Pub Date : 2025-12-25DOI: 10.1109/TSMC.2025.3645600
Qianyue Luo;Yukang Cui;James Lam
In this work, a novel dual-type reference governor (DRG) is proposed to handle the unreachable reference within the prediction horizon for the model predictive control (MPC). The proposed method, featuring two types of reference governor (RG) designs, ensures efficient reference tracking and MPC feasibility throughout the entire process. The first type, the initial RG, is specifically designed to adjust references when the controller receives a new target reference. This addresses a gap in existing research on command/feasibility governors (FGs), which overlooks this scenario. The second type, named terminal RG, ensures the convergence of auxiliary references to the current target reference. By introducing control variables, it expands the feasible set of auxiliary references compared to existing methods, thereby further accelerating the convergence speed. The recursive feasibility, finite-time convergence, and asymptotic stability of the combined DRG+MPC closed-loop system with the proposed algorithm are demonstrated in the article. To validate the effectiveness of the proposed algorithm, numerical simulations were conducted in two vehicle application scenarios: adaptive cruise control (ACC) and lane changing control (LCC), using their respective vehicle models. The results indicate that, compared to existing methods such as classical MPC, tracking MPC (TMPC), and FG+MPC, the proposed approach guarantees both reference tracking performance and low computational burden.
{"title":"Efficient Dual-Type Reference Governor for Model Predictive Control With Vehicle System Applications","authors":"Qianyue Luo;Yukang Cui;James Lam","doi":"10.1109/TSMC.2025.3645600","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3645600","url":null,"abstract":"In this work, a novel dual-type reference governor (DRG) is proposed to handle the unreachable reference within the prediction horizon for the model predictive control (MPC). The proposed method, featuring two types of reference governor (RG) designs, ensures efficient reference tracking and MPC feasibility throughout the entire process. The first type, the initial RG, is specifically designed to adjust references when the controller receives a new target reference. This addresses a gap in existing research on command/feasibility governors (FGs), which overlooks this scenario. The second type, named terminal RG, ensures the convergence of auxiliary references to the current target reference. By introducing control variables, it expands the feasible set of auxiliary references compared to existing methods, thereby further accelerating the convergence speed. The recursive feasibility, finite-time convergence, and asymptotic stability of the combined DRG+MPC closed-loop system with the proposed algorithm are demonstrated in the article. To validate the effectiveness of the proposed algorithm, numerical simulations were conducted in two vehicle application scenarios: adaptive cruise control (ACC) and lane changing control (LCC), using their respective vehicle models. The results indicate that, compared to existing methods such as classical MPC, tracking MPC (TMPC), and FG+MPC, the proposed approach guarantees both reference tracking performance and low computational burden.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"56 2","pages":"1112-1122"},"PeriodicalIF":8.7,"publicationDate":"2025-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146116877","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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 : 2025-12-25DOI: 10.1109/TSMC.2025.3646608
Weiwei Sun;Lusong Ding;Xinyu Lv;You Wu
This article develops the performance recovery-based state-triggered fault-tolerant control (FTC) strategy for nonlinear interconnected systems (NISs). Under discontinuous state transmission, a novel set of event-triggered chainlike filters is introduced to reconstruct the error coordinate transformation, effectively addressing the challenge of state-triggered nondifferentiability. Then, a dynamic redundancy fault-tolerant control method is presented, which is tailored to constrain full errors and ensure prescribed performance, even in the face of actuator faults. It is capable of handling different types of faults, including moderate faults and extreme faults, and explicitly takes deferred actuator switching into account. By exploiting the performance function, the exceeding errors can be recovered into the safe constraints even after complete actuator failure. Besides, the globally uniformly ultimately bounded of closed-loop signals is realized without dependence on any unknown initial conditions. Finally, the validity of the proposed method is confirmed by a practical example.
{"title":"State-Triggered Fault-Tolerant Control Strategy for Performance Recovery in Nonlinear Interconnected Systems","authors":"Weiwei Sun;Lusong Ding;Xinyu Lv;You Wu","doi":"10.1109/TSMC.2025.3646608","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3646608","url":null,"abstract":"This article develops the performance recovery-based state-triggered fault-tolerant control (FTC) strategy for nonlinear interconnected systems (NISs). Under discontinuous state transmission, a novel set of event-triggered chainlike filters is introduced to reconstruct the error coordinate transformation, effectively addressing the challenge of state-triggered nondifferentiability. Then, a dynamic redundancy fault-tolerant control method is presented, which is tailored to constrain full errors and ensure prescribed performance, even in the face of actuator faults. It is capable of handling different types of faults, including moderate faults and extreme faults, and explicitly takes deferred actuator switching into account. By exploiting the performance function, the exceeding errors can be recovered into the safe constraints even after complete actuator failure. Besides, the globally uniformly ultimately bounded of closed-loop signals is realized without dependence on any unknown initial conditions. Finally, the validity of the proposed method is confirmed by a practical example.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"56 2","pages":"1423-1435"},"PeriodicalIF":8.7,"publicationDate":"2025-12-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146116830","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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 : 2025-12-16DOI: 10.1109/TSMC.2025.3637457
{"title":"IEEE Systems, Man, and Cybernetics Society Information","authors":"","doi":"10.1109/TSMC.2025.3637457","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3637457","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"56 1","pages":"C3-C3"},"PeriodicalIF":8.7,"publicationDate":"2025-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11301986","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145760930","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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 : 2025-12-16DOI: 10.1109/TSMC.2025.3637476
{"title":"IEEE Systems, Man, and Cybernetics Society Information","authors":"","doi":"10.1109/TSMC.2025.3637476","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3637476","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"56 1","pages":"C3-C3"},"PeriodicalIF":8.7,"publicationDate":"2025-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11302013","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145760882","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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 : 2025-12-16DOI: 10.1109/TSMC.2025.3637478
{"title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems Information for Authors","authors":"","doi":"10.1109/TSMC.2025.3637478","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3637478","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"56 1","pages":"C4-C4"},"PeriodicalIF":8.7,"publicationDate":"2025-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11302018","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145760851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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 : 2025-12-16DOI: 10.1109/TSMC.2025.3641404
{"title":"Advances in Cyber-Medical Systems","authors":"","doi":"10.1109/TSMC.2025.3641404","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3641404","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"56 1","pages":"400-400"},"PeriodicalIF":8.7,"publicationDate":"2025-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11302011","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145760911","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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 : 2025-12-16DOI: 10.1109/TSMC.2025.3637459
{"title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems Information for Authors","authors":"","doi":"10.1109/TSMC.2025.3637459","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3637459","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"56 1","pages":"C4-C4"},"PeriodicalIF":8.7,"publicationDate":"2025-12-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11302012","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145760913","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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 : 2025-12-11DOI: 10.1109/TSMC.2025.3641231
Kaili Xiang;Yongduan Song
Developing structurally simple and functionally trustworthy control strategies for multi-input multi-output (MIMO) nonlinear dynamic systems has always been an interesting yet challenging research topic in the control community. In this note, we present a tracking control design approach embedded with the key intelligent elements/actions (IEs/ICs). More specifically, by properly exploiting and processing fundamental IEs/ICs, such as “penalty/punishment,” “experience/memory,” and “forecasting/prediction” often observed from and utilized in human decision making, we develop an interpretable PID-like control strategy capable of ensuring asymptotic tracking for nonaffine systems in the presence of modeling uncertainties, MIMO couplings, and unexpected actuation faults. The key design steps consist of analytically characterizing the fundamental IEs/ICs via certain mathematical representations, introducing generalized error, selecting and converting the related IEs/ICs into a signal carrying intelligence ingredients, and adaptively weighting such a signal to eventually produce the control action. The proposed framework of blending intelligence-like ingredients into control synthesis proves promising and is expected to stimulate interest in developing explainable IEs/ICs-driven control strategies for nonlinear dynamic systems.
{"title":"Infusing PID Tracking Control With Intelligence-Like Elements/Actions","authors":"Kaili Xiang;Yongduan Song","doi":"10.1109/TSMC.2025.3641231","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3641231","url":null,"abstract":"Developing structurally simple and functionally trustworthy control strategies for multi-input multi-output (MIMO) nonlinear dynamic systems has always been an interesting yet challenging research topic in the control community. In this note, we present a tracking control design approach embedded with the key intelligent elements/actions (IEs/ICs). More specifically, by properly exploiting and processing fundamental IEs/ICs, such as “penalty/punishment,” “experience/memory,” and “forecasting/prediction” often observed from and utilized in human decision making, we develop an interpretable PID-like control strategy capable of ensuring asymptotic tracking for nonaffine systems in the presence of modeling uncertainties, MIMO couplings, and unexpected actuation faults. The key design steps consist of analytically characterizing the fundamental IEs/ICs via certain mathematical representations, introducing generalized error, selecting and converting the related IEs/ICs into a signal carrying intelligence ingredients, and adaptively weighting such a signal to eventually produce the control action. The proposed framework of blending intelligence-like ingredients into control synthesis proves promising and is expected to stimulate interest in developing explainable IEs/ICs-driven control strategies for nonlinear dynamic systems.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"56 2","pages":"1101-1111"},"PeriodicalIF":8.7,"publicationDate":"2025-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146116868","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-11-26DOI: 10.1109/TSMC.2025.3635840
{"title":"2025 Index IEEE Transactions on Systems, Man, and Cybernetics Systems: Systems","authors":"","doi":"10.1109/TSMC.2025.3635840","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3635840","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 12","pages":"9955-10143"},"PeriodicalIF":8.7,"publicationDate":"2025-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11269192","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145612136","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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}
This work investigates the formation tracking issue for multirobot manipulator end-effectors under input constraints. A distributed formation control law is designed to guarantee the finite-time boundedness of tracking errors within the framework. To estimate the significant bias of dynamics discovered during practical multirobot collaborative manipulation tasks, a bias radial basis function neural network (RBFNN) is integrated, along with a designed adaptive updating law for expeditious approximation. In addition, an anti-windup compensator within a finite-time framework is specifically introduced to mitigate the input saturation issue arising from torque limitations in joint actuators. Finally, the system’s semi-global practical finite-time boundedness (SGPFTB) is rigorously established through Lyapunov theory. Five planar manipulators are employed in comparative computational experiments to validate the feasibility of the presented control strategy.
{"title":"Neural Adaptive Finite-Time Formation Tracking Control for Manipulator End Effectors Under Input Constraints","authors":"Shuangsi Xue;Zihang Guo;Junkai Tan;Kai Qu;Hui Cao;Badong Chen","doi":"10.1109/TSMC.2025.3634832","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3634832","url":null,"abstract":"This work investigates the formation tracking issue for multirobot manipulator end-effectors under input constraints. A distributed formation control law is designed to guarantee the finite-time boundedness of tracking errors within the framework. To estimate the significant bias of dynamics discovered during practical multirobot collaborative manipulation tasks, a bias radial basis function neural network (RBFNN) is integrated, along with a designed adaptive updating law for expeditious approximation. In addition, an anti-windup compensator within a finite-time framework is specifically introduced to mitigate the input saturation issue arising from torque limitations in joint actuators. Finally, the system’s semi-global practical finite-time boundedness (SGPFTB) is rigorously established through Lyapunov theory. Five planar manipulators are employed in comparative computational experiments to validate the feasibility of the presented control strategy.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"56 2","pages":"1089-1100"},"PeriodicalIF":8.7,"publicationDate":"2025-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146116915","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"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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