Control Engineering Practice最新文献

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An Enhanced Hybrid Metaheuristic for Hierarchical Scheduling in 4WIDS Multi-robot Systems under Confined Environments 受限环境下4WIDS多机器人系统分层调度的增强混合元启发式算法
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-25 DOI: 10.1016/j.conengprac.2025.106498
Lin Zhang, Yichen An, Tianwei Niu, Runjiao Bao, Shoukun Wang, Junzheng Wang
{"title":"An Enhanced Hybrid Metaheuristic for Hierarchical Scheduling in 4WIDS Multi-robot Systems under Confined Environments","authors":"Lin Zhang,&nbsp;Yichen An,&nbsp;Tianwei Niu,&nbsp;Runjiao Bao,&nbsp;Shoukun Wang,&nbsp;Junzheng Wang","doi":"10.1016/j.conengprac.2025.106498","DOIUrl":"10.1016/j.conengprac.2025.106498","url":null,"abstract":"<div><div>Multi-robot systems have emerged as a transformative paradigm for industrial automation. However, deploying these systems in dense, dynamic environments like ultra-dense warehouses and Ro-Ro terminals remains challenging due to simplified motion constraints, idealized models, and the tight coupling of task assignment, trajectory planning, and conflict resolution under strict spatiotemporal constraints. To address these problems, we propose a hierarchical scheduling framework for four-wheel independent drive/steering robot groups in confined environments. Firstly, at the task assignment layer, we introduce an enhanced hybrid metaheuristic for task assignment that integrates particle swarm optimization with a genetic algorithm, augmented by a problem-specific fitness function and adaptive mutation strategies to prevent premature convergence. Secondly, at the path planning layer, we develop a kinematics-aware conflict-based search path planner integrating motion primitives with improved A* node expansion strategies, where adaptive heuristic weighting and bidirectional search acceleration are introduced to ensure computational tractability. Simulations in a near-realistic confined environment show that the proposed hierarchical scheduling algorithm reduces total execution cost by 11.0% compared to the advanced particle swarm genetic algorithm, demonstrating its superior performance in multi-robot coordination. Furthermore, field tests conducted at the Ro-Ro Terminal of Yantai Port have fully validated the feasibility of this framework for multi-robot coordination in real-world scenarios. This work lays a theoretical and practical foundation for next-generation multi-robot coordination in constrained logistics ecosystems.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106498"},"PeriodicalIF":5.4,"publicationDate":"2025-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144703675","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 tube-based model predictive anti-rollover control for liquid tank trucks considering time-varying parameters 考虑时变参数的基于事件触发管的液罐车模型预测防侧翻控制
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-25 DOI: 10.1016/j.conengprac.2025.106499
Weihe Liang, Ruoyan Wang, Chunyan Wang, Wanzhong Zhao, Zhongkai Luan, Qikang Meng
{"title":"Event-triggered tube-based model predictive anti-rollover control for liquid tank trucks considering time-varying parameters","authors":"Weihe Liang,&nbsp;Ruoyan Wang,&nbsp;Chunyan Wang,&nbsp;Wanzhong Zhao,&nbsp;Zhongkai Luan,&nbsp;Qikang Meng","doi":"10.1016/j.conengprac.2025.106499","DOIUrl":"10.1016/j.conengprac.2025.106499","url":null,"abstract":"<div><div>Liquid tank trucks, primarily used for transporting hazardous chemicals, pose a high rollover risk due to the coupled dynamics of sloshing liquid and vehicle motion, and their rollover incidents can lead to severe safety hazards. The liquid sloshing introduces time-varying parameters that challenge the design of anti-rollover controllers. In response to this, this paper proposes an event-triggered, tube-based model predictive anti-rollover control strategy for liquid tank trucks that accounts for time-varying parameters. Firstly, to capture the time-varying characteristics resulting from liquid sloshing, this paper establishes a linear parameter-varying model. After analyzing the influence of liquid sloshing and time-varying parameters on rollover, a time-varying rollover index of the liquid tank truck is obtained using a parameter-state joint estimator for estimating difficult-to-obtain states and time-varying parameters. Then, this paper proposes a tube-based model predictive anti-rollover control strategy, which enhances the robustness of the control strategy to time-varying parameters in liquid tank trucks by incorporating system time-varying parameters within the tube. Furthermore, due to the limited bandwidth of the chassis CAN communication, an event-triggered mechanism is introduced to reduce communication resource consumption. Finally, this paper developed a hardware-in-the-loop anti-rollover test platform to validate the proposed strategy. The test results demonstrate that, under the proposed control strategy, the rollover angle of the liquid tank truck decreased by 35 %, and the lateral acceleration was reduced by 50 %. Additionally, the communication resource occupancy decreased by 39 %. The proposed anti-rollover control strategy effectively reduces the rollover risk and enhances the driving safety of liquid tank trucks.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106499"},"PeriodicalIF":5.4,"publicationDate":"2025-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144703672","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
Model identification of a cable-based mechanical transmission for robotics using a Best Linear Approximation approach 基于最佳线性逼近方法的机器人缆索机械传动模型辨识
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-25 DOI: 10.1016/j.conengprac.2025.106457
Bassem Boukhebouz , Guillaume Mercère , Mathieu Grossard , Édouard Laroche
{"title":"Model identification of a cable-based mechanical transmission for robotics using a Best Linear Approximation approach","authors":"Bassem Boukhebouz ,&nbsp;Guillaume Mercère ,&nbsp;Mathieu Grossard ,&nbsp;Édouard Laroche","doi":"10.1016/j.conengprac.2025.106457","DOIUrl":"10.1016/j.conengprac.2025.106457","url":null,"abstract":"<div><div>This article presents an experimental approach for frequency-based identification and excitation signal design to be used for identifying the mechanical motor-to-joint cable-based transmission of a robotic actuation system. By using the Best Linear Approximation (BLA) theory, frequency responses are estimated and nonlinear distortions are mitigated. The identification process is performed in closed-loop to ensure system stability, with multisine excitation signals designed to respect system constraints. The paper presents a technique for enhancing the accuracy of estimated frequency responses when dealing with signal saturation in a closed-loop system. This approach involves shaping the multisine excitation to enhance the Crest Factor of the control signal. The study includes experimental results from non-parametric frequency identification conducted on a test bench, and a parametric model is derived using a non-convex optimization method.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106457"},"PeriodicalIF":5.4,"publicationDate":"2025-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144703673","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
Output feedback control of an underactuated flying inverted pendulum 欠驱动飞行倒立摆的输出反馈控制
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-25 DOI: 10.1016/j.conengprac.2025.106474
Weiming Yang , Joel Reis , Gan Yu , Carlos Silvestre
{"title":"Output feedback control of an underactuated flying inverted pendulum","authors":"Weiming Yang ,&nbsp;Joel Reis ,&nbsp;Gan Yu ,&nbsp;Carlos Silvestre","doi":"10.1016/j.conengprac.2025.106474","DOIUrl":"10.1016/j.conengprac.2025.106474","url":null,"abstract":"<div><div>This paper tackles the problem of trajectory tracking control for an inverted pendulum mounted on an underactuated unmanned aerial vehicle, operating under constant external disturbances. To model the pendulum’s dynamics, a linear time-varying (LTV) system is first constructed. Within a stochastic framework, a Kalman filter is applied to this LTV system, shown to be uniformly completely observable, to obtain: estimates of the pendulum’s angular velocity; estimates of the external disturbances; and noise-filtered measurements of the pendulum’s orientation. A backstepping nonlinear controller is then designed, and it is analytically proven that the total error in the closed-loop system remains uniformly ultimately bounded. The effectiveness of the proposed strategy is demonstrated through simulations, with additional experimental results further validating its performance.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106474"},"PeriodicalIF":5.4,"publicationDate":"2025-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144703674","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
Distributed model-free adaptive control for output-coupled interconnected processes 输出耦合互连过程的分布式无模型自适应控制
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-24 DOI: 10.1016/j.conengprac.2025.106493
Dawei Zhang , Rui Xia , Fei Li , Jiehua Feng , Dongya Zhao , Sarah K. Spurgeon
{"title":"Distributed model-free adaptive control for output-coupled interconnected processes","authors":"Dawei Zhang ,&nbsp;Rui Xia ,&nbsp;Fei Li ,&nbsp;Jiehua Feng ,&nbsp;Dongya Zhao ,&nbsp;Sarah K. Spurgeon","doi":"10.1016/j.conengprac.2025.106493","DOIUrl":"10.1016/j.conengprac.2025.106493","url":null,"abstract":"<div><div>A novel data-driven distributed control strategy for output-coupled interconnected industrial processes with unknown models is proposed in this paper. The method derives a Distributed Output-coupled Dynamic Linearization (DOCDL) data model that effectively captures the complex output coupling relationships between the subsystems, overcoming the limitations of traditional model-free adaptive control frameworks in handling output coupling terms. An Output-coupled Interconnected Processes Disturbance Observer based Distributed Data-driven Adaptive Control (OC-DO-DDAC) is developed to address the computational burden and accuracy deterioration associated with centralized control approaches. The controller incorporates both rate terms in its multi-factor objective function and dedicated disturbance observers to effectively suppress the propagation of the disturbances through the coupling channels, thereby enhancing system stability and robustness. The parameter vectorization approach employed in the distributed design circumvents the control accuracy issues arising from matrix norm simplification while maintaining computational efficiency as system dimensions increase. Theoretical analysis demonstrates the boundedness of the tracking errors through an innovative dimension-extended system approach combined with Gerschgorin’s circle theorem. The effectiveness of the proposed method is validated through comprehensive simulations and experimental studies on output-coupled systems.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106493"},"PeriodicalIF":5.4,"publicationDate":"2025-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144695281","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
Multirobot path-aware global optimization 多机器人路径感知全局优化
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-24 DOI: 10.1016/j.conengprac.2025.106495
Tudor Sântejudean , Maria Ceapă , Radu Herzal , Elvin Pop , Vineeth Satheeskumar Varma , Irinel-Constantin Morărescu , Lucian Buşoniu
{"title":"Multirobot path-aware global optimization","authors":"Tudor Sântejudean ,&nbsp;Maria Ceapă ,&nbsp;Radu Herzal ,&nbsp;Elvin Pop ,&nbsp;Vineeth Satheeskumar Varma ,&nbsp;Irinel-Constantin Morărescu ,&nbsp;Lucian Buşoniu","doi":"10.1016/j.conengprac.2025.106495","DOIUrl":"10.1016/j.conengprac.2025.106495","url":null,"abstract":"<div><div>We propose Voronoi Simultaneous Optimistic Optimization (VSOO), a divide-the-best-based method for multirobot global optimization of a Lipschitz-continuous physical objective (e.g., quantity of material, density of litter, signal power), whose Lipschitz constant is unknown. In this problem, a team of mobile robots must autonomously navigate as quickly as possible to all global optima of the objective function defined over their operating area. The objective can have multiple local and global optima, is initially unknown, and can only be evaluated online at robot locations. VSOO utilizes Voronoi partitions driven by the samples collected so far by the robots, which allows them to incrementally refine the search space in their simultaneous search for the optima. We guarantee everywhere-dense and global convergence for any function, and analyze convergence rates for some representative classes of function shapes. Extensive numerical simulations, performed on established classes of benchmark test functions, demonstrate that VSOO approaches all global optima faster than a series of representative source/extremum seeking techniques that – similarly to VSOO – are global optimizers designed for mobile robots. In terms of execution time, VSOO is competitive with these baselines. We finally validate VSOO in real-robot experiments in which TurtleBot3 robots successfully search for the strongest antenna signals indoors.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106495"},"PeriodicalIF":5.4,"publicationDate":"2025-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144695282","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
Exponential control barrier function and model predictive control for jerk-level reactive motion planning of quadrotors 指数控制、障碍函数和模型预测控制四旋翼机瞬变级反应运动规划
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-23 DOI: 10.1016/j.conengprac.2025.106489
Zeinab Shayan , Mohammadreza Izadi , Vincenzo Scognamiglio , Simone D’Angelo , Shashank Singoji , Vincenzo Lippiello , Reza Faieghi
{"title":"Exponential control barrier function and model predictive control for jerk-level reactive motion planning of quadrotors","authors":"Zeinab Shayan ,&nbsp;Mohammadreza Izadi ,&nbsp;Vincenzo Scognamiglio ,&nbsp;Simone D’Angelo ,&nbsp;Shashank Singoji ,&nbsp;Vincenzo Lippiello ,&nbsp;Reza Faieghi","doi":"10.1016/j.conengprac.2025.106489","DOIUrl":"10.1016/j.conengprac.2025.106489","url":null,"abstract":"<div><div>Quadrotors require efficient reactive motion planning algorithms to ensure safe autonomous operations in dynamic environments. One common strategy for reactive motion planning is model predictive control (MPC); however, conventional MPC-based methods often fall short of guaranteeing collision avoidance when encountering dynamic obstacles. To address this limitation, we develop an enhanced framework that combines MPC with control barrier functions (CBFs) for improved safety and a Kalman Filter (KF) for predicting obstacle behavior, increasing responsiveness to dynamic obstacles. We utilize a high-order closed-loop model of the quadrotor along with exponential CBFs, enabling trajectory control at the jerk level, unlike existing MPC-CBF methods that rely on acceleration-level planning. Extensive hardware experiments across multiple scenarios demonstrate that this approach significantly enhances safety by increasing the minimum vehicle-obstacle distance and enabling successful navigation through complex situations, such as avoiding fast-swinging obstacles, where traditional MPC-only methods fail. Hardware-based sensitivity analysis further reveals the algorithm’s overall robustness to variations in parameter values, provides insight into parameter tuning, and highlights the critical role of accurate obstacle predictions in dynamic environments. Our findings indicate that the MPC-CBF-KF framework is a promising, robust, and computationally feasible solution for quadrotor motion planning in both dynamic and static environments.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106489"},"PeriodicalIF":5.4,"publicationDate":"2025-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144685997","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
Adaptive robust control for heavy-duty tracked transportation robots in underground mines 矿山重型履带式运输机器人的自适应鲁棒控制
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-23 DOI: 10.1016/j.conengprac.2025.106494
Xihao Yan, Dongjie Wang, Aixiang Ma, Sihai Zhao
{"title":"Adaptive robust control for heavy-duty tracked transportation robots in underground mines","authors":"Xihao Yan,&nbsp;Dongjie Wang,&nbsp;Aixiang Ma,&nbsp;Sihai Zhao","doi":"10.1016/j.conengprac.2025.106494","DOIUrl":"10.1016/j.conengprac.2025.106494","url":null,"abstract":"<div><div>This paper presents a novel trajectory tracking controller for underground tracked haulage robots, specifically addressing tracking control challenges caused by roadway slope conditions and center-of-mass offset states induced by auxiliary handling operations. A coupled vehicle model is established from both kinematic and dynamic perspectives. Based on this coupled model, a dual-layer robust adaptive controller is designed. The upper geometric controller with adaptive capabilities for track slip rate and center-of-mass offset parameters primarily handles kinematic planning. The lower controller addresses dynamic issues arising from mass-center offset and slope conditions. Mathematical proofs demonstrate the stability of both controllers and the closed-loop system, ensuring convergence of parameter estimation and tracking errors. Simulation and experimental results verify the controller performance, showing static tracking errors below 0.03 m and dynamic tracking errors under 0.08 m when compared to control groups.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106494"},"PeriodicalIF":5.4,"publicationDate":"2025-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144695280","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
Computationally efficient predictive cruise control of electric vehicles with nonsmooth system 非光滑系统下电动汽车的高效预测巡航控制
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-22 DOI: 10.1016/j.conengprac.2025.106466
Shiying Dong , Xi Luo , Yuxiang Zhang , Qifang Liu , Bingzhao Gao , Hong Chen
{"title":"Computationally efficient predictive cruise control of electric vehicles with nonsmooth system","authors":"Shiying Dong ,&nbsp;Xi Luo ,&nbsp;Yuxiang Zhang ,&nbsp;Qifang Liu ,&nbsp;Bingzhao Gao ,&nbsp;Hong Chen","doi":"10.1016/j.conengprac.2025.106466","DOIUrl":"10.1016/j.conengprac.2025.106466","url":null,"abstract":"<div><div>This paper presents a high-performance, computationally efficient predictive cruise control (HP-PCC) strategy aimed at enhancing the energy efficiency of autonomous electric vehicles. The original optimal control problem (OCP) formulation of the PCC problem introduces some nonsmooth terms, posing challenges for fast and accurate numerical solutions. To tackle this, we transform the widely studied PCC strategy into a numerically friendly smooth nonlinear programming (NLP) problem, without introducing extra simplification. We provide a rigorous proof of equivalence between the smoothed and original problems. To further boost computational efficiency, the resulting smooth NLP problem is solved by using a novel numerical procedure, which can improve the warm-start guess through inexpensive inexact Newton steps with a predicted initial value. Simulation results demonstrate that the proposed HP-PCC approach significantly outperforms existing methods in energy efficiency. Hardware-in-the-loop (HiL) experimental results show a reduction in energy consumption by 1% and a maximum computation time of less than 50 ms, confirming the feasibility of real-time implementation.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106466"},"PeriodicalIF":5.4,"publicationDate":"2025-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144679631","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
Robust Dynamic Control for ground vehicles incorporating AFS and RTV systems with adaptive gain estimators 基于自适应增益估计的AFS和RTV地面车辆鲁棒动态控制
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-22 DOI: 10.1016/j.conengprac.2025.106478
Cuauhtémoc Acosta Lúa , Stefano Di Gennaro , Claudia Verónica Vera Vaca , Claudia Carolina Vaca García
{"title":"Robust Dynamic Control for ground vehicles incorporating AFS and RTV systems with adaptive gain estimators","authors":"Cuauhtémoc Acosta Lúa ,&nbsp;Stefano Di Gennaro ,&nbsp;Claudia Verónica Vera Vaca ,&nbsp;Claudia Carolina Vaca García","doi":"10.1016/j.conengprac.2025.106478","DOIUrl":"10.1016/j.conengprac.2025.106478","url":null,"abstract":"<div><div>This paper presents a novel Robust Dynamic Control framework for Ground Vehicles that combines Active Front Steering (AFS) and Rear Torque Vectoring (RTV) systems with a High-Order Sliding Mode (HOSM) estimator with Adaptive Gains. This integration represents the core innovation of this work, enabling accurate trajectory tracking and enhanced robustness against disturbances and parametric uncertainties. The AFS system enhances vehicle maneuverability by adjusting the front wheel steering angle, while the RTV system induces a corrective yaw moment in the rear wheels, enabling more precise control of the vehicle’s lateral dynamics. However, the lateral velocity is one of the most challenging variables to measure, even in modern vehicles, which is why a nonlinear observer is designed to reconstruct this velocity. With the information provided by the nonlinear observer and to ensure the robustness of the vehicle, the Active Robust Dynamic Control system guarantees the tracking of desired references, even in the presence of parametric variations and/or external disturbances, through High-Order Sliding Mode (HOSM) estimators with adaptive gains. The stability of the HOSM estimator is ensured through a Lyapunov-based approach. The Active Robust Dynamic Control framework, incorporating Adaptive Gains for the Estimation of Disturbances and Parameter Uncertainties in Ground Vehicles, is rigorously evaluated through CarSim simulations, considering a challenging double turn maneuver, which is described in the ISO–3888 specifications. The simulation results demonstrate the effectiveness of the controller in ensuring precise trajectory tracking and robust disturbance rejection, confirming its potential for real-world applications in advanced vehicular systems.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106478"},"PeriodicalIF":5.4,"publicationDate":"2025-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144679632","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
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