Control Engineering Practice最新文献

Hybrid shoe-approaching and pressure control strategy for multi-channel braking systems of mine hoists 矿井提升机多通道制动系统的进蹄与压力混合控制策略

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

Control Engineering Practice

Pub Date : 2026-01-17 DOI: 10.1016/j.conengprac.2026.106791

Hui Xie , Sihan Chen , Gang Shen , Shuhui Fei , Yu Tang , Yongcun Guo , Yuanjing He

To address the challenges of inconsistent shoe-approaching motion and excessive transient impacts in the operation of multi-channel braking systems (MCBS) for mine hoists, this investigation presents a novel hybrid shoe-approaching/pressure control strategy utilizing real-time braking pressure feedback. First, the braking process is divided into two distinct stages: shoe-approaching motion and contact compression. A hybrid position/force switching control scheme, relying on braking pressure feedback, is developed using hysteresis switching principle. Second, an online fastest shoe-approaching trajectory planning algorithm is designed with a nonlinear filter, and a three-loop shoe-approaching control strategy is proposed, which consists of an outer loop for shoe-approaching trajectory planning, an inner loop for position tracking of brake, and a cross coupled loop for multi-channel synchronous shoe-approaching motion. Finally, two sets of comparative experiments are carried out on the multi-channel braking test bench of the hoist. The experimental results indicate that, compared with the traditional braking control mode, the proposed braking control strategy can effectively suppress the braking transient impact, shorten the shoe-approaching time, and enhance the consistency of shoe-approaching motion of the MCBS.

为了解决矿井提升机多通道制动系统（MCBS）在运行过程中存在的进蹄运动不一致和瞬态冲击过大的问题，本研究提出了一种利用实时制动压力反馈的进蹄/压力混合控制策略。首先，制动过程分为两个不同的阶段：接近鞋的运动和接触压缩。利用磁滞切换原理，提出了一种基于制动压力反馈的位置/力混合切换控制方案。其次，采用非线性滤波设计了一种在线最快追鞋轨迹规划算法，并提出了一种三环追鞋控制策略，该策略由追鞋轨迹规划的外环、制动器位置跟踪的内环和多通道同步追鞋运动的交叉耦合环组成。最后，在提升机多通道制动试验台上进行了两组对比试验。实验结果表明，与传统制动控制方式相比，所提出的制动控制策略能有效抑制制动瞬态冲击，缩短MCBS的接近蹄时间，增强MCBS的接近蹄运动一致性。

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引用次数: 0

Decoupled multi-observer design for disturbance estimation with low-order internal models 低阶内模干扰估计的解耦多观测器设计

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

Control Engineering Practice

Pub Date : 2026-01-16 DOI: 10.1016/j.conengprac.2026.106767

John Cortés-Romero , Horacio Coral-Enriquez , Brian Camilo Gómez-León , Hebertt Sira-Ramírez

Implementable applications are often compromised by signals that allow some algebraic representation. Those signals, namely disturbances, negatively affect the performance of control strategies, especially in high-performance contexts. Common issues with existing methods that try to estimate and compensate for those disturbances include complex dimensions, inflexibility, cumbersome design processes, and problems related to high-gain observers that effectively compensate for the disturbances considered in the scheme. This paper introduces a novel, structurally simple multi-observer scheme that leverages prior knowledge of disturbances. By incorporating internal models for each disturbance component, this strategy enhances design simplicity, increases flexibility by allowing the addition of new observers for emerging disturbances, and circumvents problems associated with high dimensions and high gain. Additionally, a novel solution is presented to address the estimation of periodic signals without including a high-dimension observer. The effectiveness of this approach is demonstrated through well-executed and convincing experimental results.

可实现的应用程序经常受到允许某些代数表示的信号的影响。这些信号，即干扰，会对控制策略的性能产生负面影响，特别是在高性能环境中。试图估计和补偿这些干扰的现有方法的常见问题包括复杂的尺寸，缺乏灵活性，繁琐的设计过程，以及与有效补偿方案中所考虑的干扰的高增益观测器相关的问题。本文介绍了一种新的、结构简单的多观测器方案，该方案利用了干扰的先验知识。通过结合每个干扰组件的内部模型，该策略增强了设计的简单性，通过允许为新出现的干扰添加新的观测器来增加灵活性，并避免了与高维和高增益相关的问题。此外，本文还提出了一种新的解决方案来解决周期信号的估计，而不包括高维观测器。该方法的有效性通过良好的执行和令人信服的实验结果得到了证明。

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引用次数: 0

Simplified optimal backstepping control for a spacecraft based on flexible prescribed performance with non-initial constraint 基于柔性预定性能的航天器非初始约束简化最优反演控制

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

Control Engineering Practice

Pub Date : 2026-01-16 DOI: 10.1016/j.conengprac.2026.106786

Zhen Li, Guohua Kang, Junfeng Wu, Jiaqi Wu, Chuanxiao Xu

This paper addresses the position and attitude control of combined spacecraft in on-orbit servicing missions, taking into account model parameter uncertainties, unknown external disturbances, and fuel-optimal constraints. A novel flexible prescribed-performance optimal backstepping controller without initial constraints is proposed by incorporating an Actor-Critic-Identify neural network architecture. First, a dynamic model of the combined spacecraft is established, with all uncertainties treated as lumped disturbances. To improve transient performance and remove initial value constraints, a flexible prescribed performance function is designed, which accommodates input saturation and decouples settling time from both initial states and controller parameters. Subsequently, a steady-state performance optimized Identify weight adaptation law is employed for rapid and accurate estimation of the nonlinear lumped disturbances. For fuel optimization, a simplified Actor-Critic adaptation law is developed, eliminating the need for complex step-by-step derivations while ensuring weight convergence. The uniform ultimate boundedness of the closed-loop system is proven using Lyapunov theory. Numerical simulations and semi-physical experiments verify the proposed method’s advantages in both steady-state and transient performance, as well as its applicability to on-orbit implementation.

本文研究了考虑模型参数不确定性、未知外部干扰和燃料最优约束的组合航天器在轨服务任务的位置和姿态控制问题。提出了一种新的无初始约束的柔性规定性能最优反步控制器。首先，建立了组合航天器的动力学模型，将所有不确定因素作为集总扰动处理。为了改善暂态性能并消除初始值约束，设计了一个灵活的规定性能函数，该函数可以容纳输入饱和，并将初始状态和控制器参数的沉降时间解耦。然后，采用一种优化稳态性能的辨识权自适应律对非线性集总扰动进行快速准确的估计。对于燃料优化，开发了简化的Actor-Critic自适应律，在确保权重收敛的同时消除了复杂的逐步推导的需要。利用李雅普诺夫理论证明了闭环系统的一致极限有界性。数值仿真和半物理实验验证了该方法在稳态和瞬态性能上的优势，以及它在在轨实现中的适用性。

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引用次数: 0

Dynamic event-triggered stabilization of irregular output-constrained nonholonomic systems with experimental verification 不规则输出约束非完整系统的动态事件触发镇定与实验验证

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

Control Engineering Practice

Pub Date : 2026-01-16 DOI: 10.1016/j.conengprac.2026.106788

Mengmeng Liu , Yuqiang Wu

The article proposes a dynamic event-triggered adaptive neural network (NN) stabilization control strategy for uncertain nonholonomic systems with irregular output constraints. Unlike existing methods which require continuous constraint boundaries, the proposed approach considers output constraints that occur only during specific time intervals. The irregular output constraints are handled by introducing a novel shift function and incorporating barrier functions. The dynamic event-triggered mechanism employs an adjustable threshold to conserve communication resources. Meanwhile, the NN technique addresses the system uncertainties. Rigorous stability analysis confirms that all closed-loop system signals remain bounded and that the irregular output constraints are never violated throughout the control process. In addition, the Zeno behavior is successfully avoided. Finally, numerical simulations and experimental tests are conducted on a QBot2e mobile robot to validate the effectiveness of the proposed control approach.

针对具有不规则输出约束的不确定非完整系统，提出了一种动态事件触发自适应神经网络镇定控制策略。与现有需要连续约束边界的方法不同，该方法只考虑在特定时间间隔内发生的输出约束。通过引入新的移位函数和结合势垒函数来处理不规则输出约束。动态事件触发机制采用可调阈值来节约通信资源。同时，神经网络技术解决了系统的不确定性。严格的稳定性分析证实了所有闭环系统信号保持有界，并且在整个控制过程中从不违反不规则输出约束。此外，还成功地避免了芝诺行为。最后，对QBot2e移动机器人进行了数值仿真和实验测试，验证了所提控制方法的有效性。

引用次数: 0

Robust trajectory tracking control for quadrotors based on an enhanced extended state observer 基于增强扩展状态观测器的四旋翼飞行器鲁棒轨迹跟踪控制

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

Control Engineering Practice

Pub Date : 2026-01-15 DOI: 10.1016/j.conengprac.2025.106725

Salvatore Pedone, Adriano Fagiolini

In this paper the robust trajectory tracking control problem for a quadrotor aircraft is addressed by utilizing the estimates from an Enhanced Extended State Observer (EESO). More specifically, first, the quadrotor dynamics is reformulated by decoupling the known linear terms from the unknown and nonlinear ones and by modeling the latter as new additional state variables. Secondly, by exploiting the information deriving from the output and input vectors, respectively, an EESO is derived allowing an asymptotic estimation of the state vector even when the rate of change of the unknown disturbances is fast and not negligible. Finally, on the basis of the EESO estimates, a robust trajectory tracking controller is designed, ensuring the asymptotic convergence of system state trajectories to the desired ones. The full asymptotic stability is demonstrated analytically. Simulation results on a quadrotor model through a high-fidelity low-altitude simulation environment are shown to illustrate the efficiency of the proposed method also with respect to existing solution (Extended State Observer based Control).

本文利用增强扩展状态观测器（EESO）的估计来解决四旋翼飞行器的鲁棒轨迹跟踪控制问题。更具体地说，首先，通过将已知的线性项与未知和非线性项解耦并将后者建模为新的附加状态变量来重新表述四旋翼动力学。其次，通过利用分别来自输出和输入向量的信息，推导出EESO，即使在未知干扰的变化率很快且不可忽略的情况下，也允许对状态向量进行渐近估计。最后，在EESO估计的基础上，设计了鲁棒轨迹跟踪控制器，保证了系统状态轨迹向期望状态轨迹渐近收敛。用解析方法证明了系统的完全渐近稳定性。通过高保真低空仿真环境对四旋翼模型的仿真结果表明，该方法相对于现有的解决方案（基于扩展状态观测器的控制）也是有效的。

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引用次数: 0

Multi-Node real time control for pressure regulation and energy recovery in water distribution networks using Pump-as-Turbines 多节点实时控制的压力调节和能量回收在供水网络中使用泵作为涡轮机

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

Control Engineering Practice

Pub Date : 2026-01-15 DOI: 10.1016/j.conengprac.2026.106777

Giacomo Galuppini , Enrico Creaco , Lalo Magni

Leakage reduction is an extremely important goal in the management of Water Distribution Networks (WDNs). Due to the dependence of leakage on pressure, Real Time Control (RTC) represents an effective tool to mitigate leakage by dynamically removing pressure excess as the users demand varies during the day. Cost-effectiveness of RTC can be improved by transforming part of the pressure excess into electric energy. This result can be achieved by means of Pump-as-Turbines (PATs). This paper proposes a novel RTC scheme able to simultaneously regulate pressure at multiple WDN nodes, and recover part of the excess energy, which can be sent directly to the main electrical grid. The control scheme is based on a Kalman Filter for joint state and disturbance estimation, a tracking Model Predictive Controller for multi-output regulation, and an Actuator Settings Optimiser to adjust the PAT settings. Thanks to its modular structure, the algorithm is scalable, flexible, and computationally cheap. The effectiveness of the proposed RTC scheme is demonstrated with several closed-loop simulations, carried out on a detailed, pressure-driven, unsteady flow model of an existing WDN. Moreover, the proposed algorithm can be directly applied to real WDNs, as it does not require any hydraulic model of the entire plant to be designed and tuned.

减少渗漏是供水管网管理的一个极其重要的目标。由于泄漏依赖于压力，实时控制（RTC）是一种有效的工具，可以随着用户需求的变化动态消除压力过剩，从而减轻泄漏。通过将部分过剩压力转化为电能，可以提高RTC的成本效益。这一结果可以通过泵作为涡轮机（PATs）的手段来实现。本文提出了一种新的RTC方案，该方案能够同时调节多个WDN节点的压力，并回收部分多余能量，直接发送到主电网。该控制方案基于用于联合状态和干扰估计的卡尔曼滤波器，用于多输出调节的跟踪模型预测控制器，以及用于调整PAT设置的执行器设置优化器。由于其模块化结构，该算法具有可扩展性，灵活性和计算成本低。在现有WDN的一个详细的、压力驱动的非定常流动模型上进行了几个闭环模拟，证明了所提出的RTC方案的有效性。该算法不需要对整个电站的水力模型进行设计和调优，可以直接应用于实际的wdn。

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引用次数: 0

Design of a fast model predictive controller based on the fully actuated system approach 基于全驱动系统方法的快速模型预测控制器设计

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

Control Engineering Practice

Pub Date : 2026-01-15 DOI: 10.1016/j.conengprac.2026.106762

Shijie Zhang , Yuebin Qiu , Mingzhe Hou , Xiang Wu , Hui Zhang , Jilong Wang

Nonlinear Model Predictive Control (NMPC) demonstrates strong capability in handling complex constrained systems; however, its non-convex optimization nature results in high computational complexity that limits practical implementation in real-time control scenarios. To address this computational bottleneck, this paper proposes an efficient Fully Actuated Fast Model Predictive Control (FA-FMPC) method. This method leverages the fully actuated (FA) system approach to modify the open-loop characteristics of nonlinear systems exhibiting complex nonlinearity, strong coupling, or time-delay effects, thereby constructing a linear time-invariant closed-loop system with a freely configurable characteristic structure. Based on this linear time-invariant system, a Fast Model Predictive Control (Fast MPC) method is designed. When the system constraints are convex, the NMPC problem can be transformed into a convex MPC problem. To improve computational efficiency, the Alternating Direction Method of Multipliers (ADMM) is employed to decompose the global optimization problem into multiple subproblems and solve them through alternating iterations. Meanwhile, the Riccati solution of the Linear Quadratic Regulator (LQR) is utilized to optimize the primal variable update process in ADMM, and by precomputing matrix operation components, online matrix decomposition is avoided, significantly enhancing computational efficiency. To validate the effectiveness of the proposed method, simulation verification is conducted on an under-actuated robotic system and a Universal Robots UR5 manipulator simulated in ROS Noetic with Gazebo.

非线性模型预测控制（NMPC）在处理复杂约束系统方面表现出较强的能力；然而，它的非凸优化特性导致了高计算复杂度，限制了在实时控制场景中的实际实现。为了解决这一计算瓶颈，本文提出了一种高效的全驱动快速模型预测控制（FA-FMPC）方法。该方法利用完全驱动（FA）系统方法来修改具有复杂非线性、强耦合或时滞效应的非线性系统的开环特性，从而构建具有自由配置特征结构的线性时不变闭环系统。基于该线性定常系统，设计了一种快速模型预测控制（Fast MPC）方法。当系统约束为凸时，NMPC问题可以转化为凸MPC问题。为了提高计算效率，采用乘法器交替方向法（ADMM）将全局优化问题分解为多个子问题，通过交替迭代求解。同时，利用线性二次型调节器（Linear Quadratic Regulator， LQR）的Riccati解对ADMM中的原始变量更新过程进行优化，通过预先计算矩阵运算分量，避免了在线矩阵分解，显著提高了计算效率。为了验证该方法的有效性，对欠驱动机器人系统和Universal Robots UR5机械手进行了仿真验证，并在ROS Noetic和Gazebo中进行了仿真。

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引用次数: 0

Robust control design to prevent unsteady bulging in continuous slab casters 防止板坯连铸机不稳定胀形的鲁棒控制设计

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

Control Engineering Practice

Pub Date : 2026-01-15 DOI: 10.1016/j.conengprac.2026.106768

Julian Landauer , Paul Dollhäubl , Stefan Fuchshumer , Wilhelm Posch , Andreas Kugi , Andreas Steinboeck

In continuous casting of steel slabs, the ferrostatic pressure in the liquid core of the strand causes bending (also called bulging) of the strand shell between the guiding rolls. Unsteady bulging refers to a time-varying bending of the strand shell, leading to unwanted mold level fluctuations that can degrade the quality of the cast strand. Most mold level controller designs presented in the literature do not explicitly account for this disturbance due to the absence of suitable unsteady bulging models. As a result, these controllers often fail to sufficiently suppress unsteady bulging or even provoke it. This work presents a novel robust model-based controller design that systematically considers unsteady bulging by incorporating a control-oriented unsteady bulging model. Unlike previous approaches, the proposed method also accounts for variations in plant parameters to ensure robust suppression of unsteady bulging and consistent control performance across the entire range of operating conditions. The proposed controller is validated on industrial continuous slab casters, where it is now permanently used and achieves a significant reduction in mold level fluctuations.

在连铸钢坯时，钢绞线液芯中的静铁压力会引起导辊之间钢绞线壳的弯曲（也称为胀形）。非稳态胀形是指钢绞线外壳的时变弯曲，导致不必要的模具水平波动，从而降低铸坯的质量。由于缺乏合适的非定常胀形模型，文献中提出的大多数模具液位控制器设计都没有明确地考虑这种干扰。因此，这些控制器往往不能充分抑制非定常胀形，甚至引起非定常胀形。本文提出了一种新的基于模型的鲁棒控制器设计，通过结合面向控制的非定常胀形模型，系统地考虑了非定常胀形。与以前的方法不同，该方法还考虑了装置参数的变化，以确保在整个操作条件范围内对非定常胀形的鲁棒抑制和一致的控制性能。所提出的控制器在工业连续板坯连铸机上进行了验证，现在它被永久使用，并显著减少了模具水平的波动。

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引用次数: 0

Hierarchical structure-based adaptive fault-tolerant control and collision avoidance for multiple fixed-wing UAVs: A fully actuated system approach 基于层次结构的多固定翼无人机自适应容错控制与避碰：一种全驱动系统方法

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

Control Engineering Practice

Pub Date : 2026-01-14 DOI: 10.1016/j.conengprac.2026.106763

Bo Meng , Ke Zhang , Bin Jiang

This paper is dedicated to addressing fault-tolerant control and collision avoidance problems for fixed-wing unmanned aerial vehicles with engine degradation, control surface faults, and external disturbances. Primarily, a trajectory planning layer is developed based on the fully actuated system approach and the artificial potential function. In this framework, the projection of the relative velocity and the relative distance are fed into a fuzzy logic system to determine the collision avoidance potential intensity. Subsequently, the dynamic model of the fixed-wing unmanned aerial vehicle is divided into the translational and rotational dynamics subsystems, with control protocols designed separately via the fully actuated system approach. Simultaneously, adaptive disturbance observers are constructed to compensate for composite disturbances without prior knowledge of bounds. Moreover, to better align with practical flight control, the rotational subsystem is split into two channels. Reference signals for each channel are derived from the nonlinear guidance law and coordinated turn principle, and the Nussbaum function handles unknown control directions. Finally, the effectiveness of the proposed strategy is validated through simulation and comparative studies.

研究了固定翼无人机在发动机退化、控制面故障和外界干扰情况下的容错控制和避碰问题。首先，建立了基于全驱动系统方法和人工势函数的轨迹规划层。在该框架中，将相对速度和相对距离的投影输入到模糊逻辑系统中，以确定避碰潜在强度。随后，将固定翼无人机动力学模型划分为平移和旋转动力学子系统，并采用全驱动系统方法分别设计控制协议。同时，构造自适应扰动观测器来补偿复合扰动，而不需要预先知道边界。此外，为了更好地适应实际飞行控制，旋转子系统被分成两个通道。各通道参考信号由非线性制导律和协调转向原理导出，Nussbaum函数处理未知控制方向。最后，通过仿真和对比研究验证了所提策略的有效性。

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引用次数: 0

Design of an MPC with hysteresis compensation for high-accuracy trajectory tracking of piezoelectric fast steering mirrors 压电式快速转向镜高精度轨迹跟踪的磁滞补偿MPC设计

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

Control Engineering Practice

Pub Date : 2026-01-13 DOI: 10.1016/j.conengprac.2026.106766

Sen Yang , Xiaofeng Li , Yanan Li

Piezoelectric fast steering mirrors (PFSMs) are widely employed in beam pointing systems. However, achieving high-precision tracking of fast trajectories remains challenging due to biaxial cross-coupling and a limited input range. Based on a Hammerstein-structured PFSM model, this paper proposes a model predictive control (MPC) approach to decouple the multiple-input-multiple-output rate-dependent biaxial linear dynamics with system constraints, where the state vector is augmented with error integral variables to eliminate steady-state errors. Then an inverse hysteresis compensator is series-connected for the rate-independent nonlinearities. Furthermore, theoretical proofs of zero steady-state error and disturbance rejection for the proposed controller are provided. Tracking experiments on step, sinusoidal, and composite trajectories are conducted. Compared to proportional-integral-derivative model-free controller and various model-based approaches, including the direct inverse model feedforward, normalized least mean squares adaptive control, and adaptive sliding mode control, the proposed MPC achieves a 69% reduction in the root-mean-square error for 400Hz sinusoidal tracking relative to the baseline controllers, while also exhibiting robustness to frequency variations.

压电式快速转向镜广泛应用于光束指向系统中。然而，由于双轴交叉耦合和有限的输入范围，实现快速轨迹的高精度跟踪仍然具有挑战性。基于hammerstein结构的PFSM模型，提出了一种模型预测控制（MPC）方法来解耦具有系统约束的多输入-多输出速率相关的双轴线性动力学，其中状态向量被误差积分变量扩充以消除稳态误差。然后，对速率无关的非线性系统采用串接的反迟滞补偿器。此外，给出了该控制器的零稳态误差和抗干扰性的理论证明。对阶跃轨迹、正弦轨迹和复合轨迹进行了跟踪实验。与比例-积分-导数无模型控制器和各种基于模型的方法（包括直接逆模型前馈、归一化最小均方自适应控制和自适应滑模控制）相比，所提出的MPC相对于基线控制器实现了400Hz正弦跟踪的均方根误差降低69%，同时还具有对频率变化的鲁棒性。

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引用次数: 0