Control Engineering Practice最新文献

Nonsingular pliable prescribed performance tracking control for hypersonic flight vehicles in the presence of uncertainties and input saturation 存在不确定性和输入饱和的高超声速飞行器非奇异柔性预定性能跟踪控制

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-10-04 DOI: 10.1016/j.conengprac.2025.106591

Yingtao Liu, Ruisheng Sun, Yu Lu, Wei Chen

{"title":"Nonsingular pliable prescribed performance tracking control for hypersonic flight vehicles in the presence of uncertainties and input saturation","authors":"Yingtao Liu, Ruisheng Sun, Yu Lu, Wei Chen","doi":"10.1016/j.conengprac.2025.106591","DOIUrl":"10.1016/j.conengprac.2025.106591","url":null,"abstract":"<div><div>Existing prescribed performance control methods encounter substantial challenges in effectively handling singularities under both actuator saturation and non-saturation conditions. In addition, current prescribed performance functions are highly sensitive to unknown initial tracking errors, which significantly restricts their applicability. To address these limitations, this article devises a novel and adaptable prescribed performance control scheme tailored for hypersonic vehicles, taking full account of system uncertainties and actuator saturation. Firstly, a pliable prescribed performance function (PPPF) is proposed. This function is capable of accommodating arbitrary initial tracking errors and achieving envelope adjustment independent of control input, thereby enhancing the control system’s adaptability to various initial conditions. Secondly, a new predefined-time convergence mechanism is developed and incorporated into the design of an anti-saturation compensator. This not only stabilizes the saturated system but also improves the convergence performance of auxiliary variable after the saturation subsides. Thirdly, a command filtered backstepping controller is designed for each subsystem of the hypersonic vehicle. In the altitude subsystem, the new convergence mechanism is extended to derive a predefined-time filter (PTF). Unlike existing filters, the PTF can offer superior tracking performance for filtered signals, further optimizing the overall control performance of the system. Finally, the effectiveness and superiority of the proposed control scheme are rigorously validated through numerical simulations and experiments conducted on a turntable servo system. The results demonstrate that the proposed method can significantly improve the control performance of the hypersonic vehicles under complex conditions, providing a reliable and efficient control solution for practical engineering applications.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106591"},"PeriodicalIF":4.6,"publicationDate":"2025-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145219959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

StictionGPT: Detecting valve stiction in process control loops using large vision language model StictionGPT：使用大型视觉语言模型检测过程控制回路中的阀门粘滞

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-10-04 DOI: 10.1016/j.conengprac.2025.106588

Tianci Xue , Chao Shang , Dexian Huang , Biao Huang

{"title":"StictionGPT: Detecting valve stiction in process control loops using large vision language model","authors":"Tianci Xue , Chao Shang , Dexian Huang , Biao Huang","doi":"10.1016/j.conengprac.2025.106588","DOIUrl":"10.1016/j.conengprac.2025.106588","url":null,"abstract":"<div><div>Stiction detection in control valves is a critical challenge in control loop performance assessment and fault diagnosis within the process industry. Existing stiction detection methods often require determining a threshold or rely on a large amount of image representation data to train deep neural networks. However, they face challenges such as difficulty in threshold determination, poor transferability, and lack of interpretability. Recent advancements in large language models (LLMs) and large vision-language models (LVLMs) offer new possibilities for improving the generalization of detection models by leveraging their multimodal understanding and reasoning capabilities. We propose StictionGPT, an LVLM-based agent for valve stiction detection. To overcome limitations of traditional methods, we leverage LVLMs to mimic human decision-making, combining textual semantics with visual shape features to determine the presence of stiction. First, we transform time-series data into images that contain shape features. These images are time-series plot, PV-OP plot, OP-<span><math><mi>Δ</mi></math></span>PV plot, and CRD-PV plot. Next, we construct a multimodal dataset based on the semantics of these shapes for image–text alignment, and apply low-rank adaptation (LoRA) to foundation LVLMs to enable efficient few-shot generalization to the stiction detection task. Finally, we test the model on the ISDB benchmark and another real-world plant dataset. It turns out that StictionGPT achieves the highest accuracy on the ISDB benchmark and demonstrates excellent performance on the plant dataset.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106588"},"PeriodicalIF":4.6,"publicationDate":"2025-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145219960","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Locomotive wheel-slip control with slip ratio reference adaptation using model-based estimation 基于模型估计的机车轮滑率参考自适应控制

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-09-29 DOI: 10.1016/j.conengprac.2025.106597

Charl V. van de Merwe , Johan D. le Roux , David J.N. Limebeer

引用次数: 0

High-precision tracking control for high-order fully actuated motion control systems with deadzone nonlinearity 具有死区非线性的高阶全驱动运动控制系统的高精度跟踪控制

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-09-28 DOI: 10.1016/j.conengprac.2025.106598

Caoyuan Gu , Qi Wu , Yao-Wei Wang , Zhongcheng Lei , Wen-An Zhang

{"title":"High-precision tracking control for high-order fully actuated motion control systems with deadzone nonlinearity","authors":"Caoyuan Gu , Qi Wu , Yao-Wei Wang , Zhongcheng Lei , Wen-An Zhang","doi":"10.1016/j.conengprac.2025.106598","DOIUrl":"10.1016/j.conengprac.2025.106598","url":null,"abstract":"<div><div>This paper studies the high-precision tracking control problem of a class of motion control systems (MCSs) with deadzone characteristic, system uncertainties and external disturbances. First, a higher-order fully actuated (HOFA) tracking error control model for MCSs is established, and the system uncertainties are divided into the known inherent nonlinear part and an unknown parameter perturbation part. Then, a deadzone inverse model is applied to precompensate the inherent part, and the unknown part and external disturbances are treated as equivalent-input-disturbance (EID) on the control input side. Second, an intermediate variable-based EID (IVEID) is designed to obtain more accurate EID estimation by adjusting parameters, and an improved MPC (IMPC) method is constructed to suppress the effect of lumped disturbance. The terminal constraint set is maximized to expand the system stability range and accelerate system convergence, while the terminal penalty is minimized to improve optimization efficiency. Finally, numerical simulation on a single linkage robotic arm and experiment on a pair-drag platform demonstrate that the proposed method achieves at least a 30% improvement in comprehensive performance compared to the improved EID method, which verifies its effectiveness and superiority.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106598"},"PeriodicalIF":4.6,"publicationDate":"2025-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145219961","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Fast-execution neural-network-based modulated model predictive control for a three-phase three-level inverter 基于快速执行神经网络的三相三电平逆变器调制模型预测控制

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-09-27 DOI: 10.1016/j.conengprac.2025.106595

J. Andino , D. Arcos-Aviles , F. Guinjoan

{"title":"Fast-execution neural-network-based modulated model predictive control for a three-phase three-level inverter","authors":"J. Andino , D. Arcos-Aviles , F. Guinjoan","doi":"10.1016/j.conengprac.2025.106595","DOIUrl":"10.1016/j.conengprac.2025.106595","url":null,"abstract":"<div><div>Artificial Neural Networks (ANNs) have been used to approximate computationally demanding control algorithms, particularly Model Predictive Control, as they can learn to produce a control law directly from the system’s actual state, rather than evaluating all possible switching combinations to derive the corresponding control law. These ANN-based MPC controllers exhibit constant and lower execution times compared to explicit MPCs. In this regard, ANNs are more appropriate for controlling multi-level inverters (MLIs) due to the large number of switching combinations. Moreover, ANNs can learn to handle nonlinearities and constraints, increasing their performance and reliability. This paper presents a new control scheme for an LC-filtered three-phase, three-level inverter (3<span><math><mi>φ</mi></math></span>-3L-VSI) consisting of an ANN-based modulated MPC (ANN-M2PC) and a switching pattern calculation stage. The ANN-M2PC is trained to predict the voltage that the inverter must apply at the next sampling time. The switching pattern stage converts the ANN’s result into a set of switching actions to drive the inverter. The proposal is validated using a Typhoon Hardware-In-the-Loop (HIL) device and a mid-range DSP F28335 microcontroller. The proposal enables the implementation of more sophisticated control algorithms in real-time, with similar performance and low execution times. Indeed, the proposal is four times faster than the classical approach, Finite Control Set Model Predictive Control (FCS-MPC), and its performance is comparable to that of the Modulated Model Predictive Control (M2PC) used for training.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106595"},"PeriodicalIF":4.6,"publicationDate":"2025-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145157671","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Two-stage lumped parameter observer for spatial alumina concentration in aluminium reduction cells: Validation on simulator and industrial data 铝还原槽中空间氧化铝浓度的两级集总参数观测器：模拟器和工业数据的验证

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-09-27 DOI: 10.1016/j.conengprac.2025.106525

Andrea Mattioni , Lucas José da Silva Moreira , Hervé Roustan , Mirko Fiacchini , Gildas Besançon

{"title":"Two-stage lumped parameter observer for spatial alumina concentration in aluminium reduction cells: Validation on simulator and industrial data","authors":"Andrea Mattioni , Lucas José da Silva Moreira , Hervé Roustan , Mirko Fiacchini , Gildas Besançon","doi":"10.1016/j.conengprac.2025.106525","DOIUrl":"10.1016/j.conengprac.2025.106525","url":null,"abstract":"<div><div>The absence of continuous dissolved alumina sensors capable of withstanding the difficult conditions inside an aluminium reduction cell makes the design of an observer necessary for the cell’s supervision. In this paper, a two-stage lumped parameter Extended Kalman Filter observer using the cell voltage and the anode currents is proposed to estimate the dissolved alumina distribution in an aluminium reduction cell. The proposed two-stage lumped parameter observer does not require prior knowledge of the bath’s velocity field but instead relies on continuous correction of estimations using anode currents. The observer convergence is validated in two different ways. In the first case, the observer is tested on a dissolved alumina distribution simulator. This simulator includes dissolved and undissolved alumina distributions, as well as ACD dynamics together with anode current redistribution implicit equations. Secondly, the observer is validated on industrial data, using a procedure based on industrially available measurements of tetrafluoromethane gas to overcome the lack of direct alumina sensing.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106525"},"PeriodicalIF":4.6,"publicationDate":"2025-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158247","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Sensitivity-informed parameter selection for improved soil moisture estimation from remote sensing data 基于灵敏度的遥感土壤水分估算参数选择

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-09-27 DOI: 10.1016/j.conengprac.2025.106593

Bernard T. Agyeman , Erfan Orouskhani , Mohamed Naouri , Willemijn M. Appels , Maik Wolleben , Jinfeng Liu , Sirish L. Shah

{"title":"Sensitivity-informed parameter selection for improved soil moisture estimation from remote sensing data","authors":"Bernard T. Agyeman , Erfan Orouskhani , Mohamed Naouri , Willemijn M. Appels , Maik Wolleben , Jinfeng Liu , Sirish L. Shah","doi":"10.1016/j.conengprac.2025.106593","DOIUrl":"10.1016/j.conengprac.2025.106593","url":null,"abstract":"<div><div>Accurate soil moisture estimation is essential for advancing closed-loop irrigation. Central to this task are soil hydraulic parameters, which are rarely known precisely and must be inferred from moisture measurements. Inferring these parameters for large-scale agricultural fields presents practical difficulties due to the sparse and noisy nature of moisture measurements. To address this challenge, a framework is developed that combines sensitivity analysis and orthogonal projection to identify parameters that are most reliably estimable from the measurements. The selected parameters, together with soil moisture states, are estimated by assimilating remotely sensed soil moisture observations into the Richards equation using an extended Kalman filter. Numerical simulations and field experiments conducted on a large-scale site in Lethbridge, Alberta, Canada, demonstrate improvements of 24%–43% in soil moisture estimation accuracy and a 50% enhancement in predictive performance. Furthermore, the estimated parameters, particularly saturated hydraulic conductivity, show good agreement with experimental measurements.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106593"},"PeriodicalIF":4.6,"publicationDate":"2025-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145157673","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Trajectory based observer design: A framework for lightweight sensor fusion 基于轨迹的观测器设计：轻量级传感器融合框架

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-09-25 DOI: 10.1016/j.conengprac.2025.106592

Federico Oliva , Tom Shaked , Daniele Carnevale , Amir Degani

{"title":"Trajectory based observer design: A framework for lightweight sensor fusion","authors":"Federico Oliva , Tom Shaked , Daniele Carnevale , Amir Degani","doi":"10.1016/j.conengprac.2025.106592","DOIUrl":"10.1016/j.conengprac.2025.106592","url":null,"abstract":"<div><div>Efficient observer design and accurate sensor fusion are key in state estimation. This work proposes an optimization-based methodology, termed <em>Trajectory Based Optimization Design</em> (TBOD), allowing the user to easily design observers for general nonlinear systems and multi-sensor setups. Starting from parametrized observer dynamics, the proposed method considers a finite set of pre-recorded measurement trajectories from the nominal plant and exploits them to tune the observer parameters through numerical optimization. This research hinges on the classic observer’s theory and Moving Horizon Estimators methodology. Optimization is exploited to ease the observer’s design, providing the user with a lightweight, general-purpose sensor fusion methodology. TBOD’s main characteristics are the capability to handle general sensors efficiently and in a modular way and, most importantly, its straightforward tuning procedure. The TBOD’s performance is tested on a terrestrial rover localization problem, combining IMU and ranging sensors provided by <em>Ultra Wide Band</em> antennas, and validated through a motion-capture system. Comparison with an <em>Extended Kalman Filter</em> is also provided, matching its position estimation accuracy and significantly improving in the orientation.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106592"},"PeriodicalIF":4.6,"publicationDate":"2025-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145158246","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Performance-driven intelligent fault-tolerant control for unknown nonlinear systems 未知非线性系统性能驱动的智能容错控制

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-09-25 DOI: 10.1016/j.conengprac.2025.106594

Ran Chen , Donghua Zhou , Li Sheng

{"title":"Performance-driven intelligent fault-tolerant control for unknown nonlinear systems","authors":"Ran Chen , Donghua Zhou , Li Sheng","doi":"10.1016/j.conengprac.2025.106594","DOIUrl":"10.1016/j.conengprac.2025.106594","url":null,"abstract":"<div><div>This article investigates the fault-tolerant tracking control problem for the unknown nonlinear system subject to actuator faults and external disturbances. A novel performance-driven intelligent fault-tolerant controller is proposed, enabling accurate state tracking without requiring any estimation of system or fault dynamics. By integrating the prescribed performance control (PPC) framework with adaptive dynamic programming, the developed controller ensures that both transient and steady control performances satisfy predefined specifications while reducing the overall control cost. Notably, the conventional requirement in PPC designs that initial tracking errors lie within prespecified bounds is relaxed via a two-step mapping mechanism. Rigorous Lyapunov-based stability analysis guarantees that all closed-loop signals are uniformly ultimately bounded. The effectiveness of the proposed method is demonstrated through two simulation studies, including one on permanent magnet synchronous motor, which illustrates its potential for real-world industrial applications involving complex nonlinear dynamics and uncertain environments.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106594"},"PeriodicalIF":4.6,"publicationDate":"2025-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145157674","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Event-triggered shared control for lane keeping assist system in steer-by-wire vehicles under unknown dynamics and actuator failure 未知动力学和致动器故障情况下线控车辆车道保持辅助系统的事件触发共享控制

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-09-25 DOI: 10.1016/j.conengprac.2025.106566

Hossam Eddine Glida , Chouki Sentouh , Abdelghani Chelihi , Tomas Ménard , Mondher Farza , Jean-Christophe Popieul

{"title":"Event-triggered shared control for lane keeping assist system in steer-by-wire vehicles under unknown dynamics and actuator failure","authors":"Hossam Eddine Glida , Chouki Sentouh , Abdelghani Chelihi , Tomas Ménard , Mondher Farza , Jean-Christophe Popieul","doi":"10.1016/j.conengprac.2025.106566","DOIUrl":"10.1016/j.conengprac.2025.106566","url":null,"abstract":"<div><div>This paper presents a novel shared control strategy for Human–Machine Interaction (HMI) systems, specifically targeting lane-keeping assistance by incorporating the human driver into the control loop. Specifically targeting lane-keeping assistance by incorporating the human driver into the control loop. The lateral vehicle dynamics are influenced by unknown nonlinearities such as tire uncertainties, external disturbances and potential faults in the steering actuator which pose significant challenges to stability and performance. To address these issues, a comprehensive modeling framework is developed to derive an accurate equivalent system model. A key feature of the proposed approach is a nonlinear fault-tolerant shared control system that compensates for unknown nonlinearities and actuator faults without requiring prior knowledge of the system model. This is achieved using robust approximation techniques based on adaptive Generalized Regression Neural Networks. Additionally, the paper introduces a novel authority-sharing mechanism between the human driver and the assistance controller. This mechanism use an event-triggered generator designed via Lyapunov theory, ensuring the stability of the overall closed-loop HMI system. The effectiveness of the proposed strategy is validated through both theoretical analysis and experimental evaluation, demonstrating its potential to enhance the safety, robustness and performance of shared and autonomous driving modes.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106566"},"PeriodicalIF":4.6,"publicationDate":"2025-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145157675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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