Annual Reviews in Control最新文献

{"title":"A harmonious synergy between robotic performance and well-being in human-robot collaboration: A vision and key recommendations","authors":"Nicole Berx ,&nbsp;Wilm Decré ,&nbsp;Joris De Schutter ,&nbsp;Liliane Pintelon","doi":"10.1016/j.arcontrol.2024.100984","DOIUrl":"10.1016/j.arcontrol.2024.100984","url":null,"abstract":"<div><div>The transition from Industry 4.0 to Industry 5.0 marks a significant shift towards human-centric manufacturing processes, emphasizing the integration of collaborative robots with advanced sensory and cognitive abilities. Unlike previous industrial revolutions, Industry 5.0 prioritizes the integration of human workers alongside advanced technologies, emphasizing collaboration, and acknowledging the unique strengths of both humans and machines, with a focus on human well-being. However, this transition presents significant challenges to adopting cobots in industries due to safety concerns compromising efficiency. While robotics and automation traditionally focus on maximizing performance and minimizing human intervention, the latter no longer applies to human-robot collaboration. There is a need for developing approaches and technologies that can seamlessly combine high-level robotic performance with safety, as well as pursue operator well-being. This paper presents a vision and specific recommendations for a harmonious synergy between robot performance and operator well-being in human-robot collaboration.</div><div>Our vision includes the need to develop cobots that are contextually intelligent, capable of meaningful conversation, and adaptable to changing conditions. The paper identifies current challenges, such as safety concerns impacting performance, a narrow safety focus and overlooked system-wide impacts, limited guidance on well-being, and insufficient interdisciplinary approaches. To overcome the identified challenges, key recommendations essential for achieving the vision are outlined, and pathways to overcome remaining obstacles are presented. These recommendations include designing context-aware, cognitively embodied, and socially proficient cobots; balancing autonomy and control in task allocation; and adopting a socio-technical systems perspective. Although numerous technical obstacles remain, the rapid advances in Artificial Intelligence (AI), particularly in generative AI, provide an extraordinary and previously unattainable catalyst for realizing our vision, serving as a fundamental enabler.</div><div>Our methodology combines expert synthesis and a narrative literature review, drawing on diverse academic domains such as robotics, industrial manufacturing, safety, and human factors. This paper advances human-robot collaboration research by adopting a holistic approach that integrates engineering and non-engineering perspectives, emphasizing technical performance, safety, well-being, and socio-technical systems to optimize collaboration. We aim to inspire and guide both the engineering and robotics community and the human factors and safety community toward developing more holistic, safer, and human-centered collaborative robotic systems. By embracing the interdisciplinary approach, we advocate in this paper, both technical and non-technical experts can benefit from the insights provided.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"59 ","pages":"Article 100984"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143136878","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":"Lyapunov stability tests for integral delay systems","authors":"Sabine Mondié ,&nbsp;Alexey Egorov ,&nbsp;Reynaldo Ortiz","doi":"10.1016/j.arcontrol.2024.100985","DOIUrl":"10.1016/j.arcontrol.2024.100985","url":null,"abstract":"<div><div>An overview of stability conditions in terms of the Lyapunov matrix for linear integral delay equations is presented. Several examples in the analysis, control and modeling motivate their study. In the framework of Lyapunov–Krasovskii functionals with prescribed derivatives, we review the stability theorems for these functionals and prove a stability criterion (necessary and sufficient condition) in terms of the system delay Lyapunov matrix. The organization of the paper and the detailed developments have the purpose of serving as a tutorial. As a new result, we prove that the stability criterion can be tested in a finite number of operations. Finally, we suggest future directions of research in the field, in particular, the reduction of the bound for which sufficiency is guaranteed and the extension to more general classes of systems.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"59 ","pages":"Article 100985"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143137413","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":"Collision avoidance strategies in autonomous vehicles and on-ramp scenario: A review","authors":"M.F. Yasak ,&nbsp;P.M. Heerwan ,&nbsp;V.R. Aparow","doi":"10.1016/j.arcontrol.2025.100986","DOIUrl":"10.1016/j.arcontrol.2025.100986","url":null,"abstract":"<div><div>Collision avoidance (CA) in autonomous vehicles (AVs) is essential for the safety and efficiency of modern transportation systems. This paper delves into various strategies and methodologies for CA, categorizing them to improve clarity and comprehension. The research primarily reviews peer-reviewed journals and conference proceedings from the past five years, though notable older studies are also considered. Non-ground AVs research was excluded from this analysis. The CA strategies identified are grouped into six categories: combination of path planning and path tracking control (PP + PTC), path planning (PP), steering, braking, combination of steering and braking, and other methods. Among these, the PP + PTC strategy was the most common, used in 44 cases (38.9%), followed by PP in 16 cases (14.2%), steering in 15 cases (13.3%), other methods and combination of steering and braking in 13 cases each (11.5%), and braking in 12 cases (10.6%). Additionally, the study highlights the on-ramp scenario as an area needing more research. For this scenario, connected AVs (CAV) was the most frequently studied strategy, with 11 cases, followed by machine learning approaches with 9 cases, and other methods with 3 cases. The results underscore the importance of the PP + PTC strategy for effective CA, as it combines PP with PTC to execute planned trajectories efficiently. These insights aim to aid in developing more robust and reliable CA systems in AVs, contributing to safer and more efficient transportation.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"59 ","pages":"Article 100986"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143428022","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":"Polyhedral control design: Theory and methods","authors":"Boris Houska ,&nbsp;Matthias A. Müller ,&nbsp;Mario Eduardo Villanueva","doi":"10.1016/j.arcontrol.2025.100992","DOIUrl":"10.1016/j.arcontrol.2025.100992","url":null,"abstract":"<div><div>In this article, we survey the primary research on polyhedral computing methods for constrained linear control systems. Our focus is on the modeling power of convex optimization, featured in the design of set-based robust and optimal controllers. In detail, we review the state-of-the-art techniques for computing geometric structures such as robust control invariant polytopes. Moreover, we survey recent methods for constructing control Lyapunov functions with polyhedral epigraphs as well as the extensive literature on robust model predictive control. The article concludes with a discussion of both the complexity and potential of polyhedral computing methods that rely on large-scale convex optimization.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 100992"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144116077","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":"Smith predictor based control of multi time-delay processes","authors":"Pedro Albertos ,&nbsp;Xiaoli Luan ,&nbsp;Pedro Garcia","doi":"10.1016/j.arcontrol.2025.101008","DOIUrl":"10.1016/j.arcontrol.2025.101008","url":null,"abstract":"<div><div>In the process industry, the presence of time-delays is unavoidable and these delays may happen at the input, output or at any internal point of the process. As a result, the output/input relationship may present multiple time-delays. The Smith Predictor is well recognized as the best approach to deal with time delays but its use is mainly limited to process models where the time delay is separated from the rest of the model. In this paper, a comprehensive review of the control of processes with multi time-delays has been done, identifying key research gaps in the literature. In particular, the case of multi time-delays in a single forward/feedback path is an area that remains insufficiently addressed. By means of precompensators, the initial process model is transformed and reduced to single time-delay models. Then, the Smith Predictor approach can be applied being proposed to design the final control structure. Some simplifications in the join implementation of the predictor and the precompensator are suggested. The procedure is also extended to deal with MIMO plants presenting multi time-delays in the transfer matrix elements. In this way, a general solution to design the control for multi time-delayed processes is presented and some examples illustrate the procedure. Some conclusions are drafted along with open problems for future research.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 101008"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144517436","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":"Knock feedback control strategies: A review","authors":"J.C. Peyton Jones,&nbsp;V. Patel,&nbsp;J. Frey","doi":"10.1016/j.arcontrol.2025.100990","DOIUrl":"10.1016/j.arcontrol.2025.100990","url":null,"abstract":"<div><div>Knocking combustion is a limiting factor in otherwise highly efficient modern downsized engines, which therefore require some form of knock control strategy. These strategies are distinctive because knock behaves as a cyclically independent random process. An increased focus on the stochastic aspect of this problem has opened up new possibilities for controller design, as seen in the recent literature. This paper aims to organize and present some of the principal ideas and approaches in a consistent and structured framework. Controllers are broadly classified by the signal / statistic used for feedback and the method of its estimation. Both classical and advanced knock ‘event-based’ strategies apply a threshold to the measured knock intensity value and then regulate the resulting knock event probability. Knock ‘intensity-based’ controllers, by contrast, use the more informative raw knock intensity signal for feedback, and generally assume these intensities conform to a log-normal distribution. More recently, Bayesian estimators have been used in both event-based and intensity-based control, as an alternative to frequentist estimation methods. Within each of these broad classes, individual control strategies are discussed in detail, and, in some cases, simplifying expressions are derived. More generally, the choice of control objective, estimation method, and error metric are also discussed in depth since these have a significant impact on closed loop performance.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"59 ","pages":"Article 100990"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143878567","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 review on VSC-HVDC control schemes","authors":"Juan Ramón Camarillo-Peñaranda ,&nbsp;Ana Carolina Cunha ,&nbsp;Bruno W. França ,&nbsp;Francis de Abreu Oliveira ,&nbsp;Luan de Oliveira Senna","doi":"10.1016/j.arcontrol.2025.100988","DOIUrl":"10.1016/j.arcontrol.2025.100988","url":null,"abstract":"<div><div>Designing a VSC-HVDC controller capable of effectively operating in most operational scenarios is challenging due to the highly complex dynamics, unexpected failures, and system uncertainty prevalent in a broad range of post-deployment situations. Furthermore, the stability of the closed-loop system stands as a crucial and undeniable aspect that necessitates special attention during the system development phase. From today’s point of view, this review provides a comprehensive overview of the literature on control technologies, their characteristics, and control options applicable to HVDC systems. This article discusses their applications, advantages, limitations, and recent developments within these techniques.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"59 ","pages":"Article 100988"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143687059","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":"Distributed design of ultra large-scale control systems: Progress, Challenges, and Prospects","authors":"Leonardo Pedroso ,&nbsp;Pedro Batista ,&nbsp;W.P.M.H. (Maurice) Heemels","doi":"10.1016/j.arcontrol.2025.100987","DOIUrl":"10.1016/j.arcontrol.2025.100987","url":null,"abstract":"<div><div>The transition from large centralized complex control systems to distributed configurations that rely on a network of a very large number of interconnected simpler subsystems is ongoing and inevitable in many applications. It is attributed to the quest for resilience, flexibility, and scalability in a multitude of engineering fields with far-reaching societal impact. Although many design methods for distributed and decentralized control systems are available, most of them rely on a centralized design procedure requiring some form of global information of the whole system. Clearly, beyond a certain scale of the network, these centralized design procedures for distributed controllers are no longer feasible and we refer to the corresponding systems as <em>ultra large-scale systems</em> (ULSS). For these ULSS, design algorithms are needed that are distributed themselves among the subsystems and are subject to stringent requirements regarding communication, computation, and memory usage of each subsystem. In this paper, a set of requirements is provided that assures a feasible real-time implementation of all phases of a control solution on an ultra large scale. State-of-the-art approaches are reviewed in the light of these requirements and the challenges hampering the development of befitting control algorithms are pinpointed. Comparing the challenges with the current progress leads to the identification and motivation of promising research directions.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"59 ","pages":"Article 100987"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143792201","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":"From road congestion to vehicle-control enabled artificial traffic fluids","authors":"Iasson Karafyllis ,&nbsp;Dionysios Theodosis ,&nbsp;Markos Papageorgiou ,&nbsp;Miroslav Krstic","doi":"10.1016/j.arcontrol.2025.100989","DOIUrl":"10.1016/j.arcontrol.2025.100989","url":null,"abstract":"<div><div>This article provides an overview of the design of purely reactive nonlinear feedback two-dimensional Cruise Controllers (CCs) for CAVs relying on two combined principles: (a) Lane-free traffic, whereby vehicles are not bound to fixed traffic lanes; and (b) Vehicle nudging, whereby vehicles influence other vehicles in front or on the sides of them. The design of the two-dimensional CCs is based on a control Lyapunov methodology, with the considered system being subject to various state constraints, and guarantees a number of desired features, including collision avoidance and road boundary respect. Additionally, the emerging macroscopic traffic flow models are derived, and direct relations are established between selectable CC features and the resulting macroscopic traffic flow characteristics. This allows the active design of efficient traffic flow with desired properties, i.e., the construction of artificial traffic fluids.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"59 ","pages":"Article 100989"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143769186","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":"Hierarchical generalized extended parameter identification for multivariable equation-error ARMA-like systems by using the filtering identification idea","authors":"Feng Ding ,&nbsp;Ling Xu ,&nbsp;Xiao Zhang ,&nbsp;Huan Xu ,&nbsp;Yihong Zhou ,&nbsp;Xiaoli Luan","doi":"10.1016/j.arcontrol.2025.100993","DOIUrl":"10.1016/j.arcontrol.2025.100993","url":null,"abstract":"<div><div>The filtering identification idea is an effective tool for handling the parameter identification of systems with colored noise. The hierarchical identification principle is an effective approach for addressing the identification of complex systems. For multivariable equation-error autoregressive moving-average-like (M-EEARMA-like) models with colored noise, which are also called multivariable controlled autoregressive autoregressive moving-average-like (M-CARARMA-like) models, this paper investigates and proposes the filtered hierarchical generalized extended stochastic gradient identification method, the filtered hierarchical multi-innovation generalized extended stochastic gradient identification method, the filtered hierarchical generalized extended recursive gradient identification method, the filtered hierarchical multi-innovation generalized extended recursive gradient identification method, the filtered hierarchical generalized extended least squares identification method, and the filtered hierarchical multi-innovation generalized extended least squares identification method by using the filtering identification idea and the hierarchical identification principle from available input–output data. These filtered hierarchical generalized extended identification methods can be extended to other linear and nonlinear multivariable stochastic systems with colored noise.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 100993"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144365942","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}