IEEE Transactions on Control Systems Technology最新文献_第9页

Sampling-Based Planning for Guaranteed Safe Energy Management of Hybrid UAV Powertrain Under Complex, Uncertain Constraints 复杂、不确定约束条件下基于采样的混合动力无人机动力系统安全能源管理规划

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-07-11 DOI: 10.1109/TCST.2024.3422372

Cary L. Butler;Reid D. Smith;Andrew G. Alleyne

{"title":"Sampling-Based Planning for Guaranteed Safe Energy Management of Hybrid UAV Powertrain Under Complex, Uncertain Constraints","authors":"Cary L. Butler;Reid D. Smith;Andrew G. Alleyne","doi":"10.1109/TCST.2024.3422372","DOIUrl":"10.1109/TCST.2024.3422372","url":null,"abstract":"As electrified aircraft are becoming more prominent, new energy management strategies are needed to fully leverage their capabilities to perform more complex missions and to do so safely. Nonconvex constraints, multitimescale dynamics, and uncertainty introduce challenges in the way of guaranteeing safe powertrain operation using existing methods. This work seeks to address these challenges using a novel application of sampling-based planning methods to plan the operation of a hybrid unmanned aerial vehicle (UAV) powertrain. Known for their computational efficiency, these sampling-based methods can rapidly react to changing mission information. A two-stage method is introduced, which manages multiple time scales using rapidly exploring random tree (RRT)-based algorithms for long-term planning and robust model predictive control (RMPC) for short-term execution of mission plans with guaranteed tracking error bounds. An experimentally validated case study demonstrates the implementation of the two-stage method using RRT-based algorithms. Rapid planning times (\u0000<inline-formula> <tex-math>$gt 100times $ </tex-math></inline-formula>\u0000 faster than real time) enable replanning online to react to changing mission specifications. Robust tracking control guarantees that the UAV powertrain is safely operated in the presence of complex, uncertain constraints.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2267-2282"},"PeriodicalIF":4.9,"publicationDate":"2024-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141613521","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

Human-Robot Interactive Skill Learning and Correction for Polishing Based on Dynamic Time Warping Iterative Learning Control 基于动态时间扭曲迭代学习控制的人机互动抛光技能学习与校正

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-07-09 DOI: 10.1109/TCST.2024.3423548

Ruiqing Zhang;Jingkang Xia;Junjie Ma;Deqing Huang;Xin Zhang;Yanan Li

引用次数: 0

Global Finite-Time Adaptive Attitude Control for Coupled Spacecraft With Model Uncertainty and Actuator Faults 具有模型不确定性和执行器故障的耦合航天器的全局有限时间自适应姿态控制

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-07-09 DOI: 10.1109/TCST.2024.3405668

Wanwan Zhu;Yukai Yang;Bailing Tian;Qun Zong

引用次数: 0

Optimization-Based Coordination of Automated and Human-Driven Vehicles in Confined Sites 基于优化的封闭场地内自动驾驶车辆与人工驾驶车辆的协调

IF 4.8 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-07-03 DOI: 10.1109/tcst.2024.3417068

Stefan Kojchev, Robert Hult, Maximilian Kneissl, Jonas Fredriksson

引用次数: 0

Data-Driven Security Consensus Tracking of Multiple High-Speed Trains Under Random Topologies With Data Recovery Mechanism 带数据恢复机制的随机拓扑结构下多列高速列车的数据驱动型安全共识追踪

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-07-02 DOI: 10.1109/TCST.2024.3420012

Wei Yu;Deqing Huang;Xiao-Lei Wang;Hairong Dong

引用次数: 0

Reachability-Based Planning of Time-Optimal Curvature-Constrained Path With Moving and Deforming Obstacles 基于可达性的具有移动和变形障碍物的时间最优曲率受限路径规划

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-07-02 DOI: 10.1109/TCST.2024.3415377

Y. M. H. Xiao;H. Wang;Y. Pan

{"title":"Reachability-Based Planning of Time-Optimal Curvature-Constrained Path With Moving and Deforming Obstacles","authors":"Y. M. H. Xiao;H. Wang;Y. Pan","doi":"10.1109/TCST.2024.3415377","DOIUrl":"10.1109/TCST.2024.3415377","url":null,"abstract":"In this work, we develop a time-optimal path planning algorithm for a mobile robot constrained by a minimum turning radius in an environment cluttered with an arbitrary number of moving and deforming obstacles. The algorithm builds on our previous work and involves substantial extensions to handle the turning radius constraint by adding the heading angle of the robot to the state space in addition to its location in a 2-D plane. The developed planner involves two stages: 1) forward propagation of the reachable set in the state space to preset destination through a newly derived variational inequality (VI) which encodes the obstacle avoidance and 2) backtracking to obtain the waypoints of the optimal path (corresponding to optimal control of the turning rate and speed), solved through an ODE-based scheme or a new and more robust backward-set-based scheme. The planned path represents a rigorous global optimal solution (except numerical errors) to the problem that can be used as a benchmark for other simplified planners or implemented together with a receding horizon for path planning with limited perception ability. We demonstrate both applications in several test cases.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2240-2252"},"PeriodicalIF":4.9,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141526712","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 Nonlinear Observer Approach to Diagonally Decoupled Direct Visual Servo Control 对角线解耦直接视觉伺服控制的非线性观测器方法

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-06-26 DOI: 10.1109/TCST.2024.3415236

Geraldo Silveira;Luiz Mirisola;Pascal Morin

{"title":"A Nonlinear Observer Approach to Diagonally Decoupled Direct Visual Servo Control","authors":"Geraldo Silveira;Luiz Mirisola;Pascal Morin","doi":"10.1109/TCST.2024.3415236","DOIUrl":"10.1109/TCST.2024.3415236","url":null,"abstract":"This brief investigates the problem of vision-based robot control where the equilibrium is defined via a reference image. Specifically, this work considers the class of intensity-based nonmetric solutions, which provide for high accuracy, versatility, and robustness. The existing general techniques within that class present either a fully coupled control error dynamics or at best only achieve decoupling of the translational part, i.e., they can only obtain a triangular system in the general case. These couplings in the system dynamics increase analysis complexity and may degrade system performance. This work proposes a new nonlinear observer-based strategy for completely decoupling the translational and rotational parts, i.e., to obtain a diagonal system in the general case. A Lyapunov-based analysis of local stability and convergence, as well as proofs of diffeomorphism and of that decoupling property are provided. Improved performances are also experimentally confirmed using a camera-mounted six-degree-of-freedom (DoF) robotic manipulator in a challenging setup. In particular, execution times are drastically reduced by using the proposed diagonal technique.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2460-2467"},"PeriodicalIF":4.9,"publicationDate":"2024-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141503706","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

Safety-Critical Disturbance Rejection Control of Overhead Crane Systems: Methods and Experimental Validation 高架起重机系统的安全关键干扰抑制控制：方法与实验验证

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-06-25 DOI: 10.1109/TCST.2024.3416416

Zheng Tian;Xinming Wang;Jun Yang;Shihua Li;Dan Niu;Qi Li

{"title":"Safety-Critical Disturbance Rejection Control of Overhead Crane Systems: Methods and Experimental Validation","authors":"Zheng Tian;Xinming Wang;Jun Yang;Shihua Li;Dan Niu;Qi Li","doi":"10.1109/TCST.2024.3416416","DOIUrl":"10.1109/TCST.2024.3416416","url":null,"abstract":"Crane systems generally operate in challenging environments (e.g., harsh weather conditions and high-altitude work), which heightens the requirements of control systems for the safety and disturbances rejection. However, underactuated nature poses difficulties in achieving the efficient positioning and swing elimination under these factors. To this end, we propose a method using a quadratic program (QP) formulation that combines an enhanced-coupling control Lyapunov function (ECCLF) with a new composite state control barrier function (CSCBF). Additionally, disturbance observers (DOBs) are employed to handle matched and unmatched disturbances effectively. The ECCLF introduces a new coupled control variable, where its tracking error ultimately exhibits an exponential convergence, elegantly overcoming the inability of full-state feedback linearization in underactuated systems. The CSCBF imposes time-varying safety constraints on the unilateral swing distance (USD), ensuring swing safety and meeting industrial payload positioning accuracy requirements. Especially, the traditional control barrier function (CBF) approach is not applicable for the proposed problem due to the infeasibility when the control coefficient of the CBF tends to zero, which is addressed by the proposed CSCBF approach. The safety of the CSCBF and the effectiveness of the controller synthesis are rigorously proven. Experimental validation demonstrates the effectiveness, safety, and disturbance rejection performance under practical working conditions.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2253-2266"},"PeriodicalIF":4.9,"publicationDate":"2024-06-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141503707","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

The Hand Position Concept for Control of Underactuated Underwater Vehicles 用于控制欠驱动水下航行器的手部位置概念

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-06-18 DOI: 10.1109/TCST.2024.3412529

Josef Matouš;Claudio Paliotta;Kristin Ytterstad Pettersen;Damiano Varagnolo

{"title":"The Hand Position Concept for Control of Underactuated Underwater Vehicles","authors":"Josef Matouš;Claudio Paliotta;Kristin Ytterstad Pettersen;Damiano Varagnolo","doi":"10.1109/TCST.2024.3412529","DOIUrl":"10.1109/TCST.2024.3412529","url":null,"abstract":"This article extends the hand position concept to underactuated underwater vehicles. Compared with previous works that utilize this concept, our approach works on six degrees-of-freedom (DOFs) vehicles and does not introduce singularities. By choosing the hand position as the output of the controlled system, we can apply output feedback linearization to simplify the dynamics of the vehicle. Specifically, we can then transform the six DOFs nonlinear underactuated vehicle model into a double integrator. This transformation enables the use of numerous control strategies that could otherwise not be used on nonholonomic or underactuated vehicles. After defining the concept, we analyze the closed-loop behavior of a general hand position-based controller. Specifically, we analyze the effects of external disturbances on the hand position and derive the sufficient conditions under which the rotational dynamics of the AUV remain bounded. Next, we present two examples of hand position-based controllers for solving the trajectory-tracking and path-following problems and analyze their closed-loop behavior. The theoretical results are verified both in numerical simulations and experiments.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2223-2239"},"PeriodicalIF":4.9,"publicationDate":"2024-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141939881","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

Pilot Performance Modeling via Observer-Based Inverse Reinforcement Learning 通过基于观测器的反强化学习建立飞行员性能模型

IF 4.9 2区计算机科学

IEEE Transactions on Control Systems Technology Pub Date : 2024-06-18 DOI: 10.1109/TCST.2024.3410128

Jared Town;Zachary Morrison;Rushikesh Kamalapurkar

引用次数: 0