Control Engineering Practice最新文献_第8页

Low frequency oscillation suppression in train-grid system based on co-phase supply unit 基于共相供电单元的轨网系统低频振荡抑制

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-08-11 DOI: 10.1016/j.conengprac.2025.106527

Feifan Liu , Lei Ma , Fulin Zhou , Yongyi Liao , Kang Li

{"title":"Low frequency oscillation suppression in train-grid system based on co-phase supply unit","authors":"Feifan Liu , Lei Ma , Fulin Zhou , Yongyi Liao , Kang Li","doi":"10.1016/j.conengprac.2025.106527","DOIUrl":"10.1016/j.conengprac.2025.106527","url":null,"abstract":"<div><div>Low-frequency oscillations (LFOs) pose a significant threat to the safe and efficient operation of electrified railways. This paper proposes a novel solution for LFO suppression based on a single-phase back-to-back converter namely co-phase supply unit (CSU), which simultaneously achieves continuous power supply and negative sequence compensation for electrified railways. First, a control framework for the CSU is proposed. Based on this, the <em>dq</em> admittance model of the CSU is derived. Then, the specific admittance for each channel is obtainable by model decomposition. With this, the impact of each parameter on the CSU admittance characteristics is clearly expressed, which can guide the parameter adjustments. To further explore the coupling between the train-grid system and the CSU, the <em>dq</em> admittance model is transformed into a single-input single-output system. The stability analysis confirm that the CSU can provide positive conductance in the low frequency range, which eliminates the negative conductance of the train-grid system, thus improving the system stability. Simulation and hardware-in-the-loop experiments both verified the effectiveness of CSU in LFO suppression.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106527"},"PeriodicalIF":4.6,"publicationDate":"2025-08-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144809957","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-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

An integrated multi-regional cooperative strategy for real-time electric taxi dispatching and charging 基于多区域协作的电动出租车实时调度与充电策略

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-08-05 DOI: 10.1016/j.conengprac.2025.106492

Yanxia Wang , Shaojun Gan , Yuanyang Zhao , Yuzhang Lin , Kang Li

{"title":"An integrated multi-regional cooperative strategy for real-time electric taxi dispatching and charging","authors":"Yanxia Wang , Shaojun Gan , Yuanyang Zhao , Yuzhang Lin , Kang Li","doi":"10.1016/j.conengprac.2025.106492","DOIUrl":"10.1016/j.conengprac.2025.106492","url":null,"abstract":"<div><div>The rapid roll-out of electric taxis has introduced significant challenges in both urban transport and power systems, particularly in order dispatching and charging management. This study proposes an integrated multi-regional strategy that optimizes both order dispatching and charging strategies for electric taxis. First, an order dispatching strategy based on the deferred acceptance algorithm is developed, considering the impacts of passengers’ and drivers’ psychology on travel experience over waiting time. Then, a regional cooperative charging scheduling strategy using a multi-objective programming model is proposed, incorporating factors such as range anxiety, charging costs, and potential order losses. The assignment of taxis to charging stations is optimized using the Hungarian algorithm. To evaluate the proposed strategy, a discrete event simulation is implemented using historical data from Shanghai’s Huangpu District, involving 200 electric taxis and 19 charging stations. Results show that, compared to uncoordinated charging, the proposed scheduling strategy increases the total service time by 13.8% , while improving the charging load balance by 21.7%. The proposed approach significantly enhances the operational efficiency and service quality of electric taxi systems, while mitigating the negative impact of improper taxi charging operation in the stressed urban power grid.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":""},"PeriodicalIF":4.6,"publicationDate":"2025-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144771041","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 disturbance rejection super-twisting integral sliding mode control of wrist rehabilitation robot driven by foldable air bag 可折叠气囊驱动腕部康复机器人自抗扰超扭转积分滑模控制

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-08-05 DOI: 10.1016/j.conengprac.2025.106505

Erhu Yang , Dongyun Zheng , Jun Zhao , Yiqing Cai , Bei Peng , Leiyu Zhang , Gang Li

{"title":"Active disturbance rejection super-twisting integral sliding mode control of wrist rehabilitation robot driven by foldable air bag","authors":"Erhu Yang , Dongyun Zheng , Jun Zhao , Yiqing Cai , Bei Peng , Leiyu Zhang , Gang Li","doi":"10.1016/j.conengprac.2025.106505","DOIUrl":"10.1016/j.conengprac.2025.106505","url":null,"abstract":"<div><div>Two high-speed switching valves (HSVs) were employed as the core control elements for high-precision angle tracking control in a wrist rehabilitation robot driven by foldable airbags, characterized by low cost, simple structure, and fast response. However, the dead-zone nonlinearity of the HSVs, typical nonlinearities of the pneumatic system, model inaccuracies, and external load disturbances pose significant challenges for achieving precise angle tracking. To address these challenges, an active disturbance rejection super-twisting integral sliding mode control (ADR-STISMC) was established and its convergence was proven, integrating active disturbance rejection control (ADRC), an integral sliding surface-based super-twisting sliding mode controller, and a dead-zone inverse function. A sine wave and an optimal wrist motion curve were employed in trajectory tracking experiments and five participants were enrolled in the verification experiments. The experimental results demonstrated the effectiveness of the proposed control algorithm where RMSE and MAE of ADR-STISMC were only one-third of those of ADRC respectively. The control scheme for the wrist rehabilitation device can provide sufficient technical guidance for other similar rehabilitation or automated devices.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106505"},"PeriodicalIF":4.6,"publicationDate":"2025-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144771043","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

H∞-Extended Kalman filter for the aluminium smelting process with boundness analysis of the estimation error matrix H∞-扩展卡尔曼滤波用于铝冶炼过程的估计误差矩阵的有界分析

IF 4.6 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-31 DOI: 10.1016/j.conengprac.2025.106500

Luning Ma , Wangyan Li , Choon-Jie Wong , Jie Bao , Maria Skyllas-Kazacos , Barry Welch , Nadia Ahli , Maitha Faraj , Mohamed Mahmoud

{"title":"H∞-Extended Kalman filter for the aluminium smelting process with boundness analysis of the estimation error matrix","authors":"Luning Ma , Wangyan Li , Choon-Jie Wong , Jie Bao , Maria Skyllas-Kazacos , Barry Welch , Nadia Ahli , Maitha Faraj , Mohamed Mahmoud","doi":"10.1016/j.conengprac.2025.106500","DOIUrl":"10.1016/j.conengprac.2025.106500","url":null,"abstract":"<div><div>Alumina concentration monitoring is crucial for control of the aluminium smelting process to optimise process efficiency and product quality. Due to the harsh environment in the smelting cells, alumina concentration cannot be directly measured online, but rather estimated in real time using Kalman filters. However, accurate smelting cell models are not readily available, and cell events such as anode effects and anode setting can introduce additional uncertain disturbances into the process. In this paper, an <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span>-extended Kalman filter (HEKF) is developed for the aluminium smelting process to improve the robustness of alumina concentration estimation with the presence of the above uncertainties. Furthermore, a detailed analysis of the estimation error matrix of the HEKF is developed, which can be used to determine the upper and lower bounds of the error matrix. These bounds provide a theoretical guarantee for the filter’s performance in managing uncertainties in the aluminium smelting process. The effectiveness of the proposed HEKF is demonstrated through experimental studies using an industrial aluminium smelting cell under different cell operations.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106500"},"PeriodicalIF":4.6,"publicationDate":"2025-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144738559","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