发布求助
文献互助 智能选刊 最新文献

IEEE Control Systems Letters最新文献

筛选
英文 中文
Limbic System-Inspired Robust Event-Driven Control for High-Order Uncertain Nonlinear Systems 高阶不确定非线性系统边缘系统鲁棒事件驱动控制
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-19 DOI: 10.1109/LCSYS.2024.3520918
J. Escareno;J. U. Alvarez-Munoz;L. R. Garcia Carrillo;I. Rubio Scola;J. Franco-Robles;O. Labbani-Igbida
{"title":"Limbic System-Inspired Robust Event-Driven Control for High-Order Uncertain Nonlinear Systems","authors":"J. Escareno;J. U. Alvarez-Munoz;L. R. Garcia Carrillo;I. Rubio Scola;J. Franco-Robles;O. Labbani-Igbida","doi":"10.1109/LCSYS.2024.3520918","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520918","url":null,"abstract":"Nonlinearity and uncertainty are major features in control systems. In this context, the present work proposes to merge the brain emotional learning model with the benefits of robust event-driven control to handle uncertain nonlinear systems. The state-dependent unmodeled dynamics is estimated via the limbic system-inspired learning algorithm and added to the nominal control signal for compensation purposes. Furthermore, aiming at reducing data processing, and inherently, computational cost, the controller is triggered asynchronously driven by events function. Moreover, the closed-loop stability of the proposed control scheme is verified through the Lyapunov formalism, as well as the sampling admissibility to prevent the Zeno phenomena. The performance observed in the numerical results witnesses the effectiveness of the proposed control scheme.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3057-3062"},"PeriodicalIF":2.4,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962847","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
Structure-Exploiting Distributionally Robust Control of Non-Homogeneous Markov Jump Linear Systems 非齐次马尔可夫跳变线性系统的结构利用分布鲁棒控制
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-19 DOI: 10.1109/LCSYS.2024.3520348
Melanie Gallant;Christoph Mark;Paolo Pazzaglia;Johannes von Keler;Laura Beermann;Kevin Schmidt;Martina Maggio
{"title":"Structure-Exploiting Distributionally Robust Control of Non-Homogeneous Markov Jump Linear Systems","authors":"Melanie Gallant;Christoph Mark;Paolo Pazzaglia;Johannes von Keler;Laura Beermann;Kevin Schmidt;Martina Maggio","doi":"10.1109/LCSYS.2024.3520348","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520348","url":null,"abstract":"The contribution of this letter is the mean-square stabilization of discrete-time Markov jump linear systems with mixed known, unknown, and time-varying transition probabilities. To handle uncertainties in the transition probabilities, we develop a control strategy utilizing mode-dependent static state feedback controllers and introduce data-based ambiguity sets that, extending existing literature, account for known, unknown and time-varying probabilities. These ambiguity sets are constructed using estimated transition matrices and probabilistic bounds derived from the Dvoretzky-Kiefer-Wolfowitz inequality. We validate the effectiveness of our method with numerical simulations on a control system subject to deadline overruns, demonstrating the improvements of incorporating partial knowledge of the transition probabilities.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3069-3074"},"PeriodicalIF":2.4,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962882","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
Combined Design and Control Optimization for a Series Hybrid Electric Vehicle With an Opposed Piston Engine 对置活塞发动机串联式混合动力汽车组合设计与控制优化
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-19 DOI: 10.1109/LCSYS.2024.3520415
Meridian Haas;Joseph Drallmeier;Robert Middleton;Jason B. Siegel;Shima Nazari
{"title":"Combined Design and Control Optimization for a Series Hybrid Electric Vehicle With an Opposed Piston Engine","authors":"Meridian Haas;Joseph Drallmeier;Robert Middleton;Jason B. Siegel;Shima Nazari","doi":"10.1109/LCSYS.2024.3520415","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520415","url":null,"abstract":"Hybrid electric vehicles (HEV) enable reduction of emissions without sacrificing consumer expected range and drivability. The diversification of the powertrain with multiple power sources allows downsizing the internal combustion engine and implementing optimal energy management strategies. The interaction among components of an HEV are key to the overall efficiency. Therefore, efficiency potential is lost if this interdependence is neglected during the powertrain design by focusing on individual optimization of component specifications. This letter formulates and solves a co-design problem by integrating the energy management with the optimal powertrain and drivetrain component sizing for a hybrid powertrain equipped with an opposed piston (OP) engine in a series architecture. Our novel approach develops a model for an OP engine and integrates battery capacity degradation into the co-design problem. The optimal solution allows for a minimally sized engine that accounts for the average power requirements, and a large enough battery to provide fast power dynamics.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"2973-2978"},"PeriodicalIF":2.4,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142975934","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
Performance-Oriented Data-Driven Control: Fusing Koopman Operator and MPC-Based Reinforcement Learning 面向性能的数据驱动控制：融合Koopman算子和基于mpc的强化学习
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-19 DOI: 10.1109/LCSYS.2024.3520904
Hossein Nejatbakhsh Esfahani;Umesh Vaidya;Javad Mohammadpour Velni
{"title":"Performance-Oriented Data-Driven Control: Fusing Koopman Operator and MPC-Based Reinforcement Learning","authors":"Hossein Nejatbakhsh Esfahani;Umesh Vaidya;Javad Mohammadpour Velni","doi":"10.1109/LCSYS.2024.3520904","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520904","url":null,"abstract":"This letter develops the machinery of Koopman-based Model Predictive Control (KMPC) design, where the Koopman derived model is unable to capture the real nonlinear system perfectly. We then propose to use an MPC-based reinforcement learning within the Koopman framework combining the strengths of MPC, Reinforcement Learning (RL), and the Koopman Operator (KO) theory for an efficient data-driven control and performance-oriented learning of complex nonlinear systems. We show that the closed-loop performance of the KMPC is improved by modifying the KMPC objective function. In practice, we design a fully parameterized KMPC and employ RL to adjust the corresponding parameters aiming at achieving the best achievable closed-loop performance.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3021-3026"},"PeriodicalIF":2.4,"publicationDate":"2024-12-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962833","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
Generalization of Optimal Geodesic Curvature Constrained Dubins’ Path on Sphere With Free Terminal Orientation 最优测地线曲率约束下自由端向球上Dubins路径的推广
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-18 DOI: 10.1109/LCSYS.2024.3520026
Deepak Prakash Kumar;Swaroop Darbha;Satyanarayana Gupta Manyam;David Casbeer
{"title":"Generalization of Optimal Geodesic Curvature Constrained Dubins’ Path on Sphere With Free Terminal Orientation","authors":"Deepak Prakash Kumar;Swaroop Darbha;Satyanarayana Gupta Manyam;David Casbeer","doi":"10.1109/LCSYS.2024.3520026","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520026","url":null,"abstract":"In this letter, motion planning for a Dubins vehicle on a unit sphere to attain a desired final location is considered. The radius of the Dubins path on the sphere is lower bounded by r, where r represents the radius of the tightest left or right turn the vehicle can take on the sphere. Noting that <inline-formula> <tex-math>$r in $ </tex-math></inline-formula> (0, 1) and can affect the trajectory taken by the vehicle, it is desired to determine the candidate optimal paths for r ranging from nearly zero to close to one to attain a desired final location. In a previous study, this problem was addressed, wherein it was shown that the optimal path is of type <inline-formula> <tex-math>$CG, CC$ </tex-math></inline-formula>, or a degenerate path of the CG and CC paths, which includes C, G paths, for <inline-formula> <tex-math>$r leq {}frac {1}{2}$ </tex-math></inline-formula>. Here, <inline-formula> <tex-math>$C~in $ </tex-math></inline-formula> {<inline-formula> <tex-math>$L, R$ </tex-math></inline-formula>} denotes an arc of a tight left or right turn of minimum turning radius r, and G denotes an arc of a great circle. In this letter, the candidate paths for the same problem are generalized to model vehicles with a larger turning radius. In particular, it is shown that the candidate optimal paths are of type <inline-formula> <tex-math>$CG, CC$ </tex-math></inline-formula>, or a degenerate path of the CG and CC paths for <inline-formula> <tex-math>$r leq {}frac {sqrt {3}}{2}$ </tex-math></inline-formula>. Noting that at most two LG paths and two RG paths can exist for a given final location, this letter further reduces the candidate optimal paths by showing that only one LG and one RG path can be optimal, yielding a total of seven candidate paths for <inline-formula> <tex-math>$r leq {}frac {sqrt {3}}{2}$ </tex-math></inline-formula>. Additional conditions for the optimality of CC paths are also derived in this letter.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"2991-2996"},"PeriodicalIF":2.4,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142975933","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
Fitted Q-Iteration via Max-Plus-Linear Approximation 基于最大加线性逼近的拟合q -迭代
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-18 DOI: 10.1109/LCSYS.2024.3520060
Yichen Liu;Mohamad Amin Sharifi Kolarijani
{"title":"Fitted Q-Iteration via Max-Plus-Linear Approximation","authors":"Yichen Liu;Mohamad Amin Sharifi Kolarijani","doi":"10.1109/LCSYS.2024.3520060","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520060","url":null,"abstract":"In this letter, we consider the application of max-plus-linear approximators for Q-function in offline reinforcement learning of discounted Markov decision processes. In particular, we incorporate these approximators to propose novel fitted Q-iteration (FQI) algorithms with provable convergence. Exploiting the compatibility of the Bellman operator with max-plus operations, we show that the max-plus-linear regression within each iteration of the proposed FQI algorithm reduces to simple max-plus matrix-vector multiplications. We also consider the variational implementation of the proposed algorithm which leads to a per-iteration complexity that is independent of the number of samples.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3201-3206"},"PeriodicalIF":2.4,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142938060","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
Sequential Linear Programming With Adaptive Linearization Error Limits for All-Time Feasibility 具有自适应线性化误差限的序列线性规划
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-18 DOI: 10.1109/LCSYS.2024.3519547
Dorijan Leko;Mario Vašak
{"title":"Sequential Linear Programming With Adaptive Linearization Error Limits for All-Time Feasibility","authors":"Dorijan Leko;Mario Vašak","doi":"10.1109/LCSYS.2024.3519547","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3519547","url":null,"abstract":"This letter presents an enhanced Trust Region Method (TRM) for Sequential Linear Programming (SLP) designed to improve the initial feasible solution to a constrained nonlinear programming problem while maintaining the interim solutions feasibility throughout the SLP iterations. The method employs a polytopic sub-approximation of the feasible region, defined around the interim solution as a level set based on variable limits for the linearization error. This polytopic feasible region is established by using a trust region that ensures that maximum limits of the linearization errors are respected. The method adaptively adjusts the size of the feasible region during iterations to achieve convergence to a local optimum by employing variable linearization error limits. Local convergence is attained by reducing the size of the trust radius. A case study illustrates the effectiveness of the proposed method, which is compared to the benchmark TRM that uses heuristic limits on the permissible changes in manipulated variables.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3051-3056"},"PeriodicalIF":2.4,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10806887","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962893","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Probabilistic Data-Driven Invariance for Constrained Control of Nonlinear Systems 非线性系统约束控制的概率数据驱动不变性
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-18 DOI: 10.1109/LCSYS.2024.3520025
Ali Kashani;Amy K. Strong;Leila J. Bridgeman;Claus Danielson
{"title":"Probabilistic Data-Driven Invariance for Constrained Control of Nonlinear Systems","authors":"Ali Kashani;Amy K. Strong;Leila J. Bridgeman;Claus Danielson","doi":"10.1109/LCSYS.2024.3520025","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520025","url":null,"abstract":"We present a novel direct data-driven method for computing constraint-admissible positive invariant sets for general nonlinear systems with compact constraint sets. Our approach employs machine learning techniques to lift the state space and approximate invariant sets using finite data. The invariant sets are parameterized as sub-level-sets of scalar linear functions in the lifted space, which is suitable for control applications. We provide probabilistic guarantees of invariance through scenario optimization, with probability bounds on robustness against the uncertainty inherent in the data-driven framework. As the amount of data increases, these probability bounds approach 1. We use our invariant sets to switch between a collection of controllers to select a controller which enforces constraints. We demonstrate the practicality of our method by applying it to a nonlinear autonomous driving lane-keeping scenario.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3165-3170"},"PeriodicalIF":2.4,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142938116","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
Meta-Learning Augmented MPC for Disturbance-Aware Motion Planning and Control of Quadrotors 元学习增强四旋翼机扰动感知运动规划与控制的MPC
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-18 DOI: 10.1109/LCSYS.2024.3520023
Dženan Lapandić;Fengze Xie;Christos K. Verginis;Soon-Jo Chung;Dimos V. Dimarogonas;Bo Wahlberg
{"title":"Meta-Learning Augmented MPC for Disturbance-Aware Motion Planning and Control of Quadrotors","authors":"Dženan Lapandić;Fengze Xie;Christos K. Verginis;Soon-Jo Chung;Dimos V. Dimarogonas;Bo Wahlberg","doi":"10.1109/LCSYS.2024.3520023","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520023","url":null,"abstract":"A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and cause collisions, especially in obstacle-rich environments. This letter presents a disturbance-aware motion planning and control framework for autonomous aerial flights. The framework is composed of two key components: a disturbance-aware motion planner and a tracking controller. The motion planner consists of a predictive control scheme and an online-adapted learned disturbance model. The tracking controller, developed using contraction control methods, ensures safety bounds on the quadrotor’s behavior near obstacles with respect to the motion plan. The algorithm is tested in simulations with a quadrotor facing strong crosswind and ground-induced disturbances.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"3045-3050"},"PeriodicalIF":2.4,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142962827","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
Adaptive Passification of Unknown Input-Affine Nonlinear Systems 未知输入仿射非线性系统的自适应钝化
IF 2.4
IEEE Control Systems Letters Pub Date : 2024-12-18 DOI: 10.1109/LCSYS.2024.3520031
Tatsuya Miyano;Ryotaro Shima;Yuji Ito
{"title":"Adaptive Passification of Unknown Input-Affine Nonlinear Systems","authors":"Tatsuya Miyano;Ryotaro Shima;Yuji Ito","doi":"10.1109/LCSYS.2024.3520031","DOIUrl":"https://doi.org/10.1109/LCSYS.2024.3520031","url":null,"abstract":"In this letter, we present an adaptive passification framework for unknown input-affine nonlinear systems. In the present framework, a reference system is designed so that the deviation between the reference system and an unknown nominal system is minimized, while ensuring some classes of passivity properties. Based on the passive reference system, we present an adaptive control method that drives the nominal system to the reference system. The performance of the present framework was demonstrated through numerical experiments.","PeriodicalId":37235,"journal":{"name":"IEEE Control Systems Letters","volume":"8 ","pages":"2979-2984"},"PeriodicalIF":2.4,"publicationDate":"2024-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10806861","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142975919","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信