International Journal of Control Automation and Systems最新文献_第9页

PLC-based Implementation of Stochastic Optimization Method in the Form of Evolutionary Strategies for PID, LQR, and MPC Control 基于 PLC 实现 PID、LQR 和 MPC 控制进化策略形式的随机优化方法

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-28 DOI: 10.1007/s12555-023-0869-6

Kajetan Zielonacki, Jarosław Tarnawski

{"title":"PLC-based Implementation of Stochastic Optimization Method in the Form of Evolutionary Strategies for PID, LQR, and MPC Control","authors":"Kajetan Zielonacki, Jarosław Tarnawski","doi":"10.1007/s12555-023-0869-6","DOIUrl":"https://doi.org/10.1007/s12555-023-0869-6","url":null,"abstract":"Programmable logic controllers (PLCs) are usually equipped with only basic direct control algorithms like proportional-integral-derivative (PID). Modules included in engineering software running on a personal computer (PC) are usually used to tune controllers. In this article, an alternative approach is considered, i.e. the development of a stochastic optimizer based on the (μ,λ) evolution strategy (ES) in a PLC. For this purpose, a pseudorandom number generator (pRNG) was implemented, which is not normally available in most PLCs. The properties of popular random number generation methods were analyzed in terms of distribution uniformity and possibility of implementation in a PLC. The Wichmann-Hill (WH) algorithm was chosen for implementation. The developed generator with a uniform distribution was the basis for the implementation of a generator with a normal distribution. Both generators are the engines of the stochastic optimization algorithm in the form of the (μ, λ) strategy. For verification purposes, a modular servomechanism laboratory set was used as a test object for PID and linear-quadratic regulator (LQR) control. Moreover, the possibility of using the developed optimizer was shown in an application of model predictive control (MPC). Comprehensive tests confirmed the correctness of the implementation and high functionality of the developed software. Calculation time issues are also investigated.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"37 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141172170","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Dynamic Weighted Slow Feature Analysis-based Fault Detection for Running Gear Systems of High-speed Trains 基于动态加权慢特征分析的高速列车运行齿轮系统故障检测

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-28 DOI: 10.1007/s12555-023-0059-6

Chao Cheng, Xin Wang, Shuiqing Xu, Ke Feng, Hongtian Chen

引用次数: 0

Model-free Predictive Trajectory Tracking Control and Obstacle Avoidance for Unmanned Surface Vehicle With Uncertainty and Unknown Disturbances via Model-free Extended State Observer 通过无模型扩展状态观测器实现具有不确定性和未知扰动的无人水面飞行器的无模型预测轨迹跟踪控制和避障

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-28 DOI: 10.1007/s12555-023-0524-2

Qianda Luo, Hongbin Wang, Ning Li, Bo Su, Wei Zheng

{"title":"Model-free Predictive Trajectory Tracking Control and Obstacle Avoidance for Unmanned Surface Vehicle With Uncertainty and Unknown Disturbances via Model-free Extended State Observer","authors":"Qianda Luo, Hongbin Wang, Ning Li, Bo Su, Wei Zheng","doi":"10.1007/s12555-023-0524-2","DOIUrl":"https://doi.org/10.1007/s12555-023-0524-2","url":null,"abstract":"The present paper proposes a model-free extended state observer (MFESO) based model and model-free predictive control (MPC-MFESO-MFPAC) approach for achieving trajectory tracking and obstacle avoidance of unmanned surface vehicle (USV) in complex environments. MFPAC is investigated for addressing the uncertainty in the kinetics modeling of USV system, eliminating the need for an accurate mathematical model of the USV. Additionally, the backstepping method is employed to eliminate rotational characteristics, enabling direct application of MFPAC in USV control. In the computation of the virtual control law, MPC is utilized for kinematics which can be easily modeled, while incorporating obstacle avoidance performance. By utilizing the model-free ESO for estimating additional unknown perturbations, this approach obviates the need for any prior knowledge of the system’s dynamics. The stability analysis demonstrates that the proposed control strategy is bounded-input and bounded-output (BIBO) stable. The simulation results validate the effectiveness and advancement of the algorithm.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"37 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141172243","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Improved Results on H∞, Performance for Semi-Markovian Jump LPV Systems Under Actuator Saturation and Faults 致动器饱和与故障条件下半马尔可夫跳跃 LPV 系统的 H∞、性能改进结果

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-28 DOI: 10.1007/s12555-023-0475-7

T. Saravanakumar, Sangmoon Lee

{"title":"Improved Results on H∞, Performance for Semi-Markovian Jump LPV Systems Under Actuator Saturation and Faults","authors":"T. Saravanakumar, Sangmoon Lee","doi":"10.1007/s12555-023-0475-7","DOIUrl":"https://doi.org/10.1007/s12555-023-0475-7","url":null,"abstract":"This paper is concerned with the transformed parameter-dependent H∞ controller design for semi-Markovian jump linear parameter varying (S-MJLPV) systems under actuator saturation and faults. In the S-MJLPV system, the semi-Markov process transition rate is time-varying during the semi-Markov process and a plant includes time-varying parameters which are bounded and measurable in magnitude. For more practical analysis and synthesis of the S-MJLPV systems, a time-varying actuator fault model and actuator saturation of the controller are considered into account simultaneously. The primary goal of this paper is to develop a transformed parameter-dependent control that makes the closed-loop system stochastically stable with H∞ performance index γ and provides less conservative results against actuator saturation and faults. Based on the mode-dependent Lyapunov function, new sufficient conditions are obtained to ensure that the stochastic stability of S-MJLPV systems. Eventually, an example based on the turbofan-engine model is presented to demonstrate the efficacy of our proposed methods.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"73 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141172244","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Optimized Proportional-derivative Feedback-assisted Iterative Learning Control for Manipulator Trajectory Tracking 用于机械手轨迹跟踪的优化比例-衍生反馈辅助迭代学习控制

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-28 DOI: 10.1007/s12555-023-0350-6

Dong Yan, Liping Chen, Jianwan Ding, Ziyao Xiong, Yu Chen

{"title":"Optimized Proportional-derivative Feedback-assisted Iterative Learning Control for Manipulator Trajectory Tracking","authors":"Dong Yan, Liping Chen, Jianwan Ding, Ziyao Xiong, Yu Chen","doi":"10.1007/s12555-023-0350-6","DOIUrl":"https://doi.org/10.1007/s12555-023-0350-6","url":null,"abstract":"Iterative learning control (ILC) is a popular scheme in the trajectory tracking of manipulators, greatly improving tracking accuracy despite often requiring multiple iterations over identical trajectories. This research introduces an optimization technique for ILC parameters, enhanced with proportional-derivative (PD) feedback control, which aims to significantly reduce tracking errors within a single iteration. In the proposed approach, a PD feedback controller is utilized in the first run, collecting error data. An ILC controller is then incorporated in the second run to minimize the tracking error. Utilizing the dynamic model of the system, the transcription method transforms the continuous-form optimization problem concerning the ILC parameters into a discrete form, enabling its solution via standard numerical optimization algorithms. To demonstrate the effectiveness of the proposed approach in reducing tracking errors, we compared the tracking errors for the first and second runs of the system using frequency-domain analysis and conducted simulations and experiments on two different trajectory types.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"58 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141172248","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Supervised Learning in Model Reference Adaptive Sliding Mode Control 模型参考自适应滑模控制中的监督学习

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-28 DOI: 10.1007/s12555-023-0761-4

Omar Makke, Feng Lin

{"title":"Supervised Learning in Model Reference Adaptive Sliding Mode Control","authors":"Omar Makke, Feng Lin","doi":"10.1007/s12555-023-0761-4","DOIUrl":"https://doi.org/10.1007/s12555-023-0761-4","url":null,"abstract":"The well known back-propagation algorithm has revolutionized machine learning and artificial intelligence, particularly in neural network applications. Although gradient descent-based algorithms are utilized in control applications, they are not as prevalent as in neural network applications. This discrepancy can be attributed to the successful development of various adaptation laws which ensure system stability while meeting the required design criteria. Many of these laws can be found in model reference adaptive control (MRAC) and adaptive sliding mode control (ASMC). This paper investigates the applicability of the Brandt-Lin (B-L) learning algorithm, mathematically equivalent to the back-propagation algorithm, in adaptive control applications. We find that combining the B-L learning algorithm with SMC yields a robust controller suitable for model reference adaptive sliding mode control (MRA-SMC). The controller is applicable to linear and a class of nonlinear dynamic systems and is suitable for efficient implementation. We derive the stability criteria for this controller and conduct simulations to study the adaptation’s impact on chattering. Our work exemplifies one approach to adopt the back-propagation algorithm in control applications.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"134 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141172162","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Fuzzy Fault-tolerant Controller With Guaranteed Performance for MIMO Systems Under Uncertain Initial State 不确定初始状态下保证多输入多输出系统性能的模糊容错控制器

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-28 DOI: 10.1007/s12555-023-0327-5

Chun-Wu Yin, Saleem Riaz, Ali Arshad Uppal, Jamshed Iqbal

{"title":"Fuzzy Fault-tolerant Controller With Guaranteed Performance for MIMO Systems Under Uncertain Initial State","authors":"Chun-Wu Yin, Saleem Riaz, Ali Arshad Uppal, Jamshed Iqbal","doi":"10.1007/s12555-023-0327-5","DOIUrl":"https://doi.org/10.1007/s12555-023-0327-5","url":null,"abstract":"It is always problematic that the initial value of the trajectory tracking error must be inside the area included in the prescribed performance constraint function. To overcome this problem, a novel fault-tolerant control strategy is designed for a second-order multi-input and multi-output nonlinear system (MIMO-NLS) with unknown initial states, actuator faults, and control saturation. Firstly, a predefined time convergence (PTC) stability criterion is theoretically proven. Then, an error conversion function is introduced to convert the trajectory tracking error to a new error variable with an initial value of zero, and an adaptive fuzzy system is designed to approximate the compound interference composed of actuator fault, parameter perturbation, control saturated overamplitude, and external disturbance. Based on the backstepping control method, prescribed performance control method, and predefined time convergence stability theory, an adaptive fuzzy fault-tolerant controller for the new error variable is designed and theoretically proven for the predefined time convergence of the closed-loop system. The numerical simulation results of the guaranteed performance trajectory tracking control for industrial robots with actuator faults demonstrate that the adaptive fuzzy fault-tolerant control algorithm has strong fault tolerance to actuator faults and anti-interference capabilities. The convergence time and performance of trajectory tracking errors can be preset in advance, and the parameter settings of the prescribed performance constraint function are not affected by the initial state values.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"98 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141172250","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Hand Tracking: Survey 手部跟踪：调查

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-28 DOI: 10.1007/s12555-024-0298-1

Jinuk Heo, Hyelim Choi, Yongseok Lee, Hyunsu Kim, Harim Ji, Hyunreal Park, Youngseon Lee, Cheongkee Jung, Hai-Nguyen Nguyen, Dongjun Lee

{"title":"Hand Tracking: Survey","authors":"Jinuk Heo, Hyelim Choi, Yongseok Lee, Hyunsu Kim, Harim Ji, Hyunreal Park, Youngseon Lee, Cheongkee Jung, Hai-Nguyen Nguyen, Dongjun Lee","doi":"10.1007/s12555-024-0298-1","DOIUrl":"https://doi.org/10.1007/s12555-024-0298-1","url":null,"abstract":"Hand tracking is relevant to such a variety of applications including human-robot interaction (HRI), human-computer interaction (HCI), virtual reality (VR), and augmented reality (AR). Accurate and robust hand tracking however is challenging due to the intricacies of dynamic motion within small space and the complex interactions with nearby objects, coupled with the hurdles in real-time hand mesh reconstruction. In this paper, we conduct a comprehensive examination and analysis of existing hand tracking technologies. Through the review of major works in the literature, we have discovered numerous studies employing a diverse array of sensors, leading us to propose their categorization into seven types: vision, soft wearable, encoder, magnetic, inertial measurement unit (IMU), electromyography (EMG), and the fusion of sensor modalities. Our findings indicate that no singular solution surpasses all others, attributing to the inherent limitations of using a single sensor modality. As a result, we assert that integrating multiple sensor modalities presents a viable path toward devising a superior hand tracking solution. Ultimately, this survey paper aims to bolster interdisciplinary research efforts across the spectrum of hand tracking technologies, thereby contributing to the advancement of the field.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"45 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141172174","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Modified Kalman and Maximum Correntropy Kalman Filters for Systems With Bernoulli Distribution k-step Random Delay and Packet Loss 针对伯努利分布 k 步随机延迟和数据包丢失系统的修正卡尔曼和最大熵卡尔曼滤波器

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-28 DOI: 10.1007/s12555-023-0399-2

Zheng Liu, Xinmin Song, Min Zhang

{"title":"Modified Kalman and Maximum Correntropy Kalman Filters for Systems With Bernoulli Distribution k-step Random Delay and Packet Loss","authors":"Zheng Liu, Xinmin Song, Min Zhang","doi":"10.1007/s12555-023-0399-2","DOIUrl":"https://doi.org/10.1007/s12555-023-0399-2","url":null,"abstract":"The simultaneous presence of uncertain data delays and data loss in a network control system complicates the state estimation problem and its solution. This paper redesigns the Kalman filter (KF) algorithm for systems with k-step random delayed data and data loss to improve estimation accuracy. A binary Bernoulli distribution is employed in the modified KF algorithm to model the received data with the knowledge of data delay and loss probabilities. Besides, the distribution of the non-Gaussian noise in the measurement system will degrade the performance of the conventional KF algorithm based on the minimum mean square error. Therefore, the modified KF algorithm is extended to the maximum correntropy Kalman filter (MCKF) algorithm to overcome the effect of non-Gaussian noise. The estimation accuracy of the modified KF and MCKF algorithms are experimentally compared under Gaussian and non-Gaussian noises, respectively. The simulation results demonstrate the excellent estimation performance of the proposed modified KF and MCKF algorithms under Gaussian and non-Gaussian noises, respectively.","PeriodicalId":54965,"journal":{"name":"International Journal of Control Automation and Systems","volume":"12 1","pages":""},"PeriodicalIF":3.2,"publicationDate":"2024-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141172165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Tire Normal Force Estimation Based on Integrated Suspension State Measurement 基于悬架状态综合测量的轮胎法向力估算

IF 3.2 3区计算机科学

International Journal of Control Automation and Systems Pub Date : 2024-05-28 DOI: 10.1007/s12555-023-0768-x

Dasol Cheon, Wonhyeok Choi, Kanghyun Nam, Sehoon Oh

引用次数: 0