IEEE Control Systems Letters最新文献_第7页

Parameter Tuning for Optimal Control of Switched Systems With Applications in Hypersonic Vehicles 高超声速飞行器切换系统最优控制参数整定

IF 2.4

IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521188

Shunan Yin;Ayush Rai;Shaoshuai Mou

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Online Data-Driven Control of Nonlinear Systems Using Semidefinite Programming 非线性系统的半定规划在线数据驱动控制

IF 2.4

IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521645

Augusto Bozza;Tim Martin;Graziana Cavone;Raffaele Carli;Mariagrazia Dotoli;Frank Allgöwer

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Safe Constraint Learning for Reference Governor Implementation in Constrained Linear Systems 约束线性系统中参考调速器实现的安全约束学习

IF 2.4

IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521191

Miguel Castroviejo-Fernandez;Ilya Kolmanovsky

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Low-Frequency Learning for a Discrete Uncertain System 离散不确定系统的低频学习

IF 2.4

IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3522058

Nathaniel Sisson;K. Merve Dogan

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Robust Controller Synthesis Under Markovian Mode Switching With Periodic LTV Dynamics

IF 2.4

IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3522212

Shaurya Shrivastava;Kenshiro Oguri

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Localization Phenomena in Large-Scale Networked Systems: Implications for Fragility 大规模网络系统中的局部化现象：对脆弱性的影响

IF 2.4

IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521432

Poorva Shukla;Bassam Bamieh

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Optimal Gait Design for Nonlinear Soft Robotic Crawlers 非线性软体爬行机器人步态优化设计

IF 2.4

IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521872

Yenan Shen;Naomi Ehrich Leonard;Bassam Bamieh;Juncal Arbelaiz

{"title":"Optimal Gait Design for Nonlinear Soft Robotic Crawlers","authors":"Yenan Shen;Naomi Ehrich Leonard;Bassam Bamieh;Juncal Arbelaiz","doi":"10.1109/LCSYS.2024.3521872","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3521872","url":null,"abstract":"Soft robots offer a frontier in robotics with enormous potential for safe human-robot interaction and agility in uncertain environments. A stepping stone towards unlocking their potential is a control theory tailored to soft robotics, including a principled framework for gait design. We analyze the problem of optimal gait design for a soft crawling body – the crawler. The crawler is an elastic body with the control signal defined as actuation forces between segments of the body. We consider the simplest such crawler: a two-segmented body with a passive mechanical connection modeling the viscoelastic body dynamics and a symmetric control force modeling actuation between the two body segments. The model accounts for the nonlinear asymmetric friction with the ground, which together with the symmetric actuation forces enable the crawler’s locomotion. Using a describing-function analysis, we show that when the body is forced sinusoidally, the optimal actuator contraction frequency corresponds to the body’s natural frequency when operating with only passive dynamics. We then use the framework of Optimal Periodic Control (OPC) to design optimal force cycles of arbitrary waveform and the corresponding crawling gaits. We provide a hill-climbing algorithm to solve the OPC problem numerically. Our proposed methods and results inform the design of optimal forcing and gaits for more complex and multi-segmented crawling soft bodies.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"1-1"},"PeriodicalIF":2.4,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142937954","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

Scenario-Based Risk-Sensitive Computations of Equilibria for Two-Person Zero-Sum Games 基于场景的二人零和博弈均衡风险敏感计算

IF 2.4

IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521360

Fat-Hy Omar Rajab;Jeff S. Shamma

引用次数: 0

Output-Constrained Switching Anti-Windup Compensation for Aero-Engines With Asymmetric Input Saturation 非对称输入饱和航空发动机的输出约束切换抗上发条补偿

IF 2.4

IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3521187

Ke Wang;Di Wu;Pengyuan Li;Xu Li

{"title":"Output-Constrained Switching Anti-Windup Compensation for Aero-Engines With Asymmetric Input Saturation","authors":"Ke Wang;Di Wu;Pengyuan Li;Xu Li","doi":"10.1109/LCSYS.2024.3521187","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3521187","url":null,"abstract":"In practical aero-engine control systems, saturation constraints on the control input are inherently asymmetric and the engine outputs may exceed their physical or safety limits during the operation. This letter proposes a switching anti-windup compensation for aero-engines incorporating the asymmetric input saturation and output constraint simultaneously. To tackle the asymmetric saturation, we transform the aero-engine linear model with asymmetrically saturated input into a switched system, and all its subsystems possess symmetric saturation property. Based on this transformation, a switching anti-windup compensator with multiple anti-windup gains is developed to mitigate the performance deterioration induced by the saturation constraints. Furthermore, output constraints are also incorporated into the compensation design, which prevents engine outputs from exceeding their allowable limits during the control process. The switching between different anti-windup gains in real time can fully utilize the actuator capability, and further achieving a more desirable engine performance. Finally, hardware-in-loop (HIL) testing and comparative results demonstrate its effectiveness and superiority.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3075-3080"},"PeriodicalIF":2.4,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962826","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

Optimal Risk-Sensitive Scheduling Policies for Remote Estimation of Autoregressive Markov Processes 自回归马尔可夫过程远程估计最优风险敏感调度策略

IF 2.4

IEEE Control Systems Letters Pub Date : 2024-12-23 DOI: 10.1109/LCSYS.2024.3522196

Manali Dutta;Rahul Singh

{"title":"Optimal Risk-Sensitive Scheduling Policies for Remote Estimation of Autoregressive Markov Processes","authors":"Manali Dutta;Rahul Singh","doi":"10.1109/LCSYS.2024.3522196","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3522196","url":null,"abstract":"We consider a remote estimation setup, where data packets containing sensor observations are transmitted over a Gilbert-Elliot channel to a remote estimator, and design scheduling policies that minimize a risk-sensitive cost, which is equal to the expected value of the exponential of the cumulative cost incurred during a finite horizon, that is the sum of the cumulative transmission power consumed, and the cumulative squared estimation error. More specifically, consider a sensor that observes a discrete-time autoregressive Markov process, and at each time decides whether or not to transmit its observations to a remote estimator using an unreliable wireless communication channel after encoding these observations into data packets. Modeling the communication channel as a Gilbert-Elliot channel allows us to take into account the temporal correlations in its fading. We pose this dynamic optimization problem as a Markov decision process (MDP), and show that there exists an optimal policy that has a threshold structure, i.e., at each time t it transmits only when the current channel state is good, and the magnitude of the current “error” exceeds a certain threshold.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3099-3104"},"PeriodicalIF":2.4,"publicationDate":"2024-12-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962831","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