Pub Date : 2025-02-04DOI: 10.1109/TCST.2025.3533315
S. A. N. Nouwens;M. M. Paulides;W. P. M. H. Heemels
During a mild hyperthermia treatment, tumors are heated to temperatures ranging from $39~^{circ } $ C to $45~^{circ } $ C for 60–90 min. This thermal therapy can be a successful adjuvant to conventional cancer treatments such as chemotherapy and radiotherapy. In order to extract the maximum potential from the thermal therapy, it is crucial to heat the tumor to the desired therapeutic temperature while minimally heating the healthy tissue. Due to the recent development of magnetic resonance (MR)-compatible heating devices, MR thermometry techniques can be employed to noninvasively monitor the internal patient temperature in real time. This development enables closed-loop control strategies to improve the clinical value of the hyperthermia treatment. In this article, we propose a novel model predictive control (MPC) solution based on the alternating direction method of multipliers in combination with constraint removal techniques to compute optimal control inputs for radio frequency (RF)-based mild hyperthermia in real time based on models with $10^{5}$ –$10^{6}$ states and temperature safety constraints. We validated the proposed controller on high-fidelity patient models with and without patient model mismatches. We will show that the proposed control strategy can track a desired tumor temperature reference, while ensuring patient safety through $10^{5}$ –$10^{6}$ constraints and maintaining real-time feasibility with a computation time of 6 s, which is sufficiently fast considering the thermal dynamics.
{"title":"Constraint-Adaptive Model Predictive Control for Radio Frequency Hyperthermia Cancer Treatments","authors":"S. A. N. Nouwens;M. M. Paulides;W. P. M. H. Heemels","doi":"10.1109/TCST.2025.3533315","DOIUrl":"https://doi.org/10.1109/TCST.2025.3533315","url":null,"abstract":"During a mild hyperthermia treatment, tumors are heated to temperatures ranging from <inline-formula> <tex-math>$39~^{circ } $ </tex-math></inline-formula>C to <inline-formula> <tex-math>$45~^{circ } $ </tex-math></inline-formula>C for 60–90 min. This thermal therapy can be a successful adjuvant to conventional cancer treatments such as chemotherapy and radiotherapy. In order to extract the maximum potential from the thermal therapy, it is crucial to heat the tumor to the desired therapeutic temperature while minimally heating the healthy tissue. Due to the recent development of magnetic resonance (MR)-compatible heating devices, MR thermometry techniques can be employed to noninvasively monitor the internal patient temperature in real time. This development enables closed-loop control strategies to improve the clinical value of the hyperthermia treatment. In this article, we propose a novel model predictive control (MPC) solution based on the alternating direction method of multipliers in combination with constraint removal techniques to compute optimal control inputs for radio frequency (RF)-based mild hyperthermia in real time based on models with <inline-formula> <tex-math>$10^{5}$ </tex-math></inline-formula>–<inline-formula> <tex-math>$10^{6}$ </tex-math></inline-formula> states and temperature safety constraints. We validated the proposed controller on high-fidelity patient models with and without patient model mismatches. We will show that the proposed control strategy can track a desired tumor temperature reference, while ensuring patient safety through <inline-formula> <tex-math>$10^{5}$ </tex-math></inline-formula>–<inline-formula> <tex-math>$10^{6}$ </tex-math></inline-formula> constraints and maintaining real-time feasibility with a computation time of 6 s, which is sufficiently fast considering the thermal dynamics.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1021-1036"},"PeriodicalIF":4.9,"publicationDate":"2025-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883424","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 : 2025-02-04DOI: 10.1109/TCST.2025.3534531
Bin Zhang;Zhaoyang Li;Xiaoyan Wang;Weiwei Shang;Xinyu Gao;Yifan Ma;Rui Yao;Hui Li;Jianing Yin;Qingge Yang;Qingwei Li
To reduce the weight of the feed cabin and increase the observation range of the five-hundred-meter aperture spherical radio telescope (FAST) for reaching the galactic center, a new feed cabin mechanism (NFCM) with a lightweight nine-cable-driven structure has recently been proposed, which theoretically has satisfactory performance for the forthcoming upgrade of FAST. However, trajectory planning suitable for the NFCM is still lacking when tracking radio sources. Consequently, an optimal trajectory planning method is proposed in this article that can achieve smooth motion of the NFCM within a specific period by considering the observation requirements of FAST. Based on the motion analysis for radio source tracking, the trajectory relationship between the radio source and the NFCM is deduced by considering the rotation of the Earth. Then, based on the quintic B-spline, the observation-related cable force characteristics are designed as the objective function to obtain the optimal trajectory of the NFCM, where multiple constraints in different spaces are uniformly mapped to the observation space for optimization complexity reduction by using the graphic-based method. The simulation results show that the optimized observation trajectory of the NFCM using constraint mapping is smooth enough to track the radio source, which brings an acceptable continuity of cable length variation for effectively reducing the potential mechanical shock, and the cable force characteristics with constraints are also well guaranteed. In addition, the effectiveness of constraints, the optimality of cable force characteristics, and the feasibility of the planned trajectory are further demonstrated in simulations.
{"title":"Trajectory Planning of Radio Source Tracking for the New Feed Cabin Mechanism in FAST","authors":"Bin Zhang;Zhaoyang Li;Xiaoyan Wang;Weiwei Shang;Xinyu Gao;Yifan Ma;Rui Yao;Hui Li;Jianing Yin;Qingge Yang;Qingwei Li","doi":"10.1109/TCST.2025.3534531","DOIUrl":"https://doi.org/10.1109/TCST.2025.3534531","url":null,"abstract":"To reduce the weight of the feed cabin and increase the observation range of the five-hundred-meter aperture spherical radio telescope (FAST) for reaching the galactic center, a new feed cabin mechanism (NFCM) with a lightweight nine-cable-driven structure has recently been proposed, which theoretically has satisfactory performance for the forthcoming upgrade of FAST. However, trajectory planning suitable for the NFCM is still lacking when tracking radio sources. Consequently, an optimal trajectory planning method is proposed in this article that can achieve smooth motion of the NFCM within a specific period by considering the observation requirements of FAST. Based on the motion analysis for radio source tracking, the trajectory relationship between the radio source and the NFCM is deduced by considering the rotation of the Earth. Then, based on the quintic B-spline, the observation-related cable force characteristics are designed as the objective function to obtain the optimal trajectory of the NFCM, where multiple constraints in different spaces are uniformly mapped to the observation space for optimization complexity reduction by using the graphic-based method. The simulation results show that the optimized observation trajectory of the NFCM using constraint mapping is smooth enough to track the radio source, which brings an acceptable continuity of cable length variation for effectively reducing the potential mechanical shock, and the cable force characteristics with constraints are also well guaranteed. In addition, the effectiveness of constraints, the optimality of cable force characteristics, and the feasibility of the planned trajectory are further demonstrated in simulations.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1051-1068"},"PeriodicalIF":4.9,"publicationDate":"2025-02-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883469","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}
Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst case characterization gives a conservative uncertainty prediction and may result in infeasible motion planning for the ego robotic system. In this article, an efficient, robust, and safe motion-planning algorithm is developed by learning the obstacle uncertainties online. More specifically, the unknown yet intended control set of obstacles is efficiently computed by solving a linear programming (LP) problem. The learned control set is used to compute forward reachable sets (FRSs) of obstacles that are less conservative than the worst case prediction. Based on the forward prediction, a robust model predictive controller is designed to compute a safe reference trajectory for the ego robotic system that remains outside the reachable sets of obstacles over the prediction horizon. The method is applied to a car-like mobile robot in both simulations and hardware experiments to demonstrate its effectiveness.
{"title":"Robust Predictive Motion Planning by Learning Obstacle Uncertainty","authors":"Jian Zhou;Yulong Gao;Ola Johansson;Björn Olofsson;Erik Frisk","doi":"10.1109/TCST.2025.3533378","DOIUrl":"https://doi.org/10.1109/TCST.2025.3533378","url":null,"abstract":"Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst case characterization gives a conservative uncertainty prediction and may result in infeasible motion planning for the ego robotic system. In this article, an efficient, robust, and safe motion-planning algorithm is developed by learning the obstacle uncertainties online. More specifically, the unknown yet intended control set of obstacles is efficiently computed by solving a linear programming (LP) problem. The learned control set is used to compute forward reachable sets (FRSs) of obstacles that are less conservative than the worst case prediction. Based on the forward prediction, a robust model predictive controller is designed to compute a safe reference trajectory for the ego robotic system that remains outside the reachable sets of obstacles over the prediction horizon. The method is applied to a car-like mobile robot in both simulations and hardware experiments to demonstrate its effectiveness.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1006-1020"},"PeriodicalIF":4.9,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883468","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 : 2025-02-03DOI: 10.1109/TCST.2025.3527876
Luca M. Hartmann;Orcun Karaca;Tinus Dorfling;Tobias Geyer
Past work proposed an extension to finite control set model predictive control to simultaneously track both a current reference and a switching frequency reference. Such an objective can jeopardize the current tracking performance, and this can potentially be alleviated by instead limiting the switching frequency. To this end, we propose to limit the switching frequency in finite control set model predictive control. The switching frequency is captured with an infinite impulse response filter and bounded by an inequality constraint; its corresponding slack variable is penalized in the cost function. To solve the problem efficiently, a sphere decoder with a computational speed-up is presented.
{"title":"Switching Frequency Limitation With Finite Control Set Model Predictive Control via Slack Variables","authors":"Luca M. Hartmann;Orcun Karaca;Tinus Dorfling;Tobias Geyer","doi":"10.1109/TCST.2025.3527876","DOIUrl":"https://doi.org/10.1109/TCST.2025.3527876","url":null,"abstract":"Past work proposed an extension to finite control set model predictive control to simultaneously track both a current reference and a switching frequency reference. Such an objective can jeopardize the current tracking performance, and this can potentially be alleviated by instead limiting the switching frequency. To this end, we propose to limit the switching frequency in finite control set model predictive control. The switching frequency is captured with an infinite impulse response filter and bounded by an inequality constraint; its corresponding slack variable is penalized in the cost function. To solve the problem efficiently, a sphere decoder with a computational speed-up is presented.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1125-1133"},"PeriodicalIF":4.9,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883397","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 : 2025-01-24DOI: 10.1109/TCST.2025.3530165
Maximilian Pierer von Esch;Eva Nistler;Andreas Völz;Knut Graichen
This brief presents the experimental results of a sensitivity-based distributed nonlinear model predictive (DMPC) scheme applied to a multiagent levitating planar motion system. The algorithm is based on first-order sensitivities such that the central optimal control problem (OCP) is solved cooperatively and in parallel on distributed hardware with networked communication. The experiments consist of a leader-follower scenario, a distribution problem, formation control, and cooperative load transport. The scenarios include couplings in cost functions, constraints, and dynamics in addition to inhomogeneous and nonlinear agent dynamics providing a challenging validation environment. The results showcase the applicability of DMPC to a wide range of classical distributed control problems and demonstrate the real-time capability of the proposed approach.
{"title":"Sensitivity-Based Distributed NMPC: Experimental Results for a Levitating Planar Motion System","authors":"Maximilian Pierer von Esch;Eva Nistler;Andreas Völz;Knut Graichen","doi":"10.1109/TCST.2025.3530165","DOIUrl":"https://doi.org/10.1109/TCST.2025.3530165","url":null,"abstract":"This brief presents the experimental results of a sensitivity-based distributed nonlinear model predictive (DMPC) scheme applied to a multiagent levitating planar motion system. The algorithm is based on first-order sensitivities such that the central optimal control problem (OCP) is solved cooperatively and in parallel on distributed hardware with networked communication. The experiments consist of a leader-follower scenario, a distribution problem, formation control, and cooperative load transport. The scenarios include couplings in cost functions, constraints, and dynamics in addition to inhomogeneous and nonlinear agent dynamics providing a challenging validation environment. The results showcase the applicability of DMPC to a wide range of classical distributed control problems and demonstrate the real-time capability of the proposed approach.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1110-1118"},"PeriodicalIF":4.9,"publicationDate":"2025-01-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883380","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 : 2025-01-23DOI: 10.1109/TCST.2025.3529356
Péter Antal;Tamás Péni;Roland Tóth
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are attached to the quadcopter body. However, due to the large weight and power consumption of these aerial manipulators, their agility and flight time are limited. This article proposes a motion control and planning method for transportation with a lightweight, passive manipulator structure that consists of a hook attached to a quadrotor using a 1-DoF revolute joint. To perform payload grasping, transportation, and release, first, time-optimal reference trajectories are designed through specific waypoints to ensure the fast and reliable execution of the tasks. Then, a two-stage motion control approach is developed based on a robust geometric controller for precise and reliable reference tracking and a linear-quadratic payload regulator for rapid setpoint stabilization of the payload swing. Furthermore, mathematical guarantees are provided for closed-loop stability to ensure safe operation. The proposed control architecture and design are evaluated in a high-fidelity physical simulator and also in real flight experiments, using a custom-made quadrotor-hook manipulator platform.
{"title":"Autonomous Hook-Based Grasping and Transportation With Quadcopters","authors":"Péter Antal;Tamás Péni;Roland Tóth","doi":"10.1109/TCST.2025.3529356","DOIUrl":"https://doi.org/10.1109/TCST.2025.3529356","url":null,"abstract":"Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are attached to the quadcopter body. However, due to the large weight and power consumption of these aerial manipulators, their agility and flight time are limited. This article proposes a motion control and planning method for transportation with a lightweight, passive manipulator structure that consists of a hook attached to a quadrotor using a 1-DoF revolute joint. To perform payload grasping, transportation, and release, first, time-optimal reference trajectories are designed through specific waypoints to ensure the fast and reliable execution of the tasks. Then, a two-stage motion control approach is developed based on a robust geometric controller for precise and reliable reference tracking and a linear-quadratic payload regulator for rapid setpoint stabilization of the payload swing. Furthermore, mathematical guarantees are provided for closed-loop stability to ensure safe operation. The proposed control architecture and design are evaluated in a high-fidelity physical simulator and also in real flight experiments, using a custom-made quadrotor-hook manipulator platform.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"980-990"},"PeriodicalIF":4.9,"publicationDate":"2025-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883467","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 : 2025-01-22DOI: 10.1109/TCST.2025.3529358
Jiangchao Song;Yashan Xing;Jing Na;Guanbin Gao;Xuemei Ren;Sheng Lu
The series elastic actuator (SEA) has been widely used in the exoskeletons. However, its mathematical model contains both unknown parameters and states, which need to be jointly estimated online via the measurable input and output. To address this issue, an adaptive observer is developed to reconstruct both unknown model parameters and states simultaneously. In particular, a constructive approach is proposed to extract the parameter estimation error, which is used to design a new adaptive law decoupled from the observer error dynamics. A high-gain modification is also incorporated into the observer to handle the dependency on the unknown system states in the regressor. As a result, the convergence of both the observation error and the estimation error can be proved under the standard excitation condition. Moreover, since the SEA used in the exoskeletons may operate under a weak excitation due to the slow training of rehabilitation, a further tailored adaptive law with the eigenvalue decomposition method is introduced to adapt the weak excitation. Finally, the effectiveness of the proposed methods is validated via experiments on a real-world SEA test rig.
{"title":"Adaptive Observer and Parameter Estimation for a Series Elastic Actuator System","authors":"Jiangchao Song;Yashan Xing;Jing Na;Guanbin Gao;Xuemei Ren;Sheng Lu","doi":"10.1109/TCST.2025.3529358","DOIUrl":"https://doi.org/10.1109/TCST.2025.3529358","url":null,"abstract":"The series elastic actuator (SEA) has been widely used in the exoskeletons. However, its mathematical model contains both unknown parameters and states, which need to be jointly estimated online via the measurable input and output. To address this issue, an adaptive observer is developed to reconstruct both unknown model parameters and states simultaneously. In particular, a constructive approach is proposed to extract the parameter estimation error, which is used to design a new adaptive law decoupled from the observer error dynamics. A high-gain modification is also incorporated into the observer to handle the dependency on the unknown system states in the regressor. As a result, the convergence of both the observation error and the estimation error can be proved under the standard excitation condition. Moreover, since the SEA used in the exoskeletons may operate under a weak excitation due to the slow training of rehabilitation, a further tailored adaptive law with the eigenvalue decomposition method is introduced to adapt the weak excitation. Finally, the effectiveness of the proposed methods is validated via experiments on a real-world SEA test rig.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1134-1141"},"PeriodicalIF":4.9,"publicationDate":"2025-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143892485","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 : 2025-01-17DOI: 10.1109/TCST.2025.3526377
Gennaro Notomista;Gary P. T. Choi;Matteo Saveriano
This article presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the ball world, an artificial representation where all obstacle regions are closed balls. Starting from a polyhedral representation of obstacles in the environment, obtained using exteroceptive sensor readings, a computationally efficient mapping to ball-shaped obstacles is constructed using quasi-conformal (QC) mappings and Möbius transformations. The geometry of the ball world is amenable to provably safe navigation tasks achieved via control barrier functions (CBFs) employed to ensure collision-free robot motions with guarantees both on safety and on the absence of deadlocks. The performance of the proposed navigation algorithm is showcased and analyzed via extensive simulations and experiments performed using different types of robotic systems, including manipulators and mobile robots.
{"title":"Reactive Robot Navigation Using Quasi-Conformal Mappings and Control Barrier Functions","authors":"Gennaro Notomista;Gary P. T. Choi;Matteo Saveriano","doi":"10.1109/TCST.2025.3526377","DOIUrl":"https://doi.org/10.1109/TCST.2025.3526377","url":null,"abstract":"This article presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the ball world, an artificial representation where all obstacle regions are closed balls. Starting from a polyhedral representation of obstacles in the environment, obtained using exteroceptive sensor readings, a computationally efficient mapping to ball-shaped obstacles is constructed using quasi-conformal (QC) mappings and Möbius transformations. The geometry of the ball world is amenable to provably safe navigation tasks achieved via control barrier functions (CBFs) employed to ensure collision-free robot motions with guarantees both on safety and on the absence of deadlocks. The performance of the proposed navigation algorithm is showcased and analyzed via extensive simulations and experiments performed using different types of robotic systems, including manipulators and mobile robots.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"928-939"},"PeriodicalIF":4.9,"publicationDate":"2025-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883396","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 : 2025-01-16DOI: 10.1109/TCST.2025.3527279
Meizhi Liu;Xiangyu Kong;Changhua Hu;Hongzeng Li;Ziwen Wang
Partial least squares (PLS) is a well-known multivariate statistical process monitoring (MSPM) method. However, there are two key issues that restrict its application in reconstruction-based fault diagnosis, including weak fault representation ability and uncertainty caused by the overlap among different types of faults. To cope with these two issues, an enhanced kernel PLS (eKPLS) fault reconstruction approach fused with pattern classification is proposed in this study. For the first issue, a fine-grained fault subspace extraction method is developed. These fine-grained fault subspaces exhibit richer fault details, conferring upon the model heightened fault representation ability. For the second issue, the fault magnitude is supplemented into the paradigm of fault reconstruction, and a rediagnosis mechanism is designed to overcome the uncertainty in fault diagnosis. Thus, the ideas of fault reconstruction and pattern classification are fused into a consolidated framework, allowing us to complement their strengths together. Finally, several experiments on a hydraulic system and Tennessee Eastman process (TEP) are performed to validate the effectiveness of the proposed method.
{"title":"An Enhanced Kernel Partial Least-Squares Fault Reconstruction Fused With Pattern Classification","authors":"Meizhi Liu;Xiangyu Kong;Changhua Hu;Hongzeng Li;Ziwen Wang","doi":"10.1109/TCST.2025.3527279","DOIUrl":"https://doi.org/10.1109/TCST.2025.3527279","url":null,"abstract":"Partial least squares (PLS) is a well-known multivariate statistical process monitoring (MSPM) method. However, there are two key issues that restrict its application in reconstruction-based fault diagnosis, including weak fault representation ability and uncertainty caused by the overlap among different types of faults. To cope with these two issues, an enhanced kernel PLS (eKPLS) fault reconstruction approach fused with pattern classification is proposed in this study. For the first issue, a fine-grained fault subspace extraction method is developed. These fine-grained fault subspaces exhibit richer fault details, conferring upon the model heightened fault representation ability. For the second issue, the fault magnitude is supplemented into the paradigm of fault reconstruction, and a rediagnosis mechanism is designed to overcome the uncertainty in fault diagnosis. Thus, the ideas of fault reconstruction and pattern classification are fused into a consolidated framework, allowing us to complement their strengths together. Finally, several experiments on a hydraulic system and Tennessee Eastman process (TEP) are performed to validate the effectiveness of the proposed method.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"1119-1124"},"PeriodicalIF":4.9,"publicationDate":"2025-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883416","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 : 2025-01-13DOI: 10.1109/TCST.2024.3520460
Maxime Grosso;Pierre Riedinger;Jamal Daafouz;Serge Pierfederici;Hicham Janati Idrissi;Blaise Lapôtre
In light of recent advances in harmonic modeling and control theory, we present a novel approach for controlling a three-phase grid-tied ac-dc converter. Our methodology involves deriving an infinite-dimensional harmonic bilinear model and employing forwarding control techniques to design globally stable state feedback. This framework enables the integration of control objectives tailored to harmonic distortion, mitigation, and the tracking of periodic trajectories, leveraging integral actions. Moreover, we demonstrate the transposition of our harmonic control design into a periodic nonlinear control scheme in the time domain, preserving the established stability guarantees. These assurances stem from recent fundamental theoretical findings, outlining the conditions for a bijection between harmonic- and time-domain trajectories. Through illustrative simulations and experimental setups, we assess the methodology’s effectiveness in real-time total harmonic distortion (THD) reduction and rejection of specific harmonic disturbances. The obtained results affirm the successful accomplishment of our control objectives, validating the efficacy of the proposed harmonic control approach.
{"title":"Harmonic Control of Three-Phase AC/DC Converter With Time-Domain Guarantees","authors":"Maxime Grosso;Pierre Riedinger;Jamal Daafouz;Serge Pierfederici;Hicham Janati Idrissi;Blaise Lapôtre","doi":"10.1109/TCST.2024.3520460","DOIUrl":"https://doi.org/10.1109/TCST.2024.3520460","url":null,"abstract":"In light of recent advances in harmonic modeling and control theory, we present a novel approach for controlling a three-phase grid-tied ac-dc converter. Our methodology involves deriving an infinite-dimensional harmonic bilinear model and employing forwarding control techniques to design globally stable state feedback. This framework enables the integration of control objectives tailored to harmonic distortion, mitigation, and the tracking of periodic trajectories, leveraging integral actions. Moreover, we demonstrate the transposition of our harmonic control design into a periodic nonlinear control scheme in the time domain, preserving the established stability guarantees. These assurances stem from recent fundamental theoretical findings, outlining the conditions for a bijection between harmonic- and time-domain trajectories. Through illustrative simulations and experimental setups, we assess the methodology’s effectiveness in real-time total harmonic distortion (THD) reduction and rejection of specific harmonic disturbances. The obtained results affirm the successful accomplishment of our control objectives, validating the efficacy of the proposed harmonic control approach.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"33 3","pages":"887-902"},"PeriodicalIF":4.9,"publicationDate":"2025-01-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143883420","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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