This work develops novel machine learning modeling and predictive control techniques for nonlinear chemical systems that experience asynchronous and delayed measurements that result in missingness in both offline and online data collections. Specifically, a phased long short-term memory (PLSTM) network is used to learn the process dynamics amidst the missingness in the data measurements, during the offline training process. The generalization performance of PLSTM is theoretically studied on the basis of statistical machine learning theory to better understand the capabilities of PLSTM models. The PLSTM model is subsequently employed to forecast the evolution of states for a Lyapunov-based model predictive control (LMPC). The proposed PLSTM-based LMPC is designed to account for data loss and delays in real-time implementation, and guarantees the closed-loop stability of nonlinear systems subjected to missing real-time data, provided that there is an upper bound on the number of consecutively missing real-time data. Finally, two chemical processes including an extractive dividing wall column (EDWC) and a continuous stirred tank reactor (CSTR) are used to demonstrate the effectiveness of PLSTM modeling and predictive control methods.
{"title":"Phased Long Short-Term Memory-Based Predictive Control of Chemical Processes With Asynchronous and Delayed Measurements","authors":"Wanlu Wu;Yujia Wang;Haohao Zhang;Ming-Qing Zhang;Min-Sen Chiu;Zhe Wu","doi":"10.1109/TCST.2025.3587908","DOIUrl":"https://doi.org/10.1109/TCST.2025.3587908","url":null,"abstract":"This work develops novel machine learning modeling and predictive control techniques for nonlinear chemical systems that experience asynchronous and delayed measurements that result in missingness in both offline and online data collections. Specifically, a phased long short-term memory (PLSTM) network is used to learn the process dynamics amidst the missingness in the data measurements, during the offline training process. The generalization performance of PLSTM is theoretically studied on the basis of statistical machine learning theory to better understand the capabilities of PLSTM models. The PLSTM model is subsequently employed to forecast the evolution of states for a Lyapunov-based model predictive control (LMPC). The proposed PLSTM-based LMPC is designed to account for data loss and delays in real-time implementation, and guarantees the closed-loop stability of nonlinear systems subjected to missing real-time data, provided that there is an upper bound on the number of consecutively missing real-time data. Finally, two chemical processes including an extractive dividing wall column (EDWC) and a continuous stirred tank reactor (CSTR) are used to demonstrate the effectiveness of PLSTM modeling and predictive control methods.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2439-2454"},"PeriodicalIF":3.9,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11084944","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145339686","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 : 2025-07-17DOI: 10.1109/TCST.2025.3587878
Di Liu;Simone Baldi;Kang Yang;Alessandro Astolfi
This work discusses how a large set of longitudinal vehicular platooning protocols proposed in the literature can be augmented, in the framework of immersion and invariance (I&I), with adaptation and partial-state feedback capabilities. The need for adaptation stems from uncertainty and heterogeneity of the vehicle driveline time constants; the need for partial-state feedback stems from tradeoffs in the intervehicle sensing technology. The presented I&I designs yield disturbance decoupling, a system-theoretic property guaranteeing string stability and collision avoidance specifications, crucial in platooning. The proposed protocols are discussed analytically and validated using different traffic scenarios in the Simulation of Urban MObility-Veins (SUMO-Veins) platform for vehicular networks and using data from a traffic smoothing field experiment.
{"title":"Equipping Vehicular Platoons With Partial-State Immersion and Invariance Adaptation","authors":"Di Liu;Simone Baldi;Kang Yang;Alessandro Astolfi","doi":"10.1109/TCST.2025.3587878","DOIUrl":"https://doi.org/10.1109/TCST.2025.3587878","url":null,"abstract":"This work discusses how a large set of longitudinal vehicular platooning protocols proposed in the literature can be augmented, in the framework of immersion and invariance (I&I), with adaptation and partial-state feedback capabilities. The need for adaptation stems from uncertainty and heterogeneity of the vehicle driveline time constants; the need for partial-state feedback stems from tradeoffs in the intervehicle sensing technology. The presented I&I designs yield disturbance decoupling, a system-theoretic property guaranteeing string stability and collision avoidance specifications, crucial in platooning. The proposed protocols are discussed analytically and validated using different traffic scenarios in the Simulation of Urban MObility-Veins (SUMO-Veins) platform for vehicular networks and using data from a traffic smoothing field experiment.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2378-2392"},"PeriodicalIF":3.9,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145339714","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 : 2025-07-14DOI: 10.1109/TCST.2025.3585086
M. Cody Priess
This brief provides a novel approach for online synthesis of predictive control barrier function (CBF)-based safety filters and controllers for differentially flat, input-constrained systems. A local convex approximation to the safe set is inflated around the current system state and used to formulate a set of discrete-time affine CBF constraints. These constraints are enforced over a finite prediction horizon using a discrete-time convex model predictive control (MPC) formulation that can be solved at each sample instant. This approach is tractable for cases when the original safe set is defined by one or more concave or convex-ellipsoidal barrier functions, and is applicable even when the number or configuration of these barriers can change during runtime. This methodology is extended to enable simultaneous control Lyapunov function (CLF) enforcement within the same MPC framework, and both approaches are demonstrated in simulation.
{"title":"A Convex Model Predictive Control Barrier Function Approach for Differentially Flat Systems","authors":"M. Cody Priess","doi":"10.1109/TCST.2025.3585086","DOIUrl":"https://doi.org/10.1109/TCST.2025.3585086","url":null,"abstract":"This brief provides a novel approach for online synthesis of predictive control barrier function (CBF)-based safety filters and controllers for differentially flat, input-constrained systems. A local convex approximation to the safe set is inflated around the current system state and used to formulate a set of discrete-time affine CBF constraints. These constraints are enforced over a finite prediction horizon using a discrete-time convex model predictive control (MPC) formulation that can be solved at each sample instant. This approach is tractable for cases when the original safe set is defined by one or more concave or convex-ellipsoidal barrier functions, and is applicable even when the number or configuration of these barriers can change during runtime. This methodology is extended to enable simultaneous control Lyapunov function (CLF) enforcement within the same MPC framework, and both approaches are demonstrated in simulation.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2470-2475"},"PeriodicalIF":3.9,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145341057","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 : 2025-07-10DOI: 10.1109/TCST.2025.3583619
Xianghua Wang;Chee Pin Tan;Youqing Wang;Qingyuan Qi;Xiangrong Wang
This brief presents a novel active fault-tolerant control (FTC) scheme for an unstable three-degree-of-freedom (3-DOF) helicopter subject to motor faults. The helicopter is instrumented only with angular position sensors and has no independent velocity sensors, which makes its FTC design more challenging. Although some works have developed FTC for helicopters using only angular information, they required stringent assumptions on the system. To circumvent this problem, a reduced-order sliding mode observer (SMO) is first introduced to obtain auxiliary signals, which become the outputs of an analytical system. Next, an interval observer (IO) is designed for the analytical system, and a fault-tolerant controller is established, and their parameters are jointly optimized to ensure that the helicopter performs at an acceptable level, whether there is a fault or not. The IOs use adaptive parameters, which provide tighter bounds, resulting in more accurate estimation of faults. Finally, simulations and experiments on a 3-DOF helicopter platform are conducted to demonstrate the efficacy of our proposed scheme.
{"title":"Adaptive Interval Observer-Based Fault-Tolerant Control for a 3-DOF Helicopter Without Angular Velocity Measurement","authors":"Xianghua Wang;Chee Pin Tan;Youqing Wang;Qingyuan Qi;Xiangrong Wang","doi":"10.1109/TCST.2025.3583619","DOIUrl":"https://doi.org/10.1109/TCST.2025.3583619","url":null,"abstract":"This brief presents a novel active fault-tolerant control (FTC) scheme for an unstable three-degree-of-freedom (3-DOF) helicopter subject to motor faults. The helicopter is instrumented only with angular position sensors and has no independent velocity sensors, which makes its FTC design more challenging. Although some works have developed FTC for helicopters using only angular information, they required stringent assumptions on the system. To circumvent this problem, a reduced-order sliding mode observer (SMO) is first introduced to obtain auxiliary signals, which become the outputs of an analytical system. Next, an interval observer (IO) is designed for the analytical system, and a fault-tolerant controller is established, and their parameters are jointly optimized to ensure that the helicopter performs at an acceptable level, whether there is a fault or not. The IOs use adaptive parameters, which provide tighter bounds, resulting in more accurate estimation of faults. Finally, simulations and experiments on a 3-DOF helicopter platform are conducted to demonstrate the efficacy of our proposed scheme.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2476-2482"},"PeriodicalIF":3.9,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145339727","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 : 2025-07-04DOI: 10.1109/TCST.2025.3583427
Gaurav Singh Bhati;Arukonda Vaishnavi;Anoop Jain
This brief addresses the problem of safe circumnavigation around a hostile target by a nonholonomic robot, with the objective of maintaining a desired safe distance from the target. Our solution approach involves incorporating an auxiliary circle into the problem formulation, which assists in navigating the robot around the target using available range-based measurements. By leveraging the concept of a barrier Lyapunov function (BLF), we propose a novel control law that ensures stable circumnavigation around the target while preventing the robot from entering the safety circle. This controller is designed based on a parameter that depends on the radii of three circles, namely the stabilizing circle, the auxiliary circle, and the safety circle. By identifying an appropriate range for this design parameter, we rigorously prove the stability of the desired equilibrium of the closed-loop system. Additionally, we provide an analysis of the robot’s motion within the auxiliary circle, which is influenced by a gain parameter in the proposed controller. Simulation and experimental results validate the theoretical findings.
{"title":"Safe Circumnavigation of a Hostile Target Using Range-Based Measurements","authors":"Gaurav Singh Bhati;Arukonda Vaishnavi;Anoop Jain","doi":"10.1109/TCST.2025.3583427","DOIUrl":"https://doi.org/10.1109/TCST.2025.3583427","url":null,"abstract":"This brief addresses the problem of safe circumnavigation around a hostile target by a nonholonomic robot, with the objective of maintaining a desired safe distance from the target. Our solution approach involves incorporating an auxiliary circle into the problem formulation, which assists in navigating the robot around the target using available range-based measurements. By leveraging the concept of a barrier Lyapunov function (BLF), we propose a novel control law that ensures stable circumnavigation around the target while preventing the robot from entering the safety circle. This controller is designed based on a parameter that depends on the radii of three circles, namely the <italic>stabilizing circle</i>, the <italic>auxiliary circle</i>, and the <italic>safety circle</i>. By identifying an appropriate range for this design parameter, we rigorously prove the stability of the desired equilibrium of the closed-loop system. Additionally, we provide an analysis of the robot’s motion within the auxiliary circle, which is influenced by a gain parameter in the proposed controller. Simulation and experimental results validate the theoretical findings.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2483-2489"},"PeriodicalIF":3.9,"publicationDate":"2025-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145341068","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 : 2025-06-27DOI: 10.1109/TCST.2025.3558117
Alexander Katriniok;Emilia Silvas;Francesco Borrelli;Mario Zanon;Jana Tumova;Saverio Bolognani;Yuxiao Chen
{"title":"Guest Editorial Special Issue on Intelligent Decision-Making, Motion Planning, and Control of Automated Vehicles in Interaction-Driven Traffic Scenarios","authors":"Alexander Katriniok;Emilia Silvas;Francesco Borrelli;Mario Zanon;Jana Tumova;Saverio Bolognani;Yuxiao Chen","doi":"10.1109/TCST.2025.3558117","DOIUrl":"https://doi.org/10.1109/TCST.2025.3558117","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 4","pages":"1144-1150"},"PeriodicalIF":4.9,"publicationDate":"2025-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11054066","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144502817","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 : 2025-06-03DOI: 10.1109/TCST.2025.3571601
Bence Szaksz;Gábor Orosz;Gabor Stepan
This brief investigates the guidance of a human driver via an automated lead vehicle, when the automated vehicle is not only responding to a reference velocity but it also takes into account the speed of the subsequent human-driven vehicle (HV). To verify the theoretical results, a human-in-the-loop (HITL) simulation environment is developed, in which a graphical interface illustrates the automated vehicle ahead, while the human operator controls the velocity of the following vehicle via the accelerator and brake pedals. Nine human drivers were involved in the experiments, each of them carried out the driving task for 79 control gain combinations of the automated vehicle. Based on the measurement data, the parameters of the human driver model were estimated using the sweeping least squares method; the measurement results confirmed the applicability of the theoretical model in designing advanced traffic control strategies.
{"title":"Guided Control of Human Drivers: Control Design and Experiments","authors":"Bence Szaksz;Gábor Orosz;Gabor Stepan","doi":"10.1109/TCST.2025.3571601","DOIUrl":"https://doi.org/10.1109/TCST.2025.3571601","url":null,"abstract":"This brief investigates the guidance of a human driver via an automated lead vehicle, when the automated vehicle is not only responding to a reference velocity but it also takes into account the speed of the subsequent human-driven vehicle (HV). To verify the theoretical results, a human-in-the-loop (HITL) simulation environment is developed, in which a graphical interface illustrates the automated vehicle ahead, while the human operator controls the velocity of the following vehicle via the accelerator and brake pedals. Nine human drivers were involved in the experiments, each of them carried out the driving task for 79 control gain combinations of the automated vehicle. Based on the measurement data, the parameters of the human driver model were estimated using the sweeping least squares method; the measurement results confirmed the applicability of the theoretical model in designing advanced traffic control strategies.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2455-2462"},"PeriodicalIF":3.9,"publicationDate":"2025-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145339698","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 : 2025-06-03DOI: 10.1109/TCST.2025.3573665
Irene Schimperna;Alberto Rubino;Lalo Magni
In this brief, the use of velocity form model predictive control (MPC) for the control of currents in synchronous reluctance motors is studied. Stability is guaranteed by means of a terminal equality constraint, and an artificial reference is introduced in the optimization problem to enlarge the feasibility region and to improve the performances of the closed loop. The velocity formulation of the MPC guarantees zero tracking error in the presence of model uncertainties. The velocity form MPC algorithm is compared, in simulation, with a standard control strategy based on decoupling and proportional-integral (PI) controllers and with a classic MPC, also in the presence of uncertainties in the inductance values of the motor model. The velocity form MPC shows better performances in the presence of model uncertainties and does not require the knowledge of the relationship between the inductances and the currents for its implementation.
{"title":"Velocity Form MPC for Current Control in Synchronous Reluctance Motors","authors":"Irene Schimperna;Alberto Rubino;Lalo Magni","doi":"10.1109/TCST.2025.3573665","DOIUrl":"https://doi.org/10.1109/TCST.2025.3573665","url":null,"abstract":"In this brief, the use of velocity form model predictive control (MPC) for the control of currents in synchronous reluctance motors is studied. Stability is guaranteed by means of a terminal equality constraint, and an artificial reference is introduced in the optimization problem to enlarge the feasibility region and to improve the performances of the closed loop. The velocity formulation of the MPC guarantees zero tracking error in the presence of model uncertainties. The velocity form MPC algorithm is compared, in simulation, with a standard control strategy based on decoupling and proportional-integral (PI) controllers and with a classic MPC, also in the presence of uncertainties in the inductance values of the motor model. The velocity form MPC shows better performances in the presence of model uncertainties and does not require the knowledge of the relationship between the inductances and the currents for its implementation.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 6","pages":"2463-2469"},"PeriodicalIF":3.9,"publicationDate":"2025-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145341075","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 : 2025-04-30DOI: 10.1109/TCST.2025.3560569
Sina Ameli;Olugbenga Moses Anubi;Fang Peng
In this article, we propose and solve a robust control problem (RCP) for inverter-based resources (IBRs) under grid-forming operation to regulate the voltage and frequency. One major challenge is to mitigate the effect of unmeasurable load current disturbance and grid and load parametric uncertainties. Moreover, strong coupling between the state variables on both the ac and dc sides, as well as between the modulating control input and the frequency impose additional challenges. To address these challenges, first, an RCP is solved at the high level via transformation into an equivalent, but more tractable, optimal control problem (OCP). Then, in the middle layer, a voltage control law is designed on the one side, and a frequency control law on the other side. Finally, an inverter filter current controller is designed to complete the controller design. Theoretical results are derived to provide stability guarantees for the resulting closed-loop system. Specifically, we show that the inverter current injection error is dissipative, the frequency error is semi-globally asymptotically stable, and the inverter terminal voltage error is globally asymptotically stable, all with provided sufficient conditions. Numerical simulation experiments are used to validate the theoretical claims. Furthermore, the developed controller is compared with existing work in the literature to show the efficacy of the proposed approach.
{"title":"Robust Optimal Control of Inverter-Based Resources Under Grid-Forming Operation","authors":"Sina Ameli;Olugbenga Moses Anubi;Fang Peng","doi":"10.1109/TCST.2025.3560569","DOIUrl":"https://doi.org/10.1109/TCST.2025.3560569","url":null,"abstract":"In this article, we propose and solve a robust control problem (RCP) for inverter-based resources (IBRs) under grid-forming operation to regulate the voltage and frequency. One major challenge is to mitigate the effect of unmeasurable load current disturbance and grid and load parametric uncertainties. Moreover, strong coupling between the state variables on both the ac and dc sides, as well as between the modulating control input and the frequency impose additional challenges. To address these challenges, first, an RCP is solved at the high level via transformation into an equivalent, but more tractable, optimal control problem (OCP). Then, in the middle layer, a voltage control law is designed on the one side, and a frequency control law on the other side. Finally, an inverter filter current controller is designed to complete the controller design. Theoretical results are derived to provide stability guarantees for the resulting closed-loop system. Specifically, we show that the inverter current injection error is dissipative, the frequency error is semi-globally asymptotically stable, and the inverter terminal voltage error is globally asymptotically stable, all with provided sufficient conditions. Numerical simulation experiments are used to validate the theoretical claims. Furthermore, the developed controller is compared with existing work in the literature to show the efficacy of the proposed approach.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1851-1863"},"PeriodicalIF":3.9,"publicationDate":"2025-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891198","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 : 2025-04-28DOI: 10.1109/TCST.2025.3558870
Jacob B. Fine;Peter Newell;Kavin Govindarajan;Carson McGuire;Paul Paris;Gabriel Matthias;Mary Maceda;Jonathan Baxter;Kenneth Granlund;Matthew Bryant;Chris Vermillion
In this work, a methodology for controlling the flight of an underwater energy-harvesting kite, termed enhanced orientation-based control, is presented. This control technique is shown to perform comparably to more complex, hierarchical path-following control approaches that rely upon expensive and unreliable localization sensors while performing significantly better than simple orientation-based controllers that possess a comparable degree of complexity. The periodic closed-loop stability of a kite utilizing the proposed controller is validated in a low-order simulation framework. From there, the performance of the proposed controller is benchmarked against established control techniques via a medium-fidelity simulation environment. Finally, the efficacy of the proposed controller design is demonstrated experimentally based on two testing results on a scaled prototype kite.
{"title":"Analysis and Experimental Validation of a Low-Complexity Enhanced Orientation-Based Controller for Tethered Energy-Harvesting Systems","authors":"Jacob B. Fine;Peter Newell;Kavin Govindarajan;Carson McGuire;Paul Paris;Gabriel Matthias;Mary Maceda;Jonathan Baxter;Kenneth Granlund;Matthew Bryant;Chris Vermillion","doi":"10.1109/TCST.2025.3558870","DOIUrl":"https://doi.org/10.1109/TCST.2025.3558870","url":null,"abstract":"In this work, a methodology for controlling the flight of an underwater energy-harvesting kite, termed enhanced orientation-based control, is presented. This control technique is shown to perform comparably to more complex, hierarchical path-following control approaches that rely upon expensive and unreliable localization sensors while performing significantly better than simple orientation-based controllers that possess a comparable degree of complexity. The periodic closed-loop stability of a kite utilizing the proposed controller is validated in a low-order simulation framework. From there, the performance of the proposed controller is benchmarked against established control techniques via a medium-fidelity simulation environment. Finally, the efficacy of the proposed controller design is demonstrated experimentally based on two testing results on a scaled prototype kite.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1743-1756"},"PeriodicalIF":3.9,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891023","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：