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Neural Operator based Reinforcement Learning for Control of first-order PDEs with Spatially-Varying State Delay⁎ 基于神经算子的一阶状态时滞微分方程的强化学习控制[j]
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.085
Jiaqi Hu , Jie Qi , Jing Zhang
{"title":"Neural Operator based Reinforcement Learning for Control of first-order PDEs with Spatially-Varying State Delay⁎","authors":"Jiaqi Hu ,&nbsp;Jie Qi ,&nbsp;Jing Zhang","doi":"10.1016/j.ifacol.2025.08.085","DOIUrl":"10.1016/j.ifacol.2025.08.085","url":null,"abstract":"<div><div>Control of distributed parameter systems affected by delays is a challenging task, particularly when the delays depend on spatial variables. The idea of integrating analytical control theory with learning-based control within a unified control scheme is becoming increasingly promising and advantageous. In this paper, we design a integrated control strategy combining PDE backstepping and deep reinforcement learning (RL) for an unstable first-order hyperbolic PDE with spatially-varying delays. This method eliminates extra constraint on the delay function required for the backstepping design. We embed a DeepONet, trained to learn the backstepping controller, into a soft actor-critic (SAC) framework as a feature extractor for both the actor and critic networks. Simulation results demonstrate that the proposed algorithm outperforms standard SAC in reducing steady-state error and surpasses the backstepping controller in mitigating overshoot.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 8","pages":"Pages 167-172"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144913469","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
Polynomial Stability of an Elastic Plate with Dynamical Boundary Control 具有动态边界控制的弹性板的多项式稳定性
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.096
Yanan Sun , Qiong Zhang
{"title":"Polynomial Stability of an Elastic Plate with Dynamical Boundary Control","authors":"Yanan Sun ,&nbsp;Qiong Zhang","doi":"10.1016/j.ifacol.2025.08.096","DOIUrl":"10.1016/j.ifacol.2025.08.096","url":null,"abstract":"<div><div>This work studies the boundary feedback stabilization for an elastic thin plate, where one part of its boundary is clamped and the remaining free part is attached to a rigid body. The boundary feedback controls are applied to the free boundary. Given that the boundary of the domain may have corners, we introduce a proper abstract framework to analyze the well-posedness and estimate the resolvent. When the geometric control condition (GCC) holds, we prove a polynomial energy decay rate of t<sup>-1/2</sup>. For cases where GCC does not hold, we analyze the system on a rectangular domain with control applied to only one edge and obtain a slower decay rate t<sup>-1/3</sup>.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 8","pages":"Pages 232-236"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144913521","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
State estimation for stochastic parabolic systems: A two-step estimation method⁎ 随机抛物型系统的状态估计：一种两步估计方法
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.066
Yu Gao , Kai-Ning Wu
{"title":"State estimation for stochastic parabolic systems: A two-step estimation method⁎","authors":"Yu Gao ,&nbsp;Kai-Ning Wu","doi":"10.1016/j.ifacol.2025.08.066","DOIUrl":"10.1016/j.ifacol.2025.08.066","url":null,"abstract":"<div><div>This paper proposes a novel two-step interval estimation-based state estimation scheme for a class of stochastic parabolic systems. Peak-to-peak analysis is introduced to solve the difficulties generated by the spatiotemporal characteristic and the multidimensional nature. Based on the two-step interval estimation method, the adaptive thresholds of the mathematical expectation of the system state are obtained. Numerical simulation is adopted to show the effectiveness of the proposed method.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 8","pages":"Pages 54-59"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144913769","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
A Multi-physics Model for Phase Change Actuation in Soft Robotics: Towards Untethered Soft Robots 软机器人相变驱动的多物理场模型：面向无系绳软机器人
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-11-05 DOI: 10.1016/j.ifacol.2025.10.133
Alexia Le Gall , Mattia Franchi de’ Cavalieri , Matteo Cianchetti
{"title":"A Multi-physics Model for Phase Change Actuation in Soft Robotics: Towards Untethered Soft Robots","authors":"Alexia Le Gall ,&nbsp;Mattia Franchi de’ Cavalieri ,&nbsp;Matteo Cianchetti","doi":"10.1016/j.ifacol.2025.10.133","DOIUrl":"10.1016/j.ifacol.2025.10.133","url":null,"abstract":"<div><div>This paper presents a multi-physics model for phase-change-driven actuation in soft robotics, focusing on untethered systems that autonomously generate pressure through liquid evaporation. The model integrates electrothermal, thermo-fluidic, and mechanical domains, coupling Peltier-based heating, vapor generation, and soft material deformation. By operating in a pre-boiling regime, the approach minimises thermal gradients, enhances responsiveness, and reduces energy consumption. The governing equations are integrated into a multiphysics model, providing an innovative tool for designing efficient, safe, and controllable actuators with applications in robotics, biomedical devices, and adaptive materials.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 17","pages":"Pages 19-24"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145435437","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
Prototyping Tool using an Embedded Digital Twin for Assistive Technology Reconfiguration 使用嵌入式数字孪生进行辅助技术重构的原型工具
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-11-05 DOI: 10.1016/j.ifacol.2025.10.144
Aurélian Houé , Florent Frizon de Lamotte , Cédric Seguin , Nathalie Julien , Willy Allègre
{"title":"Prototyping Tool using an Embedded Digital Twin for Assistive Technology Reconfiguration","authors":"Aurélian Houé ,&nbsp;Florent Frizon de Lamotte ,&nbsp;Cédric Seguin ,&nbsp;Nathalie Julien ,&nbsp;Willy Allègre","doi":"10.1016/j.ifacol.2025.10.144","DOIUrl":"10.1016/j.ifacol.2025.10.144","url":null,"abstract":"<div><div>To achieve autonomy in their daily lives, people with a disability need assistive devices. Still, according to Denormandie and Chevalier (2020), 30 to 40% of these are discarded in the first year of use. One reason is the lack of adaptation; indeed, current models of handicap demonstrate how much a disability situation can evolve according to both environmental and personal factors together with time. To overcome this situation and develop more accessible assistive technologies, we propose to integrate reconfiguration capabilities in a 3 steps usage adaptation framework. Customisation involves the user in the design process and enhances the appropriation of assistive aids, configuration allows the adaption of mechanical, hardware or software capabilities of the assistive technology to the individual’s current abilities, and reconfiguration updates those capabilities following the changes in the person’s disability situation. This paper presents a complete approach, from the formalism to the first implementation, to develop a versatile framework. Configuration is achieved using a distributed electronic structure, based on two types of nodes, controller and operative nodes. The control node uses a dedicated communication protocol to exchange messages with operative nodes. The operative nodes manage various sensors and actuators that behave according to the software configuration. This electronic toolkit used with 3D design tools allows the co-design and customisation of mechatronic prototypes of the AT. Reconfiguration is orchestrated by an Embedded Digital Twin (EDT), integrated into the main controller, which detects situations in which the configuration needs to be updated. Helped by the distributed hardware, it dynamically reconfigures each node to match the targeted configuration.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 17","pages":"Pages 85-90"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145435543","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
Experimental comparison of energy efficiency of peristaltic mixing pump and propeller-type mixer in mixing under different viscosity conditions 不同粘度条件下蠕动混合泵与螺旋桨式混合器混合能量效率的实验比较
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-11-05 DOI: 10.1016/j.ifacol.2025.10.161
Kentaro Kikyodani , Yuki Enomoto , Masataka Uchino , Kaho Nomura , Rie Nishiama , Taro Nakamura
{"title":"Experimental comparison of energy efficiency of peristaltic mixing pump and propeller-type mixer in mixing under different viscosity conditions","authors":"Kentaro Kikyodani ,&nbsp;Yuki Enomoto ,&nbsp;Masataka Uchino ,&nbsp;Kaho Nomura ,&nbsp;Rie Nishiama ,&nbsp;Taro Nakamura","doi":"10.1016/j.ifacol.2025.10.161","DOIUrl":"10.1016/j.ifacol.2025.10.161","url":null,"abstract":"<div><div>The mixing process plays an important role in the food and chemical industries, and its efficiency has a significant impact on production costs and product quality. A peristaltic mixing pump that mimics an intestinal tube has been developed in the field of soft robotics as a new mixing method for highly viscous fluids and solid-liquid mixtures. The objective of this study was to quantitatively evaluate the energy efficiency of a peristaltic mixing pump in mixing viscous materials compared to a commonly used propeller-type mixer in mixing. Specifically, the work rates of the two systems were standardized for three base materials of different viscosities (2, 2.5, and 3 Pa-s), and the energies required to complete mixing were compared. As a result, it was confirmed that the energy efficiency of the peristaltic mixing pump exceeded that of the propeller-type mixer for the more viscous base material. The peristaltic mixing pump was found to be less susceptible to viscosity changes and more stable in terms of mixing completion time． This difference may be due to the fact that peristaltic mixing pumps primarily use squeeze flow for mixing and are more effective for highly viscous materials.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 17","pages":"Pages 185-190"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145435526","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
Delay-based Input Shaping and Feedforward Design for Dual Closed-Loop Control Architectures Integrating Active Damping⁎ 集成主动阻尼的双闭环控制体系结构的基于延迟的输入整形和前馈设计
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-11-05 DOI: 10.1016/j.ifacol.2025.10.166
A.M. Natu , S.H. HosseinNia
{"title":"Delay-based Input Shaping and Feedforward Design for Dual Closed-Loop Control Architectures Integrating Active Damping⁎","authors":"A.M. Natu ,&nbsp;S.H. HosseinNia","doi":"10.1016/j.ifacol.2025.10.166","DOIUrl":"10.1016/j.ifacol.2025.10.166","url":null,"abstract":"<div><div>In nanopositioning systems, the control bandwidth is frequently limited due to the presence of lightly damped resonant dynamics. Active Damping Control is typically integrated with tracking control within an inner-loop configuration to mitigate dominant resonant dynamics and enable higher bandwidths. The paper discusses that, in such architectures, feedforward control based on plant dynamics inversion is insufficient to achieve the intended feedforward objectives. In response to this limitation, the study introduces a delay-based input shaping and feedforward framework combined with a dual closed-loop feedback control system that includes active damping. The feedforward filter, derived from partial inner closed-loop dynamics inversion, facilitates precise, delayed tracking of reference signals. This configuration implements a unity-gain shaping filter, effectively reducing tracking feedback errors caused by reference inputs. Furthermore, the study presents a simulated example employing a simplified dynamic model of an industrial nanopositioning system to demonstrate enhancements in closed-loop periodic tracking performance through the proposed feedforward and input-shaping methodology.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 17","pages":"Pages 215-220"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145435534","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
Stabilization for Variable Coefficients Rayleigh Beam Systems under Nonlinear Boundary Controls 非线性边界控制下变系数瑞利梁系统的镇定
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.064
Ming Xu , Yi Cheng , Xin Wang , Yuhu Wu
{"title":"Stabilization for Variable Coefficients Rayleigh Beam Systems under Nonlinear Boundary Controls","authors":"Ming Xu ,&nbsp;Yi Cheng ,&nbsp;Xin Wang ,&nbsp;Yuhu Wu","doi":"10.1016/j.ifacol.2025.08.064","DOIUrl":"10.1016/j.ifacol.2025.08.064","url":null,"abstract":"<div><div>This article solves the boundary stabilization problem of variable coefficient Rayleigh beams by using nonlinear boundary feedback controls. The feedback mechanism incorporates a nonlinear function that adheres to a sector condition, thus encompassing a diverse array of nonlinear feedback scenarios. The well-posedness of the closed-loop system is completed by applying nonlinear semigroup theory. The exponential stability of the energy function of a closed-loop system is demonstrated by using the integral multiplier method.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 8","pages":"Pages 43-48"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144913605","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
Nonlinear Observer Design for an Undamped Wave Equation with Distributed Disturbance 具有分布扰动的无阻尼波动方程非线性观测器设计
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.073
Alexander Schaum , Stefan Koch
{"title":"Nonlinear Observer Design for an Undamped Wave Equation with Distributed Disturbance","authors":"Alexander Schaum ,&nbsp;Stefan Koch","doi":"10.1016/j.ifacol.2025.08.073","DOIUrl":"10.1016/j.ifacol.2025.08.073","url":null,"abstract":"<div><div>This paper addresses the design of a nonlinear observer for an undamped wave equation with distributed disturbance and pointwise position measurement at the boundary. Using the sliding-mode based robust exact differentiator, the velocity at the boundary is estimated. Based on this estimate, a standard Luenberger observer is designed for the nominal, i.e., undisturbed system, and robust convergence is ensured in the presence of bounded distributed disturbances that are constant in time, by adequately combining this observer with an algebraic correction. The proposed design approach achieves exponential convergence of the observer and, for special observer gains, even ensures finite-time convergence. The approach is illustrated using numerical simulations for a representative case study.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 8","pages":"Pages 96-101"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144913636","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
Well-posedness of a class of infinite-dimensional port-Hamiltonian systems with boundary control and observation⁎ 一类具有边界控制和观测的无限维port- hamilton系统的适定性
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.074
Bouchra Elghazi , Birgit Jacob , Hans Zwart
{"title":"Well-posedness of a class of infinite-dimensional port-Hamiltonian systems with boundary control and observation⁎","authors":"Bouchra Elghazi ,&nbsp;Birgit Jacob ,&nbsp;Hans Zwart","doi":"10.1016/j.ifacol.2025.08.074","DOIUrl":"10.1016/j.ifacol.2025.08.074","url":null,"abstract":"<div><div>We characterize the well-posedness of a class of infinite-dimensional port-Hamiltonian systems with boundary control and observation. This class includes in particular the Euler-Bernoulli beam equations and more generally 1D linear infinite-dimensional port-Hamiltonian systems with boundary control and observation as well as coupled systems. It is known, that for the Timoshenko beam models internal well-posedness implies well-posedness of the overall system. By means of an example we show that this is not true for the Euler-Bernoulli beam models. An easy verifiable equivalent condition for well-posedness of the overall system will be presented. We will conclude the paper by applying the obtained results to several Euler-Bernoulli beam models.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 8","pages":"Pages 102-107"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144913637","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
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