Control Engineering Practice最新文献

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Motion control of exoskeleton arm with potential energy minimization 势能最小化外骨骼臂的运动控制
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-21 DOI: 10.1016/j.conengprac.2025.106481
Bolin Liao , Tinglei Wang , Kaixin Yan , Limin Shen , Zhan Li , Pengfei Yin
{"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}
引用次数: 0
Spatio-temporal feature extraction model based on dynamic identification of operating conditions for sintering tumbler strength prediction 基于工况动态识别的烧结滚筒强度预测时空特征提取模型
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-19 DOI: 10.1016/j.conengprac.2025.106484
Ao Chen , Xiaoxia Chen , Chengshuo Liu , Xuhua Shi , Bo Yu , Qiannian Guo
{"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}
引用次数: 0
Enhancing reset control phase with lead shaping filters: Applications to precision motion systems 加强复位控制相位与引线整形滤波器:应用于精密运动系统
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-19 DOI: 10.1016/j.conengprac.2025.106482
Xinxin Zhang, S. Hassan HosseinNia
{"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}
引用次数: 0
A comparative study and validation of super-twisting sliding mode control for PMSG-based wind power systems 基于pmsg的风电系统超扭滑模控制的对比研究与验证
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-18 DOI: 10.1016/j.conengprac.2025.106488
Zhongfeng Li , Jian Cai , Lidong Wang , Xiaoping Liu , Lixian Wang , Lei Liu , Dong Li
{"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}
引用次数: 0
Interpretable equipment health state assessment method based on evidential reasoning with statistical feature 基于统计特征证据推理的可解释设备健康状态评估方法
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-18 DOI: 10.1016/j.conengprac.2025.106475
Chaoli Zhang , Zhijie Zhou , Jiayu Luo , Jie Wang
{"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}
引用次数: 0
Multi-objective decision analysis for acrylic acid purification process considering economic benefits and carbon reduction 考虑经济效益和碳减排的丙烯酸净化工艺多目标决策分析
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-17 DOI: 10.1016/j.conengprac.2025.106476
Xiangyu Zeng , Cuimei Bo , Guo Yu , Quanling Zhang , Xu Qiao , Furong Gao
{"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}
引用次数: 0
Prescribed performance control with adaptive erupting funnel function for a class of unknown discrete-time systems and undefined disturbances 一类未知离散系统和未定义扰动的自适应爆发漏斗函数的预定性能控制
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-17 DOI: 10.1016/j.conengprac.2025.106483
Chidentree Treesatayapun
{"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}
引用次数: 0
Real-time classification and early warning of industrial alarm floods using modified TF-IDF methods 基于改进TF-IDF方法的工业报警洪水实时分类预警
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-17 DOI: 10.1016/j.conengprac.2025.106485
Md Habibur Rahaman, Haniyeh Seyed Alinezhad, Tongwen Chen
{"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}
引用次数: 0
Learning-based real-time model predictive tracking control for autonomous vehicles with path-pattern adaptability 基于学习的路径模式自适应自动驾驶汽车实时模型预测跟踪控制
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-16 DOI: 10.1016/j.conengprac.2025.106480
Wentong Shi , Shiying Dong , Chao Zhang , Dele Meng , Jinlong Hong , Hongqing Chu , Bingzhao Gao
{"title":"Learning-based real-time model predictive tracking control for autonomous vehicles with path-pattern adaptability","authors":"Wentong Shi ,&nbsp;Shiying Dong ,&nbsp;Chao Zhang ,&nbsp;Dele Meng ,&nbsp;Jinlong Hong ,&nbsp;Hongqing Chu ,&nbsp;Bingzhao Gao","doi":"10.1016/j.conengprac.2025.106480","DOIUrl":"10.1016/j.conengprac.2025.106480","url":null,"abstract":"<div><div>Real-time implementation of nonlinear model predictive control (NMPC) for path tracking in autonomous vehicles (AVs) remains challenging due to the computational complexity of solving high-dimensional, nonlinear optimization problems under dynamic constraints. To address this issue, this paper proposes a novel end-to-end training framework, called the neural network optimizer (NN Optimizer), which significantly reduces the computational burden of NMPC, enabling real-time implementation. Specifically, the NN Optimizer integrates low-fidelity, interpretable physical models with neural networks (NNs), utilizing automatic differentiation to backpropagate the NMPC loss function through a differentiable dynamics model to obtain policy gradients. As opposed to traditional imitation learning (IL)-based approaches, usually reliant on expert knowledge, the proposed method does not rely on extensive labeled data, offering greater interpretability and path-pattern adaptability. During online implementation, it just involves simple function evaluation, avoiding the computation of gradient information and multiple iterations. In two validation scenarios during co-simulation, the NN Optimizer achieves a solving speed over 70 times faster than interior point optimizer (<span>IPOPT</span>), while improving closed-loop control performance by more than 10% compared to IL. In real-vehicle tests, the NN optimizer outperforms the linear quadratic regulator (LQR), achieving improvements in control performance of over 30% in the weave scenario and over 60% in the double lane change (DLC) scenario.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106480"},"PeriodicalIF":5.4,"publicationDate":"2025-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144633973","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
An overview of Unmanned Surface Vehicles: Methods, practices, and applications 无人水面车辆概述:方法、实践和应用
IF 5.4 2区 计算机科学
Control Engineering Practice Pub Date : 2025-07-16 DOI: 10.1016/j.conengprac.2025.106479
Huarong Zheng , Chenguang Liu
{"title":"An overview of Unmanned Surface Vehicles: Methods, practices, and applications","authors":"Huarong Zheng ,&nbsp;Chenguang Liu","doi":"10.1016/j.conengprac.2025.106479","DOIUrl":"10.1016/j.conengprac.2025.106479","url":null,"abstract":"<div><div>Over the past few decades, Unmanned Surface Vehicles (USVs) have transitioned from concept to reality at an impressive pace. This rapid development is fueled by advances in technology and emerging demands in science, engineering, and military applications. The emphasis on USVs has evolved from purely research-focused activities to practical commercial and engineering applications. This paper presents insights gained from a decade of USV development, providing an overview of the latest methodologies, design practices, and applications. We review and compare various USVs currently in use, including those for research and field applications. In addition, we categorize and update the state-of-the-art navigation, guidance, and control methodologies that form the core capabilities of USVs, with a particular emphasis on the growing trend of learning-based and data-driven systems. As a crucial aspect, we also discuss the architectural design, implementation, and field testing of USVs. Finally, we explore their applications in three key areas: military operations, oceanographic observation, and intelligent waterborne transportation. Given that technological and practical challenges for USVs remain, we outline considerations and highlight relevant future directions.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106479"},"PeriodicalIF":5.4,"publicationDate":"2025-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144633974","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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