Pub Date : 2025-03-26DOI: 10.1109/TCST.2025.3550027
Luuk Poort;Lars A. L. Janssen;Bart Besselink;Rob H. B. Fey;Nathan van de Wouw
This article introduces the concept of abstracted model reduction: a framework to improve the tractability of structure-preserving methods for the complexity reduction of interconnected system models. To effectively reduce high-order, interconnected models, it is usually not sufficient to consider the subsystems separately. Instead, structure-preserving reduction methods should be employed, which consider the interconnected dynamics to select which subsystem dynamics to retain in reduction. However, structure-preserving methods are often not computationally tractable. To overcome this issue, we propose to connect each subsystem model to a low-order abstraction of its environment to reduce it both effectively and efficiently. By means of a high-fidelity structural dynamics model from the lithography industry, we show, on the one hand, significantly increased accuracy with respect to standard subsystem reduction and, on the other hand, similar accuracy to direct application of expensive structure-preserving methods, while significantly reducing computational cost. Furthermore, we formulate a systematic approach to automatically determine sufficient abstraction and reduction orders to preserve stability and guarantee a given frequency-dependent error specification. We apply this approach to the lithography equipment use case and show that the environment model can indeed be reduced by over 80% without significant loss in the accuracy of the reduced interconnected model.
{"title":"Abstracted Model Reduction: A General Framework for Efficient Interconnected System Reduction","authors":"Luuk Poort;Lars A. L. Janssen;Bart Besselink;Rob H. B. Fey;Nathan van de Wouw","doi":"10.1109/TCST.2025.3550027","DOIUrl":"https://doi.org/10.1109/TCST.2025.3550027","url":null,"abstract":"This article introduces the concept of abstracted model reduction: a framework to improve the tractability of structure-preserving methods for the complexity reduction of interconnected system models. To effectively reduce high-order, interconnected models, it is usually not sufficient to consider the subsystems separately. Instead, structure-preserving reduction methods should be employed, which consider the interconnected dynamics to select which subsystem dynamics to retain in reduction. However, structure-preserving methods are often not computationally tractable. To overcome this issue, we propose to connect each subsystem model to a low-order abstraction of its environment to reduce it both effectively and efficiently. By means of a high-fidelity structural dynamics model from the lithography industry, we show, on the one hand, significantly increased accuracy with respect to standard subsystem reduction and, on the other hand, similar accuracy to direct application of expensive structure-preserving methods, while significantly reducing computational cost. Furthermore, we formulate a systematic approach to automatically determine sufficient abstraction and reduction orders to preserve stability and guarantee a given frequency-dependent error specification. We apply this approach to the lithography equipment use case and show that the environment model can indeed be reduced by over 80% without significant loss in the accuracy of the reduced interconnected model.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1684-1699"},"PeriodicalIF":3.9,"publicationDate":"2025-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891162","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}
The main goal of energy-efficient train control (EETC) is to devise strategies and methods in order to consume the least amount of energy while respecting the system and the operational constraints. Typically, such problems are tackled by breaking the trajectory into various singular and regular phases. The main focus of this article is to provide a numerically efficient algorithm to solve this problem in a unified way instead of dealing with phases. In this research work, a convex nonlinear model for propulsion power is proposed. Using this model, the EETC problem is formulated as an optimal control problem (OCP) using Pontryagin’s maximum principle (PMP). Maximum effort limitation of the propulsion system, and acceleration and deceleration limits are considered as control constraints. Track speed limits are considered as state constraints. The optimality conditions allow formulating a boundary value problem (BVP). An initialization procedure is proposed, which enables to design continuation procedures (CPs) to solve the BVP. The results are compared with the dynamic programming (DP) solution. A tradeoff analysis between journey time and energy consumption is presented.
{"title":"Eco-Driving of Metro Trains Considering Variable Efficiency of Propulsion System","authors":"Arun Kumar Kantheti;Denis Berdjag;Sébastien Delprat;Aamir Kamran","doi":"10.1109/TCST.2025.3549274","DOIUrl":"https://doi.org/10.1109/TCST.2025.3549274","url":null,"abstract":"The main goal of energy-efficient train control (EETC) is to devise strategies and methods in order to consume the least amount of energy while respecting the system and the operational constraints. Typically, such problems are tackled by breaking the trajectory into various singular and regular phases. The main focus of this article is to provide a numerically efficient algorithm to solve this problem in a unified way instead of dealing with phases. In this research work, a convex nonlinear model for propulsion power is proposed. Using this model, the EETC problem is formulated as an optimal control problem (OCP) using Pontryagin’s maximum principle (PMP). Maximum effort limitation of the propulsion system, and acceleration and deceleration limits are considered as control constraints. Track speed limits are considered as state constraints. The optimality conditions allow formulating a boundary value problem (BVP). An initialization procedure is proposed, which enables to design continuation procedures (CPs) to solve the BVP. The results are compared with the dynamic programming (DP) solution. A tradeoff analysis between journey time and energy consumption is presented.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1616-1626"},"PeriodicalIF":3.9,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891053","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 : 2025-03-20DOI: 10.1109/TCST.2025.3546695
Shunping Huang;Haifeng Zeng;Weiyao Lan;Xiao Yu
This brief addresses the leader-follower formation tracking control problem of nonholonomic mobile robots. The topology of the sensor network is described by a directed spanning tree. Notably, the position-denied case, where the positions of the mobile robots in the global reference frame are unknown, is considered. The unavailability of the positions of the mobile robots makes the formation tracking error not directly accessible. A visual observer is developed to estimate the relative formation tracking error. This observer is designed based on the feedback from odometry, a monocular camera, and an attitude and heading reference system (AHRS). Then, a dynamic visual controller, consisting of the observer and a velocity controller, is proposed. It is proved that the equilibrium of the augmented closed-loop multirobot system is asymptotically stable for any initial states of the robots. Finally, an experiment conducted on multiple mobile-wheeled robots illustrates the effectiveness.
{"title":"Leader-Follower Formation Tracking Control of Mobile Robots: A Visual Observer-Based Approach","authors":"Shunping Huang;Haifeng Zeng;Weiyao Lan;Xiao Yu","doi":"10.1109/TCST.2025.3546695","DOIUrl":"https://doi.org/10.1109/TCST.2025.3546695","url":null,"abstract":"This brief addresses the leader-follower formation tracking control problem of nonholonomic mobile robots. The topology of the sensor network is described by a directed spanning tree. Notably, the position-denied case, where the positions of the mobile robots in the global reference frame are unknown, is considered. The unavailability of the positions of the mobile robots makes the formation tracking error not directly accessible. A visual observer is developed to estimate the relative formation tracking error. This observer is designed based on the feedback from odometry, a monocular camera, and an attitude and heading reference system (AHRS). Then, a dynamic visual controller, consisting of the observer and a velocity controller, is proposed. It is proved that the equilibrium of the augmented closed-loop multirobot system is asymptotically stable for any initial states of the robots. Finally, an experiment conducted on multiple mobile-wheeled robots illustrates the effectiveness.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1937-1945"},"PeriodicalIF":3.9,"publicationDate":"2025-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891240","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 : 2025-03-19DOI: 10.1109/TCST.2025.3566255
Andrew Abney;Chris Vermillion
This brief presents the development of an online iterative learning technique for the optimization of both the flight path parameters and rotor control parameters for an underwater energy-harvesting kite. In this technique, a coupled control parameter space is explored through a switching exploration strategy, whereby only a subset of the total system parameters is adapted at each iteration. This formulation, termed switching economic iterative learning control (se-ILC), seeks to intelligently explore this coupled design space to rapidly converge near the global optimum. This work examines the high-level control of an underwater energy-harvesting kite as an application example of se-ILC. First, we establish generalized performance bounds for economic iterative learning control (e-ILC) in the presence of a time-varying environment subjected to parametric uncertainties. Leveraging an existing dynamic model, we then examine the performance of the se-ILC formulation applied to this specific application example, exploring the coupled path and rotor angular velocity parameter spaces. We demonstrate that the se-ILC strategy enables convergence to within tighter bounds (compared with standard e-ILC) of the true optimum in the presence of an imperfect performance characterization.
{"title":"Switching Economic Iterative Learning for Combined Path and Power Take-Off Control of a Drag-Powered Underwater Kite","authors":"Andrew Abney;Chris Vermillion","doi":"10.1109/TCST.2025.3566255","DOIUrl":"https://doi.org/10.1109/TCST.2025.3566255","url":null,"abstract":"This brief presents the development of an online iterative learning technique for the optimization of both the flight path parameters and rotor control parameters for an underwater energy-harvesting kite. In this technique, a coupled control parameter space is explored through a switching exploration strategy, whereby only a subset of the total system parameters is adapted at each iteration. This formulation, termed switching economic iterative learning control (se-ILC), seeks to intelligently explore this coupled design space to rapidly converge near the global optimum. This work examines the high-level control of an underwater energy-harvesting kite as an application example of se-ILC. First, we establish generalized performance bounds for economic iterative learning control (e-ILC) in the presence of a time-varying environment subjected to parametric uncertainties. Leveraging an existing dynamic model, we then examine the performance of the se-ILC formulation applied to this specific application example, exploring the coupled path and rotor angular velocity parameter spaces. We demonstrate that the se-ILC strategy enables convergence to within tighter bounds (compared with standard e-ILC) of the true optimum in the presence of an imperfect performance characterization.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1960-1966"},"PeriodicalIF":3.9,"publicationDate":"2025-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891161","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 : 2025-03-19DOI: 10.1109/TCST.2025.3564884
Zakia Ahmed;Craig A. Woolsey
This article presents the design and implementation of an invariant extended Kalman filter (EKF) for wind estimation using a small, fixed-wing uncrewed aerial vehicle (UAV). First, it is shown that the UAV’s dynamics, extended to include a trivial model for the wind velocity dynamics, are invariant with respect to the Lie group $text {SE}(3)$ , the special Euclidean group of rigid transformations. It is also shown that an output comprising the vehicle’s inertial state and airspeed is equivariant with respect to $text {SE}(3)$ . Based on these analysis results, an invariant EKF is then designed for the extended state equations and is implemented on experimental flight data. Wind estimates from the invariant EKF are compared with estimates obtained using a conventional EKF for two nominal aircraft motions: constant altitude, wings level flight, and constant altitude turning flight. The obtained wind estimates are then compared with wind measurements reconstructed using data from the aircraft’s air data unit comprising an angle of attack (AoA) flow vane, flank angle flow vane, and Kiel probe. The experimental results corroborate the expectation that the invariant EKF outperforms a conventional EKF in wind estimation accuracy.
{"title":"An Invariant Extended Kalman Filter for Wind Estimation Using a Small, Fixed-Wing Uncrewed Aerial Vehicle","authors":"Zakia Ahmed;Craig A. Woolsey","doi":"10.1109/TCST.2025.3564884","DOIUrl":"https://doi.org/10.1109/TCST.2025.3564884","url":null,"abstract":"This article presents the design and implementation of an invariant extended Kalman filter (EKF) for wind estimation using a small, fixed-wing uncrewed aerial vehicle (UAV). First, it is shown that the UAV’s dynamics, extended to include a trivial model for the wind velocity dynamics, are invariant with respect to the Lie group <inline-formula> <tex-math>$text {SE}(3)$ </tex-math></inline-formula>, the special Euclidean group of rigid transformations. It is also shown that an output comprising the vehicle’s inertial state and airspeed is equivariant with respect to <inline-formula> <tex-math>$text {SE}(3)$ </tex-math></inline-formula>. Based on these analysis results, an invariant EKF is then designed for the extended state equations and is implemented on experimental flight data. Wind estimates from the invariant EKF are compared with estimates obtained using a conventional EKF for two nominal aircraft motions: constant altitude, wings level flight, and constant altitude turning flight. The obtained wind estimates are then compared with wind measurements reconstructed using data from the aircraft’s air data unit comprising an angle of attack (AoA) flow vane, flank angle flow vane, and Kiel probe. The experimental results corroborate the expectation that the invariant EKF outperforms a conventional EKF in wind estimation accuracy.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1799-1809"},"PeriodicalIF":3.9,"publicationDate":"2025-03-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891200","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}
Chance constrained stochastic model predictive controllers (CC-SMPCs) tradeoff full constraint satisfaction for economical plant performance under uncertainty. Previous CC-SMPC works are over-conservative in constraint violations leading to worse economic performance. Other past works require a priori information about the uncertainty set, limiting their application. This article considers a discrete linear time-invariant (LTI) system with hard constraints on inputs and chance constraints on states, with unknown uncertainty distribution, statistics, or samples. This work proposes a novel adaptive online update rule to relax the state constraints based on the time average of past constraint violations, to achieve reduced conservativeness in closed-loop. Under an ideal control policy assumption, it is proven that the time average of constraint violations asymptotically converges to the maximum allowed violation probability. The method is applied for optimal battery energy storage system (BESS) dispatch in a grid-connected microgrid (MG) with photovoltaic (PV) generation and load demand, with chance constraints on BESS state of charge (SOC). Realistic simulations show the superior electricity cost-saving potential of the proposed method as compared with the traditional economic model predictive control (EMPC) without chance constraints, and a state-of-the-art approach with chance constraints. We satisfy the chance constraints nonconservatively in closed-loop, effectively trading off increased cost savings with minimal adverse effects on BESS lifetime.
{"title":"Adaptive Relaxation-Based Nonconservative Chance Constrained Stochastic MPC","authors":"Avik Ghosh;Cristian Cortes-Aguirre;Yi-An Chen;Adil Khurram;Jan Kleissl","doi":"10.1109/TCST.2025.3547260","DOIUrl":"https://doi.org/10.1109/TCST.2025.3547260","url":null,"abstract":"Chance constrained stochastic model predictive controllers (CC-SMPCs) tradeoff full constraint satisfaction for economical plant performance under uncertainty. Previous CC-SMPC works are over-conservative in constraint violations leading to worse economic performance. Other past works require a priori information about the uncertainty set, limiting their application. This article considers a discrete linear time-invariant (LTI) system with hard constraints on inputs and chance constraints on states, with unknown uncertainty distribution, statistics, or samples. This work proposes a novel adaptive online update rule to relax the state constraints based on the time average of past constraint violations, to achieve reduced conservativeness in closed-loop. Under an ideal control policy assumption, it is proven that the time average of constraint violations asymptotically converges to the maximum allowed violation probability. The method is applied for optimal battery energy storage system (BESS) dispatch in a grid-connected microgrid (MG) with photovoltaic (PV) generation and load demand, with chance constraints on BESS state of charge (SOC). Realistic simulations show the superior electricity cost-saving potential of the proposed method as compared with the traditional economic model predictive control (EMPC) without chance constraints, and a state-of-the-art approach with chance constraints. We satisfy the chance constraints nonconservatively in closed-loop, effectively trading off increased cost savings with minimal adverse effects on BESS lifetime.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1543-1559"},"PeriodicalIF":3.9,"publicationDate":"2025-03-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891066","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 : 2025-03-16DOI: 10.1109/TCST.2025.3566560
Hisayoshi Muramatsu
Periodic disturbances composed of harmonics typically occur during periodic operations, impairing the performance of mechanical and electrical systems. To improve the performance, control of periodic-disturbance suppression has been studied, such as repetitive control and periodic-disturbance observers. However, actual periodic disturbances are typically quasiperiodic owing to perturbations in each cycle, identification errors of the period, variations in the period, and/or aperiodic disturbances. For robustness against quasiperiodicity, although wideband harmonic suppression is expected, conventional methods have tradeoffs among harmonic suppression bandwidth, amplification of aperiodic disturbances, and deviation of harmonic suppression frequencies. This article proposes a quasiperiodic disturbance observer (QDOB) to compensate for quasiperiodic disturbances while simultaneously achieving the wideband harmonic suppression, nonamplification of aperiodic disturbances, and proper harmonic suppression frequencies. A quasiperiodic disturbance is defined as comprising harmonics and surrounding signals. On the basis of this definition, the QDOB is designed using a periodic-pass filter of a first-order periodic/aperiodic separation filter for its Q-filter, time delay integrated with a zero-phase low-pass filter, and an inverse plant model with a first-order low-pass filter. The periodic-pass filter achieves the wideband harmonic suppression while the zero-phase and first-order low-pass filters prevent the amplification of aperiodic disturbances and deviation of harmonic suppression frequencies. For the implementation, the Q-filter is discretized by an exact mapping of the s-plane to the z-plane, and the inverse plant model is discretized by the backward Euler method. The experiments validated the frequency response and position-control precision of the QDOB while comparing it with conventional methods.
{"title":"Quasiperiodic Disturbance Observer for Wideband Harmonic Suppression","authors":"Hisayoshi Muramatsu","doi":"10.1109/TCST.2025.3566560","DOIUrl":"https://doi.org/10.1109/TCST.2025.3566560","url":null,"abstract":"Periodic disturbances composed of harmonics typically occur during periodic operations, impairing the performance of mechanical and electrical systems. To improve the performance, control of periodic-disturbance suppression has been studied, such as repetitive control and periodic-disturbance observers. However, actual periodic disturbances are typically quasiperiodic owing to perturbations in each cycle, identification errors of the period, variations in the period, and/or aperiodic disturbances. For robustness against quasiperiodicity, although wideband harmonic suppression is expected, conventional methods have tradeoffs among harmonic suppression bandwidth, amplification of aperiodic disturbances, and deviation of harmonic suppression frequencies. This article proposes a quasiperiodic disturbance observer (QDOB) to compensate for quasiperiodic disturbances while simultaneously achieving the wideband harmonic suppression, nonamplification of aperiodic disturbances, and proper harmonic suppression frequencies. A quasiperiodic disturbance is defined as comprising harmonics and surrounding signals. On the basis of this definition, the QDOB is designed using a periodic-pass filter of a first-order periodic/aperiodic separation filter for its Q-filter, time delay integrated with a zero-phase low-pass filter, and an inverse plant model with a first-order low-pass filter. The periodic-pass filter achieves the wideband harmonic suppression while the zero-phase and first-order low-pass filters prevent the amplification of aperiodic disturbances and deviation of harmonic suppression frequencies. For the implementation, the Q-filter is discretized by an exact mapping of the s-plane to the z-plane, and the inverse plant model is discretized by the backward Euler method. The experiments validated the frequency response and position-control precision of the QDOB while comparing it with conventional methods.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1895-1904"},"PeriodicalIF":3.9,"publicationDate":"2025-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11006295","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891022","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 : 2025-03-13DOI: 10.1109/TCST.2025.3547257
Zhenhua Wang;Danxu Lian;Vicenç Puig;Yi Shen
Brushless direct-current (BLdc) motors are pivotal in electric vehicles, drones, and industrial systems due to their high efficiency and reliability. However, faults in stators, rotors, or inverters may degrade performance. In this article, we focus on the problem of model-based fault detection of BLdc motors. First, a high-fidelity model of the BLdc motor is developed, explicitly incorporating inverter switching behaviors, winding, back EMF, rotor inertia, and Hall sensors, which is formulated as a discrete-time-varying descriptor system. Based on this model, a fault detection method is proposed using a set-membership estimation theory. The proposed BLdc motor model has higher fidelity, and the fault detection method has more relaxed design conditions. Finally, a hardware-in-the-loop (HIL) platform, including a BLdc motor, is established. After that, the platform is used to validate the fidelity of the proposed BLdc motor model and the effectiveness of the fault detection method.
{"title":"Fault Detection for Brushless Direct-Current Motor Using Descriptor System-Based Set-Membership Estimation","authors":"Zhenhua Wang;Danxu Lian;Vicenç Puig;Yi Shen","doi":"10.1109/TCST.2025.3547257","DOIUrl":"https://doi.org/10.1109/TCST.2025.3547257","url":null,"abstract":"Brushless direct-current (BLdc) motors are pivotal in electric vehicles, drones, and industrial systems due to their high efficiency and reliability. However, faults in stators, rotors, or inverters may degrade performance. In this article, we focus on the problem of model-based fault detection of BLdc motors. First, a high-fidelity model of the BLdc motor is developed, explicitly incorporating inverter switching behaviors, winding, back EMF, rotor inertia, and Hall sensors, which is formulated as a discrete-time-varying descriptor system. Based on this model, a fault detection method is proposed using a set-membership estimation theory. The proposed BLdc motor model has higher fidelity, and the fault detection method has more relaxed design conditions. Finally, a hardware-in-the-loop (HIL) platform, including a BLdc motor, is established. After that, the platform is used to validate the fidelity of the proposed BLdc motor model and the effectiveness of the fault detection method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1640-1650"},"PeriodicalIF":3.9,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891244","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}
This article investigates the nonlinear model predictive control (NMPC) for electric bus operations (EBOs) under dynamic environments, based on the generalized disjunctive programming (GDP) method. Specifically, we construct discrete-event model to capture the dynamic of bus traffic, passenger load, and current electricity. With the safety constraints, we incorporate algebraic equations, disjunctions, and logical propositions to formulate a nonconvex GDP model, for the nonlinear optimal control problem with both discrete and continuous components. Tailored to the nonlinearity and disjunctions, we design a GDP-based branch and bound (GDPB) algorithm with domain reduction under the model prediction control scheme. The main idea entails branching on constraints regarding disjunctive terms and spatial disjunctions, to convert the complex original problem with discrete and continuous variables as well as nonlinear and nonconvex constraints and cost functions into quadratic programming (QP) subproblems with reduced domains. It can ensure the rapid attainment of exact solutions for embedded applications. Extensive experiments confirm the effectiveness of the proposed control (PC) method. Additionally, the solution algorithm demonstrates desirable computational efficiency, suitable for online implementations.
{"title":"Nonlinear Model Predictive Control for Electric Bus Operations Based on Generalized Disjunctive Programming Method","authors":"Yin Yuan;Shukai Li;Chengpu Yu;Lixing Yang;Ziyou Gao","doi":"10.1109/TCST.2025.3560220","DOIUrl":"https://doi.org/10.1109/TCST.2025.3560220","url":null,"abstract":"This article investigates the nonlinear model predictive control (NMPC) for electric bus operations (EBOs) under dynamic environments, based on the generalized disjunctive programming (GDP) method. Specifically, we construct discrete-event model to capture the dynamic of bus traffic, passenger load, and current electricity. With the safety constraints, we incorporate algebraic equations, disjunctions, and logical propositions to formulate a nonconvex GDP model, for the nonlinear optimal control problem with both discrete and continuous components. Tailored to the nonlinearity and disjunctions, we design a GDP-based branch and bound (GDPB) algorithm with domain reduction under the model prediction control scheme. The main idea entails branching on constraints regarding disjunctive terms and spatial disjunctions, to convert the complex original problem with discrete and continuous variables as well as nonlinear and nonconvex constraints and cost functions into quadratic programming (QP) subproblems with reduced domains. It can ensure the rapid attainment of exact solutions for embedded applications. Extensive experiments confirm the effectiveness of the proposed control (PC) method. Additionally, the solution algorithm demonstrates desirable computational efficiency, suitable for online implementations.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 5","pages":"1820-1834"},"PeriodicalIF":3.9,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144891204","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 : 2025-03-13DOI: 10.1109/TCST.2025.3545381
Agapius Bou Ghosn;Philip Polack;Arnaud de La Fortelle
Model validity is key to the accurate and safe behavior of autonomous vehicles. Using invalid vehicle models in different plan and control vehicle frameworks puts the stability of the vehicle and, thus, its safety at stake. In this work, we analyze the validity of several popular vehicle models used in the literature with respect to a real vehicle and we prove that serious accuracy issues are encountered beyond a specific lateral acceleration point. We set a clear lateral acceleration domain, in which the used models are an accurate representation of the behavior of the vehicle. We then target the necessity of using learned methods to model the vehicle’s behavior. The effects of model validity on state observers are investigated. The performance of model-based observers is compared to learning-based ones. Overall, this work emphasizes the validity of vehicle models and presents clear operational domains in which models could be used safely.
{"title":"Model Validity in Observers: When to Increase the Complexity of Your Model?","authors":"Agapius Bou Ghosn;Philip Polack;Arnaud de La Fortelle","doi":"10.1109/TCST.2025.3545381","DOIUrl":"https://doi.org/10.1109/TCST.2025.3545381","url":null,"abstract":"Model validity is key to the accurate and safe behavior of autonomous vehicles. Using invalid vehicle models in different plan and control vehicle frameworks puts the stability of the vehicle and, thus, its safety at stake. In this work, we analyze the validity of several popular vehicle models used in the literature with respect to a real vehicle and we prove that serious accuracy issues are encountered beyond a specific lateral acceleration point. We set a clear lateral acceleration domain, in which the used models are an accurate representation of the behavior of the vehicle. We then target the necessity of using learned methods to model the vehicle’s behavior. The effects of model validity on state observers are investigated. The performance of model-based observers is compared to learning-based ones. Overall, this work emphasizes the validity of vehicle models and presents clear operational domains in which models could be used safely.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1037-1050"},"PeriodicalIF":4.9,"publicationDate":"2025-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883470","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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