Pub Date : 2025-11-12DOI: 10.1109/TCST.2025.3625632
Xinxin Zhang;S. Hassan HosseinNia
The sinusoidal input describing function (SIDF) is a powerful tool for control system analysis and design, with its reliability directly impacting the performance of the designed control systems. This study improves both the accuracy of SIDF analysis and the performance of closed-loop reset feedback systems through two main contributions. First, it introduces a method to identify frequency ranges where SIDF analysis becomes inaccurate. Second, these identified ranges correlate with dominated high-order harmonics that can degrade system performance. To address this, a shaped reset control strategy is proposed, incorporating a shaping filter that tunes reset actions to suppress these harmonics. A frequency-domain design procedure for the shaped reset control system is then demonstrated in a case study, where a proportional–integral–derivative (PID)-based shaping filter effectively reduces high-order harmonics and eliminates limit cycles issues under step inputs. Finally, simulations and experiments on a precision motion stage validate the shaped reset control, confirming improved SIDF analysis accuracy, enhanced steady-state performance over linear and reset controllers, and the elimination of limit cycles under step inputs.
{"title":"Enhancing the Reliability of Closed-Loop Describing Function Analysis for Reset Control Applied to Precision Motion Systems","authors":"Xinxin Zhang;S. Hassan HosseinNia","doi":"10.1109/TCST.2025.3625632","DOIUrl":"https://doi.org/10.1109/TCST.2025.3625632","url":null,"abstract":"The sinusoidal input describing function (SIDF) is a powerful tool for control system analysis and design, with its reliability directly impacting the performance of the designed control systems. This study improves both the accuracy of SIDF analysis and the performance of closed-loop reset feedback systems through two main contributions. First, it introduces a method to identify frequency ranges where SIDF analysis becomes inaccurate. Second, these identified ranges correlate with dominated high-order harmonics that can degrade system performance. To address this, a shaped reset control strategy is proposed, incorporating a shaping filter that tunes reset actions to suppress these harmonics. A frequency-domain design procedure for the shaped reset control system is then demonstrated in a case study, where a proportional–integral–derivative (PID)-based shaping filter effectively reduces high-order harmonics and eliminates limit cycles issues under step inputs. Finally, simulations and experiments on a precision motion stage validate the shaped reset control, confirming improved SIDF analysis accuracy, enhanced steady-state performance over linear and reset controllers, and the elimination of limit cycles under step inputs.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 1","pages":"446-462"},"PeriodicalIF":3.9,"publicationDate":"2025-11-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11242006","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145915583","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}
Pub Date : 2025-11-11DOI: 10.1109/TCST.2025.3626070
Yukai Zhu;Yongjian Yang;Yangyang Cui;Lei Guo;Weimin Bao
Spacecraft attitude control performances are inevitably degraded by the composite disturbances such as flexible vibration and actuator uncertainty (e.g., partial loss of effectiveness and deadzone nonlinearity). These composite disturbances are inherently coupled with the attitude angular velocity and control input, exhibiting recessive, multiplicative, and additive forms. How to achieve the refined disturbance separation of these heterogeneous composite disturbances is crucial to improve the attitude control performances. In this article, a deep-coupled attitude dynamic model is established by sufficiently revealing the coupling relations of composite disturbances. Then, the disturbance separability analysis is carried out, and a novel input excitation disturbance separator (IEDS) is proposed. Driven by an ingeniously designed input excitation signal, the IEDS constructed by a refined disturbance observer (RDO) and a switch actuator uncertainty observer (SAUO) can estimate the flexible vibration disturbance and actuator uncertainty separately. Finally, some key parameters of actuator uncertainty, including the actuator effectiveness indicator and the dead-band sizes, are identified based on the IEDS output. By incorporating a sliding mode control in the feedback channel, a parameter identification-based composite attitude control is proposed, where the flexible vibration disturbance and actuator uncertainty can be compensated accurately. Numerical and experimental results are given to show the effectiveness of the proposed method.
{"title":"Input Excitation Disturbance Separator-Based Attitude Control for Flexible Spacecraft With Actuator Uncertainty","authors":"Yukai Zhu;Yongjian Yang;Yangyang Cui;Lei Guo;Weimin Bao","doi":"10.1109/TCST.2025.3626070","DOIUrl":"https://doi.org/10.1109/TCST.2025.3626070","url":null,"abstract":"Spacecraft attitude control performances are inevitably degraded by the composite disturbances such as flexible vibration and actuator uncertainty (e.g., partial loss of effectiveness and deadzone nonlinearity). These composite disturbances are inherently coupled with the attitude angular velocity and control input, exhibiting recessive, multiplicative, and additive forms. How to achieve the refined disturbance separation of these heterogeneous composite disturbances is crucial to improve the attitude control performances. In this article, a deep-coupled attitude dynamic model is established by sufficiently revealing the coupling relations of composite disturbances. Then, the disturbance separability analysis is carried out, and a novel input excitation disturbance separator (IEDS) is proposed. Driven by an ingeniously designed input excitation signal, the IEDS constructed by a refined disturbance observer (RDO) and a switch actuator uncertainty observer (SAUO) can estimate the flexible vibration disturbance and actuator uncertainty separately. Finally, some key parameters of actuator uncertainty, including the actuator effectiveness indicator and the dead-band sizes, are identified based on the IEDS output. By incorporating a sliding mode control in the feedback channel, a parameter identification-based composite attitude control is proposed, where the flexible vibration disturbance and actuator uncertainty can be compensated accurately. Numerical and experimental results are given to show the effectiveness of the proposed method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 1","pages":"485-501"},"PeriodicalIF":3.9,"publicationDate":"2025-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145915586","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}
Pub Date : 2025-11-11DOI: 10.1109/TCST.2025.3624829
Dasol Cheon;Kanghyun Nam;Sehoon Oh
In steer-by-wire (SBW) systems, where the steering wheel and the tire are not physically connected, the steering feel is artificially generated regardless of road conditions. Typically, SBW systems generate steering feel based on steering angle to steering torque models to provide specific reaction torques in response to the driver’s steering input. However, since the steering wheel is not mechanically connected to the tire, the driver cannot feel the road surface condition. This article proposes a novel control algorithm framework that can extract and transfer road surface information while still following the desired steering feel model. The steering feel generation control and road wheel control are integrated to achieve this goal. Specifically, we propose a reference steering model (RSM) for steering feel generation and bilateral control (BiC) for integrated steering wheel and road wheel control. This allows us to reflect the road surface condition without changing the steering feel model or identifying the road surface parameters. We validate the effectiveness of our proposed control through experiments using an SBW test vehicle.
{"title":"Road Environment Aware Control Framework for Steering Feel Generation in Steer-by-Wire Systems","authors":"Dasol Cheon;Kanghyun Nam;Sehoon Oh","doi":"10.1109/TCST.2025.3624829","DOIUrl":"https://doi.org/10.1109/TCST.2025.3624829","url":null,"abstract":"In steer-by-wire (SBW) systems, where the steering wheel and the tire are not physically connected, the steering feel is artificially generated regardless of road conditions. Typically, SBW systems generate steering feel based on steering angle to steering torque models to provide specific reaction torques in response to the driver’s steering input. However, since the steering wheel is not mechanically connected to the tire, the driver cannot feel the road surface condition. This article proposes a novel control algorithm framework that can extract and transfer road surface information while still following the desired steering feel model. The steering feel generation control and road wheel control are integrated to achieve this goal. Specifically, we propose a reference steering model (RSM) for steering feel generation and bilateral control (BiC) for integrated steering wheel and road wheel control. This allows us to reflect the road surface condition without changing the steering feel model or identifying the road surface parameters. We validate the effectiveness of our proposed control through experiments using an SBW test vehicle.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 1","pages":"463-473"},"PeriodicalIF":3.9,"publicationDate":"2025-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145915622","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}
Pub Date : 2025-11-03DOI: 10.1109/TCST.2025.3628153
{"title":"2025 Index IEEE Transactions on Control Systems Technology","authors":"","doi":"10.1109/TCST.2025.3628153","DOIUrl":"https://doi.org/10.1109/TCST.2025.3628153","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2498-2544"},"PeriodicalIF":3.9,"publicationDate":"2025-11-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11224404","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145456077","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}
Pub Date : 2025-10-27DOI: 10.1109/TCST.2025.3620521
Rudolf Reiter;Andrea Ghezzi;Katrin Baumgärtner;Jasper Hoffmann;Robert D. McAllister;Moritz Diehl
Nonlinear model predictive control (MPC) and reinforcement learning (RL) are two powerful control strategies with complementary advantages. This work shows how actor-critic RL techniques can be leveraged to improve the performance of MPC. The RL critic is used as an approximation of the optimal value function, and an actor rollout provides an initial guess for the primal variables of the MPC. A parallel control architecture is proposed where each MPC instance is solved twice for different initial guesses. Besides the actor rollout initialization, a shifted initialization from the previous solution is used. The control actions from the lowest-cost trajectory are applied to the system at each time step. We provide some theoretical justification of the proposed algorithm by establishing that the discounted closed-loop cost is upper-bounded by the discounted closed-loop cost of the original RL actor plus an error term that depends on the (sub)optimality of the RL actor and the accuracy of the critic. These results do not require globally optimal solutions and indicate that larger horizons mitigate the effect of errors in the critic approximation. The proposed algorithm is intended for applications where standard methods to construct terminal costs or constraints for MPC are impractical. The approach is demonstrated in an illustrative toy example and an autonomous driving overtaking scenario.
{"title":"AC4MPC: Actor-Critic Reinforcement Learning for Guiding Model Predictive Control","authors":"Rudolf Reiter;Andrea Ghezzi;Katrin Baumgärtner;Jasper Hoffmann;Robert D. McAllister;Moritz Diehl","doi":"10.1109/TCST.2025.3620521","DOIUrl":"https://doi.org/10.1109/TCST.2025.3620521","url":null,"abstract":"Nonlinear model predictive control (MPC) and reinforcement learning (RL) are two powerful control strategies with complementary advantages. This work shows how actor-critic RL techniques can be leveraged to improve the performance of MPC. The RL critic is used as an approximation of the optimal value function, and an actor rollout provides an initial guess for the primal variables of the MPC. A parallel control architecture is proposed where each MPC instance is solved twice for different initial guesses. Besides the actor rollout initialization, a shifted initialization from the previous solution is used. The control actions from the lowest-cost trajectory are applied to the system at each time step. We provide some theoretical justification of the proposed algorithm by establishing that the discounted closed-loop cost is upper-bounded by the discounted closed-loop cost of the original RL actor plus an error term that depends on the (sub)optimality of the RL actor and the accuracy of the critic. These results do not require globally optimal solutions and indicate that larger horizons mitigate the effect of errors in the critic approximation. The proposed algorithm is intended for applications where standard methods to construct terminal costs or constraints for MPC are impractical. The approach is demonstrated in an illustrative toy example and an autonomous driving overtaking scenario.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 1","pages":"395-410"},"PeriodicalIF":3.9,"publicationDate":"2025-10-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145915546","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}
Pub Date : 2025-10-24DOI: 10.1109/TCST.2025.3619991
A. Tenaglia;R. Masocco;F. Oliva;S. Mattogno;C. Possieri;L. Boncagni;G. Ramogida;D. Carnevale
Maintaining plasma stability in tokamaks presents a key challenge for achieving sustainable nuclear fusion, mainly due to the occurrence of vertical displacement events (VDEs) in elongated plasma configurations. This article proposes a hybrid control framework that dynamically adapts to varying operational conditions through a state-dependent switching policy. The controller combines a nominal control law that ensures high performance under normal conditions with a more aggressive control strategy activated during significant plasma displacements to stabilize the system and mitigate VDEs. The hybrid scheme guarantees local boundedness of the closed-loop system trajectories under significant disturbances while preserving the nominal asymptotic properties of the plant in the presence of small disturbances. An implementation of this framework is applied to a simplified model of plasma vertical position in tokamak devices. Experimental validation on the Frascati Tokamak Upgrade (FTU) device demonstrates the effectiveness of the hybrid controller in extending operational stability limits, outperforming conventional control approaches in high-elongation scenarios.
{"title":"Hybrid Controller for Enhanced Plasma Stabilization in Tokamaks","authors":"A. Tenaglia;R. Masocco;F. Oliva;S. Mattogno;C. Possieri;L. Boncagni;G. Ramogida;D. Carnevale","doi":"10.1109/TCST.2025.3619991","DOIUrl":"https://doi.org/10.1109/TCST.2025.3619991","url":null,"abstract":"Maintaining plasma stability in tokamaks presents a key challenge for achieving sustainable nuclear fusion, mainly due to the occurrence of vertical displacement events (VDEs) in elongated plasma configurations. This article proposes a hybrid control framework that dynamically adapts to varying operational conditions through a state-dependent switching policy. The controller combines a nominal control law that ensures high performance under normal conditions with a more aggressive control strategy activated during significant plasma displacements to stabilize the system and mitigate VDEs. The hybrid scheme guarantees local boundedness of the closed-loop system trajectories under significant disturbances while preserving the nominal asymptotic properties of the plant in the presence of small disturbances. An implementation of this framework is applied to a simplified model of plasma vertical position in tokamak devices. Experimental validation on the Frascati Tokamak Upgrade (FTU) device demonstrates the effectiveness of the hybrid controller in extending operational stability limits, outperforming conventional control approaches in high-elongation scenarios.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 1","pages":"474-484"},"PeriodicalIF":3.9,"publicationDate":"2025-10-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145915581","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}
Pub Date : 2025-10-23DOI: 10.1109/TCST.2025.3614685
Simone Fasolato;Matteo Acquarone;Davide M. Raimondo
In this work, a moving horizon estimation (MHE)-based method is developed for estimating battery cells state in parallel-connected modules. Unlike conventional approaches, the proposed method acknowledges the impact of cell-to-cell (CtC) variations and heterogeneity propagation on module performance. A nonlinear observability analysis is performed to assess the feasibility of reconstructing individual cell states from module voltage and current measurements, considering interconnection resistance, state of charge (SOC)-dependent parameters, and different numbers of cells. The results indicate that states are distinguishable when the interconnection resistance is not null, and observability improves as the number of cells in parallel decreases. To the best of our knowledge, this is the first application of MHE in the context of battery modules, validated with real-world battery data. In contrast with conventional estimation methods, this study leverages MHE’s ability to handle equality constraints, allowing for the solution of Kirchhoff’s laws without complicating the module dynamics, maintaining the estimation accuracy. The proposed estimation algorithm demonstrates robustness against measurement noise and model uncertainties, with a maximum SOC error below 2.65%. Furthermore, the MHE results are compared against two widely used observers, the extended Kalman filter (EKF) and unscented Kalman filter (UKF), showing consistently higher estimation accuracy across all experimental conditions.
{"title":"States Estimation for Parallel-Connected Battery Module: A Moving Horizon Approach","authors":"Simone Fasolato;Matteo Acquarone;Davide M. Raimondo","doi":"10.1109/TCST.2025.3614685","DOIUrl":"https://doi.org/10.1109/TCST.2025.3614685","url":null,"abstract":"In this work, a moving horizon estimation (MHE)-based method is developed for estimating battery cells state in parallel-connected modules. Unlike conventional approaches, the proposed method acknowledges the impact of cell-to-cell (CtC) variations and heterogeneity propagation on module performance. A nonlinear observability analysis is performed to assess the feasibility of reconstructing individual cell states from module voltage and current measurements, considering interconnection resistance, state of charge (SOC)-dependent parameters, and different numbers of cells. The results indicate that states are distinguishable when the interconnection resistance is not null, and observability improves as the number of cells in parallel decreases. To the best of our knowledge, this is the first application of MHE in the context of battery modules, validated with real-world battery data. In contrast with conventional estimation methods, this study leverages MHE’s ability to handle equality constraints, allowing for the solution of Kirchhoff’s laws without complicating the module dynamics, maintaining the estimation accuracy. The proposed estimation algorithm demonstrates robustness against measurement noise and model uncertainties, with a maximum SOC error below 2.65%. Furthermore, the MHE results are compared against two widely used observers, the extended Kalman filter (EKF) and unscented Kalman filter (UKF), showing consistently higher estimation accuracy across all experimental conditions.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 1","pages":"355-368"},"PeriodicalIF":3.9,"publicationDate":"2025-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145915616","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}
Pub Date : 2025-10-15DOI: 10.1109/TCST.2025.3616367
Hannes Homburger;Jonathan Frey;Stefan Wirtensohn;Moritz Diehl;Johannes Reuter
The Furuta pendulum’s swing-up and stabilization control is currently used by many researchers to benchmark nonlinear control algorithms. In this brief, we give a systematic overview of important contributions to the control of the Furuta pendulum presented in the last 15 years. Furthermore, we use nonlinear model predictive control (NMPC) to design a real-time capable holistic controller. An optimal control problem (OCP) including a detailed nonlinear system dynamics model is defined, transcribed into a nonlinear optimization problem via direct multiple shooting, and solved in real time on an embedded system using $textsf {acados}$ . A breakthrough concerning the control performance was achieved by the usage of efficient discretization via a nonuniform grid, solving the tradeoff between a long prediction horizon and a fast sample time. The control strategy shows excellent performance in simulation and real-world experiments using a custom-made pendulum prototype. Videos of the experiments are available at: https://www.youtube.com/shorts/oJYyD5beMqM/
{"title":"Millisecond NMPC for Swing-Up and Stabilization of the Furuta Pendulum in Real World","authors":"Hannes Homburger;Jonathan Frey;Stefan Wirtensohn;Moritz Diehl;Johannes Reuter","doi":"10.1109/TCST.2025.3616367","DOIUrl":"https://doi.org/10.1109/TCST.2025.3616367","url":null,"abstract":"The Furuta pendulum’s swing-up and stabilization control is currently used by many researchers to benchmark nonlinear control algorithms. In this brief, we give a systematic overview of important contributions to the control of the Furuta pendulum presented in the last 15 years. Furthermore, we use nonlinear model predictive control (NMPC) to design a real-time capable holistic controller. An optimal control problem (OCP) including a detailed nonlinear system dynamics model is defined, transcribed into a nonlinear optimization problem via direct multiple shooting, and solved in real time on an embedded system using <inline-formula> <tex-math>$textsf {acados}$ </tex-math></inline-formula>. A breakthrough concerning the control performance was achieved by the usage of efficient discretization via a nonuniform grid, solving the tradeoff between a long prediction horizon and a fast sample time. The control strategy shows excellent performance in simulation and real-world experiments using a custom-made pendulum prototype. Videos of the experiments are available at: <uri>https://www.youtube.com/shorts/oJYyD5beMqM/</uri>","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 1","pages":"545-551"},"PeriodicalIF":3.9,"publicationDate":"2025-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145915604","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}
Pub Date : 2025-10-15DOI: 10.1109/TCST.2025.3616704
Giammarco Tonti;Corrado Guarino Lo Bianco
High-precision applications using brushless direct current (BLdc) motors demand accurate angular measurements. However, minor mechanical flaws in commercial sensors introduce nonlinear distortions in position readings, causing torque ripple. Further ripple is generated by slight asymmetries in stator windings and rotor magnets. Typically, sensor nonlinearities are addressed using external equipment, while motor asymmetries are often overlooked and left to the current control loop, which, due to limited bandwidth, cannot fully suppress their effects. This article analyzes both sensor and motor nonlinearities and proposes a compensation technique that requires no additional hardware. It leverages the intrinsic properties of BLdc motors to derive an algebraic correction function for angular measurements. Exploiting the periodicity of the distortions, this function is expressed as a Fourier series. Lower order terms address sensor errors, while higher order terms compensate for motor asymmetries. The experimental validation confirms that the method enhances control performance by reducing current ripple, mechanical vibrations, and energy consumption.
{"title":"Fourier Series Analysis for Mitigating Encoder Nonlinearities and BLdc Motor Asymmetries","authors":"Giammarco Tonti;Corrado Guarino Lo Bianco","doi":"10.1109/TCST.2025.3616704","DOIUrl":"https://doi.org/10.1109/TCST.2025.3616704","url":null,"abstract":"High-precision applications using brushless direct current (BLdc) motors demand accurate angular measurements. However, minor mechanical flaws in commercial sensors introduce nonlinear distortions in position readings, causing torque ripple. Further ripple is generated by slight asymmetries in stator windings and rotor magnets. Typically, sensor nonlinearities are addressed using external equipment, while motor asymmetries are often overlooked and left to the current control loop, which, due to limited bandwidth, cannot fully suppress their effects. This article analyzes both sensor and motor nonlinearities and proposes a compensation technique that requires no additional hardware. It leverages the intrinsic properties of BLdc motors to derive an algebraic correction function for angular measurements. Exploiting the periodicity of the distortions, this function is expressed as a Fourier series. Lower order terms address sensor errors, while higher order terms compensate for motor asymmetries. The experimental validation confirms that the method enhances control performance by reducing current ripple, mechanical vibrations, and energy consumption.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 1","pages":"426-433"},"PeriodicalIF":3.9,"publicationDate":"2025-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11204547","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145915577","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}
Pub Date : 2025-10-15DOI: 10.1109/TCST.2025.3614324
Yuri Shimane;Stefano Di Cairano;Koki Ho;Avishai Weiss
We develop a model predictive control (MPC) policy for station-keeping (SK) on a Near-Rectilinear Halo Orbit (NRHO). The proposed policy achieves full-state tracking of a reference NRHO via a multiple-maneuver control horizon, each spaced one revolution apart to abide by typical mission operation requirements. We prove that the proposed policy is recursively feasible, and perform numerical evaluation in an output-feedback setting by incorporating a navigation filter and realistic operational uncertainties, where the proposed MPC is compared against the state-of-the-art SK algorithm adopted for the Gateway. Our approach successfully maintains the spacecraft in the vicinity of the reference NRHO at a similar cumulative cost as existing SK methods without encountering phase deviation issues, a common drawback of existing methods with one maneuver per revolution.
{"title":"Revolution-Spaced Output-Feedback Model Predictive Control for Station Keeping on Near-Rectilinear Halo Orbits","authors":"Yuri Shimane;Stefano Di Cairano;Koki Ho;Avishai Weiss","doi":"10.1109/TCST.2025.3614324","DOIUrl":"https://doi.org/10.1109/TCST.2025.3614324","url":null,"abstract":"We develop a model predictive control (MPC) policy for station-keeping (SK) on a Near-Rectilinear Halo Orbit (NRHO). The proposed policy achieves full-state tracking of a reference NRHO via a multiple-maneuver control horizon, each spaced one revolution apart to abide by typical mission operation requirements. We prove that the proposed policy is recursively feasible, and perform numerical evaluation in an output-feedback setting by incorporating a navigation filter and realistic operational uncertainties, where the proposed MPC is compared against the state-of-the-art SK algorithm adopted for the Gateway. Our approach successfully maintains the spacecraft in the vicinity of the reference NRHO at a similar cumulative cost as existing SK methods without encountering phase deviation issues, a common drawback of existing methods with one maneuver per revolution.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"34 1","pages":"538-544"},"PeriodicalIF":3.9,"publicationDate":"2025-10-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145915598","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}
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