IET Control Theory and Applications最新文献_第2页

Cooperative Adaptive Formation Fault-Tolerant Neural Control for Multiple Quadrotors With Full-State Constraints 全状态约束下多四旋翼机协同自适应编队容错神经控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-06-19 DOI: 10.1049/cth2.70042

Rui Dai, Yadong Yang, Jianye Gong, Qikun Shen

{"title":"Cooperative Adaptive Formation Fault-Tolerant Neural Control for Multiple Quadrotors With Full-State Constraints","authors":"Rui Dai, Yadong Yang, Jianye Gong, Qikun Shen","doi":"10.1049/cth2.70042","DOIUrl":"https://doi.org/10.1049/cth2.70042","url":null,"abstract":"This paper investigates the cooperative time-varying formation fault-tolerant control problem for multiple quadrotors with unknown actuator faults and full state constraints. In order to ensure the safety and operability of quadrotors in the confined flight environment, a novel transformed function is first introduced to convert the original quadrotor systems into unconstrained equivalent systems, which increases the flexibility of the controller design. Then, a distributed kinematic control protocol and fault-tolerant dynamic control protocol using the adaptive neural networks estimation technique are developed to guarantee the cooperative time-varying formation of multiple quadrotors subject to uncertain parameters. Meanwhile, the unknown actuator loss of effectiveness and bias faults are compensated and the state variables of position subsystem and attitude subsystem can be maintained within the designed performance constraint sets even when actuator faults occur. Via Lyapunov stability theory, the cooperative formation fault-tolerant performance analysis is presented. The proposed control strategy is validated through simulations.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70042","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144314996","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}

引用次数: 0

Robust Output Feedback MPC of Antagonistic Pneumatic Artificial Muscle System 对抗性气动人工肌肉系统的鲁棒输出反馈MPC

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-06-19 DOI: 10.1049/cth2.70045

Huixing Yan, Hongqian Lu, Yefeng Yang, Yanming Fu

{"title":"Robust Output Feedback MPC of Antagonistic Pneumatic Artificial Muscle System","authors":"Huixing Yan, Hongqian Lu, Yefeng Yang, Yanming Fu","doi":"10.1049/cth2.70045","DOIUrl":"https://doi.org/10.1049/cth2.70045","url":null,"abstract":"Suspended constant force (SCF) control is a critical technology in suspended gravity offloading systems. However, inherent underactuation, unmodelled dynamics, and external disturbances can significantly degrade control performance and even compromise system stability. In this article, pneumatic artificial muscle (PAM) actuators are used as a replacement for traditional passive dampers to address the underactuation problem. Additionally, we propose a novel systematic robust output feedback model predictive control (ROFMPC) framework, which incorporates a radial basis function neural network (RBFNN)-based model compensator, a Luenberger state estimator, and a tube model predictive controller. The RBFNN-based model compensator compensates for unmodelled dynamics, while the Luenberger state estimator observes external disturbances. The model predictive controller then generates the optimal control sequence. Analytical results indicate that our designed SCF system encounters similar control challenges as those in antagonistic PAM (APAM). Therefore, sufficiently comprehensive numerical simulations and physical experiments are conducted on the APAM platform to verify the effectiveness of the proposed control framework. These results demonstrate that the proposed ROFMPC framework significantly improves force trajectory tracking performance for constant force control.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70045","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144314997","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}

引用次数: 0

System States and Disturbance Estimation Using Adaptive Integral Terminal Sliding Mode Observer for U-Tube Steam Generator Model in Nuclear Power Plant 基于自适应积分终端滑模观测器的核电站u型管蒸汽发生器系统状态及扰动估计

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-06-19 DOI: 10.1049/cth2.70050

Mokhtar Mohamed, Iestyn Pierce, Xinggang Yan, Hafiz Ahmed

{"title":"System States and Disturbance Estimation Using Adaptive Integral Terminal Sliding Mode Observer for U-Tube Steam Generator Model in Nuclear Power Plant","authors":"Mokhtar Mohamed, Iestyn Pierce, Xinggang Yan, Hafiz Ahmed","doi":"10.1049/cth2.70050","DOIUrl":"https://doi.org/10.1049/cth2.70050","url":null,"abstract":"Designing water level control for a U-tube steam generator (UTSG) in nuclear power plants (NPP) remains a challenge, especially at low power demand due to unreliable steam flow measurements. This paper addresses the steam flow rate as a disturbance to the plant, treating it as an inaccessible variable. To estimate the disturbance (steam flow rate) and system states, an adaptive integral terminal sliding mode observer is developed. These estimated values can be utilized in the water level control design to enhance the reliability and performance of the control system. An adaptive observer is developed such that the augmented systems formed by the error dynamical systems and the designed adaptive laws are globally uniformly ultimately bounded. This technique is applied to a non-minimum phase system model representing the UTSG system to improve water level control and prevent possible serious consequences. Various disturbance signal forms with different amplitudes are simulated to demonstrate the reliability of the proposed technique. The simulation results show the effectiveness of the method proposed in this paper.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70050","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144314994","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}

引用次数: 0

Autonomous Vehicle Path Tracking Using Event-Triggered MPC With Switching Model: Methodology and Real-World Validation 使用带有切换模型的事件触发MPC的自动车辆路径跟踪：方法和实际验证

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-06-17 DOI: 10.1049/cth2.70046

Zhaodong Zhou, Mingyuan Tao, Jiayi Qiu, Peng Zhang, Meng Xu, Jun Chen

{"title":"Autonomous Vehicle Path Tracking Using Event-Triggered MPC With Switching Model: Methodology and Real-World Validation","authors":"Zhaodong Zhou, Mingyuan Tao, Jiayi Qiu, Peng Zhang, Meng Xu, Jun Chen","doi":"10.1049/cth2.70046","DOIUrl":"https://doi.org/10.1049/cth2.70046","url":null,"abstract":"Model predictive control (MPC) is advantageous for autonomous vehicle path tracking but suffers from high computational complexity for real-time implementation. Event-triggered MPC aims to reduce this burden by optimizing the control inputs only when needed instead of every time step. Existing works in literature have been focused on algorithmic development and simulation validation for very specific scenarios. Therefore, event-triggered MPC in real-world full-size vehicle has not been thoroughly investigated. This work develops event-triggered MPC with switching model for autonomous vehicle lateral motion control, and implements it on a production vehicle for real-world validation. Experiments are conducted under both closed road and open road environments, with both low speed and high speed maneuvers, as well as stop-and-go scenarios. The efficacy of the proposed event-triggered MPC, in terms of computational load saving without sacrificing control performance, is clearly demonstrated. It is also demonstrated that event-triggered MPC can sometimes improve the control performance, even with less number of optimizations, thus contradicting to existing conclusions drawn from simulation.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70046","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144300166","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}

引用次数: 0

A Comprehensive Review of Solar Panel Performance Degradation and Adaptive Mitigation Strategies 太阳能电池板性能退化和自适应缓解策略的综合综述

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-06-16 DOI: 10.1049/cth2.70040

Haoyu Yang, Yanyan Yin, Ahmed Abu-Siada

{"title":"A Comprehensive Review of Solar Panel Performance Degradation and Adaptive Mitigation Strategies","authors":"Haoyu Yang, Yanyan Yin, Ahmed Abu-Siada","doi":"10.1049/cth2.70040","DOIUrl":"https://doi.org/10.1049/cth2.70040","url":null,"abstract":"This paper presents a comprehensive review of solar panel performance degradation in both industrial and residential sectors. Drawing on a wide range of academic studies, the paper systematically analyses the key factors affecting the performance of photovoltaic (PV) systems to provide in-depth understanding of degradation mechanisms along with effective countermeasures. These factors include the selection and properties of the materials used in PV panel manufacturing, changes in environmental conditions, the inherent degradation rate of materials and user behaviour. The paper aims to comprehensively reveal the mechanisms by which environmental and human factors contribute to PV panel performance degradation, assess their impact on the operational efficiency of the power systems and explore feasible adaptive solutions to mitigate or restore PV system performance. The paper also incorporates a technical framework aligned with the IEC 61850 standard and provides constructive recommendations for enhancing the efficiency and reliability of renewable power systems.The paper holds substantial theoretical and practical significance. At a macro level, it contributes to reducing the overall cost of PV energy production while minimising investment in equipment maintenance and human resources. At a micro level, it enhances the utilisation efficiency and basic performance of PV systems. The recommendations of this paper not only support the sustainable growth of the renewable energy industry but also facilitate the synergistic expansion of the upstream and downstream industrial chain, fostering new employment opportunities and business potential. For individual users, businesses and the public sector, the paper provides a robust scientific foundation for developing future energy strategies with practical insights to advance global sustainable development goals.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70040","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144292893","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}

引用次数: 0

Extended State Observer-Based Motion Control of Robot Manipulators in Presence of Uncertainties and Disturbances 存在不确定性和干扰时基于扩展状态观测器的机械臂运动控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-06-16 DOI: 10.1049/cth2.70043

Muhammet Umut Danis, Zeki Yagiz Bayraktaroglu

{"title":"Extended State Observer-Based Motion Control of Robot Manipulators in Presence of Uncertainties and Disturbances","authors":"Muhammet Umut Danis, Zeki Yagiz Bayraktaroglu","doi":"10.1049/cth2.70043","DOIUrl":"https://doi.org/10.1049/cth2.70043","url":null,"abstract":"Robotic manipulators are complex mechanical systems that exhibit highly nonlinear dynamics and subject to various forms of disturbances such as friction, external forces and other unmodelled dynamics. Mathematical models representing robot dynamics are extensively used for design, simulation and control purposes, and can be derived through analytical and experimental methods. Dynamic behaviours predicted by mathematical models often deviate from the observed dynamics of robot manipulators because of external disturbances, parametric uncertainties, and unmodelled dynamics. The observer-based control that eliminates the need for highly accurate system modelling is an appealing approach for robot control. This paper introduces an extended state observer-based structure that can be either utilized as a stand-alone controller or implemented within a model-based adaptive control scheme. The proposed control scheme allows the implementation of extended state observers independently of the availability and quality of the dynamic model. The stability of the proposed controllers in presence of model uncertainties and generalized disturbances is investigated through the Lyapunov analysis. The experiments performed on a six-DoF industrial robot validate the theoretical stability results. Evaluation of performances of the proposed controllers in various operating conditions are presented in a comparative manner. Experimental results show that the extended state observer-based controller outperforms the adaptive controller in trajectory tracking performances.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70043","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144292890","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}

引用次数: 0

Safety Containment Control for Parabolic PDEs 抛物型pde的安全壳控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-06-16 DOI: 10.1049/cth2.70038

Guangshi Li

引用次数: 0

Distributed non-singular terminal sliding-mode control for a synchronized motion of a Cartesian and a robotic manipulator 笛卡儿机器人与机器人同步运动的分布非奇异终端滑模控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-06-12 DOI: 10.1049/cth2.70001

Alejandra Hernandez-Sanchez, Mariel Alfaro, Arturo Molina, Alexander Poznyak, Isaac Chairez

{"title":"Distributed non-singular terminal sliding-mode control for a synchronized motion of a Cartesian and a robotic manipulator","authors":"Alejandra Hernandez-Sanchez, Mariel Alfaro, Arturo Molina, Alexander Poznyak, Isaac Chairez","doi":"10.1049/cth2.70001","DOIUrl":"https://doi.org/10.1049/cth2.70001","url":null,"abstract":"This study presents the design of a decentralized terminal sliding-mode (TSM) controller to solve the trajectory tracking problem of a composite robotic device made up of two-dimensional Cartesian and multiple-degree-of-freedom robotic manipulators. The dynamics of the proposed composite robotic device satisfy a standard Lagrangian structure affected by the modeling uncertainties related to the internal interconnection between joint motion and external perturbations. The set of adaptive gains included in the controller implies enforcing the finite-time convergence of the tracking error (TE) to an invariant region considering the state bounds describing the restricted motion of all joints. The application of the barrier Lyapunov stability analysis theory addresses the previously known state constraints for both devices, considering the inclusion of a time-varying gain that guarantees the ultimate boundedness of the TE even with the presence of the effect of external perturbations. The suggested controller was evaluated using a virtual representation of the composite robotic device, which showed better tracking performance (while the restrictions were satisfied) than the performances obtained with the traditional linear state feedback and first-order sliding-mode controllers with restrictions. Analyzing the mean square error and its integral confirmed the benefits of using the adaptive barrier control to satisfy the TSM form.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70001","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144273494","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}

引用次数: 0

Robust Finite-Time Trajectory Tracking Control for Quadrotor UAVs With Uncertainties, External Disturbances, and Input Saturation 具有不确定性、外部干扰和输入饱和的四旋翼无人机鲁棒有限时间轨迹跟踪控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-05-27 DOI: 10.1049/cth2.70031

Yuanyuan Fei, Jiayi Zhou, Junhe Zhang, Yao Yu, Changyin Sun

{"title":"Robust Finite-Time Trajectory Tracking Control for Quadrotor UAVs With Uncertainties, External Disturbances, and Input Saturation","authors":"Yuanyuan Fei, Jiayi Zhou, Junhe Zhang, Yao Yu, Changyin Sun","doi":"10.1049/cth2.70031","DOIUrl":"https://doi.org/10.1049/cth2.70031","url":null,"abstract":"This paper addresses the finite-time trajectory tracking control problem for quadrotor UAVs under model uncertainties, external disturbances, and input saturation. A robust finite-time trajectory tracking control scheme is proposed by following steps. First, a nominal controller is established based on integral terminal sliding mode control. Second, an auxiliary system is used to address the input saturation constraint problem. It effectively restricts inputs from exceeding the bounds. Third, a reinforcement learning component is designed to estimate and compensate for model uncertainties and external disturbances. Then, a robust finite-time scheme is constructed by integrating the nominal controller, the reinforcement learning compensating component, and the auxiliary system. Theoretical analysis verifies that the finite-time stability of controlled systems can be guaranteed by the proposed tracking control scheme, and the tracking error can be driven to a compact set in finite time. Furthermore, simulation results confirm the effectiveness of the proposed control scheme.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"19 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2025-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.70031","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144148574","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}

引用次数: 0

Optimization Scheduling for Long-Term Maritime Patrol Mission With Multiple Unmanned Aerial Vehicles 多无人机长期海上巡逻任务的优化调度

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2025-05-11 DOI: 10.1049/cth2.70036

Bojiang Hou, Weisheng Yan, Shouxu Zhang

引用次数: 0