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Model-Free Predictive Control: Introductory Algebraic Calculations, and a Comparison with HEOL and ANNs 无模型预测控制：入门代数计算，以及与HEOL和ann的比较
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-10-21 DOI: 10.1016/j.ifacol.2025.10.044
Cédric Join , Emmanuel Delaleau , Michel Fliess
{"title":"Model-Free Predictive Control: Introductory Algebraic Calculations, and a Comparison with HEOL and ANNs","authors":"Cédric Join ,&nbsp;Emmanuel Delaleau ,&nbsp;Michel Fliess","doi":"10.1016/j.ifacol.2025.10.044","DOIUrl":"10.1016/j.ifacol.2025.10.044","url":null,"abstract":"<div><div>Model predictive control (MPC) is a popular control engineering practice, but requires a sound knowledge of the model. Model-free predictive control (MFPC), a burning issue today, also related to reinforcement learning (RL) in AI, is reformulated here via a linear differential equation with constant coefficients, thanks to a new perspective on optimal control combined with recent advances in the field of model-free control (MFC). It is replacing Dynamic Programming, the Hamilton-Jacobi-Bellman equation, and Pontryagin’s Maximum Principle. The computing burden is low. The implementation is straightforward. Two nonlinear examples, a chemical reactor and a two tank system, are illustrating our approach. A comparison with the HEOL setting, where some expertise of the process model is needed, shows only a slight superiority of the later. A recent identification of the two tank system via a complex ANN architecture might indicate that a full modeling and the corresponding machine learning mechanism are not always necessary neither in control, nor, more generally, in AI.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 13","pages":"Pages 255-260"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145327295","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 Cascaded Economic Model Predictive Control Approach to Greenhouse Climate Control 温室气候控制的级联经济模型预测控制方法
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-12-05 DOI: 10.1016/j.ifacol.2025.11.828
Ioannis Panagopoulos , Robert D. McAllister , Simon van Mourik , Tamás Keviczky
{"title":"A Cascaded Economic Model Predictive Control Approach to Greenhouse Climate Control","authors":"Ioannis Panagopoulos ,&nbsp;Robert D. McAllister ,&nbsp;Simon van Mourik ,&nbsp;Tamás Keviczky","doi":"10.1016/j.ifacol.2025.11.828","DOIUrl":"10.1016/j.ifacol.2025.11.828","url":null,"abstract":"<div><div>This paper introduces a cascaded climate control framework in which a primary economic model predictive controller (EMPC) determines climate bounds for a secondary rule-based controller, based on industrial practice. The proposed controller may therefore serve as a blueprint for control design for existing greenhouse climate control systems while retaining the reliability and safety of legacy systems. The framework’s performance is evaluated through simulations of a lettuce greenhouse model and compared against a state-of-the-art EMPC that controls all actuators directly. The results show that the proposed approach achieves comparable performance to the ideal state-of-the-art EMPC, demonstrating negligible performance loss from retaining rule-based control in the climate control system.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 23","pages":"Pages 443-448"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145685918","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
Research on Air-Ground Collaborative Operation Based on 4D Trajectory 基于4D轨迹的空地协同作战研究
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-11-28 DOI: 10.1016/j.ifacol.2025.11.151
Jie Liu , Jizhi Mao , Lidong Zhang
{"title":"Research on Air-Ground Collaborative Operation Based on 4D Trajectory","authors":"Jie Liu ,&nbsp;Jizhi Mao ,&nbsp;Lidong Zhang","doi":"10.1016/j.ifacol.2025.11.151","DOIUrl":"10.1016/j.ifacol.2025.11.151","url":null,"abstract":"<div><div>This paper studies the trajectory generation of the air traffic control (ATC) automation system and the trajectory tracking of aircraft, and further realizes the air-ground collaborative operation based on 4D trajectories. Firstly, a ground trajectory generation model based on kinematic and performance models is established. By comparing with real flight data, the time-consuming deviation is 0.08%, which proves that the ground trajectory generation model meets the requirements of ATC. Secondly, a six-degree-of-freedom flight simulation model is established. Through comparison with the simulation of PEP software, the model can stably follow the target trajectory in horizontal position, altitude, and speed, with the rate of climb/descent deviation not exceeding ±5 0 ft/min and the speed deviation not exceeding ±0.5 kt. Finally, taking the route from Beijing to Shanghai as an example, where the ground generates the trajectory and the aircraft follows it in the air. The trajectory tracking error elimination time is set to 8s during the climb and descent phases and 5s during the cruise phase. The simulation results show that the aircraft in the air can stably follow the ground-generated trajectory, and the maximum time difference when passing through waypoints is less than 3s, with an average time difference of 1.6s.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 20","pages":"Pages 208-213"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145617106","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
SwinFPN: A Pose Estimation Method Adapted to Multi-Scale Variations of Space Targets⁎ SwinFPN：一种适应空间目标多尺度变化的姿态估计方法
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-11-28 DOI: 10.1016/j.ifacol.2025.11.168
Fan Zhang , Zexu Zhang , Zhuo Song , Yicheng Mao
{"title":"SwinFPN: A Pose Estimation Method Adapted to Multi-Scale Variations of Space Targets⁎","authors":"Fan Zhang ,&nbsp;Zexu Zhang ,&nbsp;Zhuo Song ,&nbsp;Yicheng Mao","doi":"10.1016/j.ifacol.2025.11.168","DOIUrl":"10.1016/j.ifacol.2025.11.168","url":null,"abstract":"<div><div>Current vision-based spatial pose estimation methods primarily rely on CNNs for feature extraction. However, CNN-based approaches struggle to model the global relationships within an image, leading to suboptimal performance when handling variations in target scale and complex spatial backgrounds. This paper proposes a novel spatial pose estimation method for non-cooperative targets based on a vision transformer. Specifically, we design a keypoint position regression network that utilizes Swin Transformer to extract multi-level features from target images, capturing both global structural information and fine texture details. To adapt to variations in target scale, we fuse feature maps at different resolutions to construct a feature pyramid. Finally, a series of convolutional modules regress the target keypoint positions. By combining the estimated 3D coordinates of keypoints with the EPNP algorithm, we obtain the final target pose. Experimental results demonstrate that the proposed method achieves high-precision pose estimation even under varying target scales and complex background conditions.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 20","pages":"Pages 309-314"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145617118","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
Evaluation of Vine’s Annual Carbon Stocks by Means of LiDAR-Based 3D Reconstruction 基于激光雷达三维重建的葡萄树年碳储量评价
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-12-05 DOI: 10.1016/j.ifacol.2025.11.816
Marco Bignardi , Nikos Tsoulias , Andreas Heiß , Dimitrios S. Paraforos
{"title":"Evaluation of Vine’s Annual Carbon Stocks by Means of LiDAR-Based 3D Reconstruction","authors":"Marco Bignardi ,&nbsp;Nikos Tsoulias ,&nbsp;Andreas Heiß ,&nbsp;Dimitrios S. Paraforos","doi":"10.1016/j.ifacol.2025.11.816","DOIUrl":"10.1016/j.ifacol.2025.11.816","url":null,"abstract":"<div><div>Climate change significantly impacts viticulture by harming plant and fruit growth, resulting in lower quality and storage issues. Therefore, there is growing scientific interest in the carbon fluxes of vineyard management activities, including efforts to measure carbon capture and storage in annual biomass. Precision Viticulture and Machine Vision techniques can help assess variations in vines’ biomass, which relate to the vines’ carbon balance. The present study examined the feasibility of a light detection and ranging (LiDAR) for vines’ (Vitis vinifera L. cv. Riesling) annual biomass reconstruction and its role in the annual carbon cycle. The leaves dry weight showed a high correlation coefficient of R² = 0.87 with the LiDAR-based leaf area estimation. Thus, making the proposed sensing system reliable for biomass elemental carbon assessment. Nevertheless, no significant correlation was found for the monitoring of leaf area/fruit ratio. The proposed study showcases the potential and the limits of LiDAR-based vine biomass assessment.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 23","pages":"Pages 373-377"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145686014","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
Empirical analysis of factors contributing to deviations from routing guidelines in order picking: a case study 在订单挑选中导致偏离路线指南的因素的实证分析：一个案例研究
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-09-27 DOI: 10.1016/j.ifacol.2025.09.006
Aïcha Leroy , An Caris , Benoît Depaire , Teun van Gils , Kris Braekers
{"title":"Empirical analysis of factors contributing to deviations from routing guidelines in order picking: a case study","authors":"Aïcha Leroy ,&nbsp;An Caris ,&nbsp;Benoît Depaire ,&nbsp;Teun van Gils ,&nbsp;Kris Braekers","doi":"10.1016/j.ifacol.2025.09.006","DOIUrl":"10.1016/j.ifacol.2025.09.006","url":null,"abstract":"<div><div>Order picking remains a time-sensitive operation in warehousing, with pickers following predetermined routes. Previous research identified potential drivers for deviations from these routes through qualitative studies or descriptive data analysis. We take a novel approach by applying a statistical analysis on two years of data (i.e., 2 448 000 picks). Our mixed-effects logistic regression model shows that factors such as workload, picks completed, congestion and aisle layout may significantly affect the likelihood of route deviations. Such deviations could significantly reduce route efficiency. These insights highlight the need to integrate real-world dynamics into routing models, aiming to enhance overall efficiency in warehouse operations.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 10","pages":"Pages 25-30"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145159904","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
Multi-Spacecraft Cooperative Visual 3D Sensing of Noncooperative Target 非合作目标的多航天器协同视觉三维传感
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-11-28 DOI: 10.1016/j.ifacol.2025.11.127
Qier An , Jianfa Wu , Chunling Wei
{"title":"Multi-Spacecraft Cooperative Visual 3D Sensing of Noncooperative Target","authors":"Qier An ,&nbsp;Jianfa Wu ,&nbsp;Chunling Wei","doi":"10.1016/j.ifacol.2025.11.127","DOIUrl":"10.1016/j.ifacol.2025.11.127","url":null,"abstract":"<div><div>Noncooperative target localization and 3D reconstruction have raised increasing research concern recently for their importance in proximity reconnaissance and monitoring of space targets. This paper develops a multi-spacecraft cooperative scheme for visual 3D sensing of noncooperative target, which aims to estimate target pose and 3D structure simultaneously from images captured by spaceborne camera sensors fixed on multiple chasing spacecrafts without reliance on any prior information. The cooperative sensing method integrates vision-based relative localization based on multi-view geometry in computer vision with target motion decoupling based on relative orbital dynamics, to adapt to the dynamic property of space-based sensing scenario. We also design a high-fidelity simulation architecture in the Gazebo simulator integrated with the ROS system, to provide complete simulation of the orbital and rotational motion and the real-time rendering of images captured by spaceborne camera sensors. Experiments implemented on the simulation system present the space-based cooperative sensing process in a visual graphic interface, and also validate the localization accuracy and 3D model reconstruction ability of our method.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 20","pages":"Pages 67-72"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145617627","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
The Intelligent Balancing Design of Air-Bearing Table’s Mass Properties Based on Deep Reinforcement Learning 基于深度强化学习的气浮台质量性能智能平衡设计
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-11-28 DOI: 10.1016/j.ifacol.2025.11.214
Zongyuan Liu , Xingju Tang , Cheng Xu , Shenzhi Wang , Guangcheng Ma , Hongwei Xia
{"title":"The Intelligent Balancing Design of Air-Bearing Table’s Mass Properties Based on Deep Reinforcement Learning","authors":"Zongyuan Liu ,&nbsp;Xingju Tang ,&nbsp;Cheng Xu ,&nbsp;Shenzhi Wang ,&nbsp;Guangcheng Ma ,&nbsp;Hongwei Xia","doi":"10.1016/j.ifacol.2025.11.214","DOIUrl":"10.1016/j.ifacol.2025.11.214","url":null,"abstract":"<div><div>This paper investigates the intelligent mass-property balancing problem of the air-bearing table in the aerospace field. By establishing the air-bearing table’s coordinate system and representing the design variables, a mass properties balancing model is first developed. Then, based on the design of the Genetic Algorithm (GA) and Deep Q-Network (DQN), an autonomous learning genetic algorithm (GA-DRL) based on deep reinforcement learning is proposed to address the issues of low balancing efficiency and poor precision in traditional genetic algorithms. Simulation results show that, compared to the conventional genetic algorithm, GA-DRL exhibits better convergence efficiency and optimization precision, and can theoretically achieve efficient and high-precision intelligent balancing of the air-bearing table’s mass properties.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 20","pages":"Pages 586-591"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145617630","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
Heat Recovery Strategies in Logistic Warehouses and Data Centers for Sustainable Residential Heating 可持续住宅供暖的物流仓库和数据中心热回收策略
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-09-27 DOI: 10.1016/j.ifacol.2025.09.023
Sakji Imen, Ndhaief Nadia, Rezg Nidhal
{"title":"Heat Recovery Strategies in Logistic Warehouses and Data Centers for Sustainable Residential Heating","authors":"Sakji Imen,&nbsp;Ndhaief Nadia,&nbsp;Rezg Nidhal","doi":"10.1016/j.ifacol.2025.09.023","DOIUrl":"10.1016/j.ifacol.2025.09.023","url":null,"abstract":"<div><div>This study focuses on addressing the growing scarcity of natural resources by exploring strategies for conservation and recycling in energy systems. With increasing pressure on energy supplies and environmental sustainability, the recovery and reuse of waste heat present viable solutions to reduce reliance on traditional resources. This approach emphasizes sustainable development by rethinking energy use in residential heating systems, promoting efficient utilization, and minimizing waste. The results indicate a significant decrease in auxiliary heating consumption, replaced by recovered heating. By integrating heat recovery systems, the study highlights the potential for reducing energy consumption and contributing to a more sustainable and resource-conscious future.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 10","pages":"Pages 124-129"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145159614","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
Sustained Success or Fading Spark? – Long-term Assessment of Participatory Order Assignments in a Warehouse Environment 持续的成功还是褪色的火花？-仓库环境中参与式订单分配的长期评估
IFAC-PapersOnLine Pub Date : 2025-01-01 Epub Date: 2025-09-27 DOI: 10.1016/j.ifacol.2025.09.002
Thomas De Lombaert , Kris Braekers , René De Koster , Katrien Ramaekers
{"title":"Sustained Success or Fading Spark? – Long-term Assessment of Participatory Order Assignments in a Warehouse Environment","authors":"Thomas De Lombaert ,&nbsp;Kris Braekers ,&nbsp;René De Koster ,&nbsp;Katrien Ramaekers","doi":"10.1016/j.ifacol.2025.09.002","DOIUrl":"10.1016/j.ifacol.2025.09.002","url":null,"abstract":"<div><div>Order picking, a key warehouse process, is known to be costly, monotonous, and tightly regulated by a central planning system. Recent studies have explored a way to mitigate the negative impacts of order picking; they experimentally investigated the feasibility and effects of a <em>participatory order assignment</em> (POA) system, which allows workers to choose their next order and break the monotony rather than being confronted with top-down systemic assignments. Thus far, studies have mainly looked at the effects on productivity and psychosocial and physical well-being shortly after such an autonomy-increasing system redesign, yet little is known about the longevity of these effects. The existing literature emphasises the need for evaluations that go beyond short-term findings to assess effects over a sustained period. The degree to which the observed effects persist over time significantly impacts potential adoption by practitioners. By conducting a unique field experiment in a real-world warehouse, this paper assesses the effects of a POA system over a period of 6 months and finds that the initially observed effects persist over time. We enhance the existing body of literature by providing evidence that POA systems are not only effective, but they also yield long-lasting effects.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"59 10","pages":"Pages 1-6"},"PeriodicalIF":0.0,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145159623","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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