Control Engineering Practice最新文献

{"title":"A novel intention-aware control framework for rehabilitation robots using synchronization of interacting oscillators","authors":"Hamidreza Torkestani ,&nbsp;Mohammad Zareinejad ,&nbsp;Mahyar Naraghi","doi":"10.1016/j.conengprac.2025.106542","DOIUrl":"10.1016/j.conengprac.2025.106542","url":null,"abstract":"<div><div>In recent decades, rehabilitation robots have gained significant attention for restoring patients' motor abilities. Most prior studies have proposed control approaches without accounting for variations in patients' motor abilities and movement intentions. Given the repetitive nature of rehabilitation exercises, this study aims to address these limitations by considering the limb and the robot as interacting oscillators and leveraging the synchronization capability inherent to such systems. The proposed control framework establishes a virtual coupling between the limb and the rehabilitation robot to achieve synchronization, employs a morphed oscillator to generate task-specific reference trajectories, and incorporates a robust-adaptive sliding mode controller to determine the appropriate level of robotic assistance. To validate this approach, the framework was implemented on an experimental setup consisting of a soft pneumatic robot and a flexible-jointed artificial finger. Experimental results demonstrate that the proposed framework effectively provides intention-aware robotic assistance without relying on bioelectrical signals or direct force measurements.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106542"},"PeriodicalIF":4.6,"publicationDate":"2025-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144890718","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":"Global sliding mode-active disturbance rejection control driven by tracking and virtual estimation errors for hydraulic roofbolter","authors":"Zhen Zhang ,&nbsp;Yinan Guo ,&nbsp;Song Zhu ,&nbsp;Feng Jiao ,&nbsp;Dunwei Gong ,&nbsp;Xianfang Song","doi":"10.1016/j.conengprac.2025.106529","DOIUrl":"10.1016/j.conengprac.2025.106529","url":null,"abstract":"<div><div>Enhancing the control performance and simplifying the control structure of the hydraulic roofbolter are key issues for ensuring effective roadway support in coal mine. This article proposes a global sliding mode-active disturbance rejection control method driven by tracking and estimation errors for hydraulic roofbolter. The method mainly consists of two newly designed components: a second-order adaptive extended state observer (SAESO) and a global sliding-mode control (SMC) law. Firstly, based on a predetermined tracking threshold, an adaptive mechanism that responds to system tracking dynamics in real time is designed. On the basis of this, the SAESO is proposed to synergistically enhance disturbance estimation and tracking performance. Secondly, a fast convergence function, a filter, and a saturation function are designed using trigonometric functions and the observer’s output. On the basis of these strategies, the global SMC law is proposed, with the purpose of suppressing chattering, improving global robustness, and ensuring finite-time convergence. Thirdly, the proposed controller is constructed by compensating for the disturbance estimated by the SAESO in the global SMC law, and its finite-time convergence is subsequently proven based on Lyapunov stability theory. Finally, comparative experiments are conducted on a hydraulic system platform to verify the effectiveness and superiority of the proposed control method.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106529"},"PeriodicalIF":4.6,"publicationDate":"2025-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891906","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":"Active fault tolerant active vibration dual-mode Model Predictive Control for a smart flexible beam","authors":"A.R. Prashant ,&nbsp;Arun K. Tangirala ,&nbsp;C. Lakshmana Rao ,&nbsp;M.V.V.S. Murthy","doi":"10.1016/j.conengprac.2025.106535","DOIUrl":"10.1016/j.conengprac.2025.106535","url":null,"abstract":"<div><div>To address the challenges of vibration control in flexible systems, an active fault-tolerant control framework utilizing dual-mode Model Predictive Control (MPC) is introduced. This advanced approach integrates fault detection, isolation, and accommodation mechanisms directly into the control system to ensure continuous and reliable operation in the presence of soft sensor faults, minimizing performance degradation and safeguarding system integrity. The framework leverages the predictive capabilities of MPC and the dual-mode stability concept to achieve an optimal balance between active vibration suppression and fault accommodation. In this framework, dual-mode MPC is particularly advantageous for managing system constraints, offering better adaptability to uncertainties and unexpected disturbances compared to traditional controllers. A detailed evaluation using a Smart Flexible Beam (SFB), employed as an active vibration isolation system, highlights the superior performance of dual-mode MPC. It outperforms standard MPC by providing enhanced fault tolerance in scenarios involving soft sensor failures and offers better constraint-handling capabilities than Linear Quadratic (LQ) controllers. Furthermore, dual-mode MPC demonstrates robustness to parametric variations and ease of tuning, making it a versatile and effective solution. Through comprehensive simulation studies, the proposed framework showcases its efficacy in achieving significant vibration attenuation, maintaining system stability, and ensuring operational reliability, particularly for critical applications such as aerospace. This makes it a promising approach for enhancing the resilience and robustness of smart flexible systems in high-performance environments.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106535"},"PeriodicalIF":4.6,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144885679","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":"Ultrafast beam steering with microradian tracking accuracy via feedforward tuning and real-time error compensation","authors":"Kuai Yang ,&nbsp;Xuexuan Li ,&nbsp;Zhen Zhang","doi":"10.1016/j.conengprac.2025.106521","DOIUrl":"10.1016/j.conengprac.2025.106521","url":null,"abstract":"<div><div>Beam steering is crucial in laser precision manufacturing, as its deflection range, response time, and accuracy of beam steering significantly affect the production scale, throughput, and quality. Recent advancements focus on integrating galvanometer scanners and acousto-optic deflectors (AODs) into a cascaded acousto-optic and galvanometric scanning (AOGS) system, which offers both large deflection ranges and ultrafast response times. However, the tracking accuracy of the AOGS system remains constrained by the mechanical inertia of galvanometers. This study addresses this limitation by utilizing AODs to compensate for the tracking error of galvanometers in real time, with the compensation effectiveness achieved through the synchronization of the AOGS system and the implementation of a novel frequency-domain iterative feedforward tuning (FD-IFFT) method. Specifically, the synchronization of the AOGS system enables the real-time compensation with the AODs. The FD-IFFT method achieves both high tracking accuracy and strong generalization to diverse trajectories, consistently maintaining the galvanometer tracking errors within the compensatory range of the AODs. Experimental results demonstrate that this approach enables beam steering with a response time below 10 <span><math><mi>μ</mi></math></span>s, a tracking accuracy of single-digit microradians, and a sub-radian scanning range. Compared to existing AOGS systems, the proposed approach further enhances tracking accuracy and offers considerable potential for high-speed, high-precision, and large-scale laser direct processing.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106521"},"PeriodicalIF":4.6,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144890717","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 practical method for parameter identification of optical tweezers in a flow field with control","authors":"Zhihua Xiang,&nbsp;Guanghui Sun,&nbsp;Jiawei Liu,&nbsp;Feilong Tang,&nbsp;Shuai Guo","doi":"10.1016/j.conengprac.2025.106537","DOIUrl":"10.1016/j.conengprac.2025.106537","url":null,"abstract":"<div><div>In this paper, we propose a practical method for identifying the dynamic parameters of an active optical tweezers (OT) system operating in a flow field. It enables rapid and low-cost estimation of three key dynamic parameters: OT trap stiffness, trapping range, and flow field velocity, using only a single circular trajectory. By relying on a single circular trajectory, the proposed method reduces both the number of required measurements and computational steps. Fractional-order control is introduced into the automatic optical tweezers (AOT) system to enhance its precision and robustness, leveraging the superior dynamic tuning capabilities of the fractional-order Proportional–Integral–Derivative (FOPID) controller. The FOPID control strategy, incorporating Anti-Windup integrator and feedforward compensator, serves primarily to validate the parameter identification results and improve operational accuracy under uniform flow conditions. Numerical simulations and experimental analyses demonstrate that the proposed method reduces overshoot by <span><math><mrow><mn>0</mn><mo>.</mo><mn>5</mn><mi>μ</mi><mi>m</mi></mrow></math></span> and improves tracking accuracy by 15%, showing significant improvement over conventional methods.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106537"},"PeriodicalIF":4.6,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144885677","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":"Multiple gait locomotion generation for quadruped robots based on trajectory planning and reinforcement learning","authors":"Wenhao Feng ,&nbsp;Zhipeng Wang ,&nbsp;Haozhe Xu ,&nbsp;Yanmin Zhou ,&nbsp;Bin He ,&nbsp;Chenhui Dong","doi":"10.1016/j.conengprac.2025.106536","DOIUrl":"10.1016/j.conengprac.2025.106536","url":null,"abstract":"<div><div>Realizing flexible multiple gait locomotion like real quadrupedal animals remains a challenge in the field of quadruped robot motion control. To address this challenge, a multiple gait locomotion generation framework based on trajectory planning and reinforcement learning is proposed for quadruped robots, enabling the generation of various quadrupedal and three-legged locomotion. In this framework, a reference trajectory generator and a trajectory adjustment module are designed. The generator produces the reference trajectory by integrating the policy network, gait temporal information, and foot positions, using a specially designed reference trajectory formula. The adjustment module subsequently refines the trajectory in real time by employing the policy network to adapt the motion to the specific task requirements. The policy network is trained using reinforcement learning in simulation. The proposed framework has been verified both in the simulation environment and on an actual quadruped robot (Unitree A1). Both simulation and physical experimental results demonstrate that the framework enables the quadruped robot to perform a variety of gaits, similar to real animals, including quadrupedal (walk, walkingtrot, amble, trot) and three-legged locomotion (lift any leg). Furthermore, the framework enables the robot to traverse rough terrain and ascend slopes of up to 30 degrees with robustness.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106536"},"PeriodicalIF":4.6,"publicationDate":"2025-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144879375","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":"Practical phase-margin-oriented ADRC design method for dual active bridge converters in V2G-enabled DC microgrids","authors":"Lunbo Deng,&nbsp;Guohua Zhou","doi":"10.1016/j.conengprac.2025.106543","DOIUrl":"10.1016/j.conengprac.2025.106543","url":null,"abstract":"<div><div>The absence of a clear frequency-domain interpretation often prevents engineers from realizing that performance improvements by active disturbance rejection control (ADRC) may compromise stability margins. This work presents a phase-margin (PM)-oriented ADRC design method for dual active bridge (DAB) converters in vehicle-to-grid (V2G)-enabled DC microgrids. The proposed method improves crossover frequency while ensuring a sufficient PM. As a practical and general design method, it can be readily extended to other applications. Experimental results verify its effectiveness under varying power flow directions and modulation modes of DAB converters, and demonstrate significantly enhanced stability under delays compared to conventional empirical ADRC designs.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106543"},"PeriodicalIF":4.6,"publicationDate":"2025-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144867309","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":"Learning robust quadrupedal locomotion under disturbances via reinforcement learning with an autonomous evolutionary mechanism","authors":"Shuo Xue ,&nbsp;Liang Yuan ,&nbsp;Kai Lv ,&nbsp;Teng Ran ,&nbsp;Wendong Xiao ,&nbsp;Jianbo Zhang ,&nbsp;Guoliang Wang ,&nbsp;Jianping Cui","doi":"10.1016/j.conengprac.2025.106538","DOIUrl":"10.1016/j.conengprac.2025.106538","url":null,"abstract":"<div><div>Maintaining stable locomotion in complex environments is critical for the practical application of quadrupedal robots. Existing learning-based motion control methods often rely on artificially designed simulation parameters and training schedules. However, such methods tend to fail to meet the dynamic needs of the robot at different stages of training, resulting in insufficient robustness of the learned policy when facing disturbances. This study proposes an autonomous evolutionary mechanism that enables the robot to dynamically adjust its training process through comprehensive self-assessment, ensuring an optimal training environment and curriculum. Furthermore, the mechanism incorporates our proposed adaptive rewards and disturbances, providing a relaxed training environment in the early stages to encourage the robot to explore the policy space. As training progresses, it gradually increases control constraints and disturbances to ensure the robot remains robust under more challenging conditions. We evaluate the robustness of our method through both simulations and real-world deployments, conducting experiments on various quadrupedal locomotion tasks and more challenging scenarios.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106538"},"PeriodicalIF":4.6,"publicationDate":"2025-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144867483","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":"An online dual-loop AMPC strategy for wave compensation of an electro-hydraulic servo Stewart platform","authors":"Xiafei Chen ,&nbsp;Yiyang Jiao ,&nbsp;Xiaoming Yuan ,&nbsp;Zhaoliang Meng ,&nbsp;Lijie Zhang ,&nbsp;Xiaoping Liu","doi":"10.1016/j.conengprac.2025.106540","DOIUrl":"10.1016/j.conengprac.2025.106540","url":null,"abstract":"<div><div>An electro-hydraulic servo Stewart platform for wave compensation actively offsets wave-induced position and attitude changes of ships or offshore equipment, ensuring a stable environment for marine operations. However, precise control remains challenging due to the time-varying parameters of the electro-hydraulic system, the platform’s strong nonlinear dynamics, and coupling among actuators. To overcome these issues, this paper proposes a double closed-loop online adaptive model predictive control (AMPC) strategy. First, a dynamic model of a valve-controlled asymmetric hydraulic cylinder is developed, and an inner-loop AMPC based on online system identification is designed for high-accuracy trajectory tracking. Then, a kinematic model of the Stewart platform incorporating actuator stroke constraints is constructed, and an outer-loop AMPC is formulated using a linear parameter-varying model for motion planning and attitude regulation. Experimental results under Sea State 4 conditions demonstrate that the proposed control strategy achieves superior compensation accuracy and system stability.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106540"},"PeriodicalIF":4.6,"publicationDate":"2025-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144867308","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":"Sensor and actuator selection for the identification of partial observation models of discrete-event systems with concurrent behavior for fault detection","authors":"Diego Angelo Libanio,&nbsp;Gustavo da Silva Viana,&nbsp;Marcos Vicente Moreira","doi":"10.1016/j.conengprac.2025.106541","DOIUrl":"10.1016/j.conengprac.2025.106541","url":null,"abstract":"<div><div>In the classical methods of fault diagnosis of Discrete-Event Systems (DES), the complete knowledge of the system behavior is required to obtain a white-box monolithic system model, which can be a difficult or even impossible task to be carried out for complex systems. In these cases, system identification techniques can be applied using sequences of vectors formed of the input (sensor) and output (actuator) signals of the controller, called I/O vectors. However, when the system is composed of several subsystems with concurrent behavior, it may be necessary to observe a very long length sequence of I/O vectors generated by the closed-loop system to obtain an accurate monolithic model. This motivates the identification of partial observation models, where each model is identified using part of the binary signals exchanged between plant and controller, which are selected such that the identified model can be obtained using less I/O vector observations. After the identification of each partial observation model, a fault detection strategy that plays the partial observation models in parallel, and verifies the occurrence of non-expected behaviors, can be defined. We propose, in this paper, a method for selecting the inputs and outputs of the controller for identification of the partial observation models such that each model has predominantly sequential behavior, which leads to models that can be obtained using less I/O vectors than the monolithic model. In addition, the causal relationship between sensors and actuators is represented in the partial observation models, which allows the correct representation of the system dynamics. The proposed method is based only on the observation of the system I/O vectors, without using any knowledge of the system behavior. A virtual plant, simulated using a 3D simulation software, and controlled by a programmable logic controller, is used to illustrate the proposed method. In addition, we have applied the proposed method to the mechatronic plant, installed at the Laboratory of Control and Automation of the Federal University of Rio de Janeiro, to obtain the partial observation models.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"165 ","pages":"Article 106541"},"PeriodicalIF":4.6,"publicationDate":"2025-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144867306","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}