Control Engineering Practice最新文献

{"title":"Theory and experiment on distributed output formation tracking of unmanned aerial and ground vehicle swarm systems over jointly connected digraphs","authors":"Peixuan Shu ,&nbsp;Changhai Wang ,&nbsp;Yongzhao Hua ,&nbsp;Xiwang Dong ,&nbsp;Yumeng Liu ,&nbsp;Zhang Ren","doi":"10.1016/j.conengprac.2024.106070","DOIUrl":"10.1016/j.conengprac.2024.106070","url":null,"abstract":"<div><p>This paper studies the distributed output formation tracking control problem of the unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) swarm systems, where the UAV swarm cooperatively tracks the output trajectory of the UGV in a formation under directed jointly connected communication networks. A three-layer formation tracking protocol is proposed. Firstly, a novel distributed observer using neighbor interactions is designed for each UAV to estimate the states of the UGV with parameterized inputs over periodic jointly connected digraphs. Next, based on the observation result and output regulation theory, a virtual reference system that tracks the trajectory of the UGV in the desired formation is constructed to generate reference states for each UAV. Then based on the differential flatness of UAVs, a geometric controller is utilized for UAVs to track the reference states and form the formation. An algorithm to determine the gain matrices of the protocol is also presented while the convergence of the system is analyzed. Finally, an experiment platform with three quadrotor UAVs and one UGV is built. The effectiveness of the proposed protocol is validated both by the simulation and experiment.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106070"},"PeriodicalIF":5.4,"publicationDate":"2024-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142097736","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 hierarchical multi-parametric programming approach for dynamic risk-based model predictive quality control","authors":"Austin Braniff,&nbsp;Yuhe Tian","doi":"10.1016/j.conengprac.2024.106062","DOIUrl":"10.1016/j.conengprac.2024.106062","url":null,"abstract":"<div><p>In this work, we present a hierarchical batch quality control strategy with real-time process safety management. It features a multi-time-scale decision-making framework augmenting: (i) Risk-aware model predictive controller for short-term set point tracking and dynamic risk control under disturbances; (ii) Control-aware optimizer for long-term quality and safety optimization over the entire batch operation; (iii) Intermediate surrogate model to bridge the timescale gap by readjusting the optimizer operating decisions for the controller. All of the above problems are solved via multi-parametric mixed-integer quadratic programming with a key advantage to generate offline explicit control/optimization laws as affine functions of process and risk variables. This allows for the design of a fit-for-purpose risk management plan prior to real-time implementation, while reducing the need for repetitive online dynamic optimization. A unified process model is used to underpin the consistency of hierarchical operational optimization. The proposed approach offers a flexible strategy to integrate distinct decision-making time scales which can be selected separately tailored to the process-specific need of control, fault prognosis, and end-batch quality control. A T2 batch reactor case study is presented to showcase this approach to systematically address the interactions and trade-offs of multiple decision layers toward improving process efficiency and safety.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106062"},"PeriodicalIF":5.4,"publicationDate":"2024-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142089210","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":"Interval estimation of dynamic liquid level of sucker-rod pumping systems based on dynamometer card","authors":"Wenhua Liu,&nbsp;Jinghao Li,&nbsp;Guang-Hong Yang,&nbsp;Xianwen Gao","doi":"10.1016/j.conengprac.2024.106064","DOIUrl":"10.1016/j.conengprac.2024.106064","url":null,"abstract":"<div><p>This paper is concerned with the interval estimation problem of the dynamic liquid level for sucker-rod pumping systems via dynamometer cards. Firstly, a surface dynamometer card-based dynamic liquid level model is established in terms of the operational mechanism of the pump and the dynamics of the rod strings. Then, an underdamped oscillation method and a boxplot-based denoising method are developed respectively to determine the damping coefficient in the dynamics of the rod strings and deal with the uncertainties in the dynamometer card. Based on these, a finite difference-based interval estimation strategy is proposed to determine dynamic liquid level via the surface dynamometer card. Finally, simulation results with the field measurements demonstrate the validity of the proposed method.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106064"},"PeriodicalIF":5.4,"publicationDate":"2024-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142089209","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":"Vehicle modeling and state estimation for autonomous driving in terrain","authors":"Tabish Badar ,&nbsp;Juha Backman ,&nbsp;Arto Visala","doi":"10.1016/j.conengprac.2024.106046","DOIUrl":"10.1016/j.conengprac.2024.106046","url":null,"abstract":"<div><p>The automobile industry usually ignores the height of the path and uses planar vehicle models to implement automatic vehicle control. In addition, existing literature mostly concerns level terrain or homogeneous road surfaces for estimating vehicle dynamics. However, ground vehicles utilized in forestry, such as forwarders, operate on uneven terrain. The vehicle models built on level terrain assumptions are inadequate to capture the rolling or pitching dynamics of such machines as rollover of such vehicles is a potential risk. Therefore, knowledge about the height profile of the path is crucial for automating such off-road operations and avoiding rollover. We propose the use of a six-degrees-of-freedom (6-DOF) dynamic vehicle model to solve the autonomous forwarder problem. An adaptive linear tire model is used in the 6-DOF model assuming the vehicle operates in a primary handling regime. The force models are modified to include the three-dimensional (3D) map information. The calibration procedures, identifying actuator dynamics, and quantifying sensor delays are also represented.</p><p>The proposed vehicle modeling contributed to realizing the continuous-discrete extended Kalman filter (CDEKF), which takes into account the 3D path during filtering and fixed-lag smoothing. Polaris (an all-terrain electric car) is used as a case study to experimentally validate the vehicle modeling and performance of the state estimator. Three types of grounds are selected — an asphalt track, a concrete track with a high elevation gradient, and a gravel track inside a forest. Stable state estimates are obtained using CDEKF and sparse 3D maps of terrains despite discontinuities in satellite navigation data inside the forest. The height estimation results are obtained with sufficient accuracy when compared to ground truth obtained by aerial 3D mapping. Finally, the proposed model’s applicability for predictive control is demonstrated by utilizing the state estimates to predict future states considering (3D) terrain.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106046"},"PeriodicalIF":5.4,"publicationDate":"2024-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0967066124002053/pdfft?md5=f8e1033b864223df5e336f7abd2f49ca&pid=1-s2.0-S0967066124002053-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142083241","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Full-speed domain position sensorless control strategy for PMSM based on a novel phase-locked loop","authors":"Guozhong Yao,&nbsp;Zixian Yang,&nbsp;Shaojun Han,&nbsp;Zhengjiang Wang","doi":"10.1016/j.conengprac.2024.106058","DOIUrl":"10.1016/j.conengprac.2024.106058","url":null,"abstract":"<div><p>This paper proposes a full-speed-domain position-sensor-less control strategy for precise control under forward and reverse rotation conditions to address the weak convex polarity of surface-mounted permanent magnet synchronous motor (SPMSM). The strategy comprises several key stages: pre-positioning of the rotor, constant current variable frequency (I/F) start-up, construct the Luenberger State Observer, and utilization of an improved phase-locked loop (PLL) for position estimation. In the pre-positioning stage, a constant amplitude current is applied to drag the rotor to a predetermined position. Subsequently, the I/F start-up stage accelerates the motor to a predetermined speed before transitioning to the Luenberger observer for closed-loop speed control, which is based on an extended back electromotive force (back-EMF) a two-phase rotating coordinate system. The improved PLL for position and speed estimation features three components: a phase discriminator (PD), a voltage-controlled oscillator (VCO), and loop filter (LF). Experimental results demonstrate the efficacy of the proposed strategy, showing quick start-up response, speed estimation error below 2 RPM, rotor position estimation error under 0.6 degrees post-loop closure, stable tracking during rapid speed changes, and consistent accuracy and stability even under reverse rotation conditions, thereby meeting the control strategy’s objectives.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106058"},"PeriodicalIF":5.4,"publicationDate":"2024-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S096706612400217X/pdfft?md5=ea20665e2ea29cf62ebc6e363f127def&pid=1-s2.0-S096706612400217X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142050301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Nonlinear second order plus time delay model identification and nonlinear PID controller tuning based on extended linearization method","authors":"Juhyeon Kim ,&nbsp;Friedrich Y. Lee ,&nbsp;Jietae Lee ,&nbsp;Joseph Sang-Il Kwon","doi":"10.1016/j.conengprac.2024.106044","DOIUrl":"10.1016/j.conengprac.2024.106044","url":null,"abstract":"<div><p>PID control systems based on the first order plus time delay model (FOPTD), which approximate the full system dynamics, are well-accepted for a wide range of linear processes. While such controllers can be applied to overdamped nonlinear processes, they often experience excessive overshoots and oscillations for general nonlinear processes. To overcome this limitation, we propose a novel method to design a nonlinear PID controller based on the second order plus time delay (SOPTD) model. The system nonlinearity requires parameter adjustments of the linearized model across operational ranges. Hence, in this work, it is handled by the extended linearization method (ELM), ensuring local stability under the assumptions of slow and small changes in operating points. Importantly, the model achieves global input-to-output stability even without the above constraints, provided there are no structural and parametric errors. The resulting nonlinear SOPTD model can describe changes in process gain and two time constants as the operation point varies. We demonstrate the applicability of our approach with a polymerization reactor simulation and liquid-level control experiments.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106044"},"PeriodicalIF":5.4,"publicationDate":"2024-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142050303","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":"Federated learning for decentralized fault diagnosis of a sucker-rod pumping system with class imbalance data","authors":"Fabiao Yang,&nbsp;Zhi-Wei Gao,&nbsp;Shixiang Lu,&nbsp;Yuanhong Liu","doi":"10.1016/j.conengprac.2024.106050","DOIUrl":"10.1016/j.conengprac.2024.106050","url":null,"abstract":"<div><p>The development of modern oilfields has entered the middle and late stages, transforming towards digitalization and intelligence. However, the distribution of the sucker-rod pumping systems is decentralized, and the working condition information is skew-distributed. This situation poses a significant challenge to existing centralized fault diagnosis mechanisms. To address the existing practical challenge in the oilfield, a federated learning-based fault diagnosis framework for class imbalance in decentralized sucker-rod pumping systems (FL-CI) is proposed. This framework incorporates a parameter anonymization-ratio upload mechanism to mitigate the risk of gradient tracking. Then, a monitoring mechanism is leveraged to reversely infer global class-imbalance data using trained parameters uploaded by the clients. In addition, a ratio loss function is designed to calibrate the influence of class imbalance on the global system. After conducting comparative analysis, ablation analysis, and sensitivity analysis on a rod-pumping unit dataset (RPUD), as well as comparative and ablation analyses on the Case Western Reserve University bearing dataset (CWRU), the experimental results demonstrate that the FL-CI framework achieves superior diagnostic performance on the RPUD, with eight out of twelve evaluation metrics significantly outperforming seven state-of-the-art methods. A similar trend is observed on the CWRU, further validating the effectiveness and generalizability of the FL-CI.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106050"},"PeriodicalIF":5.4,"publicationDate":"2024-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142050302","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":"Effective parameter identification of the GMS friction model for feed systems in CNC machines","authors":"Dehai Huang,&nbsp;Jianzhong Yang,&nbsp;Guangda Xu,&nbsp;Huicheng Zhou,&nbsp;Jiakang Chen","doi":"10.1016/j.conengprac.2024.106061","DOIUrl":"10.1016/j.conengprac.2024.106061","url":null,"abstract":"<div><p>One of the main factors influencing machine tool feed system tracking performance is friction. By creating an accurate friction model and implementing feed-forward compensation based on the model, the negative impacts of friction can be efficiently reduced. The generalized Maxwell-slip (GMS) model is commonly used to model feed system friction; however, simple and effective parameter identification methods are lacking. In this paper, a parameter identification method based on a metaheuristic Gaussian swarm optimization (GSO) algorithm is proposed. The method divides the parameters into two parts via a theoretical derivation, and employs GSO to identify each part successively. The proposed GSO is a novel metaheuristic algorithm inspired by the Gaussian probability function. The excellent performance of the GSO ensures that the friction parameters can be accurately and quickly identified. The results of the simulation and physical identification experiments show that the proposed GSO-based identification method can accurately identify the parameters of the GMS model with average and maximum relative errors of 3.96% and 14.05%, respectively. The identified model can accurately predict the friction of the feed system. Additionally, after friction compensation, the tracking error was decreased by an average of 78.9%.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106061"},"PeriodicalIF":5.4,"publicationDate":"2024-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142050300","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 generalized homogeneity-based formation control for perturbed unicycle multi-agent systems","authors":"Min Li ,&nbsp;Héctor Ríos ,&nbsp;Susana V. Gutiérrez–Martínez ,&nbsp;Andrey Polyakov ,&nbsp;Gang Zheng ,&nbsp;Alejandro Dzul","doi":"10.1016/j.conengprac.2024.106047","DOIUrl":"10.1016/j.conengprac.2024.106047","url":null,"abstract":"<div><p>In this paper, the formation control problem is considered for unicycle multi-agent systems whose kinematic models contain some external perturbations. The approach to addressing the problem involves the development of a homogeneity-based leader–follower formation control protocol, which takes into account bounded perturbations. It is shown that such a control protocol can be obtained if there is an external supervisor monitoring the group and broadcasting a limited amount of data to followers. Simulations as well as experimental results are performed to illustrate the effectiveness of the proposed control protocol using the QBot2 unicycle mobile robot.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106047"},"PeriodicalIF":5.4,"publicationDate":"2024-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142039792","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":"Downshifting strategy of plug-in hybrid vehicle during braking process for greater regenerative energy","authors":"Peng Dong ,&nbsp;Junqing Li ,&nbsp;Kun Yao ,&nbsp;Shenlong Li ,&nbsp;Shuhan Wang ,&nbsp;Xiangyang Xu ,&nbsp;Wei Guo","doi":"10.1016/j.conengprac.2024.106049","DOIUrl":"10.1016/j.conengprac.2024.106049","url":null,"abstract":"<div><p>The P2 configuration plug-in hybrid electric vehicle (P2-PHEV) equipped with a multi-speed transmission has a high potential for recovering more regenerative energy, as the shifting strategy can be employed to adjust the working zone of the electric motor (EM). However, the existing shifting strategy designed for normal driving conditions cannot achieve optimal regenerative energy recovery. In this study, a shifting strategy used in the regenerative braking process is proposed. First, to make the EM provide more regenerative force during braking, a braking force distribution algorithm is devised while simultaneously considering braking stability and safety. Second, to realize maximum regenerative braking energy recovery, an optimal shifting strategy is designed for regenerative braking. Third, the classical braking process is analyzed and six thresholds are abstracted and optimized to establish a rule for restraining frequent gearshifts raised in the proposed optimal shifting strategy. Finally, the proposed strategy is verified under three standard cycles, results show that the proposed shifting strategy can recover considerable regenerative energy without frequent gearshifts.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"152 ","pages":"Article 106049"},"PeriodicalIF":5.4,"publicationDate":"2024-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142021481","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}