IFAC Journal of Systems and Control最新文献

{"title":"3D-Scan hole detection for robot-assisted laparoscopic surgery","authors":"Birthe Göbel ,&nbsp;Alexander Richter ,&nbsp;Stefan J. Rupitsch ,&nbsp;Alexander Reiterer ,&nbsp;Knut Möller","doi":"10.1016/j.ifacsc.2025.100336","DOIUrl":"10.1016/j.ifacsc.2025.100336","url":null,"abstract":"<div><div>Minimally invasive laparoscopic surgery, where endoscopes and instruments are inserted through small incisions, has advanced to the next stage of development: robot-assisted minimally invasive surgery. These systems use a camera and robotic manipulators operated by human surgeons through human-in-the-loop control. To further improve surgical precision and autonomy, data-driven assistance must be expanded. One promising approach is 3D reconstruction based on endoscopic images. A 30°endoscope tip enhances the field of view by enabling rotational motion around the instrument’s axis. However, when performing a 3D scan with such an endoscope, a blind spot inherently forms along the shaft axis, creating a region that cannot be captured during rotation. Additional missing data may arise due to occlusions from anatomical geometry and the specific endoscope pose during a scan. These limitations result in incomplete 3D reconstructions, which can negatively impact surgical navigation and decision-making. This paper presents a method tailored to medical applications for detecting and characterizing holes in laparoscopic 3D scans. The proposed method uses geometric analysis of the point cloud to identify regions of sparse or missing data and correlates these gaps with endoscope positioning and anatomical visibility. It is designed to operate robustly on high-density point clouds generated by advanced laparoscopic 3D reconstruction systems. By integrating robotic control, our method provides a foundation for adaptive endoscope repositioning to recover missing views and improve reconstruction completeness. The proposed method paves the way towards fast (<span><math><mo>∼</mo></math></span>5 s) feedback for optimized 3D scanning in laparoscopic environments.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"34 ","pages":"Article 100336"},"PeriodicalIF":1.8,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145097553","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}

{"title":"Model-based and Large Language Model Meta Artificial Intelligence techniques for intelligent permanent magnet synchronous motor drive control","authors":"Javier Urquizo,&nbsp;Patricia Pasmay,&nbsp;Luis Muñoz,&nbsp;Luis Galarza","doi":"10.1016/j.ifacsc.2025.100341","DOIUrl":"10.1016/j.ifacsc.2025.100341","url":null,"abstract":"<div><div>Permanent magnet synchronous motors play a critical role in modern applications, particularly in the electrification of transportation. Their high energy efficiency and ability to maintain constant power over a wide speed range make them ideal for high-speed trains and electric vehicles. This research explores advanced control strategies, including Field oriented control (FOC), voltage droop control (Vdroop), and dispatchable virtual oscillator control (dVOC), implemented using the Texas Instruments microcontroller development kit, the Boost inverter, and the conventional platform. Furthermore, supervised machine learning algorithms such as support vector machine and reinforcement learning to learn the optimal action-selection policy for an agent interacting with an environment, such as Q-Learning. Large Language Model Meta Artificial Intelligence instruct (LLAMA3) is employed to dynamically optimize control strategies. Laboratory tests validate the implementation, focusing on system efficiency, adaptability, and stability under varying operating conditions. Our findings highlight the potential of artificial intelligence (AI) selected control methods over traditional strategies to deliver optimal performance for modern Permanent magnet synchronous motor.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"34 ","pages":"Article 100341"},"PeriodicalIF":1.8,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145363461","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}

{"title":"Robust control and state of charge estimation for off-grid solar power systems using ANN-based reference voltage generation","authors":"Hassan Ouabi,&nbsp;Rachid Lajouad,&nbsp;Mohammed Kissaoui,&nbsp;Abdelmounime El Magri","doi":"10.1016/j.ifacsc.2025.100346","DOIUrl":"10.1016/j.ifacsc.2025.100346","url":null,"abstract":"<div><div>This study proposes an advanced multi-mode control strategy for a stand-alone photovoltaic (PV) system equipped with a Li-ion battery. The system is designed to cope with weather fluctuations and varying load demands, which can affect battery lifespan and charging efficiency. The proposed multimode control strategy dynamically switches between three modes: Maximum Power Point Tracking (MPPT) maximizes energy extraction under low PV generation, Constant Current (CC) ensuring fast battery charging, and Constant Voltage (CV) to preserve battery health during saturation. An Artificial Neural Network (ANN) is implemented to adaptively generate the PV reference voltage, enhancing system responsiveness to environmental changes. Furthermore, a state observer is designed to deliver accurate values of all battery states like battery’s state of charge (SoC), ensuring optimized performance, longevity, and safety. The effectiveness of the proposed control strategy and observer is validated through MATLAB/Simulink simulations. Finally, a semi-experimental study based on Processor-in-the-Loop (PIL) testing with the eZdsp TMS320F28335 board confirms the robustness and reliability of the system under real operating conditions.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"34 ","pages":"Article 100346"},"PeriodicalIF":1.8,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145268210","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}

{"title":"Exploring the potential of standardized behaviour competencies in automated driving systems","authors":"Georg Stettinger ,&nbsp;Patrick Weissensteiner ,&nbsp;Nayel Fabian Salem ,&nbsp;Marcus Nolte ,&nbsp;Siddartha Khastgir","doi":"10.1016/j.ifacsc.2025.100320","DOIUrl":"10.1016/j.ifacsc.2025.100320","url":null,"abstract":"<div><div>This paper presents a comprehensive impact assessment to explore the potential benefits of harmonized behaviour competencies (BC) for automated driving systems (ADS). Typically, ADS-equipped vehicles operate within certain boundaries specified by an operational design domain (ODD), utilizing the relevant implemented BCs. Nonetheless, many regulatory and standardization-relevant documents employ BC attributes in a non-harmonized manner. The study delves into BC-related activities and applications throughout the entire ADS life cycle, affecting all aspects of the ADS value chain, to gain a deeper understanding of the diverse needs of various stakeholders. BCs are linked to one of the four primary requirement sources at the system level. ADS-related BCs are defined through a multidisciplinary approach driven by their underlying core operating principle: the well-known sense-plan-act cycle. The crucial element within the BC specification is the identified manoeuvre pool, which forms the basis for implementing any route from point A to point B. The individual manoeuvres within the manoeuvre pool are defined by considering the needs of multiple stakeholders. They are based on three essential components: the initial condition, the expected manoeuvre, and the final condition. Furthermore, trustworthy behaviour competencies are specified, encompassing three pillars: robustness, ethics, and lawfulness. Following a detailed stakeholder analysis, several related applications are discussed to highlight the concrete advantages of implementing standardized BCs. The study concludes with a summary of the impact analysis, emphasizing key findings and action points. Lastly, a roadmap is proposed to integrate trustworthy BCs into future ADS. Concretely, the authors developed the following innovations within the scope of this article: (1) Concept for trustworthy behaviour competencies driven by law, ethics, and robustness. (2) Robustness is defined as passenger &amp; ODD awareness and plannable &amp; executable manoeuvre. (3) Manoeuvre pool necessary to implement an arbitrary route from point A to point B. (4) Manoeuvre specification via initial condition, expected behaviour, and final condition. (5) The potential benefits of harmonized behaviour competencies drive impact assessment.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"33 ","pages":"Article 100320"},"PeriodicalIF":1.8,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144313352","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}

{"title":"Optimized droop control strategy for efficiency improvement in islanded AC microgrid","authors":"Md Akib Hasan ,&nbsp;Md Showkot Hossain ,&nbsp;Mohd Azrik Roslan ,&nbsp;Azralmukmin Azmi ,&nbsp;Leong Jenn Hwai ,&nbsp;Ahmad Afif Nazib ,&nbsp;Noor Syafawati Ahmad","doi":"10.1016/j.ifacsc.2025.100319","DOIUrl":"10.1016/j.ifacsc.2025.100319","url":null,"abstract":"<div><div>The increasing integration of renewable energy sources has accelerated the adoption of microgrids, necessitating efficient power-sharing and control techniques for reliable operation. This study proposes an optimized droop control technique for parallel inverters in islanded AC microgrids, focusing on improving system efficiency. Conventional droop methods often encounter challenges in power-sharing accuracy under varying load conditions due to mismatched feeder impedances and differing power loss characteristics of distributed generators (DGs). To address these issues, the proposed method dynamically adjusts droop coefficients using Particle Swarm Optimization (PSO) to optimize power distribution, reduce circulating currents, and improve energy conversion efficiency while maintaining system modularity. A system-level microgrid efficiency model is designed to identify optimal operating points under diverse load profiles. Comparative analysis demonstrates that the proposed PSO-based controller consistently outperforms conventional droop methods, achieving system efficiency improvements ranging from 0.11% to 0.52% across various load conditions and power factors. Simulation results from PSIM and MATLAB/Simulink further highlight reduced circulating currents, enhanced energy conversion efficiency, and improved system stability. These findings underscore the potential of PSO-driven control as a scalable and communication-free solution for efficiency optimization in decentralized microgrids.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"33 ","pages":"Article 100319"},"PeriodicalIF":1.8,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144587719","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}

{"title":"In-silico evaluation of three control methodologies with model adaptation to minimize risk of overdosing in anesthesia","authors":"Clara M. Ionescu ,&nbsp;Bora Ayvaz ,&nbsp;Robin De Keyser,&nbsp;Erhan Yumuk,&nbsp;Dana Copot","doi":"10.1016/j.ifacsc.2025.100324","DOIUrl":"10.1016/j.ifacsc.2025.100324","url":null,"abstract":"<div><div>The ideal conditions for extracting good models for control are not attainable in clinical settings, due to patient safety and further enforced by ethical and regulatory frameworks. From prior observations, the patient model defined by the pharmacokinetic part is piecewise linear and mostly invariant among the patients, while the drug–dose effect relationship exhibits large variability, resulting in significant large gain variations in patient’s model. In this paper, we propose a model for the gain adaptation as a two-input (Propofol and Remifentanil) one output (hypnotic state BIS variable) linear area of the nonlinear surface of the dose–effect for general anesthesia. The new patient model is used for tuning controllers without over-dosing, i.e. no BIS-nadir values below 50 and avoid negative values of median prediction error indicative of over-dosing. A comparison of target controlled infusion (this is manual control with anesthesiologist closing the loop) against two control strategies is performed. A model based predictive control and a PID control scheme with model adaptation and co-administration in ratio control mode are compared before and after the patient model adaptation. The results indicate the adaptation step minimizes risk for over-dosing, as it minimizes modeling errors. Robustness of controllers has been assessed before the identification, encouraging the claim that predictive control closely mimics the human-in-the-loop target controlled infusion profiles. Evaluation criteria from clinical practice further enhance the added value of our solution. Real clinical data evaluation confirms the results from the simulation tests, showing a considerable match between the drug profiles titrated by anesthesiologist and those calculated by the proposed control algorithms.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"33 ","pages":"Article 100324"},"PeriodicalIF":1.8,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144513874","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}

{"title":"Stability analysis of feedback interconnections between systems with “mixed” properties","authors":"Liu Liu,&nbsp;Xinshu Wang","doi":"10.1016/j.ifacsc.2025.100329","DOIUrl":"10.1016/j.ifacsc.2025.100329","url":null,"abstract":"<div><div>Sufficient conditions for the finite-gain stability of positive feedback interconnected systems are given when the subsystems have a certain mixed dissipative property, such as “mixed” small gain and passivity, “mixed” small gain and negative imaginary, “mixed” passivity and negative imaginary. In addition, the converse of the integral quadratic constraint (IQC) theorem involving nonlinear systems is provided on the basis of the S-procedure lossless theorem. Furthermore, a collection of converse results for mixed dissipative theorems is derived by the converse IQC theorem and the decomposition of the multipliers. It is demonstrated that if the feedback interconnection of a linear time-invariant (LTI) system with an arbitrary system satisfying some mixed dissipative property is finite-gain stable, then the given system must have a more strict version of the same mixed dissipative property. Meanwhile, the converse IQC theorem can cover the converse theorems of small-gain, passivity and <span><math><mrow><mo>(</mo><mi>Q</mi><mo>,</mo><mi>S</mi><mo>,</mo><mi>R</mi><mo>)</mo></mrow></math></span>-dissipativity.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"33 ","pages":"Article 100329"},"PeriodicalIF":1.8,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144750408","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}

{"title":"Dynamics and robust control of a space manipulator system servicing a satellite with flexible appendages","authors":"Sofiane Kraïem,&nbsp;Mathieu Rognant,&nbsp;Sérgio Waitman,&nbsp;Idriss Chelikh,&nbsp;Jean-Marc Biannic","doi":"10.1016/j.ifacsc.2025.100328","DOIUrl":"10.1016/j.ifacsc.2025.100328","url":null,"abstract":"<div><div>Space Manipulator Systems (SMS) are becoming pivotal in space exploitation and exploration, offering a versatile range of solutions from space debris capture to structure assembly. However, recent missions involving manipulators aboard satellites and space structures must contend with lightweight and large elements that exhibit flexible behaviors. Despite the challenges posed by flexible elements in their surroundings, enhancing the autonomy of SMS remains crucial to ensure their viability as solutions. For the pre-design of the SMS, path-planning applications, or controller design, there is a necessity for methods to assess the couplings between the manipulator, the SMS platform, and any flexible elements moved by a manipulator or attached to the platform. Moreover, recently proposed control strategies have demonstrated a keen interest in developing model-based controllers, which advantageously provide an efficient utilization of actuators and mitigation of internal disturbances within the system. This paper initially presents, for control purposes, the derivation of the kinematics and dynamics of a free-floating Space Manipulator System (SMS) with a flexible body at the end of a kinematic chain, employing a Lagrangian formalism. Subsequently, a robust joint-space control law is designed for the On-Orbit Servicing (OOS) of a satellite with flexible appendages. The control structure consists of Nonlinear Dynamic Inversion (NDI) for system linearization and decoupling. A structured <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> controller synthesis is developed to provide robustness against flexible disturbances, model uncertainties, and sensor noise. To evaluate the effectiveness of this control strategy, it is implemented on a real-time simulation platform that ensures tight and high-fidelity space robot dynamics and flexible structures. This platform incorporates visual environment models and virtual sensors to provide an accurate representation of real-world conditions. The considered use-case involves the servicing of a satellite equipped with a flexible solar array using a free-floating dual-arm SMS with flexible appendages.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"33 ","pages":"Article 100328"},"PeriodicalIF":1.8,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144702895","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}

{"title":"On some composite multiple-cost models and associated vector inequalities","authors":"Savin Treanţă ,&nbsp;Cristina-Mihaela Cebuc","doi":"10.1016/j.ifacsc.2025.100331","DOIUrl":"10.1016/j.ifacsc.2025.100331","url":null,"abstract":"<div><div>This paper investigates a distinctive family of (weak) composite controlled variational inequality models of vector type, contextualized within the domain of vector control. We establish its intrinsic relationships with the composite multiple objective variational control problem, shedding light on the intricate dynamics of control systems. An exploration of the connections between a critical or (weak) efficient point in the composite vector optimization problem and a solution of the associated composite vector controlled variational-like inequality is undertaken, guided by the assumption of composite (strictly) invariant convexity and/or pseudo-invariant convexity of the involved functionals. By using the KKM lemma, a result on the existence of solutions for the composite controlled variational inequality problem is stated. Additionally, a gap functional is defined specifically for the composite controlled variational inequality problem, providing a valuable tool for understanding the nuances of control scenarios. The significance of our findings is exemplified through illustrative examples, offering concrete insights into applying the derived results in vector control scenarios.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"33 ","pages":"Article 100331"},"PeriodicalIF":1.8,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144864588","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}

{"title":"Validation of the mePAP: A low-cost, high-quality, open-source PAP device for research and increasing equity in respiratory care","authors":"Jordan F. Hill,&nbsp;Samuel Jackson,&nbsp;Mia Uluilelata,&nbsp;Samrath Sood,&nbsp;Jaimey A. Clifton,&nbsp;Ella F.S. Guy,&nbsp;J. Geoffrey Chase","doi":"10.1016/j.ifacsc.2025.100333","DOIUrl":"10.1016/j.ifacsc.2025.100333","url":null,"abstract":"<div><div>Respiratory diseases affect 14% of New Zealand’s population, with over 100,000 individuals suffering from sleep apnoea, which causes breathing disruptions due to airway blockages. Positive airway pressure (PAP) devices are the gold standard treatment, typically operating in continuous (CPAP), bilevel (BiPAP), or automatic (APAP) modes. However, current PAP devices cost between NZ$800–$2500, creating a financial barrier for users, particularly those from lower socio-economic backgrounds. The mePAP was developed as a low-cost, open-source PAP device, constructed for NZ$250, capable of delivering CPAP, BiPAP, and APAP therapies with an airway pressure sensor for more precise control. Validation against a Fisher &amp; Paykel CPAP was performed through benchtop testing, mechanical lung simulations, and a clinical trial with 40 healthy subjects. The mePAP was preferred by 42.5% of subjects, with 25% reporting no difference between the devices. A mean comfort rating of 6.36 for the mePAP compared to 5.92 for the Fisher &amp; Paykel CPAP confirmed the two devices were comparable, with pressure fluctuations from the mePAP’s low-cost motor imperceptible to users. The airway sensor feedback loop enabled accurate pressure delivery, with BiPAP and APAP algorithms dynamically adjusting therapy pressure in response to breathing patterns. These results validate the mePAP as a low-cost alternative to commercial PAP devices, with comparable performance and comfort. Its affordability and open-source design have the potential to improve healthcare accessibility and reduce inequities, making respiratory therapy more accessible to underserved populations while enabling further research into respiratory treatments.</div></div>","PeriodicalId":29926,"journal":{"name":"IFAC Journal of Systems and Control","volume":"33 ","pages":"Article 100333"},"PeriodicalIF":1.8,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144922557","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}