Annual Reviews in Control最新文献_第4页

Formal synthesis of controllers for safety-critical autonomous systems: Developments and challenges 安全关键型自主系统控制器的形式合成：发展与挑战

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100940

Xiang Yin , Bingzhao Gao , Xiao Yu

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引用次数: 0

Advances in the Theory of Control Barrier Functions: Addressing practical challenges in safe control synthesis for autonomous and robotic systems 控制障碍函数理论的进展：应对自主系统和机器人系统安全控制合成的实际挑战

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100945

Kunal Garg , James Usevitch , Joseph Breeden , Mitchell Black , Devansh Agrawal , Hardik Parwana , Dimitra Panagou

{"title":"Advances in the Theory of Control Barrier Functions: Addressing practical challenges in safe control synthesis for autonomous and robotic systems","authors":"Kunal Garg , James Usevitch , Joseph Breeden , Mitchell Black , Devansh Agrawal , Hardik Parwana , Dimitra Panagou","doi":"10.1016/j.arcontrol.2024.100945","DOIUrl":"https://doi.org/10.1016/j.arcontrol.2024.100945","url":null,"abstract":"<div><p>This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe controllers for autonomous systems and robots. We present novel CBFs and methods that handle safety constraints (i) with time and input constraints under disturbances, (ii) with high-relative degree under disturbances and input constraints, and (iii) that are affected by adversarial inputs and sampled-data effects. We then present novel CBFs and adaptation methods that prevent loss of validity of the CBF, as well as methods to tune the parameters of the CBF online to reduce conservatism in the system response. We also address the pointwise-only optimal character of CBF-induced control inputs by introducing a CBF formulation that accounts for future trajectories, as well as implementation challenges such as how to preserve safety when using output feedback control and zero-order-hold control. Finally we consider how to synthesize non-smooth CBFs when discontinuous inputs and multiple constraints are present.</p></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":null,"pages":null},"PeriodicalIF":9.4,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140103574","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}

引用次数: 0

Safety-critical control for autonomous systems: Control barrier functions via reduced-order models 自主系统的安全关键控制：通过简化模型实现控制障碍功能

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100947

Max H. Cohen , Tamas G. Molnar , Aaron D. Ames

引用次数: 0

Cooperative control of heterogeneous multi-agent systems under spatiotemporal constraints 时空约束下异构多代理系统的协同控制

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100946

Fei Chen, Mayank Sewlia, Dimos V. Dimarogonas

{"title":"Cooperative control of heterogeneous multi-agent systems under spatiotemporal constraints","authors":"Fei Chen, Mayank Sewlia, Dimos V. Dimarogonas","doi":"10.1016/j.arcontrol.2024.100946","DOIUrl":"https://doi.org/10.1016/j.arcontrol.2024.100946","url":null,"abstract":"<div><p>A current trend in research on multi-agent control systems is to consider high-level task specifications that go beyond traditional control objectives and take into account the heterogeneity of each agent in the system, i.e., the different capabilities of the agents in terms of actuation, sensing, communication and computation. This article provides an overview of our work on the problem of control of heterogeneous multi-agent systems under both spatial and temporal constraints as well as our perspective on the challenges and open problems associated with the consideration of such spatiotemporal constraints. Initially, we review a set of control strategies introduced by the authors addressing the satisfaction of cooperative tasks such as formation control as well as individual objectives such as reference tracking. The satisfaction of those objectives is ensured using prescribed performance control. Building upon these approaches we then review recent results on control under high-level spatiotemporal objectives expressed in Signal Temporal Logic, a formal language that allows to express complex spatial tasks that must be satisfied within pre-defined deadlines. Theoretical results considering multi-agent systems with various capabilities under spatiotemporal constraints are presented.</p></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":null,"pages":null},"PeriodicalIF":9.4,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S1367578824000154/pdfft?md5=97c17641fe2f8ee3e9875a3854c47e43&pid=1-s2.0-S1367578824000154-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140137780","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}

引用次数: 0

Analysis and design of model predictive control frameworks for dynamic operation—An overview 动态运行模型预测控制框架的分析与设计--概述

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2023.100929

Johannes Köhler , Matthias A. Müller , Frank Allgöwer

引用次数: 0

Lateral control for autonomous vehicles: A comparative evaluation 自动驾驶汽车横向控制:比较评价

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2023-11-03 DOI: 10.1016/j.arcontrol.2023.100910

Antonio Artuñedo, Marcos Moreno-Gonzalez, Jorge Villagra

引用次数: 0

A Survey of Feedback Particle Filter and related Controlled Interacting Particle Systems (CIPS) 反馈粒子滤波及相关可控相互作用粒子系统(CIPS)综述

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2023-01-03 DOI: 10.48550/arXiv.2301.00935

A. Taghvaei, P. Mehta

引用次数: 6

Modeling and control of overhead cranes: A tutorial overview and perspectives 桥式起重机的建模和控制:教程概述和观点

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2023-01-01 DOI: 10.1016/j.arcontrol.2023.03.002

Mohammad Rasool Mojallizadeh , Bernard Brogliato , Christophe Prieur

引用次数: 3

A review of current state-of-the-art control methods for lower-limb powered prostheses 下肢动力假肢的控制方法综述

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2023-01-01 DOI: 10.1016/j.arcontrol.2023.03.003

Rachel Gehlhar , Maegan Tucker , Aaron J. Young , Aaron D. Ames

{"title":"A review of current state-of-the-art control methods for lower-limb powered prostheses","authors":"Rachel Gehlhar , Maegan Tucker , Aaron J. Young , Aaron D. Ames","doi":"10.1016/j.arcontrol.2023.03.003","DOIUrl":"10.1016/j.arcontrol.2023.03.003","url":null,"abstract":"<div><p>Lower-limb prostheses aim to restore ambulatory function for individuals with lower-limb amputations. While the design of lower-limb prostheses is important, this paper focuses on the complementary challenge—the control of lower-limb prostheses. Specifically, we focus on powered prostheses, a subset of lower-limb prostheses, which utilize actuators to inject mechanical power into the walking gait of a human user.</p><p>In this paper, we present a review of existing control strategies for lower-limb powered prostheses, including the control objectives, sensing capabilities, and control methodologies. We separate the various control methods into three main tiers of prosthesis control: High-level control for task and gait phase estimation, mid-level control for desired torque computation (both with and without the use of reference trajectories), and low-level control for enforcing the computed torque commands on the prosthesis. In particular, we focus on the high- and mid-level control approaches in this review. Additionally, we outline existing methods for customizing the prosthetic behavior for individual human users. Finally, we conclude with a discussion on future research directions for powered lower-limb prostheses based on the potential of current control methods and open problems in the field.</p></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":null,"pages":null},"PeriodicalIF":9.4,"publicationDate":"2023-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10449377/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10107806","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}

引用次数: 4

Leakage diagnosis with a contamination mitigation control framework using a graph theory based model 基于图论模型的污染缓解控制框架下的泄漏诊断

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2023-01-01 DOI: 10.1016/j.arcontrol.2023.03.010

Saruch Satishkumar Rathore , Rahul Misra , Carsten Skovmose Kallesøe , Rafal Wisniewski

引用次数: 1