Annual Reviews in Control最新文献

{"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":"A systems perspective on promoting sustainable food systems","authors":"Angela Fontan ,&nbsp;Patricia Eustachio Colombo ,&nbsp;Rosemary Green ,&nbsp;Karl H. Johansson","doi":"10.1016/j.arcontrol.2025.101020","DOIUrl":"10.1016/j.arcontrol.2025.101020","url":null,"abstract":"<div><div>Global food systems are at the center of some of the most pressing modern societal challenges: They are significant contributors to a range of systemic issues, including health problems and chronic diseases, greenhouse gas emissions and general environmental degradation, and increasing financial burdens on healthcare and economies. Within these complex systems, final sustainable consumption, which refers to the adoption of diets that are both healthy and environmentally friendly, plays a critical role. Significant changes in contemporary dietary patterns are essential to address the rising burden of chronic diseases and public health outcomes and the escalating climate crisis. Achieving these shifts requires coordinated action from policymakers, consumers, and the scientific community in an effort to support the development, implementation, and evaluation of advertising and policy instruments that promote healthier and more sustainable dietary choices. However, driving changes in dietary behavior is a complex challenge, shaped by the interplay of heterogeneous influences, including biological, social, cultural, environmental, political, and economic factors, and further complicated by the difficulty of validating proposed approaches in ways that are both efficient and ethically sound. This vision paper presents the problem of promoting healthy and environmentally friendly diets and their implications for environmental sustainability. In particular, it discusses a systems approach based on social network dynamics and social interventions, illustrating recent findings that demonstrate the potential of influence strategies to drive dietary change. Finally, key scientific challenges and emerging research opportunities are highlighted.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 101020"},"PeriodicalIF":10.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145219177","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 general framework for verification and control of dynamical models via certificate synthesis","authors":"Alec Edwards ,&nbsp;Andrea Peruffo ,&nbsp;Alessandro Abate","doi":"10.1016/j.arcontrol.2025.101028","DOIUrl":"10.1016/j.arcontrol.2025.101028","url":null,"abstract":"<div><div>An emerging branch of control theory specialises in <em>certificate learning</em>, concerning the specification of a desired (possibly complex) system behaviour for an autonomous or control model, which is then analytically verified by means of a function-based proof. However, the synthesis of controllers abiding by these complex requirements is in general a non-trivial task and may elude the most expert control engineers. This results in a need for automatic techniques that are able to design controllers and to analyse a wide range of elaborate specifications. In this paper, we provide a general framework to encode system specifications and define corresponding certificates, and we present an automated approach to formally synthesise controllers and certificates. Our approach contributes to the broad field of safe learning for control, exploiting the flexibility of neural networks to provide candidate control and certificate functions, whilst using SAT-modulo-theory (SMT)-solvers to offer a formal guarantee of correctness. We test our framework by developing a prototype software tool, and assess its efficacy at verification via control and certificate synthesis over a large and varied suite of benchmarks.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 101028"},"PeriodicalIF":10.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145219178","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":"Funnel control — A survey","authors":"Thomas Berger ,&nbsp;Achim Ilchmann ,&nbsp;Eugene P. Ryan","doi":"10.1016/j.arcontrol.2025.101024","DOIUrl":"10.1016/j.arcontrol.2025.101024","url":null,"abstract":"<div><div>The methodology of funnel control was introduced in the early 2000s, and it has developed since then in many respects achieving a level of mathematical maturity balanced by practical applications. Its fundamental tenet is the attainment of prescribed transient and asymptotic behaviour for continuous-time controlled dynamical processes encompassing linear and nonlinear systems described by functional differential equations, differential–algebraic systems, and partial differential equations. Considered are classes of systems specified only by structural properties – such as relative degree and stable internal dynamics. Prespecified are: a funnel shaped through the choice of a function (absolutely continuous), freely selected by the designer, and a class of (sufficiently smooth) reference signals. The aim is to design a single ‘simple’ feedback strategy (using only input and output information) – called the <em>funnel controller</em> – which, applied to any system of the given class and for any reference signal of the given class, achieves the <em>funnel control objective</em>: that is, the closed-loop system is well-posed in the sense that all signals (both internal and external) are bounded and globally defined, and – most importantly – the error between the system’s output and the reference signal evolves within the prespecified funnel.</div><div>The survey is organized as follows. In the Introduction, the genesis of funnel control is outlined via the most simple class of systems: the linear prototype of scalar, single-input, single-output systems. Generalizing the prototype, there follows an exposition of diverse system classes (described by linear, nonlinear, functional, partial differential equations, and differential–algebraic equations) for which funnel control is feasible. The structure and properties of funnel control – in its various guises attuned to available output information – are described and analysed. Up to this point, the treatment is predicated on an implicit assumption that system inputs are unconstrained. Ramifications of input constraints and their incorporation in the funnel methodology are then discussed. Finally, practical applications and implementations of funnel control are highlighted.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 101024"},"PeriodicalIF":10.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145219282","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}

{"title":"Predictive and robust control strategies applied to ground antenna systems","authors":"Rodrigo Negri de Azeredo ,&nbsp;Mohamed Hajjem ,&nbsp;Lara Thomas ,&nbsp;Stéphane Victor ,&nbsp;Patrick Lanusse ,&nbsp;Pierre Melchior","doi":"10.1016/j.arcontrol.2025.100995","DOIUrl":"10.1016/j.arcontrol.2025.100995","url":null,"abstract":"<div><div>A mobile antenna system requires precise control that combines good trajectory tracking and disturbance rejection. The system has several operating scenarios, demanding a robust control design that ensures good performance and stability for a set of uncertain models. Moreover, ground stations are mainly outdoor operating systems, and they are subject to wind gusts that impact the accuracy of the position control. This paper presents a study using predictive control and robust controllers (CRONE and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> strategies) to assess the application feasibility of these methodologies in tracking antenna systems. The control system design of both CRONE and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> strategies are carried out in frequency domain. Time domain analysis demonstrates that both robust controllers yield very similar results, ensuring excellent stability and outstanding performances in tracking trajectory operation. The choice of control strategy ultimately depends on the designer’s expertise, software/hardware requirements, and the complexity of the system model, with an advantage of the CRONE controller in terms of robustness and practical implementation. Simulation results are validated on tracking satellite trajectories by comparing MPC, CRONE and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> controls with various robustness tests.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 100995"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144312880","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":"Path to Artificial General Intelligence: Past, present, and future","authors":"Ruhi Sarikaya","doi":"10.1016/j.arcontrol.2025.101021","DOIUrl":"10.1016/j.arcontrol.2025.101021","url":null,"abstract":"<div><div>During the past decade, there has been remarkable progress in Artificial Intelligence (AI). More recently, the emergence of Generative AI was an inflection point in cognitive pattern understanding and generation across multiple modalities including speech, text, imagery, and vision, where AI systems are increasingly matching or surpassing human performance on a growing array of cognitive tasks. These models have been seamlessly integrated into numerous applications and products, reaching hundreds of millions of users. As a result, discussions regarding the achievement of Artificial General Intelligence (AGI) have shifted from theoretical speculation to a plausible near to mid-term objective. In this paper, we present a comprehensive review of the evolution of AI from its inception to the present day. We then examine how advances in computational infrastructure, algorithms, and large-scale modeling are converging to drive the generative AI revolution and shaping the trajectory toward AGI, potentially within the next 5-to-10 years. Specifically, we analyze recent progress in compute capabilities, learning algorithms, and model architectures across a broad spectrum of cognitive tasks. We also share our perspective on the key challenges that remain to be solved, and discuss the critical risks that must be addressed to ensure the safe and beneficial development of AI systems that may eventually exceed human-level performance in perception, reasoning, and general cognition.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 101021"},"PeriodicalIF":10.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145157067","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":"Structure-preserving model reduction of interconnected dynamical systems","authors":"N. van de Wouw ,&nbsp;B. Besselink ,&nbsp;M.F. Shakib ,&nbsp;L.A.L. Janssen ,&nbsp;L. Poort ,&nbsp;G. Scarciotti ,&nbsp;R.H.B. Fey","doi":"10.1016/j.arcontrol.2025.101016","DOIUrl":"10.1016/j.arcontrol.2025.101016","url":null,"abstract":"<div><div>This paper presents model reduction techniques for two classes of interconnected dynamical systems: firstly, feedback interconnections between large-scale linear systems and static nonlinearities and, secondly, interconnections between (many) linear dynamical systems. For the first class we provide both balancing-based and moment matching approaches that are applicable to large-scale systems, by reducing the linear part only and leaving the nonlinearity intact. Hence, the original feedback interconnection structure is preserved as well. Moreover, we provide a reduction error bound that expresses reduction accuracy depending on the level of reduction of the linear part and the properties of the nonlinearities. In addition, these methods preserve (global and incremental) stability properties. For the second class of systems, we present an approach to link reduction accuracy specifications on the level of the sub-systems to related specifications on the level of the interconnected system. This allows for a modular approach that preserves the structure of the high-order, interconnected system. In turn, this promotes the interpretability of the reduced-order system. In addition, we introduce the concept of abstracted reduction for interconnected linear systems, which enables the modular reduction of the sub-systems, while taking into account the dynamics of the rest of the interconnected system in a computationally tractable way. Finally, these methods also provide an error bound and preserve stability and (optionally) passivity.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 101016"},"PeriodicalIF":10.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145219179","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":"From PID to PIDD2α: Performance improvement with a fractional double derivative action","authors":"Marco Milanesi ,&nbsp;Antonio Visioli ,&nbsp;YangQuan Chen","doi":"10.1016/j.arcontrol.2025.101006","DOIUrl":"10.1016/j.arcontrol.2025.101006","url":null,"abstract":"<div><div>This paper analyzes the performance achievable by means of PIDD<span><math><msup><mrow></mrow><mrow><mn>2</mn><mi>α</mi></mrow></msup></math></span> controllers, that is, PID controllers with an additional fractional double derivative action. In particular, the performance obtained with an optimized tuning of the parameters is compared with those of standard PID controllers, of fractional-order PID (FOPID) controllers and of Proportional–Integral–Double-Derivative (PIDD or PIDD<span><math><msup><mrow></mrow><mrow><mn>2</mn></mrow></msup></math></span>) controllers. In all the cases the parameters are determined by minimizing the integrated absolute error either in the set-point or load disturbance step response, with a constraint on the maximum sensitivity. A wide set of benchmark processes (both self and non self-regulating) are considered so that general conclusions about the impact that these controllers can have in the process industry can be drawn.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"60 ","pages":"Article 101006"},"PeriodicalIF":7.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144534811","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}