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":"Stochastic approximation of hybrid systems: Boundedness and asymptotic behavior","authors":"Andrew R. Teel ,&nbsp;Ricardo G. Sanfelice ,&nbsp;Rafal K. Goebel","doi":"10.1016/j.arcontrol.2025.101015","DOIUrl":"10.1016/j.arcontrol.2025.101015","url":null,"abstract":"<div><div>This paper provides a framework for analyzing numerical simulations of a hybrid system when the system’s flow map is approximated stochastically. In this way, the paper makes one of the first substantive connections between hybrid systems theory and the vast literature on stochastic approximations of non-stochastic dynamical systems. The results include conditions for almost sure boundedness and a characterization of the asymptotic behavior of solutions to the stochastic approximation. Namely, under certain conditions on the expected value and variance of the noisy flow map, and with appropriate step sizes, the sample paths of the solutions of the stochastic approximation are shown to have desired boundedness properties and converge to the chain-recurrent part of the global attractor, when one exists, of the underlying hybrid system. The results are established using martingale methods, Morse decompositions of attractors, and Morse–Lyapunov functions. Since the hybrid system’s flow map and its approximation may be set-valued, stochastic approximations of differential inclusions are covered as a special case. Several examples and simulations are provided to illustrate hybrid systems, their stochastic approximations, and their convergence properties.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 101015"},"PeriodicalIF":10.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145048561","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":"Practical implementation of gain scheduling strategies with FOPID controllers: A bumpless LPV approach","authors":"Marco Milanesi ,&nbsp;Fabrizio Padula ,&nbsp;Antonio Visioli","doi":"10.1016/j.arcontrol.2025.101007","DOIUrl":"10.1016/j.arcontrol.2025.101007","url":null,"abstract":"<div><div>In this paper we propose a methodology to implement gain scheduling strategies for fractional-order proportional–integral–derivative controllers. In particular, we use a finite-dimensional approximation of the fractional operators and we implement it as a linear parameter varying system. Then, we provide a solution to the initialization problem that emerges when the parameters of the FOPID controller change discontinuously so that the control action is continuous, thereby avoiding any bump. Experimental results show that this method can be used in practice and has industrial relevance.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 101007"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144686817","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":"Control and optimization techniques for load frequency control of multi-area Cyber–Physical Power Systems: A literature review","authors":"Bo Hu ,&nbsp;Jianning Cai ,&nbsp;Zuoxia Xing ,&nbsp;Pengfei Zhang ,&nbsp;Dongrui Wang ,&nbsp;Komla Agbenyo Folly","doi":"10.1016/j.arcontrol.2025.101009","DOIUrl":"10.1016/j.arcontrol.2025.101009","url":null,"abstract":"<div><div>In Cyber–Physical Power Systems (CPPSs), Load Frequency Control (LFC) needs an efficient information system and high performance strategies to ensure power system frequency stability. This paper focuses on these two aspects, comprehensively reviewing the challenges and research progress of LFC in multi-area CPPSs from three dimensions: modeling, control strategies, and mitigation methods of some information system abnormal conditions. Firstly, considering the high penetration of renewable energy and open network architectures, we review various LFC models applicable to CPPSs from physical dynamics and information layer features, providing a solid theoretical basis for future research. Secondly, we classify and summarize LFC control strategies in CPPSs, covering classical, modern control strategies, optimization technologies and analyze their strengths and limitations in LFC. Finally, we analyze information system challenges like cyber attacks, communication bandwidth limits and delays, and propose corresponding countermeasures. In conclusion, this paper delves into LFC issues in CPPSs, focusing on challenges such as communication bandwidth limitations, delays and cyber attacks. It is hoped to provide a powerful framework and valuable research direction for future work in the field.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 101009"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144686814","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":"Fractional-order PID controllers and applications: A comprehensive survey","authors":"T.K. Bashishtha ,&nbsp;V.P. Singh ,&nbsp;Umesh Kumar Yadav ,&nbsp;Umesh Kumar Sahu","doi":"10.1016/j.arcontrol.2025.101013","DOIUrl":"10.1016/j.arcontrol.2025.101013","url":null,"abstract":"<div><div>The scientific world has recently witnessed a rapid growth in the number of articles, addressing the importance of fractional-order controllers with a primary focus on fractional-order proportional integral derivative controller. The purpose of this article is to provide a detailed analysis of fractional-order proportional integral derivative controller, including architecture, classification, control design, toolboxes, and applications. Further, this article also presents an extensive overview on fractional-order controllers, their tuning methods, and the role of multiple classical and artificial intelligence-based algorithms in calculating optimal controller gains. The main focus of this article is to analyze various single and multi-objective functions adopted for controller tuning in various applications. In addition to this, the presented work also provides a comprehend comparative analysis through a rigorous literature survey of fractional-order proportional integral derivative controllers exploited in power system applications, electric drive applications, power electronics applications, biomedical and health science applications, chemical and process industry applications, agricultural applications, etc., in the support of superiority of fractional-order proportional integral derivative controller over conventional proportional integral derivative controller.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 101013"},"PeriodicalIF":10.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144865804","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}