Control Engineering Practice最新文献_第4页

Prescribed-time observer based adaptive output feedback trajectory tracking control for hysteretic systems with lumped uncertainties 集总不确定性滞回系统基于规定时间观测器的自适应输出反馈轨迹跟踪控制

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-08-10 DOI: 10.1016/j.conengprac.2025.106528

Chen Zhang , Miaolei Zhou , Xingling Shao , Xiuyu Zhang

{"title":"Prescribed-time observer based adaptive output feedback trajectory tracking control for hysteretic systems with lumped uncertainties","authors":"Chen Zhang , Miaolei Zhou , Xingling Shao , Xiuyu Zhang","doi":"10.1016/j.conengprac.2025.106528","DOIUrl":"10.1016/j.conengprac.2025.106528","url":null,"abstract":"<div><div>This study investigates a hysteresis model based prescribed-time output feedback control problem for magnetic shape memory alloy-based electromagnetic actuators (M-EAs), which are limited by hysteresis and lumped uncertainties (including large system uncertainty and measurement uncertainty). By analyzing the deformation mechanism of an M-EA, a third-order uncertain nonlinear model is derived to describe its characteristics. Specifically, a multi-factor coupling Prandtl–Ishlinskii (MFCPI) model is established by designing a dynamic threshold function that considers the load and frequency. Based on this, an inverse MFCPI model is designed to compensate for hysteresis. In addition, the M-EA is subject to hysteresis and lumped uncertainties that affect the dynamic performance of the system; therefore, a <span><math><mi>Γ</mi></math></span>-scaled observer is proposed by utilizing the prescribed-time function <span><math><mrow><mi>Γ</mi><mrow><mo>(</mo><mi>t</mi><mo>)</mo></mrow></mrow></math></span>. This observer can counteract these uncertainties and guarantee the dynamic performance of the system. Using this observer, a prescribed-time adaptive output feedback control scheme is proposed. Finally, comparative experiments are conducted on the M-EA to validate the effectiveness of the proposed modeling and control approaches.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106528"},"PeriodicalIF":4.6,"publicationDate":"2025-08-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144809642","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robust data-driven control of quadrotors: From theory to practice 稳健的数据驱动控制四旋翼机：从理论到实践

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-08-05 DOI: 10.1016/j.conengprac.2025.106496

Yevhenii Kovryzhenko , Nan Li , Ehsan Taheri

{"title":"Robust data-driven control of quadrotors: From theory to practice","authors":"Yevhenii Kovryzhenko , Nan Li , Ehsan Taheri","doi":"10.1016/j.conengprac.2025.106496","DOIUrl":"10.1016/j.conengprac.2025.106496","url":null,"abstract":"<div><div>This study explores the application of data-driven methods for developing robust flight control systems for unmanned aerial vehicles (UAVs), specifically quadrotors. The theory of data-driven robust control based on the matrix S-lemma and the formulation of the associated linear matrix inequalities (LMIs) are revisited, followed by their application to a six-degrees-of-freedom (6DOF) nonlinear quadrotor system. This work extends previous research on data-driven synthesis of robust control laws using the matrix S-lemma approach through hardware implementation and experimental validation. Firstly, a high-fidelity simulation is employed to verify the derived control law’s ability to stabilize the UAV, delivering closed-loop performance comparable to a model-based linear–quadratic regulator (LQR) design. The hardware implementation and experimental results are presented, further validating the method’s effectiveness in real-world conditions. This research strengthens the connection between theoretical advancements in data-driven control and practical applications in UAV systems, advancing beyond simulation to hardware implementation.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106496"},"PeriodicalIF":4.6,"publicationDate":"2025-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144771042","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

Half-gain observer tuning for noise reduction in discrete-time ADRC 离散时间自抗扰器降噪的半增益观测器调谐

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-08-05 DOI: 10.1016/j.conengprac.2025.106501

Gernot Herbst , Arne-Jens Hempel

{"title":"Half-gain observer tuning for noise reduction in discrete-time ADRC","authors":"Gernot Herbst , Arne-Jens Hempel","doi":"10.1016/j.conengprac.2025.106501","DOIUrl":"10.1016/j.conengprac.2025.106501","url":null,"abstract":"<div><div>Both the ability to suppress disturbances and the simplicity of plant modeling within the active disturbance rejection control (ADRC) approach are enabled by its observer and largely dependent on its sufficiently fast tuning. This, however, may require high observer gain values, which increase the controller’s susceptibility to measurement noise. To reduce the noise sensitivity without requiring any change to the controller structure, this article transfers the results of a continuous-time method called half-gain tuning to the discrete-time domain. Applied only to ADRC’s observer, the closed-loop dynamics will remain almost unaffected. Explicit tuning equations for the discrete-time observer gains are derived. A detailed examination performed analytically, in simulation, and in experiment reveals how much of the theoretical noise reduction promised by the continuous-time method can still be achieved in the discrete-time domain. In summary, an observer tuning method is presented that delivers a substantial reduction in noise sensitivity in practically relevant scenarios and can be applied minimally invasively to existing ADRC control loops.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106501"},"PeriodicalIF":4.6,"publicationDate":"2025-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144771044","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Model reference-based control with guaranteed predefined performance for uncertain strict-feedback systems 不确定严格反馈系统具有预定义性能保证的模型参考控制

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-08-05 DOI: 10.1016/j.conengprac.2025.106516

Mehdi Heydari Shahna , Jukka-Pekka Humaloja , Jouni Mattila

{"title":"Model reference-based control with guaranteed predefined performance for uncertain strict-feedback systems","authors":"Mehdi Heydari Shahna , Jukka-Pekka Humaloja , Jouni Mattila","doi":"10.1016/j.conengprac.2025.106516","DOIUrl":"10.1016/j.conengprac.2025.106516","url":null,"abstract":"<div><div>A wide range of practical applications in robotics and automation can be modeled in a class of uncertain and nonlinear strict-feedback (SF) systems. In SF systems, the hierarchical influence of control inputs on state dynamics renders each level dependent on preceding control actions. However, designing a robust, performance-guaranteed controller is challenging in real-world applications due to the complexities introduced by time- and state-varying uncertainties and the difficulty in computing analytic derivatives in SF systems. To address this challenge, this study introduces a novel model reference-based control (MRBC) framework that applies locally to each subsystem (SS) of SF systems, to ensure output tracking performance within the specified transient and steady-state response criteria. This framework includes (1) novel homogeneous adaptive estimators (HAEs) designed to match the uncertain nonlinear SF system to an ideal reference model, enabling easier analysis and control design at the SS level, and (2) model-based homogeneous adaptive controllers enhanced by logarithmic barrier Lyapunov functions (HAC-BLFs), intended to control the reference model provided by HAEs in each SS, while ensuring the prescribed tracking responses under control amplitude saturation. The inherently robust MRBC achieves uniformly exponential stability using a generic stability connector term, which addresses dynamic interactions between the adjacent SSs. The parameter sensitivities of HAEs and HAC-BLFs in the MRBC framework are analyzed, focusing on the system’s robustness and responsiveness. The proposed MRBC framework is experimentally validated on an electromechanical linear actuator system with an uncertain SF form, by comparison with two high-performance adaptive control strategies under loading disturbance forces challenging 0–95% of its capacity.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106516"},"PeriodicalIF":4.6,"publicationDate":"2025-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144771040","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

Analysis of functional insufficiencies and triggering conditions to improve the SOTIF of an MPC-based trajectory planner 分析了基于mpc的轨迹规划器的功能缺陷和触发条件，改进了SOTIF

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-08-04 DOI: 10.1016/j.conengprac.2025.106461

Georg Schildbach , Mirko Conrad

{"title":"Analysis of functional insufficiencies and triggering conditions to improve the SOTIF of an MPC-based trajectory planner","authors":"Georg Schildbach , Mirko Conrad","doi":"10.1016/j.conengprac.2025.106461","DOIUrl":"10.1016/j.conengprac.2025.106461","url":null,"abstract":"<div><div>Automated and autonomous driving has made a significant technological leap over the past decade. In this process, the complexity of algorithms used for vehicle control has grown significantly. Model Predictive Control (MPC) is a prominent example, which has gained enormous popularity and is now widely used for vehicle motion planning and control. However, safety concerns restrict its practical application, especially since traditional procedures of functional safety, with its universal standard ISO26262, reach their limits. Concomitantly, the new aspect of safety of the intended functionality (SOTIF) has moved into the center of attention, whose standard, ISO21448, has only been released in 2022. Experience with SOTIF, however, is low and few case studies are available in industry and research. Hence, this paper aims to make two main contributions: (1) an analysis of the SOTIF, with a certification guidance, for a generic MPC-based trajectory planner and (2) an interpretation and application of the generic procedures described in ISO21448 to a research-based case study, with the goal of determining the functional insufficiencies (FIs) and triggering conditions (TCs). Particular novelties of the paper include an approach for the out-of-context development of SOTIF-related elements (SOTIF-EooC), a compilation of important FIs and TCs for a MPC-based trajectory planner, and an optimized safety concept based on the identified FIs and TCs for the MPC-based trajectory planner.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106461"},"PeriodicalIF":4.6,"publicationDate":"2025-08-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144771039","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 fault tolerant control for multirotor UAVs: Controllability, design and experiment 多旋翼无人机主动容错控制：可控性、设计与实验

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-29 DOI: 10.1016/j.conengprac.2025.106497

Fang Liao , Kemao Peng , Eric Wei , William Leong , Derek Neo

引用次数: 0

Parameter identification and real-time motion prediction for a water-jet unmanned surface vehicle based on online sparse least squares support vector machine algorithm 基于在线稀疏最小二乘支持向量机算法的喷水无人水面飞行器参数识别与实时运动预测

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-29 DOI: 10.1016/j.conengprac.2025.106508

Zaopeng Dong , Zhihao Hu , Jiaxin Hou , Sihang Lu , Yilun Ding , Wangsheng Liu , Yuanchang Liu

{"title":"Parameter identification and real-time motion prediction for a water-jet unmanned surface vehicle based on online sparse least squares support vector machine algorithm","authors":"Zaopeng Dong , Zhihao Hu , Jiaxin Hou , Sihang Lu , Yilun Ding , Wangsheng Liu , Yuanchang Liu","doi":"10.1016/j.conengprac.2025.106508","DOIUrl":"10.1016/j.conengprac.2025.106508","url":null,"abstract":"<div><div>A large amount of navigation state data and control command data would be generated during the operation of unmanned surface vehicle (USV). However, existing research rarely focuses on decoupling the mapping between actual navigation state data and control commands for constructing the maneuvering motion model of USV. This paper proposes an online learning method based on least squares support vector machine (LSSVM) for the USV’s mathematical modeling and online maneuvering prediction. A sliding window mechanism is introduced to update USV’s state variable data, maintaining the total number of samples within the time window constant, thereby enabling the traditional least squares support vector machine (LSSVM) method to acquire online recursion and identification capabilities. The incremental and decremental learning formulas for updating the inverse kernel function matrix are derived to improve algorithm’s real-time performance. Meanwhile, a novel leave-one-out cross-validation (LOOCV) pruning algorithm is proposed for sliding window data updating, which calculates LOOCV values for each sample and removes noise samples with lower modeling contribution. A cost-accuracy metrics method integrating both algorithm runtime and identification accuracy is designed to evaluate the performance of the identification algorithm. The feasibility and effectiveness of the developed method are validated through real-time motion prediction studies, utilizing actual steering and turning tests of a full-scale USV.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106508"},"PeriodicalIF":4.6,"publicationDate":"2025-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144722300","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

Three-dimensional sloshing control of a planar-conveyed rectangular container using an adjustable-smooth robust command 平面运输矩形容器三维晃动控制的可调平滑鲁棒指令

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-28 DOI: 10.1016/j.conengprac.2025.106503

Abdullah Alshaya, Ali AlSaibie, Adel Alshayji

{"title":"Three-dimensional sloshing control of a planar-conveyed rectangular container using an adjustable-smooth robust command","authors":"Abdullah Alshaya, Ali AlSaibie, Adel Alshayji","doi":"10.1016/j.conengprac.2025.106503","DOIUrl":"10.1016/j.conengprac.2025.106503","url":null,"abstract":"<div><div>A rectangular water-filled container is guided along a planar trajectory that is specifically designed to minimize transient wave oscillations and eliminate residual sloshing at the end of a rest-to-rest maneuver. The proposed input command utilizes equidistant multi-steps profile designed for a multi-mode linear damped system, relying solely on the natural frequencies and modal damping ratios. This approach is particularly advantageous for complex systems where deriving or accessing comprehensive mathematical models is challenging or infeasible. The dynamics of three-dimensional sloshing, resulting from longitudinal and transverse motions, were simulated using finite element analysis. The input command is engineered to (i) maximize actuator utilization to minimize maneuver duration, (ii) adhere to zero residual vibration constraints, and (iii) reduce step-to-step differences to mitigate jerks, such as inrush currents. The flexibility of the design allows for adjusting the step intervals to synchronize with actuator sampling times - avoiding delays and inaccuracies - and modifying the total duration to balance between transient wave suppression, maneuver time, and robustness against parameter uncertainties. Numerical simulations and experimental tests of a planar-conveyed water-filler rectangular container across a broad range of system and design parameters validate the efficacy of the proposed command shaping strategy.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106503"},"PeriodicalIF":5.4,"publicationDate":"2025-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144714569","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 Enhanced Hybrid Metaheuristic for Hierarchical Scheduling in 4WIDS Multi-robot Systems under Confined Environments 受限环境下4WIDS多机器人系统分层调度的增强混合元启发式算法

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-25 DOI: 10.1016/j.conengprac.2025.106498

Lin Zhang, Yichen An, Tianwei Niu, Runjiao Bao, Shoukun Wang, Junzheng Wang

{"title":"An Enhanced Hybrid Metaheuristic for Hierarchical Scheduling in 4WIDS Multi-robot Systems under Confined Environments","authors":"Lin Zhang, Yichen An, Tianwei Niu, Runjiao Bao, Shoukun Wang, Junzheng Wang","doi":"10.1016/j.conengprac.2025.106498","DOIUrl":"10.1016/j.conengprac.2025.106498","url":null,"abstract":"<div><div>Multi-robot systems have emerged as a transformative paradigm for industrial automation. However, deploying these systems in dense, dynamic environments like ultra-dense warehouses and Ro-Ro terminals remains challenging due to simplified motion constraints, idealized models, and the tight coupling of task assignment, trajectory planning, and conflict resolution under strict spatiotemporal constraints. To address these problems, we propose a hierarchical scheduling framework for four-wheel independent drive/steering robot groups in confined environments. Firstly, at the task assignment layer, we introduce an enhanced hybrid metaheuristic for task assignment that integrates particle swarm optimization with a genetic algorithm, augmented by a problem-specific fitness function and adaptive mutation strategies to prevent premature convergence. Secondly, at the path planning layer, we develop a kinematics-aware conflict-based search path planner integrating motion primitives with improved A* node expansion strategies, where adaptive heuristic weighting and bidirectional search acceleration are introduced to ensure computational tractability. Simulations in a near-realistic confined environment show that the proposed hierarchical scheduling algorithm reduces total execution cost by 11.0% compared to the advanced particle swarm genetic algorithm, demonstrating its superior performance in multi-robot coordination. Furthermore, field tests conducted at the Ro-Ro Terminal of Yantai Port have fully validated the feasibility of this framework for multi-robot coordination in real-world scenarios. This work lays a theoretical and practical foundation for next-generation multi-robot coordination in constrained logistics ecosystems.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106498"},"PeriodicalIF":5.4,"publicationDate":"2025-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144703675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Event-triggered tube-based model predictive anti-rollover control for liquid tank trucks considering time-varying parameters 考虑时变参数的基于事件触发管的液罐车模型预测防侧翻控制

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-25 DOI: 10.1016/j.conengprac.2025.106499

Weihe Liang, Ruoyan Wang, Chunyan Wang, Wanzhong Zhao, Zhongkai Luan, Qikang Meng

{"title":"Event-triggered tube-based model predictive anti-rollover control for liquid tank trucks considering time-varying parameters","authors":"Weihe Liang, Ruoyan Wang, Chunyan Wang, Wanzhong Zhao, Zhongkai Luan, Qikang Meng","doi":"10.1016/j.conengprac.2025.106499","DOIUrl":"10.1016/j.conengprac.2025.106499","url":null,"abstract":"<div><div>Liquid tank trucks, primarily used for transporting hazardous chemicals, pose a high rollover risk due to the coupled dynamics of sloshing liquid and vehicle motion, and their rollover incidents can lead to severe safety hazards. The liquid sloshing introduces time-varying parameters that challenge the design of anti-rollover controllers. In response to this, this paper proposes an event-triggered, tube-based model predictive anti-rollover control strategy for liquid tank trucks that accounts for time-varying parameters. Firstly, to capture the time-varying characteristics resulting from liquid sloshing, this paper establishes a linear parameter-varying model. After analyzing the influence of liquid sloshing and time-varying parameters on rollover, a time-varying rollover index of the liquid tank truck is obtained using a parameter-state joint estimator for estimating difficult-to-obtain states and time-varying parameters. Then, this paper proposes a tube-based model predictive anti-rollover control strategy, which enhances the robustness of the control strategy to time-varying parameters in liquid tank trucks by incorporating system time-varying parameters within the tube. Furthermore, due to the limited bandwidth of the chassis CAN communication, an event-triggered mechanism is introduced to reduce communication resource consumption. Finally, this paper developed a hardware-in-the-loop anti-rollover test platform to validate the proposed strategy. The test results demonstrate that, under the proposed control strategy, the rollover angle of the liquid tank truck decreased by 35 %, and the lateral acceleration was reduced by 50 %. Additionally, the communication resource occupancy decreased by 39 %. The proposed anti-rollover control strategy effectively reduces the rollover risk and enhances the driving safety of liquid tank trucks.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106499"},"PeriodicalIF":5.4,"publicationDate":"2025-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144703672","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0