IET Control Theory and Applications最新文献

{"title":"Failure-Based Sizing and Energy Management for Hybrid Propulsion Regional Aircraft","authors":"Masoud Khasheinejad,&nbsp;Morteza Montazeri-Gh","doi":"10.1049/cth2.70015","DOIUrl":"https://doi.org/10.1049/cth2.70015","url":null,"abstract":"<p>Sizing and energy management strategy (EMS) for a hybrid electric propulsion system (HEPS), taking into account failures, are challenging areas, especially for regional aircraft. In this paper, a failure-based sizing method and a resilient switching-fuzzy logic control (RSFLC) for a regional hybrid aircraft concept named AFT-ATR42 are presented. For this purpose, the sizing procedure for the HEPS components under the failures of either the all-turbine or the battery pack, which is equivalent to one engine inoperative (OEI) condition in fossil fuel aircraft, has been formulated. The reference battery state of charge (SOC) trajectory has then been determined based on the HEPS simulation during the flight mission. In addition, using the data generated by a combined rule-based regulator and optimal EMS, an RSFLC is tuned by the genetic algorithm that is able to satisfy the reference SOC trajectory. Moreover, model-in-the-loop results are provided to show the satisfaction of HEPS operating constraints. Furthermore, by comparing the performance of the hybrid AFT-ATR42 and conventional aircraft, the effectiveness of the proposed RSFLC for reducing fuel consumption and emissions has been demonstrated. Finally, using the hardware-in-the-loop testing, the suitable and resilient operation of the RSFLC in real-world conditions has been confirmed.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-03-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70015","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143689590","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Improved Weight Adaptive Gaussian Sum Algorithm Based on Sparse-Grid Quadrature Filter for Non-Gaussian Models","authors":"Chen Qian,&nbsp;Enze Zhang,&nbsp;Yang Gao,&nbsp;Qingwei Chen","doi":"10.1049/cth2.70019","DOIUrl":"https://doi.org/10.1049/cth2.70019","url":null,"abstract":"<p>Nonlinear filtering algorithm is the key technology for dealing with complex systems in sensor data processing. To improve the filtering accuracy of the nonlinear filtering algorithm in the non-Gaussian case, an improved version of the Gaussian sum algorithm, the Gaussian sum adaptive sparse grid quadrature filter (GSASQF), is proposed. The proposed algorithm overcomes the challenges by introducing the Gaussian sum principle, which converts the non-Gaussian state and noise in the system into the form of weighted sum of Gaussian components. Based on the Bayesian filtering framework, a three-level sparse grid sampling rule is introduced, with the sparse grid orthogonal filtering algorithm serving as the sub-filter. By determining the sampling point parameters, the filtering process for each combination of Gaussian components is implemented, thereby ensuring the filtering accuracy of each group. In addition, in combination with the ideal of data-driven, the weight of each Gaussian component combination is adaptively updated inversely by the values of the sensor measurement, which improves the global filtering accuracy of nonlinear system under non-Gaussian noise. The combination of these three improvements enables high-precision filtering of non-Gaussian non-linear systems. Theoretical analysis and simulation confirm that the proposed GSASQF algorithm provides advantages in filtering accuracy for nonlinear non-Gaussian filtering problems.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70019","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143639116","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Adaptive Neural Network-Based Backstepping Control of BLDC-Driven Robot Manipulators: An Operational Space Approach with Experimental Validation","authors":"Sukru Unver,&nbsp;Bayram Melih Yilmaz,&nbsp;Enver Tatlicioglu,&nbsp;Irem Saka,&nbsp;Erman Selim,&nbsp;Erkan Zergeroglu","doi":"10.1049/cth2.70016","DOIUrl":"https://doi.org/10.1049/cth2.70016","url":null,"abstract":"<p>This study concentrates on end effector tracking control of robotic manipulators actuated by brushless direct current (BLDC) motors, having parametric uncertainties in their kinematic, dynamical and electrical sub-systems. Specifically, an operational space controller formulation is proposed that does not rely on inverse kinematics calculations at position level and still ensures practical end effector tracking despite the presence of uncertainties related to the mechanical and electrical dynamics, and the kinematics of the robotic manipulator. Compensation for the uncertainties throughout the entire system is achieved via the use of neural network-based dynamical adaptations, and the overall stability of the closed-loop system is guaranteed via Lyapunov-based arguments. We would like to note that the work addresses the following problems: (i) incorporation of actuator dynamics into the error system in order to achieve increased efficiency, (ii) elimination of the need for position level inverse kinematics calculations for the controller formulation to remove the computational burden and (iii) compensation of the uncertainties throughout the entire subsystem. Experiment studies were carried out on a two degree of freedom planar robot manipulator equipped with BLDC motors to evaluate the effectiveness of the proposed formulation.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70016","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143632745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Delayed teleoperated robotic eye surgical system; controller design and real-time experiments","authors":"Ali Soltani Sharif Abadi,&nbsp;Andrzej Ordys,&nbsp;Barbara Pierscionek,&nbsp;Pooyan Alinaghi Hosseinabadi,&nbsp;Ryszard Kowalik,&nbsp;Yasser Ibraheem Abdullah","doi":"10.1049/cth2.70003","DOIUrl":"https://doi.org/10.1049/cth2.70003","url":null,"abstract":"<p>A suitable control system is a key challenge in robotic eye surgery. This paper presents a novel control system to address the selected scenario of procedures in robotic eye surgery. A teleoperated eye surgical system may have a time delay in sending and receiving data from two general master and slave parts. In this case, the system is called delayed teleoperated robotic eye surgical system. A novel observer-based controller has been designed in this paper to control the delayed teleoperated robotic eye surgical system, considering all the possible control problems during robotic eye surgery. The real-time experimental results show the power of the designed control system which considers the required conditions for robotic eye surgery and presents results that mimic the real application by defining two scenarios.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70003","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143594925","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design of an Improved Robust Fractional-Order PID Controller for Buck–Boost Converter using Snake Optimization Algorithm","authors":"Seyyed Morteza Ghamari,&nbsp;Hasan Molaee,&nbsp;Mehrdad Ghahramani,&nbsp;Daryoush Habibi,&nbsp;Asma Aziz","doi":"10.1049/cth2.70008","DOIUrl":"https://doi.org/10.1049/cth2.70008","url":null,"abstract":"<p>With the increasing complexity of modern power systems, effective control of DC–DC converters has become crucial to ensure stability and efficiency. This paper focuses on optimizing the parameters of a known fractional-order proportional–integral–derivative (FOPID) controller for the control of a DC–DC buck–boost converter. The control of a DC–DC buck–boost converter is achieved using aFOPID approach. The gains of this technique have been enhanced utilizing the snake optimization (SO) algorithm. This converter exhibits unfavourable behaviour due to its non-minimum structure, necessitating a well-regulated controller to guarantee stability. The fractional concept is suggested here to enhance the dynamics of the classical PID controller, leveraging its simplicity and minimizing computational load in real-time applications. The fractional idea is an advantageous method that offers several benefits, such as reduced overshoot and settling time, enhanced frequency response, non-integer order dynamics, and, more importantly, higher robustness to noise and parametric variation. Despite the advantages reported by this control technique, a proper gain tuning is needed to enhance its dynamical performance and decrease its sensitivity to error. Thus, a modern algorithm known as SO tunes the values of the gains in the controller to affect the efficiency of this method. This algorithm is a novel strategy with numerous merits compared to others, using its bi-directional search and elite opposition-based learning strategies. The SO algorithm and its variants offer a promising alternative for solving optimization problems, combining efficiency, adaptability, and competitive performance. The contribution of this work lies in utilizing the SO algorithm to enhance the performance of the FOPID controller, enabling faster convergence and improved stability under varying operating conditions. The proposed approach is validated through both simulation and hardware-in-loop experiments, demonstrating superior performance compared to conventional control methods.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70008","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143571264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Quasi-bipartite synchronization for delayed coupled inertial neural networks having cooperative and competitive communication via pinning control strategy","authors":"Chesintha Chenthamarakshan,&nbsp;Soundararajan Ganesan,&nbsp;Kathiresan Sivakumar,&nbsp;Ardak Kashkynbayev","doi":"10.1049/cth2.12780","DOIUrl":"https://doi.org/10.1049/cth2.12780","url":null,"abstract":"<p>This study concentrates on achieving quasi-bipartite synchronization within signed coupled inertial neural networks featuring time-varying delays. The pinning controller technique addresses this problem within a structure incorporating cooperative and competitive interaction among the nodes. With the structurally balanced networks, some linear matrix inequality based sufficient conditions are derived for both reduced and non-reduced order methods with the help of Lyapunov–Krasovskii functional to achieve the quasi-bipartite pinning synchronization criterion. Further, the error bound is derived analytically for the leader–follower representation of the signed coupled inertial neural network model. At last, a numerical simulation result is provided to verify the correctness of the established theoretical results.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12780","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143554303","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robust Distributed Fault Estimation in Disturbed Uncertain Interconnected Systems With Time-Varying Delays","authors":"Zahra Shams,&nbsp;Mehdi Rahmani","doi":"10.1049/cth2.70005","DOIUrl":"https://doi.org/10.1049/cth2.70005","url":null,"abstract":"<p>This paper proposes a new distributed fault estimation method based on the <span></span><math>\u0000 <semantics>\u0000 <msub>\u0000 <mi>L</mi>\u0000 <mn>1</mn>\u0000 </msub>\u0000 <annotation>$mathcal {L}_1$</annotation>\u0000 </semantics></math> performance, along with its circuit implementation. In order to achieve this objective, the paper begins by offering a thorough model of interconnected systems with time-varying delays, which incorporates multiple faults, input/output disturbances, and uncertainties. Next, a set of <span></span><math>\u0000 <semantics>\u0000 <msub>\u0000 <mi>L</mi>\u0000 <mn>1</mn>\u0000 </msub>\u0000 <annotation>$mathcal {L}_1$</annotation>\u0000 </semantics></math> distributed estimators is designed to simultaneously estimate the states of the system as well as different types of faults including actuator and sensor faults within all subsystems. This observer is robust against disturbances, uncertainties, and time-varying communication delays. To this end, sufficient conditions are formulated as linear matrix inequalities to ensure that the dynamics related to estimation errors remain robustly stable and also attenuate disturbances. The estimation accuracy and robustness of the proposed approach are studied by an illustrative example. Furthermore, its effectiveness and superior performance are confirmed by comparison with the related methods in the literature. Additionally, the circuit implementations of the system and the suggested estimator are presented for practical applications.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70005","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143554763","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A Finite-Time Non-Singular Fast Terminal Sliding Mode Control of Wheeled Mobile Robots With Prescribed Performance","authors":"Van-Cuong Nguyen,&nbsp;Mai The Vu,&nbsp;Seong Han Kim","doi":"10.1049/cth2.70013","DOIUrl":"https://doi.org/10.1049/cth2.70013","url":null,"abstract":"<p>Wheeled mobile robots (WMRs) have become increasingly vital role in modern industries. This research proposes a novel finite-time prescribed performance sliding mode control (SMC) algorithm for the trajectory tracking of WMRs under effects of wheel slipping, wheel skidding, and external disturbances. The proposed approach consists of two key components. First, a novel sliding surface is proposed based on a prescribed performance function (PPF) and a non-singular fast terminal sliding function (NFTSF), referred to as PP-NFTSF. The proposed PP-NFTSF ensures that tracking errors converge to zero in finite time, while the PPF and a transformed error function ensure stability throughout the robot's operation by maintaining error states within predefined bounds. This framework ensures boundaries around zero, thus guaranteeing that the position tracking error will be zero when the transformed error reaches zero. Second, a novel finite-time non-singular fast terminal SMC (NFTSMC) law with prescribed performance tracking errors, referred to as FPP-NFTSMC, is proposed. This control law incorporates a second-order algorithm to generate a continuous control signal, effectively minimizing the chattering phenomenon of SMC. Overall, the proposed control method maintains all the advantages of PPF, NFTSMC, and the second-order algorithm, achieving high position tracking performance, decreasing the chattering phenomenon, obtaining finite-time convergence, guaranteeing tracking error within the boundary of the PPF, and robustness. To illustrate the stability and finite-time convergence of the WMR systems, a proof using the Lyapunov stability theory is performed. The effectiveness of the proposed control method is validated using two working scenarios: tracking straight and U-shaped trajectories for a 4-WMR.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70013","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143513745","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Neuroadaptive Control of Nonholonomic Systems With Function Constraints: Theory and Experiment","authors":"Yang Gao,&nbsp;Zhongcai Zhang,&nbsp;Nan Jiang,&nbsp;Yuqiang Wu","doi":"10.1049/cth2.70011","DOIUrl":"https://doi.org/10.1049/cth2.70011","url":null,"abstract":"<p>This article considers the stabilization control for a class of chained nonholonomic systems, which are subject to state constraints, external disturbances, and model uncertainties. The studied system is structured in a cascaded form with two subsystems, and the constraint boundaries are functions of both states and time. Then, a unified framework based on state transformations is investigated to implement the constraints on all subsystems. Meanwhile, the neural network technique is used to deal with the system uncertainties. Combined with backstepping method, an adaptive controller is designed to achieve the desired stabilization objectives. The proposed control method is applied to mobile robot systems, and the effectiveness is verified through simulation and experiment.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-02-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70011","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143475633","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Adaptive Dynamic Surface Control for High-Order Strict-Feedback Systems With Input Saturation: A Fully Actuated System Approach","authors":"Yongqiang Xiao,&nbsp;Guangbin Cai,&nbsp;Mingrui Hao","doi":"10.1049/cth2.70010","DOIUrl":"https://doi.org/10.1049/cth2.70010","url":null,"abstract":"<p>We introduce an adaptive dynamic surface control (ADSC) method tailored for high-order strict-feedback systems (SFSs) with input saturation, utilizing the fully actuated system (FAS) approach. We simplify the steps in designing the controller by combining the FAS approach with ADSC method to directly control each high-order subsystem as a complete entity, without the need to transform it into first-order systems. Smooth functions and Nussbaum functions are applied to solve the problem of input saturation. We use a sequence of low-pass filters to calculate the higher-order derivatives of the virtual control law. Lyapunov stability theory is used to demonstrate that all signals within the closed-loop system become uniformly bounded, with the tracking error ultimately converging to a small vicinity around zero. We validated the efficiency of the proposed method of control through simulations on a flexible joint manipulator system. In contrast to the traditional first-order system method, which requires four virtual control laws, the proposed method in this paper necessitates only two, resulting in a smaller initial value of the control input.</p>","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70010","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143471922","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}