Annual Reviews in Control最新文献_第5页

Recent advances in path integral control for trajectory optimization: An overview in theoretical and algorithmic perspectives 轨迹优化路径积分控制的最新进展：理论和算法概述

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2023.100931

Muhammad Kazim, JunGee Hong, Min-Gyeom Kim, Kwang-Ki K. Kim

引用次数: 0

Reviewer Acknowledgement 2024 审稿人致谢 2024

IF 7.3 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100975

引用次数: 0

Wireless control: Retrospective and open vistas 无线控制：回顾与展望

IF 7.3 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100972

Matthias Pezzutto , Subhrakanti Dey , Emanuele Garone , Konstantinos Gatsis , Karl Henrik Johansson , Luca Schenato

{"title":"Wireless control: Retrospective and open vistas","authors":"Matthias Pezzutto , Subhrakanti Dey , Emanuele Garone , Konstantinos Gatsis , Karl Henrik Johansson , Luca Schenato","doi":"10.1016/j.arcontrol.2024.100972","DOIUrl":"10.1016/j.arcontrol.2024.100972","url":null,"abstract":"<div><div>The convergence of wireless networks and control engineering has been a technological driver since the beginning of this century. It has significantly contributed to a wide set of emerging applications, such as smart homes, robot swarms, connected autonomous vehicles, and wireless process automation. Envisioning further integration and developments in wireless control, in this paper we provide an overview of past results and present some perspective on the future of the area. Rather than extensively reviewing existing results, we provide a handbook for practitioners who want to tackle and contribute to wireless control. First, we introduce the key types of wireless networks for control applications pointing out their main strengths and their main bottlenecks. Then, we introduce the main technical approaches for the analysis and the design of wireless control showing both their basic ideas and their applicability. Finally, we provide a vision for the future of wireless control and we try to outline the main directions and research questions of the next decade.</div></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"58 ","pages":"Article 100972"},"PeriodicalIF":7.3,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142701204","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

Toward model-free safety-critical control with humans in the loop 以人为本，实现无模型安全控制

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100944

Wei Xiao , Anni Li , Christos G. Cassandras , Calin Belta

{"title":"Toward model-free safety-critical control with humans in the loop","authors":"Wei Xiao , Anni Li , Christos G. Cassandras , Calin Belta","doi":"10.1016/j.arcontrol.2024.100944","DOIUrl":"https://doi.org/10.1016/j.arcontrol.2024.100944","url":null,"abstract":"<div><p>This vision article shows how to build on the framework of event-triggered Control Barrier Functions (CBFs) to design model-free controllers for safety-critical multi-agent systems with unknown dynamics, including humans in the loop. This event-triggered framework has been shown to be computationally efficient and robust while guaranteeing safety for systems with unknown dynamics. We show how to extend it to model-free safety critical control where a controllable ego agent does not need to model the dynamics of other agents and updates its control based only on events dependent on the error states of agents obtained by real-time sensor measurements. To facilitate the process of real-time sensor measurements critical in this approach, we also present CBF relative degree reduction methods, which can reduce the number of such measurements. We illustrate the effectiveness of the proposed framework on a multi-agent traffic merging decentralized control problem and on highway lane changing control with humans in the loop and relative degree reduction. We also compare the proposed event-driven method to the classical time-driven approach.</p></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"57 ","pages":"Article 100944"},"PeriodicalIF":9.4,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140161020","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

Design, modeling, and experimental analysis of the Crawler Unit for inspection in constrained space 用于受限空间检测的履带式装置的设计、建模和实验分析

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100950

Sergio Leggieri, Carlo Canali, Darwin G. Caldwell

{"title":"Design, modeling, and experimental analysis of the Crawler Unit for inspection in constrained space","authors":"Sergio Leggieri, Carlo Canali, Darwin G. Caldwell","doi":"10.1016/j.arcontrol.2024.100950","DOIUrl":"https://doi.org/10.1016/j.arcontrol.2024.100950","url":null,"abstract":"<div><p>Inspections of industrial and civil infrastructures prevent unexpected failures that may lead to loss of life. Although inspection robotics is gaining momentum, most of field operations are still performed by human workers. For inspection robots, the main limiting factors are the low versatility and reliability in dynamic, non-structured and highly complex environments. To tackle these issues, we have designed a modular and self-reconfigurable hybrid platform, which consists of three units: the mobile Main Base and two Crawler Units with docking interfaces. The Crawler Unit operates in constrained environments and narrow spaces, while the Main Base will inspect wide areas and deploy/recover the Crawler Units near/from inspection sites, as in marsupial robots. Docking interfaces will allow the Crawler Units to reconfigure into a snake robot or mobile manipulators. In particular, the Crawler Units consist of four modules connected by three kinematic chains for nine active joints in total. Each module is equipped with half active, half passive tracks for moving. This paper discusses in detail the dynamic model of the Crawler Unit, especially focusing on the definition of effective constraint equations, which closely model the system features avoiding common simplifications. Numerical simulations and physical experiments validate the proposed dynamic model of the Crawler Unit.</p></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"57 ","pages":"Article 100950"},"PeriodicalIF":9.4,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S1367578824000191/pdfft?md5=3161f09ae8dccdf7bb0768df9a10c035&pid=1-s2.0-S1367578824000191-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140163842","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

Analyzing stability in 2D systems via LMIs: From pioneering to recent contributions 通过 LMI 分析二维系统的稳定性：从先驱到最新贡献

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100933

Graziano Chesi

{"title":"Analyzing stability in 2D systems via LMIs: From pioneering to recent contributions","authors":"Graziano Chesi","doi":"10.1016/j.arcontrol.2024.100933","DOIUrl":"10.1016/j.arcontrol.2024.100933","url":null,"abstract":"<div><p>2D systems, also known as doubly-indexed systems, have gained an increasingly special attention in the control community, as they allow for modeling systems with more complex dynamics than the classical so called 1D systems where the signals are indexed by one variable only usually representing the time. Like for 1D systems, stability conditions have been proposed for 2D systems in the form of a linear matrix inequality (LMI) feasibility test, as such conditions may be tested by solving a convex optimization problem, and as such conditions may open the door for a number of developments such as establishing robust stability and designing stabilizing controllers. This paper aims at presenting, under a unified framework, various LMI stability conditions for 2D systems that have been proposed in the literature, from pioneering to recent contributions, in order to provide the reader with a comprehensive collection that may serve as a source of historical information as well as a platform for comparing the major characteristics of each condition. Also, this paper proposes novel investigations of the presented conditions, in particular through conservatism and complexity analyses carried out in the best cases, in the worst cases, and for various specific numerical examples with different type of dynamics, dimensions and difficulty.</p></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"57 ","pages":"Article 100933"},"PeriodicalIF":9.4,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139470922","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

A survey on convex optimization for guidance and control of vehicular systems 车辆系统制导和控制的凸优化研究

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100957

Zhenbo Wang

{"title":"A survey on convex optimization for guidance and control of vehicular systems","authors":"Zhenbo Wang","doi":"10.1016/j.arcontrol.2024.100957","DOIUrl":"https://doi.org/10.1016/j.arcontrol.2024.100957","url":null,"abstract":"<div><p>Guidance and control (G&C) technologies play a central role in the development and operation of vehicular systems. The emergence of computational guidance and control (CG&C) and highly efficient numerical algorithms has opened up the great potential for solving complex constrained G&C problems onboard, enabling higher level of autonomous vehicle operations. In particular, convex-optimization-based G&C has matured significantly over the years and many advances continue to be made, allowing the generation of optimal G&C solutions in real-time for many vehicular systems in aerospace, automotive, and other domains. In this paper, we review recent major advances in convex optimization and convexification techniques for G&C of vehicular systems, focusing primarily on three important application fields: (1) Space vehicles for powered descent guidance, small body landing, rendezvous and proximity operations, orbital transfer, spacecraft reorientation, space robotics and manipulation, spacecraft formation flying, and station keeping; (2) Air vehicles including hypersonic/entry vehicles, missiles and projectiles, launch/ascent vehicles, and low-speed air vehicles; and (3) Motion control and powertrain control of ground vehicles. Throughout the paper, we draw figures that illustrate the basic mission concepts and objectives, introduce key equations that characterize the feature of each class of problems and approaches, and present tables that summarize similarities and distinctions among the problems, ideas, and methods. Where available, we provide comparative analyses and reveal correlations between different applications and technical approaches. Finally, we identify open challenges and issues, discuss potential opportunities, and make suggestions for future research directions.</p></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"57 ","pages":"Article 100957"},"PeriodicalIF":9.4,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140553908","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 multi-agent systems 自主多代理系统的安全关键控制

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100953

Wei Xiao , Christos G. Cassandras

引用次数: 0

Mastering chaos: A review 掌握混乱：回顾

IF 7.3 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100966

Baghdadi Hamidouche , Kamel Guesmi , Najib Essounbouli

引用次数: 0

Control practice for robotic applications in challenging environments 挑战性环境中机器人应用的控制实践

IF 9.4 2区计算机科学

Annual Reviews in Control Pub Date : 2024-01-01 DOI: 10.1016/j.arcontrol.2024.100956

Kaiqiang Zhang , Guido Herrmann

{"title":"Control practice for robotic applications in challenging environments","authors":"Kaiqiang Zhang , Guido Herrmann","doi":"10.1016/j.arcontrol.2024.100956","DOIUrl":"https://doi.org/10.1016/j.arcontrol.2024.100956","url":null,"abstract":"<div><p>The use of robots has exceeded the standard focus of manufacturing and production. Over the last decades, special robotic systems have been developed in various extreme environments, such as in the maintenance, repair or even decommissioning of large-scale, strategic facilities, important to any nation’s infrastructure, including power, space, mining, etc. The deployment areas for these robots, like nuclear fuel handling systems, are generally hazardous or unreachable for human beings. The control techniques therein will play an indispensable role in the overall performance of a robotic system as they need to answer enhanced requirements for performance, robustness, and long-term reliability, driven by the fundamental demand for safe operation in complex and hazardous environments. This also needs an understanding of the enhanced industrial standards and requirements for the research, development, design and use of control systems in such environments. The control systems need to be designed specifically capable of tackling different practical control challenges caused by extreme environmental factors. This special section is designed and motivated to bridge the gap between the research community and application engineers, and to help connect control theory, control applications and industrial requirements/regulations.</p></div>","PeriodicalId":50750,"journal":{"name":"Annual Reviews in Control","volume":"57 ","pages":"Article 100956"},"PeriodicalIF":9.4,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140309421","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