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Human-in-the-loop energy and thermal management for electric racing cars through optimization-based control 基于优化控制的电动赛车人在环能量和热管理
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-11-01 Epub Date: 2025-07-29 DOI: 10.1016/j.ejcon.2025.101293
Erik van den Eshof, Jorn van Kampen, Mauro Salazar
{"title":"Human-in-the-loop energy and thermal management for electric racing cars through optimization-based control","authors":"Erik van den Eshof,&nbsp;Jorn van Kampen,&nbsp;Mauro Salazar","doi":"10.1016/j.ejcon.2025.101293","DOIUrl":"10.1016/j.ejcon.2025.101293","url":null,"abstract":"<div><div>This paper presents an energy and thermal management system for electric race cars, where we tune a lift-off-throttle signal for the driver in real-time to respect energy budgets and thermal constraints. First, we compute globally optimal state trajectories in a real-time capable solving time, optimizing a 47 km horizon in 2.5 s. Next, for safe operation with a human driver, we simplify it to a maximum-power-or-coast operation in full-throttle regions (straights). Thereby, both the positions from which the vehicle should start coasting and the optimal throttle map are subject to tuning. To this end, we define the coasting sections with a threshold on the costate trajectory of the kinetic energy from the optimal solution. We devise an online implementable bisection algorithm to tune this threshold and adapt it using PI feedback. Finally, we validate the proposed approach for an electric endurance race car and compare three variants with varying implementation challenges: one re-optimizing and updating the kinetic costate trajectory online, one applying only the bisection algorithm online, and one relying exclusively on feedback control. Our results show that, under typical racing disturbances, our energy management achieves stint times ranging from less than 0.056% to 0.22% slower compared to offline optimization with a priori disturbance knowledge, paving the way for on-board implementations and testing.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101293"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Polytopic observer designs for uncertain linear systems 不确定线性系统的多面体观测器设计
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-11-01 Epub Date: 2025-07-21 DOI: 10.1016/j.ejcon.2025.101338
Tarun Pati , Maral Mordad , Sze Zheng Yong
{"title":"Polytopic observer designs for uncertain linear systems","authors":"Tarun Pati ,&nbsp;Maral Mordad ,&nbsp;Sze Zheng Yong","doi":"10.1016/j.ejcon.2025.101338","DOIUrl":"10.1016/j.ejcon.2025.101338","url":null,"abstract":"<div><div>This article introduces polytopic observer designs for discrete- and continuous-time linear systems with bounded uncertainties. In particular, by noting that polytopes are equivalent to constrained zonotopes with intervals in their generator spaces, we propose two choices of generators to fix the order of the polytopic observer. Moreover, this observation enables us to leverage existing interval observers to find interval estimates in the augmented generator space before projecting them onto the original state space as polytopes/constrained zonotopes. Further, we prove that the polytopic observers are at least as good as interval observers for the same uncertain linear system in terms of the volumes of their set estimates and the error system gains. As a side contribution, we also introduce a more computationally efficient approach to obtain interval observer gains. Finally, we demonstrate and discuss the effectiveness of the proposed approach on a broad range of examples.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101338"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Safety filter for robust disturbance rejection via online optimization 基于在线优化的鲁棒抗扰安全滤波器
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-11-01 Epub Date: 2025-07-21 DOI: 10.1016/j.ejcon.2025.101337
Joyce Lai, Peter Seiler
{"title":"Safety filter for robust disturbance rejection via online optimization","authors":"Joyce Lai,&nbsp;Peter Seiler","doi":"10.1016/j.ejcon.2025.101337","DOIUrl":"10.1016/j.ejcon.2025.101337","url":null,"abstract":"<div><div>Disturbance rejection in high-precision control applications can be significantly improved upon via online convex optimization (OCO). This includes classical techniques such as recursive least squares (RLS) and more recent, regret-based formulations. However, these methods can cause instabilities in the presence of model uncertainty. This paper introduces a safety filter for systems with OCO in the form of adaptive finite impulse response (FIR) filtering to ensure robust disturbance rejection. The safety filter enforces a robust stability constraint on the FIR coefficients while minimally altering the OCO command in the <span><math><mi>∞</mi></math></span>-norm cost. Additionally, we show that the induced <span><math><msub><mrow><mi>ℓ</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span>-norm allows for easy online implementation of the safety filter by directly limiting the OCO command. The constraint can be tuned to trade off robustness and performance. We provide a simple example to demonstrate the safety filter.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101337"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645528","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Adaptive modelling and filtering of periodic signals with non-stationary fundamental frequency 非平稳基频周期信号的自适应建模与滤波
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-11-01 Epub Date: 2025-08-16 DOI: 10.1016/j.ejcon.2025.101333
Emilio Corcione , Michael Kübler , Magnus Benke , Stephanie Mrzyglod , Jixing Zhang , Oliver Sawodny , Jörg Wrachtrup , Cristina Tarín
{"title":"Adaptive modelling and filtering of periodic signals with non-stationary fundamental frequency","authors":"Emilio Corcione ,&nbsp;Michael Kübler ,&nbsp;Magnus Benke ,&nbsp;Stephanie Mrzyglod ,&nbsp;Jixing Zhang ,&nbsp;Oliver Sawodny ,&nbsp;Jörg Wrachtrup ,&nbsp;Cristina Tarín","doi":"10.1016/j.ejcon.2025.101333","DOIUrl":"10.1016/j.ejcon.2025.101333","url":null,"abstract":"<div><div>We present a novel approach to processing periodic signals with non-stationary fundamental frequency. These quasi-periodic signals feature a perpetually recurring underlying signal pattern and arise in various fields of science and engineering. The proposed method integrates a recursive extraction of the signal pattern with dynamic tracking of the instantaneous phase to effectively suppress measurement noise without prior knowledge of the signal characteristics or the frequency variation. The performance is showcased both in simulation and using experimental measurements of the cardiac cycle obtained by a nitrogen-vacancy diamond quantum sensor. Overall, high-fidelity signal reconstruction and convincing pattern learning is achieved, even in the presence of complex non-linear disturbances and non-Gaussian noise. Conclusively, the proposed technique constitutes a flexible and efficient solution, addressing limitations of existing methods and offering real-world applicability.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101333"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645527","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A system parametrization for direct data-driven analysis and control with error-in-variables 用于直接数据驱动分析和变量误差控制的系统参数化
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-11-01 Epub Date: 2025-07-23 DOI: 10.1016/j.ejcon.2025.101307
Felix Brändle, Frank Allgöwer
{"title":"A system parametrization for direct data-driven analysis and control with error-in-variables","authors":"Felix Brändle,&nbsp;Frank Allgöwer","doi":"10.1016/j.ejcon.2025.101307","DOIUrl":"10.1016/j.ejcon.2025.101307","url":null,"abstract":"<div><div>In this paper, we present a new parametrization to perform direct data-driven analysis and controller synthesis for the error-in-variables case. To achieve this, we employ the Sherman–Morrison–Woodbury formula to transform the problem into a linear fractional transformation with unknown measurement errors and disturbances as uncertainties. For bounded uncertainties, we apply robust control techniques to derive a guaranteed upper bound on the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span>-norm of the unknown true system. To this end, a single semidefinite program needs to be solved, with complexity that is independent of the amount of data. Furthermore, we exploit the signal-to-noise ratio to provide a data-dependent condition, that characterizes whether the proposed parametrization can be employed. The modular formulation allows to extend this framework to controller synthesis with different performance criteria, input–output settings, and various system properties. Finally, we validate the proposed approach through a numerical example.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101307"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645608","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A stability condition for online feedback optimization without timescale separation 无时间尺度分离的在线反馈优化稳定性条件
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-11-01 Epub Date: 2025-07-20 DOI: 10.1016/j.ejcon.2025.101308
Mattia Bianchi, Florian Dörfler
{"title":"A stability condition for online feedback optimization without timescale separation","authors":"Mattia Bianchi,&nbsp;Florian Dörfler","doi":"10.1016/j.ejcon.2025.101308","DOIUrl":"10.1016/j.ejcon.2025.101308","url":null,"abstract":"<div><div>Online Feedback Optimization (OFO) is a control approach to drive a dynamical plant to an optimal steady state. By interconnecting optimization algorithms with real-time plant measurements, OFO provides all the benefits of feedback control, yet without requiring exact knowledge of plant dynamics for computing a setpoint. On the downside, existing stability guarantees for OFO require the controller to evolve on a sufficiently slower timescale than the plant, possibly affecting transient performance and responsiveness to disturbances. In this paper, we prove that, under suitable conditions, OFO ensures stability without any timescale separation. In particular, the condition we propose is independent of the time constant of the plant, hence it is scaling-invariant. Our analysis leverages a composite Lyapunov function, which is the <span><math><mo>max</mo></math></span> of plant-related and controller-related components. We corroborate our theoretical results with numerical examples.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101308"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645609","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Closed-loop performance optimization of model predictive control with robustness guarantees 具有鲁棒性保证的模型预测控制闭环性能优化
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-11-01 Epub Date: 2025-07-22 DOI: 10.1016/j.ejcon.2025.101319
Riccardo Zuliani , Efe C. Balta , John Lygeros
{"title":"Closed-loop performance optimization of model predictive control with robustness guarantees","authors":"Riccardo Zuliani ,&nbsp;Efe C. Balta ,&nbsp;John Lygeros","doi":"10.1016/j.ejcon.2025.101319","DOIUrl":"10.1016/j.ejcon.2025.101319","url":null,"abstract":"<div><div>Model mismatch and process noise are two frequently occurring phenomena that can drastically affect the performance of model predictive control (MPC) in practical applications. We propose a principled way to tune the cost function and the constraints of linear MPC schemes to improve the closed-loop performance and robust constraint satisfaction on uncertain nonlinear dynamics with additive noise. The tuning is performed using a novel MPC tuning algorithm based on backpropagation developed in our earlier work. Using the scenario approach, we provide probabilistic bounds on the likelihood of closed-loop constraint violation over a finite horizon. We showcase the effectiveness of the proposed method on linear and nonlinear simulation examples.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101319"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645612","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
From microscopic driver models to macroscopic PDEs in ring road traffic dynamics 从微观驾驶员模型到环路交通动力学的宏观偏微分方程
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-11-01 Epub Date: 2025-09-02 DOI: 10.1016/j.ejcon.2025.101364
S. Fueyo, C. Canudas de Wit
{"title":"From microscopic driver models to macroscopic PDEs in ring road traffic dynamics","authors":"S. Fueyo,&nbsp;C. Canudas de Wit","doi":"10.1016/j.ejcon.2025.101364","DOIUrl":"10.1016/j.ejcon.2025.101364","url":null,"abstract":"<div><div>In this paper, using a continuation method (Nikitin and Canudas-de Wit, 2022), we provide a simple procedure to derive macroscopic models from second order ordinary differential equations modeling individual vehicles moving on a ring. In particular, the result is applied to classical traffic models such as the optimal velocity follow the leader (OV-FTL) models, the intelligent driver model (IDM) or delayed driver models and we are able to modelize the macroscopic behavior of the drivers through a 2 × 2 partial differential equations whose variables are the density of the traffic and the speed of the vehicles. The paper concludes with open questions regarding stability and microscopic control design.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101364"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645422","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Observer design conditions for piecewise linear systems with known and unknown inputs 具有已知和未知输入的分段线性系统的观测器设计条件
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-11-01 Epub Date: 2025-07-25 DOI: 10.1016/j.ejcon.2025.101321
Manuel Mera , Rosane Ushirobira , Denis Efimov , Francisco Javier Bejarano
{"title":"Observer design conditions for piecewise linear systems with known and unknown inputs","authors":"Manuel Mera ,&nbsp;Rosane Ushirobira ,&nbsp;Denis Efimov ,&nbsp;Francisco Javier Bejarano","doi":"10.1016/j.ejcon.2025.101321","DOIUrl":"10.1016/j.ejcon.2025.101321","url":null,"abstract":"<div><div>This paper presents sufficient reconstructability and observability conditions for piecewise linear systems affected by known and unknown inputs. Based on these conditions, an observer design using a High Order Sliding Mode (HOSM) differentiator is proposed to estimate both the continuous and discrete states. Additionally, numerical examples and simulations are given to explain and illustrate the results.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101321"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645613","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Scaled relative graphs for nonmonotone operators with applications in circuit theory 非单调算子的比例相对图及其在电路理论中的应用
IF 2.6 3区 计算机科学
European Journal of Control Pub Date : 2025-11-01 Epub Date: 2025-08-05 DOI: 10.1016/j.ejcon.2025.101335
Jan Quan, Brecht Evens, Rodolphe Sepulchre, Panagiotis Patrinos
{"title":"Scaled relative graphs for nonmonotone operators with applications in circuit theory","authors":"Jan Quan,&nbsp;Brecht Evens,&nbsp;Rodolphe Sepulchre,&nbsp;Panagiotis Patrinos","doi":"10.1016/j.ejcon.2025.101335","DOIUrl":"10.1016/j.ejcon.2025.101335","url":null,"abstract":"<div><div>The scaled relative graph (SRG) is a powerful graphical tool for analyzing the properties of operators, by mapping their graph onto the complex plane. In this work, we study the SRG of two classes of nonmonotone operators, namely the general class of semimonotone operators and a class of angle-bounded operators. In particular, we provide an analytical description of the SRG of these classes and show that membership of an operator to these classes can be verified through geometric containment of its SRG. To illustrate the importance of these results, we provide several examples in the context of electrical circuits. Most notably, we show that the Ebers–Moll transistor belongs to the class of angle-bounded operators and use this result to compute the response of a common-emitter amplifier using Chambolle–Pock, despite the underlying nonsmoothness and multi-valuedness, leveraging recent convergence results for this algorithm in the nonmonotone setting.</div></div>","PeriodicalId":50489,"journal":{"name":"European Journal of Control","volume":"86 ","pages":"Article 101335"},"PeriodicalIF":2.6,"publicationDate":"2025-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145645421","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","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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