Control Engineering Practice最新文献_第9页

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

Model identification of a cable-based mechanical transmission for robotics using a Best Linear Approximation approach 基于最佳线性逼近方法的机器人缆索机械传动模型辨识

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-25 DOI: 10.1016/j.conengprac.2025.106457

Bassem Boukhebouz , Guillaume Mercère , Mathieu Grossard , Édouard Laroche

引用次数: 0

Output feedback control of an underactuated flying inverted pendulum 欠驱动飞行倒立摆的输出反馈控制

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-25 DOI: 10.1016/j.conengprac.2025.106474

Weiming Yang , Joel Reis , Gan Yu , Carlos Silvestre

引用次数: 0

Distributed model-free adaptive control for output-coupled interconnected processes 输出耦合互连过程的分布式无模型自适应控制

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-24 DOI: 10.1016/j.conengprac.2025.106493

Dawei Zhang , Rui Xia , Fei Li , Jiehua Feng , Dongya Zhao , Sarah K. Spurgeon

{"title":"Distributed model-free adaptive control for output-coupled interconnected processes","authors":"Dawei Zhang , Rui Xia , Fei Li , Jiehua Feng , Dongya Zhao , Sarah K. Spurgeon","doi":"10.1016/j.conengprac.2025.106493","DOIUrl":"10.1016/j.conengprac.2025.106493","url":null,"abstract":"<div><div>A novel data-driven distributed control strategy for output-coupled interconnected industrial processes with unknown models is proposed in this paper. The method derives a Distributed Output-coupled Dynamic Linearization (DOCDL) data model that effectively captures the complex output coupling relationships between the subsystems, overcoming the limitations of traditional model-free adaptive control frameworks in handling output coupling terms. An Output-coupled Interconnected Processes Disturbance Observer based Distributed Data-driven Adaptive Control (OC-DO-DDAC) is developed to address the computational burden and accuracy deterioration associated with centralized control approaches. The controller incorporates both rate terms in its multi-factor objective function and dedicated disturbance observers to effectively suppress the propagation of the disturbances through the coupling channels, thereby enhancing system stability and robustness. The parameter vectorization approach employed in the distributed design circumvents the control accuracy issues arising from matrix norm simplification while maintaining computational efficiency as system dimensions increase. Theoretical analysis demonstrates the boundedness of the tracking errors through an innovative dimension-extended system approach combined with Gerschgorin’s circle theorem. The effectiveness of the proposed method is validated through comprehensive simulations and experimental studies on output-coupled systems.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106493"},"PeriodicalIF":5.4,"publicationDate":"2025-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144695281","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

Multirobot path-aware global optimization 多机器人路径感知全局优化

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-24 DOI: 10.1016/j.conengprac.2025.106495

Tudor Sântejudean , Maria Ceapă , Radu Herzal , Elvin Pop , Vineeth Satheeskumar Varma , Irinel-Constantin Morărescu , Lucian Buşoniu

{"title":"Multirobot path-aware global optimization","authors":"Tudor Sântejudean , Maria Ceapă , Radu Herzal , Elvin Pop , Vineeth Satheeskumar Varma , Irinel-Constantin Morărescu , Lucian Buşoniu","doi":"10.1016/j.conengprac.2025.106495","DOIUrl":"10.1016/j.conengprac.2025.106495","url":null,"abstract":"<div><div>We propose Voronoi Simultaneous Optimistic Optimization (VSOO), a divide-the-best-based method for multirobot global optimization of a Lipschitz-continuous physical objective (e.g., quantity of material, density of litter, signal power), whose Lipschitz constant is unknown. In this problem, a team of mobile robots must autonomously navigate as quickly as possible to all global optima of the objective function defined over their operating area. The objective can have multiple local and global optima, is initially unknown, and can only be evaluated online at robot locations. VSOO utilizes Voronoi partitions driven by the samples collected so far by the robots, which allows them to incrementally refine the search space in their simultaneous search for the optima. We guarantee everywhere-dense and global convergence for any function, and analyze convergence rates for some representative classes of function shapes. Extensive numerical simulations, performed on established classes of benchmark test functions, demonstrate that VSOO approaches all global optima faster than a series of representative source/extremum seeking techniques that – similarly to VSOO – are global optimizers designed for mobile robots. In terms of execution time, VSOO is competitive with these baselines. We finally validate VSOO in real-robot experiments in which TurtleBot3 robots successfully search for the strongest antenna signals indoors.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106495"},"PeriodicalIF":5.4,"publicationDate":"2025-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144695282","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

Exponential control barrier function and model predictive control for jerk-level reactive motion planning of quadrotors 指数控制、障碍函数和模型预测控制四旋翼机瞬变级反应运动规划

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-23 DOI: 10.1016/j.conengprac.2025.106489

Zeinab Shayan , Mohammadreza Izadi , Vincenzo Scognamiglio , Simone D’Angelo , Shashank Singoji , Vincenzo Lippiello , Reza Faieghi

{"title":"Exponential control barrier function and model predictive control for jerk-level reactive motion planning of quadrotors","authors":"Zeinab Shayan , Mohammadreza Izadi , Vincenzo Scognamiglio , Simone D’Angelo , Shashank Singoji , Vincenzo Lippiello , Reza Faieghi","doi":"10.1016/j.conengprac.2025.106489","DOIUrl":"10.1016/j.conengprac.2025.106489","url":null,"abstract":"<div><div>Quadrotors require efficient reactive motion planning algorithms to ensure safe autonomous operations in dynamic environments. One common strategy for reactive motion planning is model predictive control (MPC); however, conventional MPC-based methods often fall short of guaranteeing collision avoidance when encountering dynamic obstacles. To address this limitation, we develop an enhanced framework that combines MPC with control barrier functions (CBFs) for improved safety and a Kalman Filter (KF) for predicting obstacle behavior, increasing responsiveness to dynamic obstacles. We utilize a high-order closed-loop model of the quadrotor along with exponential CBFs, enabling trajectory control at the jerk level, unlike existing MPC-CBF methods that rely on acceleration-level planning. Extensive hardware experiments across multiple scenarios demonstrate that this approach significantly enhances safety by increasing the minimum vehicle-obstacle distance and enabling successful navigation through complex situations, such as avoiding fast-swinging obstacles, where traditional MPC-only methods fail. Hardware-based sensitivity analysis further reveals the algorithm’s overall robustness to variations in parameter values, provides insight into parameter tuning, and highlights the critical role of accurate obstacle predictions in dynamic environments. Our findings indicate that the MPC-CBF-KF framework is a promising, robust, and computationally feasible solution for quadrotor motion planning in both dynamic and static environments.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"164 ","pages":"Article 106489"},"PeriodicalIF":5.4,"publicationDate":"2025-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144685997","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 robust control for heavy-duty tracked transportation robots in underground mines 矿山重型履带式运输机器人的自适应鲁棒控制

IF 5.4 2区计算机科学

Control Engineering Practice Pub Date : 2025-07-23 DOI: 10.1016/j.conengprac.2025.106494

Xihao Yan, Dongjie Wang, Aixiang Ma, Sihai Zhao

引用次数: 0