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":"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":"Bio-inspired control strategies in wearable robotics: A comprehensive review of CPGs and DMPs","authors":"Joana F. Almeida ,&nbsp;Cristina P. Santos","doi":"10.1016/j.arcontrol.2025.100991","DOIUrl":"10.1016/j.arcontrol.2025.100991","url":null,"abstract":"<div><div>Wearable robotic devices such as exoskeletons and orthoses have undergone significant advancements over the past two decades, aiming to support human mobility in rehabilitation, daily life, and industrial settings. Central to their effectiveness is the implementation of control strategies that generate smooth, adaptive, and user-synchronized movements. Among these, bio-inspired approaches that emulate neural and motor mechanisms of human locomotion have gained increasing attention.</div><div>This review presents a comprehensive analysis of two prominent bio-inspired control frameworks – Central Pattern Generators (CPGs) and Dynamic Movement Primitives (DMPs) – implemented in wearable lower-limb robotic systems. A total of 45 articles were systematically analysed to identify trends and challenges in their application.</div><div>The review examines the purposes of these controllers, the joints and degrees of freedom addressed, the sensors employed, the structural characteristics of each approach, the integration of sensory feedback and intention decoding, the tracking controllers used, and the validation methodologies adopted.</div><div>The findings reveal that CPGs and DMPs are primarily adopted for generating adaptive joint trajectories, enabling stable, rhythmic, and responsive locomotion. Their flexibility allows for encoding motion patterns that adapt to user-specific and task-specific requirements. However, challenges such as parameter tuning, integration of sensory feedback, real-time intention decoding, and validation robustness remain open issues.</div><div>This work highlights the potential of CPG- and DMP-based strategies to enhance the autonomy, safety, and personalization of wearable robots and provides future research directions to address their current limitations and improve their practical applicability.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 100991"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144106345","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":"Survey of distributed algorithms for resource allocation over multi-agent systems","authors":"Mohammadreza Doostmohammadian ,&nbsp;Alireza Aghasi ,&nbsp;Mohammad Pirani ,&nbsp;Ehsan Nekouei ,&nbsp;Houman Zarrabi ,&nbsp;Reza Keypour ,&nbsp;Apostolos I. Rikos ,&nbsp;Karl H. Johansson","doi":"10.1016/j.arcontrol.2024.100983","DOIUrl":"10.1016/j.arcontrol.2024.100983","url":null,"abstract":"<div><div>Resource allocation and scheduling in multi-agent systems present challenges due to complex interactions and decentralization. This survey paper provides a comprehensive analysis of distributed algorithms for addressing the distributed resource allocation (DRA) problem over multi-agent systems. It covers a significant area of research at the intersection of optimization, multi-agent systems, and distributed consensus-based computing. The paper begins by presenting a mathematical formulation of the DRA problem, establishing a solid foundation for further exploration. Real-world applications of DRA in various domains are examined to underscore the importance of efficient resource allocation, and relevant distributed optimization formulations are presented. The survey then delves into existing solutions for DRA, encompassing linear, nonlinear, primal-based, and dual-formulation-based approaches. Furthermore, this paper evaluates the features and properties of DRA algorithms, addressing key aspects such as feasibility, convergence rate, and network reliability. The analysis of mathematical foundations, diverse applications, existing solutions, and algorithmic properties contributes to a broader comprehension of the challenges and potential solutions for this domain.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"59 ","pages":"Article 100983"},"PeriodicalIF":7.3,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142746294","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}