IFAC Journal of Systems and Control最新文献_第4页

Adaptive optimal resource allocation for isolation interventions: Flattening the curve 隔离干预措施的自适应最优资源分配：曲线趋平

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2026-01-23 DOI: 10.1016/j.ifacsc.2026.100367

Mohamed Arnouss , Yezekael Hayel , Karam Allali

引用次数: 0

Enhancing autonomous vehicle control with lateral error feedback analysis 利用横向误差反馈分析增强自动驾驶车辆控制

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2026-01-03 DOI: 10.1016/j.ifacsc.2025.100359

Mordecai Opoku Ohemeng , Bernard Asamoah Afful , Joseph Ackora-Prah , Benedict Barnes , Ishmael Takyi

{"title":"Enhancing autonomous vehicle control with lateral error feedback analysis","authors":"Mordecai Opoku Ohemeng , Bernard Asamoah Afful , Joseph Ackora-Prah , Benedict Barnes , Ishmael Takyi","doi":"10.1016/j.ifacsc.2025.100359","DOIUrl":"10.1016/j.ifacsc.2025.100359","url":null,"abstract":"<div><div>This paper develops a general Lyapunov-based framework for state-feedback control of nonlinear discrete-time systems, where the controller is designed to offer formal assurance of the monotonic decrease of a quadratic Lyapunov function while explicitly accounting for actuator saturation (input constraints). The framework is first presented in a general setting, emphasizing stability conditions under practical limits, and then applied to a case study in autonomous driving. The core difficulty lies in analytically deriving the feedback gains to satisfy both the Hurwitz stability criteria and desired transient (damping) specifications, while maintaining a low-complexity structure. Using a simplified vehicle model, two controllers are compared: a basic proportional feedback law and a Lyapunov-stable controller (LSC) that explicitly incorporates lateral deviation into the control policy. Both controllers are evaluated on real-world driving trajectories from the comma2k19 dataset. Simulation results demonstrate that the LSC significantly improves lane-keeping performance and accelerates convergence to the equilibrium compared to the baseline controller. The novelty of this work lies in bridging Lyapunov stability analysis with practical control evaluation on real driving data, offering a systematic approach to controller design.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"35 ","pages":"Article 100359"},"PeriodicalIF":1.8,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145925980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Compatible realisation of control and identification of direct adaptive control via probing signal auto-elimination 通过探测信号自动消去实现直接自适应控制的兼容实现和辨识

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2026-01-30 DOI: 10.1016/j.ifacsc.2026.100375

Akira Takakura , Takashi Yokoyama , Takahiro Nozaki , Shuichi Adachi , Hiromitsu Ohmori

{"title":"Compatible realisation of control and identification of direct adaptive control via probing signal auto-elimination","authors":"Akira Takakura , Takashi Yokoyama , Takahiro Nozaki , Shuichi Adachi , Hiromitsu Ohmori","doi":"10.1016/j.ifacsc.2026.100375","DOIUrl":"10.1016/j.ifacsc.2026.100375","url":null,"abstract":"<div><div>The model reference adaptive control system is an adaptive controller that maintains the control performance even when the uncertainty of the controlled system’s parameters is high, and its design methodology is well established. In particular, the direct MRACS excels in responsiveness; however, it suffers from the problem that its adjustable parameters do not converge to their true values. To converge the adjustable parameters to their true values, a conventional method involves injecting a probing signal to satisfy the PE property; however, this compromises the control performance. Thus, a control error-based probing signal auto-elimination scheme is proposed in this study, which adaptively regulates the probing signal based solely on the control error without predefined elimination timing. This enables the identification of adjustable parameters during transient phases, while automatically suppressing the probing signal once sufficient tracking performance is achieved. Furthermore, unlike existing probing-based methods, the proposed scheme allows re-injection of the probing signal when performance degradation is detected, thereby achieving a compatible realisation of identification and control within a single framework. Therefore, the proposed scheme simultaneously contributes to the identification and control, significantly reducing the tracking error. The validity of the proposed structure was confirmed by simulations under plant variation conditions.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"35 ","pages":"Article 100375"},"PeriodicalIF":1.8,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146077720","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Orthogonal-by-construction augmentation of physics-based input–output models 基于物理的输入输出模型的正交构造增强

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2026-01-31 DOI: 10.1016/j.ifacsc.2026.100376

Bendegúz M. Györök , Maarten Schoukens , Tamás Péni , Roland Tóth

{"title":"Orthogonal-by-construction augmentation of physics-based input–output models","authors":"Bendegúz M. Györök , Maarten Schoukens , Tamás Péni , Roland Tóth","doi":"10.1016/j.ifacsc.2026.100376","DOIUrl":"10.1016/j.ifacsc.2026.100376","url":null,"abstract":"<div><div>This paper proposes a novel orthogonal-by-construction parametrization for augmenting physics-based input–output models with a learning component in an additive sense. The parametrization allows to jointly optimize the parameters of the physics-based model and the learning component. Unlike the commonly applied additive (parallel) augmentation structure, the proposed formulation eliminates overlap in representation of the system dynamics, thereby preserving the uniqueness of the estimated physical parameters, ultimately leading to enhanced model interpretability. By theoretical analysis, we show that, under mild conditions, the method is statistically consistent and guarantees recovery of the true physical parameters. With further analysis regarding the asymptotic covariance matrix of the identified parameters, we also prove that the proposed structure provides a clear separation between the physics-based and learning components of the augmentation structure. The effectiveness of the proposed approach is demonstrated through simulation studies, showing accurate reproduction of the data-generating dynamics without sacrificing consistent estimation of the physical parameters.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"35 ","pages":"Article 100376"},"PeriodicalIF":1.8,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146173651","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robust delay-time and state estimation for continuous-discrete linear system using unscented H-infinity filter 连续离散线性系统的无气味h∞滤波器的鲁棒延迟时间和状态估计

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2026-01-31 DOI: 10.1016/j.ifacsc.2026.100380

Noritaka Kinjo, Shin Kawai, Triet Nguyen-Van

引用次数: 0

Direct data-driven interpolation and approximation of linear parameter-varying system trajectories 线性参数变化系统轨迹的直接数据驱动插值和逼近

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2025-12-11 DOI: 10.1016/j.ifacsc.2025.100352

Chris Verhoek , Ivan Markovsky , Roland Tóth

引用次数: 0

Identification of reaction–diffusion systems from finitely many non-local noisy measurements via exponential fitting 通过指数拟合从有限多非局部噪声测量中识别反应扩散系统

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2025-12-03 DOI: 10.1016/j.ifacsc.2025.100350

Rami Katz , Giulia Giordano , Dmitry Batenkov

引用次数: 0

A robust tube-based MPC approach for safer insulin dosing 一种可靠的基于管的MPC方法，用于更安全的胰岛素给药

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2026-02-23 DOI: 10.1016/j.ifacsc.2026.100393

Nicola Licini, Marcelo Alves Santos, Fabio Previdi, Antonio Ferramosca

引用次数: 0

Decoupled model predictive control with SCESO for contact force regulation of a shape-adaptive shield in assistive toileting robots 基于SCESO的形状自适应护罩接触力调节解耦模型预测控制

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2026-02-17 DOI: 10.1016/j.ifacsc.2026.100390

Lingling Chen , Yuxin Dong , Ziqian Wang , Chipu Zhang , Zhihao Yang , Pengyue Lai , Zhihao Liu

{"title":"Decoupled model predictive control with SCESO for contact force regulation of a shape-adaptive shield in assistive toileting robots","authors":"Lingling Chen , Yuxin Dong , Ziqian Wang , Chipu Zhang , Zhihao Yang , Pengyue Lai , Zhihao Liu","doi":"10.1016/j.ifacsc.2026.100390","DOIUrl":"10.1016/j.ifacsc.2026.100390","url":null,"abstract":"<div><div>To overcome the limitations of discomfort and physical constraints in existing wearable nursing devices, this paper proposes a non-wearable shape-adaptive shield integrated with real-time pressure sensing for assistive toileting robots. The shield employs a bionic continuum structure with multiple adjustable spine segments and flexible sensors, enabling safe body conformity and contact force monitoring across diverse body types. To address multi-input multi-output coupling that compromise force control stability, an integral-type state feedback decoupling method is developed to mitigate inter-segment coupling. Furthermore, a novel control strategy integrating State-Compensated Extended State Observer (SCESO) and Model Predictive Control (MPC) is proposed to optimize dynamic force tracking under uncertainties. Simulations and experiments demonstrate that the decoupling-SCESO-MPC framework achieves superior tracking accuracy (average root mean square error of 0.017 N across 10 subjects with diverse body types) and robust performance, thereby providing a practical solution for safe, comfortable, and adaptive human–robot interaction in assistive toileting scenarios.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"35 ","pages":"Article 100390"},"PeriodicalIF":1.8,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147384869","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Model-free source seeking of exponentially convergent unicycle: Theoretical and robotic experimental results 指数收敛独轮车的无模型寻源：理论与机器人实验结果

IF 1.8

IFAC Journal of Systems and Control Pub Date : 2026-03-01 Epub Date: 2026-02-12 DOI: 10.1016/j.ifacsc.2026.100378

Rohan Palanikumar , Ahmed A. Elgohary , Victoria Grushkovskaya , Sameh A. Eisa

{"title":"Model-free source seeking of exponentially convergent unicycle: Theoretical and robotic experimental results","authors":"Rohan Palanikumar , Ahmed A. Elgohary , Victoria Grushkovskaya , Sameh A. Eisa","doi":"10.1016/j.ifacsc.2026.100378","DOIUrl":"10.1016/j.ifacsc.2026.100378","url":null,"abstract":"<div><div>This paper introduces a novel model-free, real-time unicycle-based source seeking design. This design autonomously steers the unicycle dynamic system towards the extremum point of an objective function or physical/scalar signal that is unknown expression-wise, but accessible via measurements. A key contribution of this paper is that the introduced design converges exponentially to the extremum point of objective functions (or scalar signals) that behave locally like a higher-degree power function (e.g., fourth-degree polynomial function) as opposed to locally quadratic objective functions, the usual case in literature. We provide theoretical results and design characterization, supported by a variety of simulation results that demonstrate the robustness of the proposed design, including cases with different initial conditions and measurement delays/noise. Also, for the first time in the literature, we provide experimental robotic results that demonstrate the effectiveness of the proposed design and its exponential convergence ability. These experimental results confirm that the proposed exponentially convergent extremum seeking design can be practically realized on a physical robotic platform under real-world sensing and actuation constraints.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"35 ","pages":"Article 100378"},"PeriodicalIF":1.8,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147384917","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0