the development of practical and accurate solutions that include SM forecasting in decision-making. Currently, irrigation decisions are based on present and past SM data. This approach can be enhanced if, in addition to those, future or SM forecasting is incorporated. We formulated an SM model-based moving horizon estimation (MHE) and prediction strategy. For this, we propose a parametrizable blue SM control-oriented prediction model (SMCOPM) that obeys a soil-water balance. The SMCOPM is periodically parametrized using a proposed MHE approach, which provides adaptability, guarantees optimality, prevents overfitting, and ensures the water balance fulfillment and stability of the SMCOPM. The SM forecasting is performed by solving the parametrized SMCOPM as a function of rain, irrigation, and temperature forecasts. We evaluated the MHE and prediction strategy using, as a case study, observed data from a commercial sweetcorn field using subsurface irrigation in South Florida. The results show that by using this strategy, the SM can be predicted three days in advance with an average SM prediction error and a dispersion that significantly improves as the SMCOPM adapts over time, demonstrating convergence toward an error less than 2% and dispersion less than 3%. Consequently, the results corroborate the SMCOPM suitability, the proposed estimation strategy’s quality, and the SM behavior’s predictability. The proposed strategy has the potential for use in formulating predictive control approaches toward automating the irrigation process or scheduling irrigation actions.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"106-118"},"PeriodicalIF":4.9,"publicationDate":"2024-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142219180","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":"Dispersion Sensitive Optimal Control: A Conditional Value-at-Risk-Based Tail Flattening Approach via Sequential Convex Programming","authors":"Kazuya Echigo;Oliver Sheridan;Samuel Buckner;Behçet Açıkmeşe","doi":"10.1109/TCST.2024.3427910","DOIUrl":"10.1109/TCST.2024.3427910","url":null,"abstract":"In this brief, we propose a sequential convex programming (SCP) framework for minimizing the terminal state dispersion of a stochastic dynamical system about a prescribed destination—an important property in high-risk contexts such as spacecraft landing. Our proposed approach seeks to minimize the conditional value-at-risk (CVaR) of the dispersion, thereby shifting the probability distribution away from the tails. This approach provides an optimization framework that is not overly conservative and can accurately capture more information about true distribution, compared with methods which consider only the expected value, or robust optimization methods. The main contribution of this brief is to present an approach that: 1) establishes an optimization problem with CVaR dispersion cost 2) approximated with one of the two novel surrogates which is then 3) solved using an efficient SCP algorithm. In 2), two approximation methods, a sampling approximation (SA) and a symmetric polytopic approximation (SPA), are introduced for transforming the stochastic objective function into a deterministic form. The accuracy of the SA increases with sample size at the cost of problem size and computation time. To overcome this, we introduce the SPA, which avoids sampling by using an alternative approximation and thus offers significant computational benefits. Monte Carlo simulations indicate that our proposed approaches minimize the CVaR of the dispersion successfully.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2468-2475"},"PeriodicalIF":4.9,"publicationDate":"2024-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142219181","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":"A Distributed NSB Algorithm for Formation Path Following","authors":"Josef Matouš;Kristin Y. Pettersen;Damiano Varagnolo;Claudio Paliotta","doi":"10.1109/TCST.2024.3443703","DOIUrl":"10.1109/TCST.2024.3443703","url":null,"abstract":"This article presents a distributed null-space-based behavioral (NSB) algorithm for the formation path-following problem of vehicles moving in three dimensions. The algorithm is applied to fleets of underactuated autonomous underwater vehicles (AUVs). The algorithm combines null-space-based control with consensus methods. First, we present a continuous-time version of the algorithm and prove its stability using Lyapunov analysis. Then, we present a discrete-time event-triggered version that, compared to similar formation path-following methods, can achieve the same steady state-error performance with fewer inter-vehicle transmissions. The effectiveness of both the continuous-time and the discrete-time algorithm is verified in numerical simulations. Furthermore, the discrete-time version is tested in experiments.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"16-31"},"PeriodicalIF":4.9,"publicationDate":"2024-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142219182","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":"Guest Editorial: Special section on Resilient Control of Cyber-Physical Power and Energy Systems","authors":"Veronica Adetola;Thomas Edgar;Sai Pushpak Nandanoori;Quanyan Zhu;Craig Rieger;Masoud Abbaszadeh","doi":"10.1109/TCST.2024.3403515","DOIUrl":"https://doi.org/10.1109/TCST.2024.3403515","url":null,"abstract":"Our power and energy systems are becoming more and more integrated and interconnected. The increasing integration of edge devices and dependence on cyber infrastructure provides both the potential for benefits and risks. The integration enables more dynamic and flexible control paradigms while at the same time increasing the cyberattack surface and uncertainty of behavior. Control methodology in this new world must be designed for resilience and must have the ability to withstand, react, and respond to both physical faults and cyber-induced threats \u0000<xref>[1]</xref>\u0000. Understanding system resilience under adverse conditions requires studying control performance and how cyber infrastructure can integrate with and support the overall resilience of the system.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 5","pages":"1688-1691"},"PeriodicalIF":4.9,"publicationDate":"2024-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10640172","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142013184","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":"Control Co-Design of Hydrokinetic Turbines Considering Dynamic–Hydrodynamic Coupling","authors":"Boxi Jiang;Mohammad Reza Amini;Yingqian Liao;Kartik Naik;Joaquim R. R. A. Martins;Jing Sun","doi":"10.1109/TCST.2024.3440249","DOIUrl":"10.1109/TCST.2024.3440249","url":null,"abstract":"Hydrokinetic turbine (HKT) controllers are traditionally optimized after determining physical turbine variables. However, simultaneously varying controls and turbine shape by considering the interactions between the control space and the turbine shape can significantly enhance the system performance in contrast to the conventional sequential design approach. This article delves into this prospect by introducing a control co-design (CCD) framework tailored for this simultaneous optimization for a variable-speed HKT rotor. The proposed CCD framework integrates a dynamic-hydrodynamic model that captures the intricate interplay between hydrodynamic performance and control strategies for the HKT under time-varying flow profiles. We systematically investigate cases with diverse control constraints in a time-varying flow environment to explore the coupling between the control space and the physical system. We demonstrate the advantages of the CCD framework over the conventional sequential design methodology through comparative study cases. CCD optimization considering a single flow condition leads to an overly specialized design that underperforms at other off-design conditions. The stochastic nature of the flow thereby highlights the need to account for a broader range of flow speeds in the HKT design process. To address this challenge, we introduce a multipoint CCD optimization that accounts for the annual flow probability distribution. The multipoint CCD approach demonstrates higher annual energy extraction compared to optimizations based on a single flow condition.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 1","pages":"48-60"},"PeriodicalIF":4.9,"publicationDate":"2024-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142219083","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}