Control Engineering Practice最新文献

{"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}

{"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}

{"title":"Motion control of exoskeleton arm with potential energy minimization","authors":"Bolin Liao ,&nbsp;Tinglei Wang ,&nbsp;Kaixin Yan ,&nbsp;Limin Shen ,&nbsp;Zhan Li ,&nbsp;Pengfei Yin","doi":"10.1016/j.conengprac.2025.106481","DOIUrl":"10.1016/j.conengprac.2025.106481","url":null,"abstract":"<div><div>The exoskeleton arm represents a type of rehabilitation or service robot designed to assist individuals in upper-limb motion restoration or manipulation tasks. Achieving efficient assistive paradigms for users necessitates precise motion planning and control of exoskeleton arms along desired paths. During the motion control process, potential energy exhibits significant oscillations at high levels, resulting in discomfort during motion reconstruction. In this study, we introduce an innovative strategy for motion planning that incorporates potential energy minimization to enable accurate control of the exoskeleton arm with minimal variation in potential energy. This motion planning method is framed as a constrained quadratic programming problem and optimized with a dynamic recurrent neural network to ensure solution convergence and accuracy. Simulation and experimental results confirm that the proposed motion planning scheme allows the exoskeleton arm system to accurately follow desired motion paths. Furthermore, our findings reveal a significant reduction in potential energy variation, with an average decrease of 84.87% in the sagittal plane (X-Z), 82.25% in the planar plane (X-Y), and 87.49% in 3D space. This reduction highlights the effective integration of gravity compensation in achieving precise motion planning and control.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106481"},"PeriodicalIF":5.4,"publicationDate":"2025-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144670183","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}

{"title":"Spatio-temporal feature extraction model based on dynamic identification of operating conditions for sintering tumbler strength prediction","authors":"Ao Chen ,&nbsp;Xiaoxia Chen ,&nbsp;Chengshuo Liu ,&nbsp;Xuhua Shi ,&nbsp;Bo Yu ,&nbsp;Qiannian Guo","doi":"10.1016/j.conengprac.2025.106484","DOIUrl":"10.1016/j.conengprac.2025.106484","url":null,"abstract":"<div><div>Iron ore sintering is a key process for providing high-quality sintered ore for blast furnace ironmaking and the tumbler strength is an important physical indicator for measuring the quality of sintered ore. Accurately predicting tumbler strength is crucial for ensuring the efficiency of blast furnace operations and enhancing the quality of sintered ore products. This article proposes a spatio-temporal feature extraction model based on dynamic identification of operating conditions for sintering tumbler strength prediction. Firstly, in response to the complex operating conditions during the sintering process, effective learning of spatio-temporal dependencies in the data is employed to identify operating conditions in the feature space. Then, to address the imbalance in sample data across various operating conditions, the proposed framework employs a stacked spatio-temporal feature processing module to perform multi-level spatio-temporal feature extraction and fusion for each condition independently, this approach enables the model to effectively capture and learn the distinct interactions between features across different operating conditions. Additionally, a specially designed balanced loss function is integrated to optimize the model’s performance by assigning higher weights to less frequent conditions, ensuring a more equitable learning process across all operating conditions. Finally, to address potential missing data issues in the sintering process, this paper introduces a historical data pattern matching module. By matching similar historical patterns for prediction, this module helps smooth the final prediction results, thereby reducing the impact of missing data. In the end, the prediction results of the model are composed of the spatio-temporal feature processing module and the historical pattern prediction results. Compared to the baseline models, the proposed model demonstrates outstanding performance in multi-step tumbler strength prediction tasks, achieving a single-step MAE of 0.230 and RMSE of 0.258.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106484"},"PeriodicalIF":5.4,"publicationDate":"2025-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144662811","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}

{"title":"Enhancing reset control phase with lead shaping filters: Applications to precision motion systems","authors":"Xinxin Zhang,&nbsp;S. Hassan HosseinNia","doi":"10.1016/j.conengprac.2025.106482","DOIUrl":"10.1016/j.conengprac.2025.106482","url":null,"abstract":"<div><div>This study presents a shaped reset feedback control strategy to enhance the performance of precision motion systems. The approach utilizes a phase-lead compensator as a shaping filter to tune the phase of reset instants, thereby shaping the nonlinearity in the first-order reset control. The design achieves either an increased phase margin while maintaining gain properties or improved gain without sacrificing phase margin, compared to reset control without the shaping filter. Then, frequency-domain design procedures are provided for both Clegg Integrator (CI)-based and First-Order Reset Element (FORE)-based reset control systems. Finally, the effectiveness of the proposed strategy is demonstrated through two experimental case studies on a precision motion stage. In the first case, the shaped reset control leverages phase-lead benefits to achieve zero overshoot in the transient response. In the second case, the shaped reset control strategy enhances the gain advantages of the previous reset element, resulting in improved steady-state performance, including better tracking precision and disturbance rejection, while reducing overshoot for an improved transient response.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106482"},"PeriodicalIF":5.4,"publicationDate":"2025-07-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144662812","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}

{"title":"A comparative study and validation of super-twisting sliding mode control for PMSG-based wind power systems","authors":"Zhongfeng Li ,&nbsp;Jian Cai ,&nbsp;Lidong Wang ,&nbsp;Xiaoping Liu ,&nbsp;Lixian Wang ,&nbsp;Lei Liu ,&nbsp;Dong Li","doi":"10.1016/j.conengprac.2025.106488","DOIUrl":"10.1016/j.conengprac.2025.106488","url":null,"abstract":"<div><div>This paper examines the stability and performance of wind energy conversion systems (WECS) based on Permanent Magnet Synchronous Generators (PMSGs) under varying wind conditions. A comparative study of four control strategies—Field-Oriented Control (FOC), Nonlinear Backstepping Control (NBC), Sliding Mode Control (SMC), and the proposed Super-Twisting Sliding Mode Control (STSMC)—is presented, supported by theoretical modeling and Lyapunov-based stability analysis. Simulation results for a 1-MW PMSG-based wind turbine indicate that STSMC reduces torque and speed overshoots by up to 50% compared to NBC and SMC, while also shortening settling times by 40%. The proposed approach effectively mitigates chattering, thereby lowering mechanical stress on drivetrain components. Validation through small-scale laboratory experiments and deployment at the 184-MW Huaneng Yingkou Gaokan Wind Power Project further demonstrates its robustness. The STSMC achieves precise current regulation, limits DC-link voltage deviations to within 0.5%, and maintains a Total Harmonic Distortion (THD) of 1.3%, meeting IEEE grid standards.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106488"},"PeriodicalIF":5.4,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144655090","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}

{"title":"Interpretable equipment health state assessment method based on evidential reasoning with statistical feature","authors":"Chaoli Zhang ,&nbsp;Zhijie Zhou ,&nbsp;Jiayu Luo ,&nbsp;Jie Wang","doi":"10.1016/j.conengprac.2025.106475","DOIUrl":"10.1016/j.conengprac.2025.106475","url":null,"abstract":"<div><div>To ensure the proper operation of equipment, it is essential to assess its health state. The variables involved in equipment monitoring are typically high-dimensional and correlated; however, most assessment methods require these indicators to be independent. Additionally, the interpretability of the modeling process must be considered to ensure that the assessment results are credible and comprehensible. In this paper, we propose an interpretable equipment health state assessment model based on evidential reasoning (ER) with statistical features, named ISF-ER. This model establishes an interpretable mapping relationship between input and output spaces. The transformation from data to belief distribution is conducted based on reference values. Subsequently, a new interpretable evidence expression is constructed using statistics and control limits derived from the feature extraction of principal component analysis (PCA). Moreover, knowledge of the underlying mechanisms is integrated to establish the indicator relation matrix and determine the evidence weights. Finally, the evidence elements are fused based on ER to obtain the assessment results. A case study on the health state assessment of an inertial measurement unit (IMU) is presented to validate the effectiveness of the proposed model.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106475"},"PeriodicalIF":5.4,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144655091","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}

{"title":"Multi-objective decision analysis for acrylic acid purification process considering economic benefits and carbon reduction","authors":"Xiangyu Zeng ,&nbsp;Cuimei Bo ,&nbsp;Guo Yu ,&nbsp;Quanling Zhang ,&nbsp;Xu Qiao ,&nbsp;Furong Gao","doi":"10.1016/j.conengprac.2025.106476","DOIUrl":"10.1016/j.conengprac.2025.106476","url":null,"abstract":"<div><div>Acrylic acid, a fundamental chemical and key intermediate in the chemical industry, supports the development of numerous high-value-added downstream industries. During the purification process, how to ensure the process economical and environmentally friendly, without compromising product quality, is a critical challenge. To this end, we first model the acrylic acid purification process using Aspen Plus based on the heterogeneous azeotropic distillation method. We then formulate a multi-objective optimization problem with the goals of maximizing economic benefits and minimizing carbon dioxide emissions, and solve it using multi-objective optimization algorithms to obtain a set of Pareto-optimal trade-off solutions. To facilitate decision-making, we apply the Technique for Order Preference by Similarity to Ideal (TOPSIS) method to select the optimal operating point from the solution set. Experimental results show that the optimal operating point increases profits by 3.19% and reduces carbon dioxide emissions by 31.21% compared to the initial operating point. To further investigate the influence of environmental policy measures, a carbon tax penalty mechanism is introduced to assess the economic implications of carbon pricing. Subsequently, the steady-state model corresponding to the optimal operating point is imported into Aspen Dynamics for control strategy design and dynamic simulation. The results indicate that the proposed control strategy effectively suppresses the impact of feed flow disturbances on the system and demonstrate strong anti-interference capability. Overall, this study offers a new perspective to the multi-objective operation optimization and decision making for acrylic acid purification process considering economic benefits and reduction.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106476"},"PeriodicalIF":5.4,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144655088","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}

{"title":"Prescribed performance control with adaptive erupting funnel function for a class of unknown discrete-time systems and undefined disturbances","authors":"Chidentree Treesatayapun","doi":"10.1016/j.conengprac.2025.106483","DOIUrl":"10.1016/j.conengprac.2025.106483","url":null,"abstract":"<div><div>This paper presents a prescribed performance controller tailored for practical systems with unknown discrete-time dynamics, effectively addressing uncertainties and disturbances to maintain tracking errors within predefined bounds. The control law is derived using an analytical equivalent model and an adaptive funnel function, specifically designed to ensure robust tracking performance even under real-world conditions. By employing a sliding function through filtered error transformation, the approach directly analyzes the convergence region without complex nonlinear functions like exponentials or logarithms. The adaptable funnel function further enhances the controller’s ability to handle sudden disturbances, keeping the tracking error constrained within desired limits. Experimental validation on a DC motor torque control system highlights the controller’s practical effectiveness, showing its superiority in managing high-frequency control efforts compared to traditional methods.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106483"},"PeriodicalIF":5.4,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144655089","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}

{"title":"Real-time classification and early warning of industrial alarm floods using modified TF-IDF methods","authors":"Md Habibur Rahaman,&nbsp;Haniyeh Seyed Alinezhad,&nbsp;Tongwen Chen","doi":"10.1016/j.conengprac.2025.106485","DOIUrl":"10.1016/j.conengprac.2025.106485","url":null,"abstract":"<div><div>In complex industrial processes, the activation of a single alarm can trigger a cascade of consequences, affecting multiple interconnected components and rapidly increasing the number of active alarms. This phenomenon, known as an alarm flood, imposes a significant operational burden on operators by overwhelming them with high volumes of alarm notifications. This paper addresses these challenges by advancing real-time fault detection and monitoring systems. The contributions of this paper are twofold. First, it introduces a similarity analysis using a modified term frequency–inverse document frequency (TF-IDF) method to form clusters of alarm floods. Parameter optimization techniques are then applied to achieve the optimal <em>n</em>-gram size for improved clustering performance. Second, a novel method is proposed for real-time fault detection and a machine learning predictive model is further applied to assign real-time <em>n</em>-gram sequences to historical alarm floods, ensuring continuity in fault identification. Finally, an optimal alert threshold is designed to generate early warnings, enhancing operators’ responses to potential alarm floods and thus improving industrial process safety and efficiency.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106485"},"PeriodicalIF":5.4,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144655087","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}