Control Engineering Practice最新文献

Randomized iterative feedback tuning for fast MIMO feedback design of a mechatronic system 随机迭代反馈调整用于机电一体化系统的快速 MIMO 反馈设计

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-06 DOI: 10.1016/j.conengprac.2024.106152

引用次数: 0

Control design and analysis for autonomous underwater vehicles using integral quadratic constraints 使用积分二次约束的自主式水下航行器控制设计与分析

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-05 DOI: 10.1016/j.conengprac.2024.106142

{"title":"Control design and analysis for autonomous underwater vehicles using integral quadratic constraints","authors":"","doi":"10.1016/j.conengprac.2024.106142","DOIUrl":"10.1016/j.conengprac.2024.106142","url":null,"abstract":"<div><div>This paper addresses the design and analysis of path-following controllers for an autonomous underwater vehicle (AUV) using a robustness analysis framework based on integral quadratic constraints (IQCs). The AUV is modeled as a linear fractional transformation (LFT) on uncertainties and is affected by exogenous inputs such as measurement noise and ocean currents. The proposed approach leverages a learning-based method to approximate the nonlinear hydrodynamic model with a linear parameter-varying one. Additionally, modeling uncertainties are incorporated into the other subsystem models of the AUV to capture the discrepancies between the outputs of the postulated mathematical abstractions and the experimental data. The resulting uncertain LFT system adequately captures the AUV behavior within a desired envelope. Ocean current disturbances are treated as uncertainties within the LFT system and properly characterized to reduce conservatism. The robust performance level, obtained from IQC analysis, serves as a qualitative measure of a controller’s performance, and is utilized in guiding the controller design process. The proposed approach is employed to design <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> controllers for the AUV. A comprehensive IQC-based analysis is subsequently conducted to demonstrate the robustness of the designed controllers to modeling uncertainties and disturbances. To validate the analysis results, extensive nonlinear simulations and underwater experiments are performed. The outcomes showcase the efficacy and reliability of the proposed approach in achieving robust control for the AUV.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142586645","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

Time-optimal multi-point trajectory generation for robotic manipulators with continuous jerk and constant average acceleration 为具有连续颠簸和恒定平均加速度的机器人机械手生成时间最优多点轨迹

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-05 DOI: 10.1016/j.conengprac.2024.106154

{"title":"Time-optimal multi-point trajectory generation for robotic manipulators with continuous jerk and constant average acceleration","authors":"","doi":"10.1016/j.conengprac.2024.106154","DOIUrl":"10.1016/j.conengprac.2024.106154","url":null,"abstract":"<div><div>To meet the demands of high-speed and high-accuracy applications of robotic manipulators, this paper proposes a time-optimal multi-point trajectory planning method with continuous jerk and constant average acceleration. A piecewise sine jerk model is developed for jerk continuity throughout the entire motion profile. An equivalent transformation of this complex model into the simple trapezoidal velocity model is proposed, effectively reducing the computational complexity and ensuring the reliability of real-time planning. The introduction of a parameter, named the trajectory smoothness coefficient, allows for a convenient trade-off between the priorities of speed and smoothness. The adaptive computation algorithm for peak jerk results in a constant average acceleration along paths of any length, ensuring a consistent level of work efficiency regardless of the density of path control points. Through a comprehensive evaluation of the critical constraints for each potential profile type, the single joint’s time-optimal and multiple joints’ time-synchronized planning problems are solved with closed-form solutions. Furthermore, by designing a multi-joint multi-point velocity look-ahead strategy, time-optimal multi-point trajectory planning for robotic manipulators is realized. Simulation and experimental results on a manipulator demonstrate the effectiveness of the proposed approach in improving time efficiency.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142586646","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

Lane-free signal-free intersection crossing via model predictive control 通过模型预测控制实现无车道无信号交叉口穿越

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-05 DOI: 10.1016/j.conengprac.2024.106115

{"title":"Lane-free signal-free intersection crossing via model predictive control","authors":"","doi":"10.1016/j.conengprac.2024.106115","DOIUrl":"10.1016/j.conengprac.2024.106115","url":null,"abstract":"<div><div>The operation of signal-free intersections, where Connected Automated Vehicles (CAVs) cross simultaneously for all Origin-Destination (OD) movements, has the potential to greatly increase throughput and reduce fuel consumption. Since the intersection crossing areas naturally include no lanes, an extended crossing area, appropriately delineated, can be considered as a lane-free infrastructure so as to enable further efficiency benefits. This paper presents two Model Predictive Control (MPC) schemes to manage CAVs in signal-free and lane-free intersections. In fact, the control inputs of all vehicles are optimized over a time-horizon by online solving of a joint Optimal Control Problem (OCP) that minimizes a cost function including proper terms to ensure smooth and collision-free vehicle motion, while also considering fuel consumption and desired-speed tracking, when possible. Additionally, appropriate constraints are designed to respect the intersection boundaries and ensure smooth vehicle movements towards their respective destinations. A fast Feasible Direction Algorithm (FDA) is employed for the numerical solution of the introduced OCP. Multiple simulations are carried out to assess the efficiency and practicality of the proposed methods. A comparison with signalized intersection operation is provided.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142585986","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

Active disturbance rejection path tracking control of vehicles with adaptive observer bandwidth based on Q-learning 基于 Q-learning 的自适应观测器带宽的车辆主动干扰抑制路径跟踪控制

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-04 DOI: 10.1016/j.conengprac.2024.106137

{"title":"Active disturbance rejection path tracking control of vehicles with adaptive observer bandwidth based on Q-learning","authors":"","doi":"10.1016/j.conengprac.2024.106137","DOIUrl":"10.1016/j.conengprac.2024.106137","url":null,"abstract":"<div><div>In this paper, a novel algorithm for vehicle path tracking control is introduced, focusing on maintaining tracking accuracy and minimizing steering wheel oscillation to enhance mechanism lifespan and passenger comfort. Vehicle kinematics model is utilized to formulate a second-order dynamic equation for lateral error, integrating yaw error into the standard first-order dynamic equation. A Proportional-Derivative (PD) controller is designed, incorporating an ‘extended state’ to compensate for the discrepancy between the model and actual vehicle dynamics, termed as the ‘total disturbance’. This ‘total disturbance’ is observed by an Extended State Observer (ESO), and a disturbance rejection law, combined with the PD controller, is employed to achieve the desired yaw rate. For improved vehicle safety and comfort, a dynamic constraint on the yaw rate, based on the vehicle’s motion and dynamic principles, is proposed. The vehicle’s nonlinear dynamics are addressed through feedback linearization, converting the target yaw rate into the required steering angle, which is then executed by the steer-by-wire system. An adaptive online algorithm for adjusting the ESO bandwidth, using Q-learning, is implemented. This optimization aims to balance tracking accuracy and steering wheel oscillation. A mathematical analysis confirms the stability of the time-varying bandwidth ESO and the overall system, ensuring limited estimation and control errors. Experimental comparison with the classical Stanley and Model Predictive Control (MPC) method demonstrates the algorithm’s effectiveness, maintaining lateral error within ±0.1 m.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142578335","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

Study of control strategy for cylinder-to-cylinder combustion homogeneity of marine medium-speed diesel engines 船用中速柴油机汽缸间燃烧均匀性控制策略研究

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-04 DOI: 10.1016/j.conengprac.2024.106156

{"title":"Study of control strategy for cylinder-to-cylinder combustion homogeneity of marine medium-speed diesel engines","authors":"","doi":"10.1016/j.conengprac.2024.106156","DOIUrl":"10.1016/j.conengprac.2024.106156","url":null,"abstract":"<div><div>Closed-loop combustion control (CLCC) is an efficient method for minimizing cylinder-to-cylinder combustion variation by adjusting individual cylinder fuel injection parameters. It is complementary to the closed-loop speed control, which precisely controls the engine speed by manipulating the global fuel injection parameters. However, the application of CLCC changed the conventional closed-loop speed control to a complex control structure. In addition, the selection of combustion control parameters will not only influence the combustion heat release control precisely, but also lead to increased calibration effort for the combustion controller. In this research, a triple closed-loop control strategy, in conjunction with a set-point online generation method, was proposed to improve the cylinder-to-cylinder combustion homogeneity, maintain the desired engine speed, and reduce the calibration effort simultaneously. A coefficient of variation in crank angle domain was utilized to analyze the cylinder-to-cylinder combustion homogeneity. The triple closed-loop control strategy was implemented on a marine medium-speed diesel engine. The experimental results indicated that the proposed control strategy, compared with the speed & IMEP (indicated mean effective pressure) cooperative control and speed & MFB50 (crank angle when 50 % fuel is consumed) cooperative control, has a better potential to alleviate cylinder-to-cylinder pressure variations at the same crankshaft angle. The cylinder-to-cylinder variation of IMEP and MFB50 decreased by 61 % and 38 % compared to the closed-loop speed control, respectively. The cylinder-to-cylinder combustion inhomogeneity, resulting from engine long-time operation and ambient conditions change, was significantly reduced as well. Therefore, the proposed strategy provides a multi-objective precise control method that allows the extension to low-carbon and zero-carbon marine engines.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142578334","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

Global–local preserving method of quality-related maximization and its application for process monitoring 质量相关最大化的全局-局部保存法及其在过程监控中的应用

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-01 DOI: 10.1016/j.conengprac.2024.106143

{"title":"Global–local preserving method of quality-related maximization and its application for process monitoring","authors":"","doi":"10.1016/j.conengprac.2024.106143","DOIUrl":"10.1016/j.conengprac.2024.106143","url":null,"abstract":"<div><div>Common multivariate statistical quality-related process monitoring methods often separate feature extraction from quality-related process modeling, which can lead to insufficient extraction of quality-related information. In this paper, a quality-related maximization model with global and local preservation constraints is proposed. The process data are mapped to a high-dimensional feature space using kernel projection, which better linearizes the nonlinear data. Kernel sparse representation local linear embedding is applied to adaptively determine local relationships. Based on these local relationships, global-local constraints are constructed, and quality-related features are extracted according to the principle of maximizing correlation with quality indicators, resulting in a low-dimensional embedding matrix. This embedding matrix is used for process monitoring by dividing the quality-related and quality-independent subspaces and constructing a monitoring statistical strategy. The effectiveness of the proposed method is verified using the Tennessee-Eastman process, and it is further applied to a fluid catalytic cracking process.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142571576","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

Synchronous DTC for torque sub-harmonic reduction in low switching frequency induction motor drives 用于降低低开关频率感应电机驱动器转矩次谐波的同步 DTC

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-11-01 DOI: 10.1016/j.conengprac.2024.106133

引用次数: 0

Bayesian optimization with embedded stochastic functionality for enhanced robotic obstacle avoidance 具有嵌入式随机功能的贝叶斯优化技术，用于增强机器人的避障能力

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-10-30 DOI: 10.1016/j.conengprac.2024.106141

{"title":"Bayesian optimization with embedded stochastic functionality for enhanced robotic obstacle avoidance","authors":"","doi":"10.1016/j.conengprac.2024.106141","DOIUrl":"10.1016/j.conengprac.2024.106141","url":null,"abstract":"<div><div>Designing an obstacle avoidance algorithm that incorporates the stochastic nature of human–robot-environment interactions is challenging. In high risk activities, such as those found in nuclear environments, a comprehensive approach towards handling uncertainty is essential. In this article, in the context of safe teleoperation of robots, an automated iterative sampling procedure based on Bayesian optimization is proposed, where the robot is trained to predict the behaviour of a human operator. Specifically, a Gaussian process regression model is used to learn an effective representation of a safe stop manoeuvre, required for implementing an obstacle avoidance shared control algorithm. This model is then used to predict the future time duration to execute a safe stop manoeuvre, given the current real-world circumstances. The control algorithm expects this value to be reasonably high; if not, it will gradually reduce the human operator’s authority. A distinctive attribute of the proposed method is the use of statistical confidence metrics as tuning parameters, intended to provide a statistical indication of whether or not an obstacle will be avoided. The proof-of-concept experiments were carried out using three robotic platforms suited for use in nuclear robotics, an amphibious SuperDroid HD2 robot equipped with a Velodyne VLP16 (a 3D lidar), an AgileX Scout Mini R&D Pro land robot fitted with a Realsense D435 depth camera, and a Husarion ROSBot 2.0 Pro supplied with an RPLIDAR A3 (a 2D lidar). The test results show that the proposed Bayesian optimization method uses 8 times less data compared to an exhaustive grid approach, and that it provides a robot-agnostic, robust obstacle avoidance.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142553443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"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

Aerial teleoperation for quadrotors based on gaze-guidance 基于凝视导航的四旋翼飞行器空中遥控操作

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2024-10-30 DOI: 10.1016/j.conengprac.2024.106138

引用次数: 0