Control Engineering Practice最新文献

{"title":"Optimization-based trajectory planning for autonomous vehicles in scenarios with multiple reference lines","authors":"Xi Zhang ,&nbsp;Zheng Zang ,&nbsp;Xinran Chen ,&nbsp;Yaomin Lu ,&nbsp;Jianyong Qi ,&nbsp;Jianwei Gong","doi":"10.1016/j.conengprac.2025.106407","DOIUrl":"10.1016/j.conengprac.2025.106407","url":null,"abstract":"<div><div>Enabling autonomous vehicles to adhere to the reference line as much as possible is a regulatory consensus that ensures predictability in vehicle’s behavior within mixed traffic flow, thereby reducing the risk of accidents. State-of-the-art Cartesian-based trajectory planning methods overcome limitations inherent in traditional Frenet-based approaches, particularly regarding constraint violations in high-curvature scenarios. However, these methods encounter theoretical challenges in handling reference line constraints, hindering their direct application in road scenarios. In this paper, an optimization-based trajectory planning method in Cartesian Frame is proposed to address road scenarios with multiple reference lines. The main work can be summarized into three parts. In the first part, The on-road trajectory planning task is reframed as an Optimal Control Problem (OCP) with multiple-reference lines constraints (MRLC), where the nominal OCP ensures safety and feasibility. The incorporation of nominal MRLC ensures that the generated trajectory closely follows the reference lines while maintaining the trajectory’s longitudinal deformation capability. However, nominal MRLC, which involves a minimum optimization problem when describing the distance between the trajectory and reference lines, cannot be directly embedded into an OCP. To address this issue, in the second part, an approximate calculation method is proposed to explicitly describe MRLC. The MRLC constructed in this way not only preserves the trajectory’s good deformability but also handles the generation of continuous lane-changing trajectories. In the third part, an improved dynamic programming approach tailored for multi-reference line scenarios is proposed, providing high-quality initial guesses for OCP-MRLC to enhance its convergence speed. Finally, comprehensive benchmarking against state-of-the-art methods is presented, showcasing the significance of the proposed OCP-MRLC in meeting reference line constraints and ensuring trajectory quality. Experiments conducted with real-world datasets validate the practicality of the algorithm.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"163 ","pages":"Article 106407"},"PeriodicalIF":5.4,"publicationDate":"2025-05-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144167806","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":"Event-triggered active return-to-center control for steer-by-wire system by a time-window algorithmic framework","authors":"Xiaodong Wu ,&nbsp;Shuhan Liu ,&nbsp;Jinjie Wang ,&nbsp;Baoran Shi","doi":"10.1016/j.conengprac.2025.106382","DOIUrl":"10.1016/j.conengprac.2025.106382","url":null,"abstract":"<div><div>Since the mechanical decoupling of the steer-by-wire system, the self-aligning torque from the vehicle tire cannot be transmitted to the steering wheel. As a result, the steering wheel does not automatically return to the center position after the driver releases the steering wheel. In order to design an active return-to-center (RTC) steering system, this paper proposes an event-triggered active RTC control for the steer-by-wire system by a time-window algorithmic framework. The active return state is worked by the slide mode control to track the steering wheel RTC speed reference. For the SBW system, an RTC speed reference model is designed to obtain referable kinematic characteristics of an ideal mechanical steering system. Additionally, an active return transition module for RTC state switching is designed by a time-state sequence transfer mechanism, which is used to reduce the jerking sensation during the transition between normal steering and active returning states. To evaluate the effectiveness of the proposed algorithms, a hardware-in-the-loop test platform with a steer-by-wire system is established. Based on the different experimental scenarios, the performance of the proposed active RTC control approach is verified by comparative analysis.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"163 ","pages":"Article 106382"},"PeriodicalIF":5.4,"publicationDate":"2025-05-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144134656","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":"Discrete-time HIGS based digital control of negative imaginary systems","authors":"Kanghong Shi ,&nbsp;Erfan Khodabakhshi ,&nbsp;Prosanto Biswas ,&nbsp;Ian R. Petersen ,&nbsp;S. O. Reza Moheimani","doi":"10.1016/j.conengprac.2025.106386","DOIUrl":"10.1016/j.conengprac.2025.106386","url":null,"abstract":"<div><div>A hybrid integrator-gain system (HIGS) is a control element that switches between an integrator and a gain. This overcomes some inherent limitations of linear controllers. In this paper, we consider using discrete-time HIGS controllers for the digital control of negative imaginary (NI) systems. We show that discrete-time HIGS are step-advanced negative imaginary systems. For a minimal linear NI system, an asymptotically stabilizing HIGS controller always exists. A hardware experiment was carried out in which a flexure-guided nanopositioner, as an example of a linear NI system, was effectively damped using the proposed discrete-time HIGS method.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"163 ","pages":"Article 106386"},"PeriodicalIF":5.4,"publicationDate":"2025-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144124310","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":"Integrated tracking and control framework for robotic multistatic sonar networks with IMM-BP and distributed MCTS","authors":"Weicong Zhan ,&nbsp;Yu Tian ,&nbsp;Feng Zheng ,&nbsp;Jiancheng Yu","doi":"10.1016/j.conengprac.2025.106403","DOIUrl":"10.1016/j.conengprac.2025.106403","url":null,"abstract":"<div><div>This paper investigates a novel application of robotic multistatic sonar networks, where multiple stationary acoustic sources collaborate with an autonomous underwater vehicle (AUV) equipped with a line array to track non-cooperative underwater maneuvering targets. To enhance tracking accuracy, an integrated framework that combines an improved IMM-BP tracking algorithm with a cooperative control strategy is proposed. The IMM-BP algorithm extends traditional particle-based belief propagation (BP) by incorporating the interactive multiple model (IMM) approach during the prediction phase, reducing computational complexity from quadratic to linear and improving scalability and efficiency. Leveraging the IMM-BP tracker, the receding horizon control method jointly optimizes the AUV’s heading angle and the source ping schedule. To address the large-scale, non-myopic tree search challenge inherent in this control strategy, a distributed Monte Carlo tree search algorithm is proposed. This algorithm partitions the search tree and distributes computation across multiple autonomous agents, significantly improving computational efficiency while maintaining effective parallel search performance with minimal communication overhead. Simulation results demonstrate that the proposed framework significantly improves tracking accuracy, cooperative control efficiency, and computational performance, underscoring its advantages in robotic multistatic sonar networks.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"163 ","pages":"Article 106403"},"PeriodicalIF":5.4,"publicationDate":"2025-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144124432","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":"Design of a robust angle tracking controller for steering-by-wire systems with angular velocity observer and friction compensation","authors":"He Liu,&nbsp;Jiaqi Li,&nbsp;Xuewu Ji,&nbsp;Yahui Liu","doi":"10.1016/j.conengprac.2025.106402","DOIUrl":"10.1016/j.conengprac.2025.106402","url":null,"abstract":"<div><div>Steering-by-wire (SBW) systems can enhance driving experience and improve autonomous driving performance. A key challenge is ensuring accurate steering angle tracking in both manual and autonomous driving modes while handling inconsistent command update cycles, the absence of an angular velocity sensor, unmodeled dynamics, and nonlinear disturbances. This paper adopts a cascaded control structure comprising an angle loop and an angular velocity loop, focusing on improving steering angle tracking performance by optimizing the angular velocity controller. The angular velocity is estimated based on the Kalman filter (KF), and the steady-state transfer function of the observer model is derived. By combining the angular velocity observer model and the steering system model, an extended nominal model is established. To improve system robustness in the presence of uncertain steering disturbances and limited actuator capabilities, the closed-loop control law is designed using <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control theory. To mitigate the impact of nonlinear friction during steering start-up or direction changes, a LuGre dynamic friction model is designed for feedforward compensation. Finally, CarSim/Simulink co-simulation and vehicle tests are conducted. The results demonstrate that the proposed control strategy achieves excellent performance in both manual and autonomous driving modes.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"163 ","pages":"Article 106402"},"PeriodicalIF":5.4,"publicationDate":"2025-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144116201","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":"Optimization of PHEV energy management in emission-controlled environments through non-linear model predictive control and long-term cost evaluation","authors":"Benjamín Pla,&nbsp;Pau Bares,&nbsp;André Nakaema Aronis,&nbsp;Douglas Uberti Pinto","doi":"10.1016/j.conengprac.2025.106388","DOIUrl":"10.1016/j.conengprac.2025.106388","url":null,"abstract":"<div><div>As regulations on pollutant emissions rapidly advance and the demand for sustainable mobility grows, the necessity for innovative technological solutions becomes crucial. To address these challenges, this research focuses on the development and application of a control-oriented model for plug-in hybrid electric vehicles (PHEVs), aimed at minimizing fuel consumption and NOx emissions while respecting operational constraints imposed during the vehicle’s operation. Accordingly, the model developed integrates the powertrain and the after-treatment system based on non-linear model predictive control (NLMPC) framework, strategically modulating the power distribution between the internal combustion engine (ICE) and the electric motor (EM), along with the ammonia injection strategy for effective NOx abatement and fuel savings. To overcome the finite horizon limitations of NLMPC, an offline dynamic programming (DP) was embedded, improving predictive capabilities through a cost-to-go matrix that reflects optimal control actions under specific conditions. This hybrid approach combines the global optimization of DP with the real-time flexibility of NLMPC, allowing dynamic adjustments to vehicle operation in response to real-time data and future scenarios. The applicability of the proposed strategy is demonstrated in routes containing a zero-emission zone and vehicles with different battery sizes, underlining its adaptability to complex driving conditions and distinct vehicle designs, thereby demonstrating its potential for significant contributions to sustainable mobility solutions.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"163 ","pages":"Article 106388"},"PeriodicalIF":5.4,"publicationDate":"2025-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144116206","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 unified deep reinforcement learning energy management strategy for multi-powertrain vehicles based on meta learning and hard sample mining","authors":"Xiaokai Chen ,&nbsp;Zhiming Wu ,&nbsp;Hamid Reza Karimi ,&nbsp;Qianhui Li ,&nbsp;Zhengyu Li","doi":"10.1016/j.conengprac.2025.106396","DOIUrl":"10.1016/j.conengprac.2025.106396","url":null,"abstract":"<div><div>Hybrid electric vehicles (HEVs) encompass diverse powertrain configurations and serve varied purposes. Commonly, energy management strategies (EMSs) have been developed separately for individual vehicle types and powertrain configurations under specific operating scenarios, often lacking generalizability across vehicle models and operating scenarios. To fill this gap, we propose a unified deep reinforcement learning (DRL) EMS based on meta-learning and online hard sample mining. This strategy enables adaptation to diverse vehicle types and powertrain configurations with minimal sample training through online fine-tuning. Firstly, meta-reinforcement learning is employed to simultaneously learn EMS for multiple vehicle types across various operating scenarios, establishing a base-learner capable of achieving satisfactory performance with minor adjustments when confronted with new configurations and operating scenarios. Furthermore, to mitigate the slow convergence associated with training multiple vehicle types and operating scenarios concurrently, hard sample mining method is used to optimize the presentation of random operating scenarios during training. This entails recording poorly performing conditions during training and prioritizing the training of simpler conditions before advancing to more challenging ones, thereby enhancing training efficiency through a scientifically informed approach. Additionally, we validate the proposed EMS on a simulated vehicle emulator. Results demonstrate a significant improvement in convergence efficiency, with respective enhancements of 40% in convergence efficiency while achieving comparable final performance metrics.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"163 ","pages":"Article 106396"},"PeriodicalIF":5.4,"publicationDate":"2025-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144089748","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 novel model predictive dynamic adaptive impedance control for robotic force tracking on complex surfaces","authors":"Yilin Mu,&nbsp;Lai Zou,&nbsp;Ziling Wang,&nbsp;Jiantao Li,&nbsp;Linlin Jiang,&nbsp;Wenxi Wang","doi":"10.1016/j.conengprac.2025.106398","DOIUrl":"10.1016/j.conengprac.2025.106398","url":null,"abstract":"<div><div>The time-varying nature and complexity of environmental stiffness make it difficult to achieve accurate and stable tracking of normal contact force on complex surfaces in robotic belt grinding. The more complex the contact environment, the higher the requirements for robotic perception and self-regulation capabilities in relation to the environment. To address this issue, a novel model predictive dynamic adaptive impedance control algorithm (MPRPO-DAIC) is proposed to improve the accuracy of robotic force tracking in complex contact environments. This control strategy consists of a dynamic adaptive impedance control algorithm integrated with a model predictive control framework. The dynamic adaptive impedance control enhances the robustness of adaptive impedance controller (AIC) by introducing a dynamic observer term. Additionally, the rolling parameter optimization algorithm enables real-time optimization of key parameters within the dynamic observer. Subsequently, through the combination of dynamic adaptive impedance control and model predictive control, the robotic velocity compensation value is calculated by solving a quadratic programming problem. Finally, the velocity compensation value is integrated and sent to the robotic end-effector, enabling stable tracking of contact forces in complex surfaces. The simulation and experimental results of force tracking on complex surfaces validate the superiority of the proposed control strategy. The simulation results show that MPRPO-DAIC exhibits optimal force control performance in complex tracking environments. In the force tracking experiments, MPRPO-DAIC improved the force control accuracy by 37.25% and 44.90% compared to AIC on surfaces with large deformation and high-frequency variation, respectively.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"163 ","pages":"Article 106398"},"PeriodicalIF":5.4,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084489","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":"Predefined-time prescribed performance fault-tolerant control for robotic manipulator trajectory tracking","authors":"Jianjun Zhang ,&nbsp;Manjiang Xia ,&nbsp;Zhonghua Wu ,&nbsp;Shasha Li ,&nbsp;Weidong Liu","doi":"10.1016/j.conengprac.2025.106397","DOIUrl":"10.1016/j.conengprac.2025.106397","url":null,"abstract":"<div><div>This paper proposes a predefined-time terminal sliding mode prescribed performance control (PTTSMPPC) scheme to address the challenges of bounded external disturbances, model parameter uncertainties, and the uncertainty of traditional stability tracking time in robotic manipulator trajectory tracking control. To mitigate the singularity problem caused by actuator saturation, which often leads to tracking errors exceeding the prescribed performance boundaries in conventional prescribed performance control, an adaptive method for adjusting the performance boundaries is introduced. The novel designed terminal sliding mode surface (TSMS) is continuous and non-singular, ensuring the system’s strong robustness and effectively handling external disturbances and model uncertainties. The global stability of the system within the predefined time is rigorously demonstrated based on Lyapunov stability theory. Simulation and experimental results verify that the proposed PTTSMPPC method achieves superior transient performance and steady-state accuracy, confirming its feasibility and effectiveness.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"163 ","pages":"Article 106397"},"PeriodicalIF":5.4,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084488","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":"Port-Hamiltonian formulation and stabilizing controller for a liquid propelled rocket engine","authors":"Jules Gibart ,&nbsp;Hélène Piet-Lahanier ,&nbsp;Francois Farago","doi":"10.1016/j.conengprac.2025.106389","DOIUrl":"10.1016/j.conengprac.2025.106389","url":null,"abstract":"<div><div>Reusable technology in the field of space launchers requires complex maneuvers to land a launcher first stage, requiring variable thrust from the rocket engine. The developments in electrical actuators allowed the introduction of closed-loop controllers for liquid propelled rocket engines (LPRE). While closed-loop controllers have been suggested in the literature with robustness guarantees, few stability proofs have been given. The LPRE is a complex non-linear system, rendering a direct approach to determine a Lyapunov function complex. In this paper, a reformulation of the state-space equations into a model more adapted to stability analysis is proposed, and a passivity approach is derived to prove the stability. In addition, a closed-loop controller that enforces the passivity of the system is designed, with a new equilibrium assignment. Simulated results illustrate the performances of the closed-loop controlled engine.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"163 ","pages":"Article 106389"},"PeriodicalIF":5.4,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144071611","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}