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Delay-based Input Shaping and Feedforward Design for Dual Closed-Loop Control Architectures Integrating Active Damping⁎ 集成主动阻尼的双闭环控制体系结构的基于延迟的输入整形和前馈设计

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-11-05 DOI: 10.1016/j.ifacol.2025.10.166

A.M. Natu , S.H. HosseinNia

In nanopositioning systems, the control bandwidth is frequently limited due to the presence of lightly damped resonant dynamics. Active Damping Control is typically integrated with tracking control within an inner-loop configuration to mitigate dominant resonant dynamics and enable higher bandwidths. The paper discusses that, in such architectures, feedforward control based on plant dynamics inversion is insufficient to achieve the intended feedforward objectives. In response to this limitation, the study introduces a delay-based input shaping and feedforward framework combined with a dual closed-loop feedback control system that includes active damping. The feedforward filter, derived from partial inner closed-loop dynamics inversion, facilitates precise, delayed tracking of reference signals. This configuration implements a unity-gain shaping filter, effectively reducing tracking feedback errors caused by reference inputs. Furthermore, the study presents a simulated example employing a simplified dynamic model of an industrial nanopositioning system to demonstrate enhancements in closed-loop periodic tracking performance through the proposed feedforward and input-shaping methodology.

在纳米定位系统中，由于存在轻阻尼谐振动力学，控制带宽经常受到限制。主动阻尼控制通常与内环配置中的跟踪控制集成在一起，以减轻主导谐振动态并实现更高的带宽。本文讨论了在这种体系结构中，基于植物动力学反演的前馈控制不足以达到预期的前馈目标。针对这一限制，该研究引入了基于延迟的输入整形和前馈框架，并结合了包含主动阻尼的双闭环反馈控制系统。前馈滤波器，源自部分内闭环动力学反演，有助于精确，延迟跟踪参考信号。该配置实现了单位增益整形滤波器，有效地减少了由参考输入引起的跟踪反馈误差。此外，该研究还提供了一个采用简化工业纳米定位系统动态模型的仿真示例，以证明通过所提出的前馈和输入整形方法增强了闭环周期跟踪性能。

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引用次数: 0

Stabilization for Variable Coefficients Rayleigh Beam Systems under Nonlinear Boundary Controls 非线性边界控制下变系数瑞利梁系统的镇定

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.064

Ming Xu , Yi Cheng , Xin Wang , Yuhu Wu

This article solves the boundary stabilization problem of variable coefficient Rayleigh beams by using nonlinear boundary feedback controls. The feedback mechanism incorporates a nonlinear function that adheres to a sector condition, thus encompassing a diverse array of nonlinear feedback scenarios. The well-posedness of the closed-loop system is completed by applying nonlinear semigroup theory. The exponential stability of the energy function of a closed-loop system is demonstrated by using the integral multiplier method.

本文采用非线性边界反馈控制方法解决了变系数瑞利梁的边界稳定问题。反馈机制包含了一个符合扇形条件的非线性函数，从而包含了多种非线性反馈场景。利用非线性半群理论完成了闭环系统的适定性。利用积分乘数法证明了闭环系统能量函数的指数稳定性。

引用次数: 0

Nonlinear Observer Design for an Undamped Wave Equation with Distributed Disturbance 具有分布扰动的无阻尼波动方程非线性观测器设计

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.073

Alexander Schaum , Stefan Koch

This paper addresses the design of a nonlinear observer for an undamped wave equation with distributed disturbance and pointwise position measurement at the boundary. Using the sliding-mode based robust exact differentiator, the velocity at the boundary is estimated. Based on this estimate, a standard Luenberger observer is designed for the nominal, i.e., undisturbed system, and robust convergence is ensured in the presence of bounded distributed disturbances that are constant in time, by adequately combining this observer with an algebraic correction. The proposed design approach achieves exponential convergence of the observer and, for special observer gains, even ensures finite-time convergence. The approach is illustrated using numerical simulations for a representative case study.

本文讨论了具有分布扰动的无阻尼波动方程的非线性观测器的设计和边界处的点向位置测量。利用基于滑模的鲁棒精确微分器，估计了边界处的速度。基于这一估计，为标称的即无扰动系统设计了标准Luenberger观测器，并且通过将该观测器与代数校正充分结合，确保了在时间恒定的有界分布扰动存在下的鲁棒收敛。提出的设计方法实现了观测器的指数收敛，对于特殊的观测器增益，甚至保证了有限时间的收敛。该方法是用数值模拟的代表性案例研究说明。

引用次数: 0

Well-posedness of a class of infinite-dimensional port-Hamiltonian systems with boundary control and observation⁎ 一类具有边界控制和观测的无限维port- hamilton系统的适定性

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.074

Bouchra Elghazi , Birgit Jacob , Hans Zwart

We characterize the well-posedness of a class of infinite-dimensional port-Hamiltonian systems with boundary control and observation. This class includes in particular the Euler-Bernoulli beam equations and more generally 1D linear infinite-dimensional port-Hamiltonian systems with boundary control and observation as well as coupled systems. It is known, that for the Timoshenko beam models internal well-posedness implies well-posedness of the overall system. By means of an example we show that this is not true for the Euler-Bernoulli beam models. An easy verifiable equivalent condition for well-posedness of the overall system will be presented. We will conclude the paper by applying the obtained results to several Euler-Bernoulli beam models.

我们刻画了一类具有边界控制和观测的无限维波特-哈密顿系统的适定性。本课程特别包括欧拉-伯努利梁方程和更一般的具有边界控制和观测以及耦合系统的一维线性无限维波特-哈密顿系统。众所周知，对于Timoshenko梁模型，内部适定性意味着整个系统的适定性。通过一个例子，我们证明了这对于欧拉-伯努利梁模型是不成立的。给出了整个系统适定性的一个容易验证的等价条件。我们将通过将所得结果应用于几个欧拉-伯努利梁模型来结束本文。

引用次数: 0

Modeling floating bodies in shallow water⁎ 浅水浮体建模

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.076

Maddalen Irigoien Kortabitarte , George Weiss

We study the motion of a floating rigid body in shallow waters using the Lagrangian formalism and Hamilton’s principle. For simplicity, the rigid body is assumed to be constrained to move only in the vertical direction and the boundary of the rigid body which is in contact with the fluid, the so-called wetted surface c_w, is assumed to be the graph of a function. Equations of motion are derived in this way for a general function c_w and later applied to the particular case when c_w is given by a parabola centered at the origin.

利用拉格朗日形式论和哈密顿原理研究了浮刚体在浅水中的运动。为简单起见，假定刚体受约束只在垂直方向上运动，并且假定刚体与流体接触的边界，即所谓的湿曲面cw，是一个函数的图形。用这种方法推导出一般函数cw的运动方程，然后应用于cw由以原点为中心的抛物线给出的特殊情况。

引用次数: 0

Boundary feedback control of a 2x2 weakly hyperbolic system: Lyapunov-based approach 2x2弱双曲系统的边界反馈控制：基于lyapunov的方法

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-08-29 DOI: 10.1016/j.ifacol.2025.08.083

M.O. Amirat , V. Andrieu , J. Auriol , M. Bajodek , C. Valentin

In this paper, we propose a feedback boundary control law that ensures the exponential stability of a class of hyperbolic systems characterized by a non-diagonalizable principal part and nonuniform coefficients, as encountered in sedimentation processes and elasticity theory. We establish sufficient conditions for the exponential stability of the closed-loop system. A numerical example is presented to illustrate the effectiveness of the proposed Lyapunov-based stability analysis.

在本文中，我们提出了一个反馈边界控制律，它保证了一类在沉积过程和弹性理论中遇到的具有不可对角的主部和非均匀系数的双曲型系统的指数稳定性。建立了闭环系统指数稳定的充分条件。最后给出了一个数值算例，说明了所提出的基于李雅普诺夫的稳定性分析方法的有效性。

引用次数: 0

Mathematical Modeling of Photosynthetic Eukaryotic Microorganisms Using Metabolic Networks 利用代谢网络建立光合作用真核微生物的数学模型

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-03-27 DOI: 10.1016/j.ifacol.2025.03.068

M. Maton , A. Vande Wouwer

Metabolic modeling is a powerful tool for understanding microbial metabolism and is particularly appealing to a wide range of applications, from biotechnology and medicine to environmental science and sustainability. In that context, the elaboration of metabolic networks is essential despite the challenges underlying their reconstruction. While the development of genome-scale networks is computationally costly, small networks are often oversimplified, limiting their use in industrial applications. For this purpose, this paper suggests a method to identify metabolic networks of intermediate size by combining biological knowledge and a series of constraint-based methods in an iterative strategy allowing the refinement of the network definition. The present study focuses on the mathematical modeling of photosynthetic eukaryotic organisms and leads to a detailed network including energy aspects such as the proton motive force. The procedure is effective, yielding promising results while metabolic analyses provide consistent predictive capabilities of the network, in concordance with existing studies.

代谢建模是理解微生物代谢的有力工具，特别具有广泛的应用吸引力，从生物技术和医学到环境科学和可持续性。在这种情况下，代谢网络的阐述是必不可少的，尽管它们的重建面临着挑战。虽然基因组规模网络的开发在计算上是昂贵的，但小型网络往往过于简化，限制了它们在工业应用中的使用。为此，本文提出了一种识别中等规模代谢网络的方法，该方法将生物学知识和一系列基于约束的方法结合起来，采用迭代策略，允许对网络定义进行细化。本研究的重点是光合真核生物的数学建模，并导致一个详细的网络，包括能量方面，如质子动力。该程序是有效的，产生了有希望的结果，而代谢分析提供了一致的网络预测能力，与现有研究一致。

引用次数: 0

System Identification with SINDy Neural Networks for Transistor Modeling 利用 SINDy 神经网络对晶体管建模进行系统识别

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-03-27 DOI: 10.1016/j.ifacol.2025.03.073

Martin Steiger , Hans-Georg Brachtendorf

Accurate models of semiconductor devices are a key component in modern circuit development. Although parameters of such models are often derived from fundamental physical laws, device geometry or material properties, empirical models from extensive measurements have become increasingly popular. Sparse identification of non-linear dynamics (SINDy) is one approach that emphasizes interpretability. Although several extensions have been developed for this procedure, it still lacks the ability to accommodate function compositions that are very common amongst established semiconductor models. This work introduces an approach fusing the capabilities of neural networks with the core principles of SINDy to address this shortcoming. The results are compared to well-known bipolar transistor models such as Gummel-Poon and indicate promising approximation capabilities.

半导体器件的精确模型是现代电路发展的关键组成部分。虽然这类模型的参数通常来源于基本的物理定律、器件几何或材料特性，但基于广泛测量的经验模型已经越来越受欢迎。非线性动力学的稀疏识别（SINDy）是一种强调可解释性的方法。虽然已经为这个过程开发了几个扩展，但它仍然缺乏适应在已建立的半导体模型中非常常见的功能组合的能力。这项工作介绍了一种融合神经网络能力和SINDy核心原理的方法来解决这一缺点。结果与众所周知的双极晶体管模型（如Gummel-Poon）进行了比较，表明有希望的近似能力。

引用次数: 0

Macroscopic Modeling and Simulation-Based Investigation of Epidemics Transport Dynamics in the Presence of Ventilation⁎ 通风条件下流行病传播动力学的宏观建模与仿真研究

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-03-27 DOI: 10.1016/j.ifacol.2025.03.061

Anargiros I. Delis , Nikolaos Bekiaris-Liberis

We demonstrate the epidemics transport effect in closed spaces, performing different numerical experiments via development of a coupled, macroscopic partial differential equation (PDE) model of crowd flow, epidemics spreading dynamics, and ventilation air flow dynamics. We present numerical approximations for the coupled model with which we perform different numerical tests. In particular, we study the effect of different ventilation rates in epidemics transport (in time and space), also quantifying the infection risk via computing the total number of exposed individuals (in time and space), predicted by the model. We then discuss how the model used and the numerical results obtained could be utilized, in certain scenarios, for design of epidemics transport control strategies via manipulation of the ventilation air-flow field.

我们通过建立一个耦合的宏观偏微分方程（PDE）人群流动、流行病传播动力学和通风空气流动动力学模型，进行不同的数值实验，证明了流行病在封闭空间中的传递效应。我们给出了耦合模型的数值近似，我们用它进行了不同的数值试验。特别是，我们研究了不同通风率在流行病运输中的影响（在时间和空间上），并通过计算模型预测的暴露个体总数（在时间和空间上）来量化感染风险。然后，我们讨论了如何使用该模型以及在某些情况下如何利用所获得的数值结果，通过操纵通风气流场来设计流行病传播控制策略。

引用次数: 0

Hierarchical Planning and Control for Underwater Dynamic Docking Based on Model Predictive Optimization 基于模型预测优化的水下动力对接分层规划与控制

Q3 Engineering

IFAC-PapersOnLine

Pub Date : 2025-01-01 Epub Date: 2025-12-04 DOI: 10.1016/j.ifacol.2025.11.664

Zhi Liu, Zijie Zhao, Hongjun Liao

This paper addresses the dynamic docking problem of Unmanned Underwater Vehicles (UUVs). A hierarchical planning and control framework with a unified prediction horizon is proposed based on model predictive optimization. A Dynamic Window Approach (DWA) algorithm is employed in the high-level planning layer to generate reference trajectories that consider the relative motion and dynamic constraints between the UUV and the recovery target. A Nonlinear Model Predictive Control (NMPC) scheme is formulated at the low-level control layer to track planned trajectories by solving a constrained nonlinear optimization problem. To improve computational efficiency, warm-start initialization and a receding horizon strategy are integrated into the control framework. Simulation results demonstrate that the proposed method significantly improves docking accuracy under complex ocean currents.

研究了无人潜航器的动态对接问题。在模型预测优化的基础上，提出了具有统一预测视界的分层规划控制框架。在高层规划层采用动态窗口法（Dynamic Window Approach， DWA）算法生成参考轨迹，考虑了UUV与恢复目标之间的相对运动和动态约束。通过求解约束非线性优化问题，在低层控制层提出了一种非线性模型预测控制（NMPC）方案来跟踪规划轨迹。为了提高计算效率，在控制框架中加入了热启动初始化和地平线后退策略。仿真结果表明，该方法显著提高了复杂洋流条件下的对接精度。

引用次数: 0

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