Control Engineering Practice最新文献_第3页

Learning robust residuals for attack diagnosis of advanced driver assist systems 基于鲁棒残差的高级驾驶辅助系统攻击诊断研究

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-05-06 DOI: 10.1016/j.conengprac.2025.106366

Vishnu Renganathan , Daniel Jung , Ekim Yurtsever , Qadeer Ahmed

{"title":"Learning robust residuals for attack diagnosis of advanced driver assist systems","authors":"Vishnu Renganathan , Daniel Jung , Ekim Yurtsever , Qadeer Ahmed","doi":"10.1016/j.conengprac.2025.106366","DOIUrl":"10.1016/j.conengprac.2025.106366","url":null,"abstract":"<div><div>Complex autonomous and Cyber–Physical Systems (CPS) require reliable attack diagnostics with robustness to external disturbances, noise, and parametric uncertainties that ensure minimum time delay to detect cyber or physical attacks. Even using data-driven techniques for this motive poses a challenge because collecting training data that encompasses all possible attack signatures is difficult. Some attacks may have multiple realizations due to varying operating conditions. The proposed solution to this problem is to add physical insights to the data-driven model and use sparse regression to learn the underlying dynamics of the system. To tackle the problem of uncertainty in data due to external disturbances, noise, and parametric uncertainties, the model is learned multiple times using bootstraps of data, and parameter aggregation is performed to get an aggregated model. Then, using this aggregated model, robust residuals are designed to detect and isolate the attacks. Data from the lane keep assist system of an actual car is used to validate the model, and simulations are used to expand the data to varying operating conditions and perform multiple attacks on the system. The proposed approach for attack detection is compared to the baseline model-based diagnostic techniques like structural residuals and Extended Kalman Filter (EKF). In this work, the security implications of the system are analyzed, and robust residuals are designed with minimum knowledge about the underlying system dynamics, thus promoting the need for security by design.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"162 ","pages":"Article 106366"},"PeriodicalIF":5.4,"publicationDate":"2025-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143911614","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

Safe docking of a payload-carrying spacecraft using state constrained adaptive control 基于状态约束自适应控制的航天器安全对接

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-05-06 DOI: 10.1016/j.conengprac.2025.106363

Viswa Narayanan Sankaranarayanan, Avijit Banerjee, Sumeet Satpute, George Nikolakopoulos

{"title":"Safe docking of a payload-carrying spacecraft using state constrained adaptive control","authors":"Viswa Narayanan Sankaranarayanan, Avijit Banerjee, Sumeet Satpute, George Nikolakopoulos","doi":"10.1016/j.conengprac.2025.106363","DOIUrl":"10.1016/j.conengprac.2025.106363","url":null,"abstract":"<div><div>In this article, we design an adaptive controller for the position and heading control for a payload-carrying spacecraft to perform docking with a target docking station. We address the problem by identifying the state constraints required to safely dock the spacecraft and imposing these constraints on an adaptive tracking controller. To make the controller adapt to different types of payloads, the adaptive controller is designed without any explicit a priori knowledge of the system dynamics or bound for the uncertainties. Furthermore, to accommodate a wide range of initial conditions, the constraints are chosen to be time-varying. Thus, unlike conventional controllers, the proposed controller enforces the safety of the spacecraft during docking by imposing state constraints while adapting to unknown drastic dynamic variations. The controller is validated in simulation for docking a 6 DoF spacecraft in the orbital space. Additionally, for technology readiness, we have performed the hardware validation of the controller using a payload-carrying planar floating robot and a prototype docking station. Compared to the state-of-the-art controllers, the proposed controller guarantees predefined time-varying state constraints while significantly improving the performance. The video of the experimental results is presented here: <span><span>https://youtu.be/tJtJBibzHhI</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"162 ","pages":"Article 106363"},"PeriodicalIF":5.4,"publicationDate":"2025-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143906675","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

Multiplexed model predictive attitude control for nadir-pointing satellite using only magnetorquers 仅磁致力矩器的多路模型预测最低点卫星姿态控制

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-05-06 DOI: 10.1016/j.conengprac.2025.106381

Sen Yang , Keck Voon Ling , Zhenhua Wang , Huiping Li

{"title":"Multiplexed model predictive attitude control for nadir-pointing satellite using only magnetorquers","authors":"Sen Yang , Keck Voon Ling , Zhenhua Wang , Huiping Li","doi":"10.1016/j.conengprac.2025.106381","DOIUrl":"10.1016/j.conengprac.2025.106381","url":null,"abstract":"<div><div>Due to the low failure risk of magnetorquers, the control strategy based on magnetic actuators can significantly enhance the reliability of the satellite attitude control system. In light of this advantage, this paper conducts research on model predictive control (MPC) algorithm for nadir-pointing satellites equipped only with magnetorquers. Firstly, to facilitate controller design, the linear time-varying (LTV) model for nadir-pointing satellites is derived by linearizing the nonlinear equations around the operating point. Then, leveraging this linearized representation, an LTV multiplexed MPC (MMPC) method with exponential weighting is proposed. The MMPC scheme allows for faster sampling rates and quicker responses to disturbances, thereby enhancing the overall performance of the satellite attitude control system while retaining the benefits of MPC. Finally, compared with a state-of-the-art SMPC method, the proposed method is particularly advantageous in situations where computational resources are limited, specifically for satellites that rely only on onboard computing capabilities.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"162 ","pages":"Article 106381"},"PeriodicalIF":5.4,"publicationDate":"2025-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143906674","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

Enhanced decoupling strategy for magnetic levitated planar motor using model calibration and disturbance observer 基于模型标定和扰动观测器的平面磁悬浮电机增强解耦策略

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-05-05 DOI: 10.1016/j.conengprac.2025.106369

Fuxiang Chen, Kai Liu, Xinpeng Wei, Aoqi Hu, Yingtong Wu, Xiaoqing Li, Lizhang Zeng

{"title":"Enhanced decoupling strategy for magnetic levitated planar motor using model calibration and disturbance observer","authors":"Fuxiang Chen, Kai Liu, Xinpeng Wei, Aoqi Hu, Yingtong Wu, Xiaoqing Li, Lizhang Zeng","doi":"10.1016/j.conengprac.2025.106369","DOIUrl":"10.1016/j.conengprac.2025.106369","url":null,"abstract":"<div><div>The magnetically levitated planar motor is a core component of ultraprecise motion stages in lithography manufacturing. Although the static decoupling is achieved through model-based commutation, the coupling control still exists because of the mismatch between ideal electromagnetic model and the physical system. To address this issue, this paper proposes a strategy to enhance decoupling through model calibration andDisturbance Observer. The calibration based on the deviation of the mass center of mover is introduced to minimize the mismatch of wrench model, which is then searched by an improved adaptive Gradient Descent algorithm. Furthermore, residual coupling is suppressed throughDisturbance Observer considering system delays, thereby achieving stable control and coupling attenuation over a broader bandwidth. Validated by simulations and experiments with a planar motor prototype, the proposed strategy effectively reduces the coupling surge by up to 79% in levitation control, making a significant contribution to the initialization and coupling rejection of planar motors.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"162 ","pages":"Article 106369"},"PeriodicalIF":5.4,"publicationDate":"2025-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143903712","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 nonlinear system identification of separation unit for raw materials 原料分离装置的自适应非线性系统辨识

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-05-02 DOI: 10.1016/j.conengprac.2025.106370

Tarek Kösters, Christopher Illg, Oliver Nelles

{"title":"Adaptive nonlinear system identification of separation unit for raw materials","authors":"Tarek Kösters, Christopher Illg, Oliver Nelles","doi":"10.1016/j.conengprac.2025.106370","DOIUrl":"10.1016/j.conengprac.2025.106370","url":null,"abstract":"<div><div>The separation process in combine harvesters is a complex, nonlinear dynamic system influenced by varying crop types and environmental factors. Optimal operation requires models that adapt to these changing conditions, posing a significant challenge. This paper presents an automation system designed to assist operators by identifying the optimal operating point using adaptive process models. A nonlinear online system identification method is developed, featuring a local model network (LMN) with local regularized finite impulse response (RFIR) models. The local model adaptation employs a regularized recursive least squares algorithm extended with a variable forgetting factor, ensuring robust and rapid adaptation across different excitation scenarios. A novel affine output transformation enhances the model’s global adaptability, enabling efficient updates in new field conditions. A two-phase adaptation mechanism is proposed, starting with a rough global adaptation followed by more detailed refinements induced through updating the local model parameters based on current conditions. Experimental validation using real-world data demonstrates the model’s superiority in adaptation speed, prediction accuracy, and robustness across diverse field scenarios. The study also emphasizes the crucial role of process excitation in enhancing model accuracy, with implications for automated system performance.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"162 ","pages":"Article 106370"},"PeriodicalIF":5.4,"publicationDate":"2025-05-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143900022","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

Advanced robust desired compensation adaptive control for parallel robots: From concept to real-time validation 并联机器人的先进鲁棒期望补偿自适应控制：从概念到实时验证

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-05-01 DOI: 10.1016/j.conengprac.2025.106364

Youcef Fitas , Ahmed Chemori , Johann Lamaury , Thierry Roux

{"title":"Advanced robust desired compensation adaptive control for parallel robots: From concept to real-time validation","authors":"Youcef Fitas , Ahmed Chemori , Johann Lamaury , Thierry Roux","doi":"10.1016/j.conengprac.2025.106364","DOIUrl":"10.1016/j.conengprac.2025.106364","url":null,"abstract":"<div><div>In this paper, a novel robust adaptive controller is proposed for Parallel Kinematic Manipulators (PKMs). The objective of this research is to merge a model-based adaptive controller with a robust non-model-based controller. The key contribution lies in the redesign of the feedback component of the Desired Compensation Adaptive Law (DCAL) controller using the Robust Integral of Sign of Error (RISE) scheme. This new design enhances the tracking performance compared to the DCAL controller by incorporating robust terms. These terms effectively compensate for non-modeled phenomena that are not handled by the model-based adaptive compensation in the original controller. Moreover, the inclusion of the integral of the error sign motivates the adaptation law redesign to minimize the feedback action instead of combined errors. The stability analysis of the proposed control solution is performed based on Lyapunov’s theory. To demonstrate the superiority of the proposed controller, a comparative study is conducted through various real-time experimental scenarios in different operating conditions involving a PKM testbed.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"162 ","pages":"Article 106364"},"PeriodicalIF":5.4,"publicationDate":"2025-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143892086","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

Enhanced framework for fast kinodynamic planning and control on large curvature roads for autonomous vehicles 自动驾驶汽车大曲率道路快速动力学规划与控制的改进框架

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-04-30 DOI: 10.1016/j.conengprac.2025.106368

Mingzhuo Zhao , Tong Shen , Fanxun Wang , Jinhao Liang , Xiaoyuan Zhu , Wenwu Yu , Guodong Yin

{"title":"Enhanced framework for fast kinodynamic planning and control on large curvature roads for autonomous vehicles","authors":"Mingzhuo Zhao , Tong Shen , Fanxun Wang , Jinhao Liang , Xiaoyuan Zhu , Wenwu Yu , Guodong Yin","doi":"10.1016/j.conengprac.2025.106368","DOIUrl":"10.1016/j.conengprac.2025.106368","url":null,"abstract":"<div><div>Large curvature roads represent a common scenario in urban autonomous driving, posing significant challenges for planning and control which include: (1) The method based on the Frenet Coordinate Frame (FCF) tends to be unstable on roads with large curvatures, leading to issues such as obstacle deformation and incorrect heading angles; (2) The nonlinear kinematics of the vehicle should be taken into account when utilizing the Cartesian Coordinate Frame (CCF) as a substitute for the FCF; (3) Accounting for the transient entry of tire lateral forces into the nonlinear region during obstacle avoidance maneuvers on large curvature roads, necessitating the consideration of nonlinear vehicle dynamics. To ensure the safe maneuvering of autonomous vehicles on large curvature roads, we have devised a suite of efficient planning and control framework. This framework incorporate the nonlinear kinematics and dynamics (Kinodynamic) of vehicle within CCF, enabling swift maneuvers and autonomous obstacle avoidance on such roads. We ensure solution stability through a combination of low-dimensional global search and high-dimensional local optimization, while preserving the sparsity of the jacobian matrix during the optimization process for vehicle kinodynamic. By parameterizing all state and control trajectories using pseudospectral orthogonal collocation and converting obstacle avoidance constraints into convex corridor constraints, our approach significantly reduces computation time by up to 99.81%. Finally, employing the high-fidelity Carsim model simulation and real vehicle experiments, we can verify that this kinodynamic framework effectively handles challenging operational scenarios, including medium to high speeds, large curvature (nonlinear vehicle kinodynamic), and sharp turns (curvature discontinuity).</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"162 ","pages":"Article 106368"},"PeriodicalIF":5.4,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143888215","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

Artificial Potential Field and Sliding Mode Control for spacecraft attitude maneuver with actuation and pointing constraints 具有驱动和指向约束的航天器姿态机动的人工势场和滑模控制

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-04-29 DOI: 10.1016/j.conengprac.2025.106373

Mauro Mancini, Dario Ruggiero

{"title":"Artificial Potential Field and Sliding Mode Control for spacecraft attitude maneuver with actuation and pointing constraints","authors":"Mauro Mancini, Dario Ruggiero","doi":"10.1016/j.conengprac.2025.106373","DOIUrl":"10.1016/j.conengprac.2025.106373","url":null,"abstract":"<div><div>This study investigates the combination of guidance and control strategies for rigid spacecraft attitude reorientation, while dealing with forbidden pointing constraints, actuators limitations and system uncertainties. Reasons are related to the presence of bright objects in space that may damage sensitive payloads installed on the spacecraft, while saturations of attitude actuators may compromise the closed-loop system stability. In addition, the spacecraft attitude dynamics is typically affected by parametric uncertainties, external disturbances, and system nonlinearities, which cannot be neglected in the analysis. In this article, the problem of spacecraft reorientation under pointing and actuation constraints is solved with a strategy combining Artificial Potential Field (APF) and Sliding Mode Control (SMC). Following rigorous Lyapunov analysis, closed-form expressions for APF/SMC gains are obtained, i.e. explicit mathematical expressions that directly provide the control gain values without the need for iterative or recursive calculations, while accounting for angular velocity and control torque limitations, external disturbances, and inertia uncertainties. The robustness of the proposed control strategy against inertia uncertainties, external disturbances, and actuator constraints is validated through Monte Carlo simulations in a high-fidelity attitude dynamics simulator, while <span><math><mi>μ</mi></math></span>-analysis is used to assess local stability properties and quantify the system’s robustness margins. These results demonstrate the practical feasibility of the proposed control method in real-world scenarios, highlighting its robustness in complex, uncertain environments typical of space operations.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"162 ","pages":"Article 106373"},"PeriodicalIF":5.4,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143882319","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

Design and parameter identification of model-based control integrating hydraulic cylinders in robotic leg dynamics 机器人腿部动力学中基于模型的集成液压缸控制设计与参数辨识

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-04-28 DOI: 10.1016/j.conengprac.2025.106367

Kun Zhang , Huaizhi Zong , Lei Zhou , Junhui Zhang , Lizhou Fang , Jikun Ai , Bing Xu

{"title":"Design and parameter identification of model-based control integrating hydraulic cylinders in robotic leg dynamics","authors":"Kun Zhang , Huaizhi Zong , Lei Zhou , Junhui Zhang , Lizhou Fang , Jikun Ai , Bing Xu","doi":"10.1016/j.conengprac.2025.106367","DOIUrl":"10.1016/j.conengprac.2025.106367","url":null,"abstract":"<div><div>With the widespread application of model-based controllers in legged robots, the model accuracy is emphasized. In hydraulic robots, joints are typically closed-chain structures formed by the articulation of hydraulic cylinders. However, it is common practice to disregard the cylinder links in the dynamics of various advanced controllers, leading to inaccuracies in the models. To address this problem, this paper proposes a model-based control framework for the hydraulic legged robot, which integrates the cylinder links into the rigid body dynamics. The model establishment and controller design are separately carried out for the stance and swing phases. The model parameters in the controllers are obtained through identification. Firstly, the hydraulic parameters in nonlinear form are identified using a combination of the least squares and particle swarm optimization algorithm. Secondly, to obtain robust parameter estimates for floating base dynamics, we excite the friction of individual cylinders, the stance and swing phases of the leg system respectively. Subsequently, all excitation results are integrated, and physical consistency constraints are added to formulate a convex optimization problem. The proposed framework has been validated through a series of prototype experiments, demonstrating the benefits of employing a more accurate model in position tracking performance.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"162 ","pages":"Article 106367"},"PeriodicalIF":5.4,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143882318","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

Improvement of tracking control performance of quadrotors under Simultaneous Planning, Estimation, and Execution 四旋翼飞行器同步规划、估计和执行下跟踪控制性能的改进

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-04-26 DOI: 10.1016/j.conengprac.2025.106360

Zhou Liu , Shaoting Liu , Yang Qu , Lilong Cai

{"title":"Improvement of tracking control performance of quadrotors under Simultaneous Planning, Estimation, and Execution","authors":"Zhou Liu , Shaoting Liu , Yang Qu , Lilong Cai","doi":"10.1016/j.conengprac.2025.106360","DOIUrl":"10.1016/j.conengprac.2025.106360","url":null,"abstract":"<div><div>The dynamics of quadrotors present significant challenges, including underactuation, external disturbances, and parametric uncertainties. To address these challenges and achieve precise given-time tracking, this paper propose a novel control strategy called Simultaneous Planning, Estimation, and Execution (SPEE) for quadrotor systems. The SPEE strategy integrates dynamic and kinematic equations. Initially, the kinematic equations planning the desired higher-order derivative online to compensate for current state errors. Subsequently, the dynamics equation estimates lumped disturbances and executes the desired higher-order derivative algebraically. Unlike traditional control methods, the proposed strategy eliminates the need for fine-tuning feedback gains and a precise system model, ensuring state convergence within a specified time frame. Theoretical error bounds of this strategy are analyzed, and its effectiveness is validated through comprehensive simulations and practical experiments. The closed-loop system demonstrates robust performance against internal uncertainties, external disturbances, and insufficient battery power.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"162 ","pages":"Article 106360"},"PeriodicalIF":5.4,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143877195","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