Control Engineering Practice最新文献

英文中文

Disturbance-rejection pressure control for integrated brake system based on improved non-singular fast terminal sliding mode 基于改进非奇异快速终端滑模的综合制动系统抗扰压力控制

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

Control Engineering Practice

Pub Date : 2026-05-01 Epub Date: 2026-01-30 DOI: 10.1016/j.conengprac.2026.106811

Jian Zhao, Ruijie Dang, Bing Zhu, Zhicheng Chen, Jiayi Han, Peixing Zhang, Dongjian Song, Shizheng Jia

Integrated brake system (IBS) is a critical component of intelligent electric vehicle electronics. However, the pressure control of IBS is usually affected by lumped disturbance such as friction uncertainties, time-varying hydraulic characteristics and unmodeled dynamics, which present significant challenges to the pressure tracking. In order to achieve high-precision, fast-response, and robust pressure tracking performance, this article proposes a disturbance-rejection pressure control strategy. First, to improve the response rate, a non-singular fast terminal sliding mode control (NFTSMC) with finite-time convergence is applied in the basic pressure regulator. Subsequently, a super-twisting algorithm is used to reduce the control chattering in NFTSMC and enhance pressure tracking accuracy. On this basis, we design a finite-time extended state observer to estimate the lumped disturbance, which is then integrated into the NFTSMC to maintain the robustness with small control gains. This integration also reconciles the contradiction between control chattering and robustness in the NFTSMC. The finite-time convergence of the proposed strategy is rigorously validated during both the reaching and sliding phases of sliding mode control. Finally, hardware-in-the-loop experiments are performed. The experimental results demonstrate that compared to the baseline, the proposed strategy achieves at least a 28% improvement in pressure-tracking root mean square error and maximum error.

集成制动系统（IBS）是智能电动汽车电子系统的重要组成部分。然而，IBS的压力控制通常受到摩擦不确定性、时变水力特性和未建模动力学等集总扰动的影响，这给压力跟踪带来了重大挑战。为了实现高精度、快速响应和鲁棒的压力跟踪性能，本文提出了一种抗扰压力控制策略。首先，为了提高响应速率，在基本压力调节器中采用有限时间收敛的非奇异快速终端滑模控制（NFTSMC）。在此基础上，采用超扭转算法降低了NFTSMC的控制抖振，提高了压力跟踪精度。在此基础上，我们设计了一个有限时间扩展状态观测器来估计集总扰动，然后将其集成到NFTSMC中以保持小控制增益的鲁棒性。这种集成也调和了NFTSMC中控制抖振与鲁棒性之间的矛盾。在滑模控制的到达和滑动阶段严格验证了所提策略的有限时间收敛性。最后，进行了硬件在环实验。实验结果表明，与基线相比，该策略在压力跟踪均方根误差和最大误差方面至少提高了28%。

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引用次数: 0

An online data-driven model-free predictive control method with low computational burden for power converters 一种低计算量的在线数据驱动无模型预测控制方法

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

Control Engineering Practice

Pub Date : 2026-05-01 Epub Date: 2026-02-10 DOI: 10.1016/j.conengprac.2026.106836

Pengbo Zhao , Jien Ma , Lin Qiu , Xing Liu , Chenghao Liu , Zeyu Zhang , Youtong Fang

Finite-set model predictive control is widely used in power converter control due to its simple structure and superior performance, but its high sensitivity to system parameters restricts its popularization. To solve this problem, many model-free control methods are emerged. However, complex control algorithms are often accompanied by high computational burden, which affects their online application on low-power processors. Motivated by this, this paper proposes a novel online data-driven model-free predictive control method with low computational burden. The prediction module adopts the data-driven form of autoregressive exogenous model, which eliminates the dependence on physical parameters by information mining through system input and output data. In order to reduce the computational burden, this paper proposes a vector optimization method based on linear programming, which avoids the traversal optimization in the conventional finite-set model predictive control method and thus improves the computational efficiency. Meanwhile, a model-free midpoint voltage balancing solution is proposed, which utilizes the small vector redundancy feature to achieve accurate balancing. Simulation and experimental results show that the proposed method achieves excellent performance and computational efficiency.

有限集模型预测控制因其结构简单、性能优越而广泛应用于功率变换器控制中，但其对系统参数的高灵敏度限制了其推广。为了解决这一问题，出现了许多无模型控制方法。然而，复杂的控制算法往往伴随着巨大的计算负担，这影响了它们在低功耗处理器上的在线应用。基于此，本文提出了一种新的低计算量的在线数据驱动无模型预测控制方法。预测模块采用自回归外生模型的数据驱动形式，通过系统输入输出数据进行信息挖掘，消除了对物理参数的依赖。为了减少计算量，本文提出了一种基于线性规划的矢量优化方法，避免了传统有限集模型预测控制方法中的遍历优化，提高了计算效率。同时，提出了一种无模型中点电压均衡方案，利用小矢量冗余特性实现精确均衡。仿真和实验结果表明，该方法具有良好的性能和计算效率。

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引用次数: 0

A fully actuated system approach to event-triggered fault-tolerant control of a class of interconnected nonlinear systems 一类互连非线性系统事件触发容错控制的全驱动系统方法

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

Control Engineering Practice

Pub Date : 2026-05-01 Epub Date: 2026-02-11 DOI: 10.1016/j.conengprac.2026.106832

Tan Wang , Haowen Liu , He Kong , Guang-Ren Duan

This paper presents a novel event-triggered fault-tolerant control (FTC) strategy for interconnected nonlinear systems (INSs) using the fully actuated system (FAS) approach. The FAS model of INSs is derived through recursive transformations, enabling a more flexible and efficient controller design procedure compared to traditional backstepping methods. The proposed method explicitly accounts for modeling uncertainties, ensuring robustness without relying on neural networks or requiring exact knowledge of uncertainties. A switching-threshold mechanism, which combines fixed and relative thresholds, is introduced to balance communication overhead and system performance. The uniform ultimate boundedness of the tracking error under system faults is rigorously established. Moreover, the proposed framework is experimentally validated on a self-developed platform with two inverted pendulum systems connected via a spring, demonstrating its practical applicability and effectiveness.

本文提出了一种基于全驱动系统（FAS）的事件触发容错控制策略。通过递归变换推导出INSs的FAS模型，与传统的反推方法相比，具有更灵活、更高效的控制器设计过程。所提出的方法明确地考虑了建模的不确定性，确保了鲁棒性，而不依赖于神经网络或需要精确的不确定性知识。引入了一种结合固定阈值和相对阈值的切换阈值机制来平衡通信开销和系统性能。严格建立了系统故障下跟踪误差的一致极限有界性。并在自主开发的两个倒立摆系统通过弹簧连接的平台上进行了实验验证，验证了该框架的实用性和有效性。

引用次数: 0

Experimental demonstration of safe and automated in-cylinder pressure shaping using constrained extremum seeking 基于约束极值求法的安全、自动化缸内压力成形实验验证

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

Control Engineering Practice

Pub Date : 2026-05-01 Epub Date: 2026-02-11 DOI: 10.1016/j.conengprac.2026.106834

Mats Versmissen , Maarten Vlaswinkel , Frank Willems

To support decarbonization of transport, research is focusing on advanced and highly efficient combustion concepts running on low-carbon fuels. Optimizing the performance of these complex engines over a wide range of operating conditions results in exploded control calibration efforts for traditional calibration methods. In this paper, an automated engine calibration framework based on constrained Extremum Seeking (ES) control is proposed to effectively reduce calibration times. Contrary to previous research that optimizes an efficiency metric, the proposed ES algorithm directly shapes the entire in-cylinder pressure trace by decomposing it into Principal Components (PCs) and controlling the associated weights towards their optimal reference, defined by an Ideal Thermodynamic cycle. This method finds an optimal trade-off between controllability of the PC weights and optimality, while explicitly addressing combustion safety constraints using a novel gradient based projection method for the PC weights. The proposed ES controller was successfully implemented for fuel path calibration on a single cylinder engine running in dual-fuel (diesel-gasoline) mode. Besides demonstrating optimality and convergence of the ES concept within 4 min, the handling of an arbitrary constraint on maximal in-cylinder pressure is validated. Despite the under-actuated nature of the control problem for the PC weights, the resulting ES optimal operating point is close to the actual maximal thermal efficiency point. This work highlights the practical viability of automated calibration methods through a model-free in-cylinder pressure shaping approach.

为了支持交通运输的脱碳，研究的重点是使用低碳燃料的先进高效燃烧概念。在广泛的工作条件下优化这些复杂发动机的性能导致传统校准方法的控制校准工作爆炸。提出了一种基于约束极值搜索控制的发动机自动标定框架，有效地减少了标定次数。与之前优化效率指标的研究相反，本文提出的ES算法通过将缸内压力轨迹分解为主成分（PCs），并将相关权重控制到理想热力学循环定义的最佳参考值，从而直接形成整个缸内压力轨迹。该方法在PC权值的可控性和最优性之间找到了最优权衡，同时使用基于梯度的PC权值投影方法明确地解决了燃烧安全约束。该控制器已成功应用于双燃料（柴油-汽油）模式下的单缸发动机的燃料路径标定。除了证明ES概念在4分钟内的最优性和收敛性外，还验证了对最大缸内压力的任意约束的处理。尽管PC权重的控制问题具有驱动不足的性质，但得到的ES最佳工作点接近实际的最大热效率点。这项工作强调了通过无模型缸内压力成形方法自动校准方法的实际可行性。

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引用次数: 0

Formulation of MILP models to assess the techno-economic impact of district heating electrification in energy communities 制定综合效益预测模型，以评估能源社区区域供热电气化的技术经济影响

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

Control Engineering Practice

Pub Date : 2026-05-01 Epub Date: 2026-02-03 DOI: 10.1016/j.conengprac.2026.106810

Hussain Ahmed, Matti Vilkko

Transitioning district heating in energy communities (ECs) from fossil-fuel to electrification requires advanced analytical tools for long-term assessment and informed decision-making. This paper proposes two novel mixed-integer linear programming models for a Finnish EC with diverse power-generating and storage units, with gas boiler and electric boiler configurations to promote sector-coupling. Both models are simulated over a year using operational data to compare operating costs, carbon emissions, and reliance on local renewable electricity generation. Results show that the electric boilers configuration significantly reduces emissions, lowers costs, and improves local renewable energy utilization, highlighting the benefits of electrifying ECs for future sustainability.

能源社区的区域供热从化石燃料向电气化过渡，需要先进的分析工具进行长期评估和明智的决策。本文提出了芬兰EC的两种新型混合整数线性规划模型，该模型具有不同的发电和存储单元，并具有燃气锅炉和电锅炉配置，以促进部门耦合。这两种模型都经过一年的模拟，使用运行数据来比较运行成本、碳排放和对当地可再生能源发电的依赖。结果表明，电锅炉配置显著减少了排放，降低了成本，并提高了当地可再生能源的利用率，突出了ec电气化对未来可持续发展的好处。

引用次数: 0

A novel model predictive control law for over-actuated space cable-driven manipulators 一种新型超驱动空间缆索机械臂模型预测控制律

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

Control Engineering Practice

Pub Date : 2026-05-01 Epub Date: 2026-02-05 DOI: 10.1016/j.conengprac.2026.106819

Wenlong Lin , Wanquan Liu , Xiangxiang Zou , Deshan Meng , Hui-Jie Sun , Ping Wang , Muhammad Imran

In this paper, the fully-actuated model predictive control for the trajectory tracking of cable-driven manipulators is investigated. For the dynamic system of a cable-driven manipulator, the fully-actuated property is derived. Then, a novel trajectory tracking control law is designed by combining model predictive control technique and the fully-actuated system approach. The developed fully-actuated controller reduces the computational burden of predictive control for the cable-driven manipulator system, increases the response speed, and improves the performance of vibration suppression. The asymptotical stability of the closed-loop system is proven via the Lyapunov stability theory. Simulations and experiments are carried out to demonstrate the effectiveness and superiority of the proposed control method, highlighting the advantages of the fully-actuated controller in computational efficiency and vibration suppression.

研究了缆索驱动机械臂轨迹跟踪的全驱动模型预测控制问题。对于缆索驱动机械臂的动力学系统，导出了其全致动特性。然后，将模型预测控制技术与全驱动系统方法相结合，设计了一种新的轨迹跟踪控制律。所开发的全驱动控制器减少了索驱动机械臂系统预测控制的计算量，提高了响应速度，改善了振动抑制性能。利用李雅普诺夫稳定性理论证明了闭环系统的渐近稳定性。仿真和实验验证了所提控制方法的有效性和优越性，突出了全驱动控制器在计算效率和振动抑制方面的优势。

引用次数: 0

Experimental evaluation of extremum seeking control in semi-industrial microalgae raceway ponds 半工业微藻回旋池极值寻优控制的实验评价

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

Control Engineering Practice

Pub Date : 2026-05-01 Epub Date: 2026-02-12 DOI: 10.1016/j.conengprac.2026.106835

José González-Hernández , Laurent Dewasme , José Luis Guzmán , José Carlos Moreno , Alain Vande Wouwer

This work presents the implementation and experimental evaluation of an extremum seeking control (ESC) strategy for pH regulation in semi-industrial microalgae raceway photobioreactors, where pH is one of the most critical variables to control for ensuring stable and productive operation. A model-free optimization approach is proposed based on the classical modulation-demodulation ESC scheme, particularly suited to bioreactors whose dynamics evolve slowly and vary over time due to irradiance, temperature, mixing and biomass growth. To enable within-day convergence, the dither frequency was deliberately placed outside the dominant bandwidth of the process, ensuring sufficient excitation cycles during daylight operation. The high-pass filter (HPF) cutoff was then tuned to reject slow diurnal drifts while providing the phase lead required by the out-of-band design, thus preserving an accurate gradient estimate. In addition, a static data-driven feedforward of solar irradiance was incorporated to cancel predictable disturbances associated with photosynthetic activity, improving transient response and reducing corrective effort from the ESC loop. The approach was deployed on full-scale 80 m² raceways under realistic outdoor and semi-industrial conditions. Results demonstrate robust pH regulation and fast daytime convergence toward the optimal operating region, with minimal modelling effort, highlighting ESC as a practical and effective tool for real-time pH control in microalgal bioprocesses.

本文介绍了半工业微藻槽式光生物反应器pH调节的极值寻求控制（ESC）策略的实施和实验评估，其中pH值是确保稳定和生产运行的最关键变量之一。在经典调制解调ESC方案的基础上，提出了一种无模型优化方法，特别适用于受辐照度、温度、混合和生物量增长等影响，动态变化缓慢且随时间变化的生物反应器。为了实现白天内的收敛，抖动频率被故意放置在过程的主要带宽之外，以确保在白天运行时有足够的激励周期。然后调整高通滤波器（HPF）截止以抑制缓慢的日漂移，同时提供带外设计所需的相位引线，从而保持准确的梯度估计。此外，采用静态数据驱动的太阳辐照度前馈，消除了与光合作用相关的可预测干扰，改善了瞬态响应，减少了ESC回路的校正工作。该方法在真实的室外和半工业条件下部署在80 平方米的全尺寸跑道上。结果表明，在最小的建模工作量下，ESC具有强大的pH调节和快速的白天收敛到最佳操作区域，突出了ESC作为微藻生物过程中实时pH控制的实用有效工具。

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引用次数: 0

Nonlinear voltage control of switched reluctance generators in low voltage DC microgrids 低压直流微电网开关磁阻发电机的非线性电压控制

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

Control Engineering Practice

Pub Date : 2026-05-01 Epub Date: 2026-02-11 DOI: 10.1016/j.conengprac.2026.106806

Qihao Guo , Jianwen Meng , Demba Diallo , Imen Bahri

An output voltage control strategy for a switched reluctance generator in DC microgrid application is proposed to improve the regulation performance under load variations. First, a nonlinear model with state variables, i.e., the phase current and output voltage, is derived based on electromagnetic energy conversion principle. Then, the nonlinear system is linearized by applying the feedback linearization and a state feedback control law is obtained. For robust control to parameter variations, an integrator is added to the feedback control law and the controller parameters are appropriately tuned according to the desired dynamic performance. To handle the load variations in practical applications, an extended Kalman filter-based load observer is developed to estimate the load variation. The observer is designed for both constant power load and resistive load. Experimental results show the robustness to load variations improvement compared with classical method: the response time is reduced by 25 %, and the voltage overshoot is decreased from 3 to 2%.

为了提高直流微电网中开关磁阻发电机在负荷变化下的调节性能，提出了一种开关磁阻发电机输出电压控制策略。首先，基于电磁能量转换原理，推导了具有相电流和输出电压状态变量的非线性模型；然后，采用反馈线性化方法对非线性系统进行线性化，得到状态反馈控制律。为了对参数变化进行鲁棒控制，在反馈控制律中加入积分器，并根据期望的动态性能对控制器参数进行适当的调整。为了处理实际应用中的负荷变化，提出了一种基于扩展卡尔曼滤波的负荷观测器来估计负荷变化。该观测器适用于恒功率负载和阻性负载。实验结果表明，与经典方法相比，该方法对负载变化的鲁棒性得到了提高：响应时间缩短了25%，电压超调从3%降低到2%。

引用次数: 0

HIL-validated coordinated P-Q regulation for integrated large-scale wind-PV power plants 综合大型风电光伏电站的协同P-Q调节

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

Control Engineering Practice

Pub Date : 2026-05-01 Epub Date: 2026-02-13 DOI: 10.1016/j.conengprac.2026.106842

Jiawei Zhou, Zhongwei Lin, Zihan Zhang, Renshi Li

The increasing scale of individual wind-PV power plant introduces a significant challenge in stability of low voltage side buses and suppression of wind-PV dynamic interactions. To cope with this issue, this paper was validated a bi-level model predictive control (MPC) strategy to address the real-time active-reactive power (P-Q) regulation challenge for integrated large-scale wind-PV power plant. The methodology introduces a voltage instability risk-based control strategy to optimize power distribution and enhance system stability under diverse operating conditions. A fast voltage sensitivity calculation method is developed using impedance-based sensitivity matrices to enable real-time nodal voltage variation assessment. The proposed strategy is validated through hardware-in-the-loop (HIL) tests on the Real-Time Digital Simulator (RTDS) platform with actual plant configurations. Comparative experiments under three scenarios demonstrate that, the proposed control method significantly improves tracking accuracy and enhances the stability of internal nodes within the plant.

随着单体风-光伏电站规模的不断扩大，对低压侧母线的稳定性和风-光伏动力相互作用的抑制提出了重大挑战。针对这一问题，本文验证了一种双层次模型预测控制（MPC）策略，以解决大型风力光伏电站实时有功-无功（P-Q）调节难题。该方法引入了一种基于电压不稳定风险的控制策略，以优化配电，提高系统在不同运行条件下的稳定性。提出了一种基于阻抗灵敏度矩阵的快速电压灵敏度计算方法，实现了实时的节点电压变化评估。通过实时数字模拟器（RTDS）平台上的硬件在环（HIL）测试，验证了该策略的有效性。三种情况下的对比实验表明，所提出的控制方法显著提高了跟踪精度，增强了植物内部节点的稳定性。

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引用次数: 0

Reachability -based benchmarking of physics-based and data-driven models for automated driving 基于可达性的自动驾驶物理模型和数据驱动模型的基准测试

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

Control Engineering Practice

Pub Date : 2026-05-01 Epub Date: 2026-01-31 DOI: 10.1016/j.conengprac.2026.106817

Carlos Conejo , Vicenç Puig , Bernardo Morcego

Accurate vehicle models are essential for prediction and control in automated driving. Physics-based approaches provide interpretability and accuracy when system parameters are well captured, while data-driven models adapt to unmodeled dynamics at the cost of interpretability. This paper presents a systematic reachability-based benchmark comparing both approaches on a real autonomous platform. Models are evaluated under nominal, predefined safe state, and unexpected malfunction scenarios using accuracy, computational, and safety metrics. Results show that physics-based models excel in foreseen conditions, whereas data-driven models remain robust under unexpected disturbances. The study provides practical guidelines for model selection in safety-critical applications and motivates future hybrid strategies that combine accuracy with adaptability.

准确的车辆模型对于自动驾驶的预测和控制至关重要。当系统参数被很好地捕获时，基于物理的方法提供了可解释性和准确性，而数据驱动模型以可解释性为代价来适应未建模的动态。本文提出了一个系统的基于可达性的基准，在一个真实的自治平台上对两种方法进行了比较。模型在标称的、预定义的安全状态下进行评估，以及使用准确性、计算性和安全性度量的意外故障场景。结果表明，基于物理的模型在可预见的条件下表现优异，而数据驱动的模型在意外干扰下保持鲁棒性。该研究为安全关键应用中的模型选择提供了实用指南，并激发了未来将准确性与适应性相结合的混合策略。

引用次数: 0

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