Control Engineering Practice最新文献

Composite adaptive second-order nonsingular terminal sliding mode controller for path-tracking of general N-trailer systems 一般n -拖车系统路径跟踪的复合自适应二阶非奇异终端滑模控制器

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2025-12-20 DOI: 10.1016/j.conengprac.2025.106706

Liang Gao , Yi Yang , Huishuai Peng , Zhexi Hu , Shanshan Xie

Path-tracking control of autonomous tractor-trailers systems (TTSs) is a challenging issue due to complex multi-body dynamics and underactuated features. Notably, varying numbers and configurations of trailers and environmental disturbances degrade the path-tracking performance of conventional control methods. To this end, we propose a composite adaptive second-order nonsingular terminal sliding mode (CASONTSM) controller for TTSs, applicable to both traditional and active trailer steering (ATS) configurations. The CASONTSM controller consists of three parts: a general dynamic model (GDM), an ASONTSM controller, and an adaptive extended state observer (AESO). The GDM can uniformly represent N-trailer systems with different types of hitching types and trailers; the AESO is designed to estimate and compensate for the lumped disturbances and suppress measurement noise; the ASONTSM controller ensures finite-time convergence by employing SONTSM manifold and simultaneously overcome the tradeoff between the transient response and the chattering phenomenon. By incorporating these three components, the CASONTSM can significantly improve tracking accuracy and robustness for traditional TTSs, while effectively reducing off-tracking effects for TTSs equipped with ATS. The practical finite-time stability of the path-tracking system is rigorously proved through Lyapunov theory. Finally, comparative simulations and real-world experiments validate the effectiveness and robustness of the proposed composite control method.

由于复杂的多体动力学和欠驱动特性，自动牵引车-挂车系统的路径跟踪控制是一个具有挑战性的问题。值得注意的是，不同数量和配置的拖车和环境干扰降低了传统控制方法的路径跟踪性能。为此，我们提出了一种复合自适应二阶非奇异终端滑模控制器（CASONTSM），适用于传统和主动拖车转向（ATS）配置。CASONTSM控制器由三部分组成：通用动态模型（GDM）、ASONTSM控制器和自适应扩展状态观测器（AESO）。GDM可以统一表示不同挂车类型和挂车类型的n个挂车系统；AESO用于估计和补偿集总扰动，抑制测量噪声；ASONTSM控制器采用SONTSM流形保证了系统的有限时间收敛性，同时克服了暂态响应和抖振现象之间的权衡。CASONTSM结合了这三个组成部分，可以显著提高传统tts的跟踪精度和鲁棒性，同时有效减少配备ATS的tts的偏离效应。通过李亚普诺夫理论严格证明了路径跟踪系统的有限时间稳定性。最后，对比仿真和实际实验验证了所提复合控制方法的有效性和鲁棒性。

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引用次数: 0

Constant-frequency control strategy and semi-active implementation of a two-stage leaf spring suspension 两级钢板弹簧悬架的恒频控制策略及半主动实现

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2025-12-19 DOI: 10.1016/j.conengprac.2025.106718

Xiaoliang Zhang , Tianqi Guo , Chaofu Bai , Jiamei Nie

Improving ride comfort in multi-stage leaf spring suspensions is critical for vehicle safety, driver health, and overall driving performance, yet a major challenge remains the abrupt changes in natural frequency due to sudden stiffness variations, which severely degrade ride quality. To address this challenge, this study employs the harmonic superposition method to extend the applicability of the memory element ω² criterion from simple harmonic vibrations to random vibrations, consequently proposing an extended ω² criterion. To this end, a skyhook inertance constant-frequency control rule is proposed, using the extended ω² criterion as the judgment basis to mitigate the abrupt natural frequency changes caused by two-stage stiffness leaf springs with memory characteristics. Furthermore, based on a semi-active device combining an adjustable inerter and damper, the skyhook inertance semi-active constant-frequency control(SH-IFC) strategy for two-stage stiffness leaf spring suspension systems is developed. By utilizing the simulated-mass property of the grounded inerter to add virtual mass to the sprung mass during abrupt stiffness variation, this strategy maintains the natural frequency of the suspension system and mitigates the impact of its natural frequency on suspension performance. Experimental validation conducted on hardware-in-the-loop (HiL) systems and a D2P platform confirmed the control strategy’s effectiveness, achieving RMS body acceleration reductions of 13.86 % (1/4 load), 18.57 % (1/2 load), and 15.32 % (3/4 load) compared to passive suspensions. These results indicate that the proposed strategy effectively stabilizes the natural frequency and mitigates ride comfort degradation caused by its abrupt variations.

提高多级钢板弹簧悬架的乘坐舒适性对车辆安全、驾驶员健康和整体驾驶性能至关重要，但主要挑战仍然是由于刚度突然变化导致的固有频率突然变化，这严重降低了乘坐质量。为了解决这一问题，本研究采用谐波叠加方法将记忆元件ω2判据的适用性从简单谐波振动扩展到随机振动，从而提出了扩展的ω2判据。为此，提出了一种以扩展ω2准则为判断依据的天钩惯性恒频控制规则，以缓解具有记忆特性的两级刚度钢板弹簧引起的固有频率突变。在此基础上，提出了一种结合可调惯性器和阻尼器的半主动控制策略，用于两级刚度钢板弹簧悬架系统的天钩惯性半主动恒频控制。该策略利用接地干涉器的模拟质量特性，在刚度突变时为簧载质量增加虚质量，保持了悬架系统的固有频率，减轻了其固有频率对悬架性能的影响。在硬件在环（HiL）系统和D2P平台上进行的实验验证证实了该控制策略的有效性，与被动悬架相比，RMS车身加速度降低了13.86%（1/4负载）、18.57%（1/2负载）和15.32%（3/4负载）。结果表明，该策略有效地稳定了车辆固有频率，减轻了因固有频率突变引起的乘坐舒适性下降。

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引用次数: 0

Rule-based approach incorporating MPC, integral-type LQR, and six-step operation for current control in PMSM 基于规则的PMSM电流控制方法，结合MPC、积分型LQR和六步操作

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2025-12-18 DOI: 10.1016/j.conengprac.2025.106694

Kenta Koiwa , Tomoya Takahashi , Tadanao Zanma , Kang-Zhi Liu

Permanent magnet synchronous motors (PMSMs) have been widely used for many applications. The current controller in voltage source inverters (VSIs) has to achieve a fast current response with zero steady-state errors in the wide operating range of the PMSM. In particular, it is challenging for the VSI to control the current precisely when the PMSM operates in the over-modulation region, including the six-step operation. In this region, the modulation index exceeds the linear range of pulse-width modulation, and during the six-step operation, the inverter output voltage becomes approximately a square wave. This article proposes a novel rule-based approach for VSIs driving the PMSM to achieve a fast and accurate current response in both the transient and steady states in the entire region from linear to six-step operations. The advantage of the proposed method is verified by a comparative analysis with the conventional finite-control-set model predictive control and continuous-control-set model predictive control through simulations and experiments. Consequently,the proposed method reduces the offset by approximately 23–36% in the over-modulation region and by approximately 41–50% during the six-step operation, compared with conventional methods, while maintaining a fast current (torque) response.

永磁同步电机（PMSMs）有着广泛的应用。电压源逆变器（vsi）中的电流控制器必须在PMSM的宽工作范围内实现零稳态误差的快速电流响应。特别是，当PMSM在过调制区域工作时，包括六步操作，VSI精确控制电流是具有挑战性的。在该区域，调制指数超过脉宽调制的线性范围，在六步工作期间，逆变器输出电压近似为方波。本文提出了一种新的基于规则的vsi驱动永磁同步电机的方法，以实现从线性到六步操作的整个区域的瞬态和稳态快速准确的电流响应。通过仿真和实验，将该方法与传统的有限控制集模型预测控制和连续控制集模型预测控制进行了对比分析，验证了该方法的优越性。因此，与传统方法相比，该方法在过调制区域减少了约23-36%的偏置，在六步操作期间减少了约41-50%的偏置，同时保持了快速的电流（转矩）响应。

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引用次数: 0

Combined feedback stabilization and iterative pulse shaping for regenerative optical amplifiers 再生光放大器的联合反馈稳定与迭代脉冲整形

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2025-12-18 DOI: 10.1016/j.conengprac.2025.106711

Nikolaus Würkner , Lukas Tarra , Andreas Deutschmann-Olek , Andreas Kugi

Regenerative amplifiers (RAs) are a common tool to generate high-intensity laser pulses by circulating them through an optical gain medium inside a cavity until the stored energy is depleted. This paper presents a control strategy that simultaneously suppresses dynamical instabilities while generating output pulses with a desired pulse shape. To enable model-based design, we derive a reduced nonlinear discrete-time model of the amplifier by combining spectral small-gain approximation with spatially averaged population dynamics in the gain medium. The resulting model captures both the dynamical and spectral behavior of the amplifier. Stabilization of a desired operating point is achieved through a linear–quadratic regulator (LQR) combined with an Extended Kalman Filter (EKF) for state estimation based on output energy measurements. This subordinate feedback scheme suppresses bifurcations and mitigates excitations induced by changes in the spectral pulse shape. On top of this control loop, we apply model-based iterative learning control (ILC) to asymptotically track desired output spectra. Projected ILC laws are used to adapt both the input filter and the provided pump-light intensity. The proposed method is validated in simulation on a distributed-parameter model calibrated to measurements of a Ho:YAG-based RA. Results demonstrate robust convergence to desired pulse shapes and highlights its feasibility for real-time implementation.

再生放大器（RAs）是一种常见的工具，产生高强度的激光脉冲，通过循环他们通过一个光学增益介质在一个腔内，直到储存的能量耗尽。本文提出了一种控制策略，在产生具有期望脉冲形状的输出脉冲的同时抑制动态不稳定性。为了实现基于模型的设计，我们通过将频谱小增益近似与增益介质中的空间平均种群动态相结合，推导出放大器的简化非线性离散时间模型。所得到的模型捕获了放大器的动态和频谱行为。通过线性二次型调节器（LQR）与基于输出能量测量的扩展卡尔曼滤波器（EKF）相结合来实现所需工作点的稳定。这种从属反馈方案抑制了分岔，减轻了谱脉冲形状变化引起的激励。在此控制回路之上，我们应用基于模型的迭代学习控制（ILC）来渐近跟踪期望的输出谱。投影ILC律用于调整输入滤波器和提供的泵浦光强度。在一个基于Ho: yag的RA测量校准的分布参数模型上进行了仿真验证。结果表明，该算法对期望的脉冲形状具有鲁棒性收敛，并强调了实时实现的可行性。

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引用次数: 0

Saturated output feedback control for quadrotor trajectory tracking via fixed-time observers 基于固定时间观测器的四旋翼飞行器轨迹跟踪饱和输出反馈控制

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2025-12-18 DOI: 10.1016/j.conengprac.2025.106713

Yuanqing Xia, Min Gong, Dailiang Ma, Ganghui Shen

In this paper, a saturated output feedback trajectory tracking scheme for a quadrotor is developed by using the fixed-time observer (FxTO) technique. The translational controller is examined based on a saturated nonlinear control law, where the unmeasurable velocity states are estimated by the FxTO. The proposed FxTO theoretically guarantees the convergence of the estimation errors in a fixed time, and the stability of the closed-loop system is proved. Next, a cascaded attitude controller is explored, and a feedforward compensation is introduced via the differential flatness approach. Additionally, a fixed-time disturbance observer (FxTDO) is incorporated to improve robustness against disturbances. Finally, the tracking accuracy and robustness of the proposed method are verified through simulations and experiments.

利用固定时间观测器（FxTO）技术，提出了一种四旋翼飞行器饱和输出反馈轨迹跟踪方案。基于饱和非线性控制律对平移控制器进行了检验，其中不可测速度状态由FxTO估计。该方法从理论上保证了估计误差在固定时间内的收敛性，并证明了闭环系统的稳定性。其次，研究了级联姿态控制器，并通过微分平坦度方法引入前馈补偿。此外，还加入了固定时间干扰观测器（FxTDO）来提高对干扰的鲁棒性。最后，通过仿真和实验验证了该方法的跟踪精度和鲁棒性。

引用次数: 0

Robust power extraction in offshore permanent magnet vernier generator wind turbines using noise-resilient wind forecasting and anti-chattering control 基于噪声弹性风预报和抗抖振控制的海上永磁游标风力发电机组鲁棒功率提取

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2025-12-15 DOI: 10.1016/j.conengprac.2025.106695

Ameerkhan Abdul Basheer , Jung Wook Park , Jae Hoon Jeong

Offshore wind turbines require robust and efficient control strategies to ensure stable power generation under turbulent wind conditions and harsh marine environments. This study proposes a novel noise-resilient prediction-control framework tailored for offshore wind turbine systems using permanent magnet vernier generators. The method delivers three main contributions: enhanced short-term wind speed forecasting, chattering-free control, and suitability for real-time implementation. A nonlinear autoregressive neural network with exogenous inputs, integrated with an extended Kalman filter, is used to mitigate sensor noise and improve wind speed prediction accuracy. These forecasts are then fed into a sliding mode control system equipped with an anti-chattering double hyperbolic reaching law and actuator saturation handling. This coordinated design improves rotor speed tracking and enables smooth control performance under realistic constraints. Comprehensive simulations and experimental tests on a 5 kW laboratory-scale offshore wind turbine emulator validate the effectiveness of the proposed approach. Results show that the proposed controller reduces torque ripple by 1.6–2.5 % and speed ripple by 1.0–1.3 %, while lowering electrical power MSE by 6–12 %, improved aerodynamic efficiency, and increased average power output compared to conventional methods. Additionally, the strategy demonstrates strong robustness against wind forecasting errors and marine-induced variability. With its computational simplicity and minimal tuning requirements, the proposed framework is well suited for real-time embedded control in offshore wind applications. This work presents a practical and scalable solution for enhancing the resilience and efficiency of offshore wind power conversion systems.

海上风力涡轮机需要强大而有效的控制策略，以确保在湍流风条件和恶劣海洋环境下稳定发电。本研究提出了一种针对使用永磁游标发电机的海上风力涡轮机系统量身定制的新型抗噪声预测控制框架。该方法提供了三个主要贡献：增强的短期风速预报、无颤振控制和实时实施的适用性。采用外源输入的非线性自回归神经网络，结合扩展卡尔曼滤波器，减轻传感器噪声，提高风速预测精度。然后将这些预测输入到滑模控制系统中，该系统配备了抗抖双双曲到达律和执行器饱和处理。这种协调的设计改善了转子速度跟踪，并在现实约束下实现了平滑的控制性能。在5 kW试验室规模海上风力机仿真器上进行了综合仿真和实验测试，验证了该方法的有效性。结果表明，与传统方法相比，该控制器可将转矩脉动降低1.6 ~ 2.5%，速度脉动降低1.0 ~ 1.3%，同时将电功率MSE降低6 ~ 12%，提高气动效率，提高平均功率输出。此外，该策略对风预报误差和海洋引起的变率具有很强的稳健性。由于其计算简单和最小的调谐要求，所提出的框架非常适合海上风电应用中的实时嵌入式控制。这项工作为提高海上风电转换系统的弹性和效率提供了一种实用且可扩展的解决方案。

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引用次数: 0

V-Tiger auto-tuning optimizing overshoot, settling time, and chattering over 95% confidence intervals V-Tiger自动调谐优化超调，沉淀时间，和超过95%的置信区间抖音

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2025-12-15 DOI: 10.1016/j.conengprac.2025.106693

Kento Sawai, Yuto Uchiyama, Manabu Kosaka

V-Tiger, a data-driven control method, can predict the input–output responses and their 95% confidence intervals of a designed control system. However, it has the following limitations: it cannot be applied to systems subject to constant input disturbances; the predicted 95% confidence intervals ignore the effect of disturbances; and the confidence intervals are not utilized in controller design, leaving its potential benefits unexploited. To overcome these limitations, this paper proposes: (1) extending the class of applicable systems to include those with constant input disturbances and actuator saturation; (2) estimating confidence intervals that account for disturbances; and (3) utilizing the 95% confidence intervals of the predicted responses during the controller design stage to improve the prediction accuracy and suppress input chattering. Specifically, the controller is designed to narrow the width of these confidence intervals. Since the probability that the response deviates outside the 95% confidence interval is only 5%, narrowing the interval reduces the variability of the response. As a result, prediction accuracy is enhanced and input chattering is mitigated. The proposed method is experimentally validated using an air-floating system affected by constant input disturbance (gravity), output disturbance (turbulence), actuator saturation (motor voltage limit), and nonlinearity (compressible fluid pressure characteristics).

V-Tiger是一种数据驱动控制方法，可以预测所设计控制系统的输入输出响应及其95%置信区间。然而，它有以下局限性：它不能应用于受恒定输入干扰的系统；预测的95%置信区间忽略了干扰的影响；并且在控制器设计中没有使用置信区间，从而使其潜在的好处未被利用。为了克服这些限制，本文提出：(1)扩大适用系统的类别，包括恒定输入干扰和执行器饱和的系统；(2)估计考虑干扰的置信区间；(3)在控制器设计阶段利用预测响应的95%置信区间提高预测精度，抑制输入抖振。具体来说，控制器的设计是为了缩小这些置信区间的宽度。由于响应偏离95%置信区间之外的概率只有5%，因此缩小区间可以减少响应的可变性。提高了预测精度，减轻了输入的抖振。采用恒定输入干扰（重力）、输出干扰（湍流）、执行器饱和（电机电压限制）和非线性（可压缩流体压力特性）影响的气浮系统对所提出的方法进行了实验验证。

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引用次数: 0

B-splines-based mechanism design in population games for distributed evolutionary dynamics formation control 基于b样条的分布式进化动力学群体博弈机制设计

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2025-12-14 DOI: 10.1016/j.conengprac.2025.106676

Cong Khanh Dinh , Vincent Marguet , Ionela Prodan , Carlos Ocampo-Martinez , Nicanor Quijano , Julian Barreiro-Gomez

This paper presents a novel formation control framework for autonomous multi-agent systems based on distributed evolutionary dynamics and time-varying population games. We design the fitness functions using B-spline parameterization, enabling smooth, constraint-aware trajectory generation that incorporates both equilibrium targets and transient behavior. The proposed method is integrated with multiple distributed dynamics, namely replicator, projection, and Smith dynamics, and ensures convergence under connectivity and stability assumptions. Compared to conventional static fitness designs, the B-spline-based approach provides enhanced performance in formation reconfiguration and motion planning. The effectiveness of the proposed strategy is validated through extensive simulations and real-world experiments with multiple aerial nanodrones.

提出了一种基于分布式进化动力学和时变种群博弈的自主多智能体系统编队控制框架。我们使用b样条参数化设计适应度函数，实现平滑、约束感知的轨迹生成，同时包含平衡目标和瞬态行为。该方法集成了复制器、投影和史密斯动态等多个分布式动态，保证了在连通性和稳定性假设下的收敛性。与传统的静态适应度设计相比，基于b样条的方法在编队重构和运动规划方面提供了更好的性能。通过大量的仿真和多架航空纳米无人机的实际实验，验证了所提出策略的有效性。

引用次数: 0

Global event-triggered regulation of a unicycle robot with bounded control 具有有界控制的独轮车机器人全局事件触发调节

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2025-12-13 DOI: 10.1016/j.conengprac.2025.106660

Mata Khalili , Denis Efimov , Shiyu Liu

This paper addresses the problem of stabilizing the position of a mobile robot using its kinematic model of unicycle type. A discontinuous and bounded control law is proposed, which guarantees a global solution to the stabilization problem. The properties of the control strategy are analyzed using Lyapunov methods. Furthermore, an event-triggered implementation of the control law is introduced, and its performance and tuning are evaluated through both simulations and experimental results.

本文利用独轮车式移动机器人的运动学模型，研究了移动机器人的位置稳定问题。提出了一种不连续有界控制律，保证了镇定问题的全局解。利用李雅普诺夫方法分析了控制策略的特性。此外，还介绍了一种事件触发控制律的实现方法，并通过仿真和实验结果对其性能和整定进行了评价。

引用次数: 0

High-precision multi-shuttle operation of a segmented stator permanent magnet linear synchronous motor 分段定子永磁直线同步电机的高精度多梭运行

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice

Pub Date : 2025-12-13 DOI: 10.1016/j.conengprac.2025.106709

Gerd Fuchs , Andreas Kugi , Wolfgang Kemmetmüller

Due to their high performance and flexibility, permanent magnet linear synchronous motors (PMLSMs) are widely used in industrial systems. Innovative motor designs incorporate stator segments with varying curvatures, enabling the realization of complex PMLSM geometries. One key advantage of PMLSMs is their capability to operate multiple moving units (shuttles) independently and simultaneously, enhancing system flexibility and throughput. However, the segmented stator design and the close-proximity operation of multiple shuttles introduce additional control challenges. These stem from interactions between the shuttles’ permanent magnets (PMs), overlapping current patterns, and manufacturing and mounting tolerances. High-precision position tracking is critical in industrial applications such as manufacturing processes. This paper proposes a real-time capable correction method to mitigate the impact of overlapping currents on the shuttles’ tractive force. A two-degree-of-freedom position controller is augmented with an iterative learning control (ILC) strategy to achieve high-precision position tracking of multiple shuttles operating in close proximity. Experimental results demonstrate excellent tracking performance along the entire curvilinear track within segments and at segment transitions while consistently maintaining the desired shuttle spacing, even for very small distances.

永磁直线同步电动机由于其高性能和灵活性，在工业系统中得到了广泛的应用。创新的电机设计结合了不同曲率的定子段，从而实现了复杂的永磁同步电机几何形状。PMLSMs的一个关键优势是它们能够独立和同时操作多个移动单元（穿梭），提高系统的灵活性和吞吐量。然而，分段定子设计和多梭的近距离操作带来了额外的控制挑战。这些源于航天飞机的永磁体（pm）之间的相互作用，重叠的电流模式，以及制造和安装公差。高精度位置跟踪在制造过程等工业应用中至关重要。本文提出了一种能够实时修正的方法，以减轻重叠电流对航天飞机牵引力的影响。采用迭代学习控制（ILC）策略对二自由度位置控制器进行了增强，实现了多航天飞机近距离运动的高精度位置跟踪。实验结果表明，即使在非常小的距离内，沿着整个曲线轨道在段内和段过渡时也能保持理想的穿梭间距，具有出色的跟踪性能。

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引用次数: 0