Control Engineering Practice最新文献_第2页

MIQPSO-backstepping tracking controller design and experimental validation for multi-rope quay cranes 多绳码头起重机miqpso反步跟踪控制器设计及实验验证

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

Control Engineering Practice

Pub Date : 2026-01-25 DOI: 10.1016/j.conengprac.2026.106799

Huapeng Zhang , Weidong Zhang , Hao Jiang , Bin Zhao , Wei Xie

This research presents a real-time trajectory tracking strategy for the multi-rope quay crane system, designed to enhance container handling efficiency and reduce swing, thereby improving transportation performance. By applying differential flatness theory, we express control inputs in terms of flat outputs and their derivatives, thereby simplifying the control of underactuated systems. We employ an adaptive backstepping control strategy based on flat output error to progressively construct the controllers. These controllers refine and enhance the quay crane’s dynamic response, achieving uniform ultimate boundedness of the tracking errors within the practical operating domain. We utilize the multi-strategy improved quantum-behaved particle swarm optimization algorithm for parameter tuning. This algorithm exhibits enhanced global search capability and faster convergence, thereby enabling efficient identification of optimal control parameters. Furthermore, the prescribed time disturbance observer (PTDO) is integrated to detect and counteract unknown, time-varying disturbances. The stability of the proposed strategy is rigorously proven using Lyapunov theory. Numerical simulations demonstrate that the controller rapidly and stably achieves trajectory tracking under external disturbances while effectively suppressing container swing. Experimental validation was performed on a custom-built 1:9.675-scale ZPMC quay crane prototype. The hardware-based trials confirmed both the advantages and efficiency of the proposed approach.

为提高集装箱装卸效率，减少摆动，从而改善运输性能，提出了一种多绳码头起重机系统的实时轨迹跟踪策略。应用微分平坦性理论，用平坦输出及其导数来表示控制输入，从而简化了欠驱动系统的控制。采用基于平坦输出误差的自适应反演控制策略逐步构造控制器。这些控制器改进和增强了码头起重机的动态响应，使跟踪误差在实际操作域内达到一致的最终有界性。我们利用多策略改进的量子粒子群优化算法进行参数调整。该算法具有更强的全局搜索能力和更快的收敛速度，从而能够有效地识别最优控制参数。此外，还集成了规定时间干扰观测器（PTDO）来检测和抵消未知的时变干扰。利用李亚普诺夫理论严格证明了所提策略的稳定性。仿真结果表明，该控制器在外界干扰下快速稳定地实现了轨迹跟踪，同时有效地抑制了容器的摆动。在定制的1:9.675比例ZPMC码头起重机样机上进行了实验验证。基于硬件的实验证实了该方法的优越性和有效性。

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引用次数: 0

Sparse nonlinear identification for control-oriented modeling of an organic Rankine cycle system 有机朗肯循环系统面向控制建模的稀疏非线性辨识

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

Control Engineering Practice

Pub Date : 2026-01-25 DOI: 10.1016/j.conengprac.2026.106804

Andres Hernandez , Fredy Ruiz , Vincent Lemort

Accurate low-order models are essential for control and optimization of thermodynamic energy systems, yet the nonlinear and time-varying behavior of Organic Rankine Cycle (ORC) units poses a challenge for standard linear identification. This paper presents a convex sparse identification framework for nonlinear system modeling, employing a set-membership formulation to obtain compact, interpretable models with guaranteed prediction bounds. The method automatically selects the most relevant polynomial interactions from large basis functions candidates, balancing accuracy and complexity without relying on noise statistics. Experimental validation on an 11 kW_el ORC test bench demonstrates excellent prediction accuracy (FIT = 88.1%) with only 46 active basis functions, outperforming linear, piecewise-linear, and multiple-model Bayesian benchmarks. The identified model preserves physical interpretability through bilinear terms representing heat-flow coupling, and its compact structure is suitable for real-time model predictive control implementation.

准确的低阶模型对于热力学系统的控制和优化至关重要，但有机朗肯循环（ORC）单元的非线性和时变行为给标准的线性辨识带来了挑战。本文提出了一个非线性系统建模的凸稀疏识别框架，利用集合隶属度公式获得具有保证预测界的紧凑、可解释的模型。该方法在不依赖噪声统计的情况下，自动从大量候选基函数中选择最相关的多项式相互作用，平衡了精度和复杂性。在11 kWel ORC测试台上进行的实验验证表明，仅使用46个有效基函数就具有出色的预测精度（FIT = 88.1%），优于线性，分段线性和多模型贝叶斯基准。所识别的模型通过表示热流耦合的双线性项保持了物理可解释性，其紧凑的结构适合于实时模型预测控制的实现。

引用次数: 0

Robust unified dual-domain control framework for high-performance parallel robots 高性能并联机器人鲁棒统一双域控制框架

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

Control Engineering Practice

Pub Date : 2026-01-25 DOI: 10.1016/j.conengprac.2026.106803

Eyyup Sincar , Zeki Y. Bayraktaroglu , Eray A. Baran , Evren Emre

This paper introduces a unified joint–task-space control framework for a 6-DoF Stewart platform that overcomes the limitations of pure joint-space methods, including inverse-kinematic ambiguities, configuration flips, and sensitivity to dynamic variations. The proposed architecture integrates a nonsingular fast terminal sliding mode (NFTSM) controller, a nonlinear disturbance observer, and model-based feedforward compensation in the joint space, together with a complementary NFTSM-based task-space controller that continuously refines end-effector motion through Jacobian feedback. A rigorous Lyapunov analysis establishes finite-time convergence and robustness under modeling uncertainties and external disturbances. Extensive experiments—including sinusoidal and square-wave tracking, frequency-sweep tests, and payload variations—demonstrate that the unified controller consistently achieves the lowest tracking errors, superior robustness to excitation frequency and load changes, and smoother actuator effort without increasing energy consumption. The results confirm the suitability of the proposed method for high-precision parallel manipulators operating in dynamic, uncertain, and disturbance-rich environments.

本文介绍了一种统一的6自由度Stewart平台联合任务空间控制框架，克服了纯联合空间方法的局限性，包括逆运动模糊性、构型翻转和对动态变化的敏感性。所提出的体系结构集成了非奇异快速终端滑模（NFTSM）控制器、非线性扰动观测器和关节空间中基于模型的前馈补偿，以及一个互补的基于NFTSM的任务空间控制器，该控制器通过雅可比反馈不断改进末端执行器的运动。严格的李雅普诺夫分析在建模不确定性和外部干扰下建立了有限时间收敛性和鲁棒性。广泛的实验——包括正弦波和方波跟踪、扫频测试和有效载荷变化——表明，统一控制器始终能够实现最低的跟踪误差，对激励频率和负载变化具有卓越的鲁棒性，并且在不增加能耗的情况下实现更平稳的执行器工作。结果表明，该方法适用于动态、不确定、多干扰环境下的高精度并联机器人。

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引用次数: 0

Parallel robot with proprioceptive actuation for low-impedance sensorless pHRI 具有本体感觉驱动的并联机器人低阻抗无传感器pHRI

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

Control Engineering Practice

Pub Date : 2026-01-24 DOI: 10.1016/j.conengprac.2026.106800

Arda Yiğit , Simon Foucault , Thierry Laliberté , David Breton , Zhou Zhou , Clément Gosselin

This paper presents a kinematically redundant 9-DoF parallel robot engineered for seamless, sensorless physical human-robot interaction. The robot features three identical 3-DoF RU/2-RUS legs that connect a reconfigurable platform to the base via spherical joints. By configuring all actuators on the base, the robot achieves significantly lower moving mass and inertia. By employing backdrivable direct-drive motors, the system realizes proprioceptive actuation, enabling an intuitive, low-impedance, and high-bandwidth interaction. An impedance control strategy is developed on

SE (3) \times R^{3}

, and a stability analysis using singular perturbation theory highlights the crucial role of actuator dynamics and thus the significance of the choice of the actuation strategy. Experimental results confirm the robot’s stability, extended workspace, and effective human-robot interaction performance.

本文提出了一种运动冗余的9自由度并联机器人，用于无缝、无传感器的物理人机交互。该机器人具有三个相同的3-DoF RU/2-RUS腿，通过球面关节将可重构平台连接到基座。通过在基座上配置所有执行器，机器人的运动质量和惯性显著降低。通过采用可反向驱动的直接驱动电机，该系统实现了本体感知驱动，实现了直观、低阻抗和高带宽的交互。在SE(3)×R3上提出了一种阻抗控制策略，并利用奇异摄动理论进行了稳定性分析，强调了作动器动力学的关键作用，从而说明了作动器策略选择的重要性。实验结果证实了该机器人的稳定性、扩展的工作空间和有效的人机交互性能。

引用次数: 0

A robust fault-tolerant control algorithm for GPS-denied mini quadrotors using PID-TinyMPC and visual-inertial odometry 基于PID-TinyMPC和视觉惯性里程计的gps拒绝迷你四旋翼鲁棒容错控制算法

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

Control Engineering Practice

Pub Date : 2026-01-23 DOI: 10.1016/j.conengprac.2026.106779

Emre Çintaş , Barış Özyer

Fault-tolerant control (FTC) is crucial for ensuring the safety and reliability of autonomous quadrotors, especially in scenarios involving rotor failures. This paper presents a hybrid control architecture that combines a PID-based outer-loop controller with a TinyMPC-based inner-loop controller, integrated with visual-inertial odometry (VIO) for real-time state estimation. The proposed method enables a mini quadrotor to maintain stable flight and trajectory tracking even under rotor failure conditions, using only onboard sensors (IMU, barometer and monocular camera) without relying on external positioning systems such as GPS and VICON. The outer-loop PID controller handles position control at a lower frequency, while the inner-loop TinyMPC operates at a higher frequency to manage the fast-changing attitude dynamics. This design reduces computational overhead while maintaining spatial-temporal stability and precision. Experimental results demonstrate the effectiveness of the proposed method in real-world scenarios, where the quadrotor successfully maintains hovering under varying yaw rates and rotor speed reduction conditions. The proposed low-cost, computationally efficient solution addresses a significant gap in the literature by providing a robust FTC approach that is feasible for microcontrollers and resource-constrained platforms. The source code and some flight videos are publicly available at: https://github.com/emrecintas/fault_tolerant_control.

容错控制（FTC）对于确保自主四旋翼飞行器的安全性和可靠性至关重要，特别是在涉及转子故障的情况下。本文提出了一种混合控制体系结构，该结构结合了基于pid的外环控制器和基于tinympc的内环控制器，并集成了用于实时状态估计的视觉惯性里程计（VIO）。所提出的方法使小型四旋翼即使在转子故障条件下也能保持稳定的飞行和轨迹跟踪，仅使用机载传感器（IMU，气压计和单目摄像机），而不依赖外部定位系统（如GPS和VICON）。外环PID控制器以较低的频率处理位置控制，而内环TinyMPC以较高的频率工作以管理快速变化的姿态动力学。这种设计在保持时空稳定性和精度的同时减少了计算开销。实验结果证明了该方法在实际场景中的有效性，四旋翼飞行器在不同的偏航率和旋翼减速条件下都能成功保持悬停。提出的低成本，计算效率高的解决方案通过提供对微控制器和资源受限平台可行的强大的FTC方法来解决文献中的重大差距。源代码和一些飞行视频可以在：https://github.com/emrecintas/fault_tolerant_control上公开获得。

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引用次数: 0

Robust sliding mode control of PMLSM based on an adaptive-Bandwidth disturbance observer 基于自适应带宽扰动观测器的永磁同步电机鲁棒滑模控制

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

Control Engineering Practice

Pub Date : 2026-01-23 DOI: 10.1016/j.conengprac.2026.106797

Jiwen Zhang, Wanglin Cai, Jing Zhao, Fei Dong

To enhance the position tracking accuracy and time-varying disturbance rejection capability of permanent magnet linear synchronous motor (PMLSM), this work proposes an improved sliding mode control (ISMC) strategy integrating an adaptive-bandwidth disturbance observer (ABDO) with a new reaching law. Firstly, a mathematical model of the PMLSM with bounded lumped time-varying disturbances is established. Secondly, a new reaching law is designed by incorporating a tracking error term and a checking function term. This reaching law can accelerate the convergence speed of the system state towards the sliding mode surface while ensuring that system chattering gradually attenuates as the tracking error converges. Subsequently, an adaptive-bandwidth disturbance observer (ABDO) is designed to estimate lumped disturbances in real-time. The observer can dynamically adjust its bandwidth based on the estimation error, balancing estimation accuracy with convergence speed to enhance system robustness. Finally, the closed-loop stability of the proposed control strategy is proven rigorously using Lyapunov theory. Prototype experiments, including response performance tests, position tracking under different motion modes and position tracking under various disturbances, are carried out, which validate the effectiveness of the proposed method in improving position tracking accuracy and disturbance rejection performance.

为了提高永磁直线同步电机（PMLSM）的位置跟踪精度和抗时变扰动能力，提出了一种将自适应带宽扰动观测器（ABDO）与新的趋近律相结合的改进滑模控制（ISMC）策略。首先，建立了具有有界集总时变扰动的永磁同步电机的数学模型。其次，结合跟踪误差项和检查函数项，设计了一种新的趋近律。该趋近律可以加快系统状态向滑模表面的收敛速度，同时保证系统抖振随着跟踪误差的收敛而逐渐衰减。随后，设计了自适应带宽扰动观测器（ABDO）来实时估计集总扰动。观测器可以根据估计误差动态调整其带宽，平衡估计精度和收敛速度，增强系统的鲁棒性。最后，利用李雅普诺夫理论严格证明了所提控制策略的闭环稳定性。样机实验包括响应性能测试、不同运动模式下的位置跟踪和各种干扰下的位置跟踪，验证了该方法在提高位置跟踪精度和抗扰性能方面的有效性。

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引用次数: 0

Coordinated control strategy for distributed drive electric vehicles based on state parameter identification 基于状态参数辨识的分布式驱动电动汽车协调控制策略

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

Control Engineering Practice

Pub Date : 2026-01-22 DOI: 10.1016/j.conengprac.2026.106795

Xiwen Tian , Xiaojia Wang , Jiaqi Lyu , Wenbo Liu , Yusheng Wang , Aobei Shen , Zhifei Wu

Variations in vertical load significantly influence the tire adhesion performance and vehicle stability under dynamic conditions, creating challenges to the efficient control of distributed drive electric vehicles (DDEVs). This paper proposes a coordinated control strategy of DDEVs based on state parameter identification to address the vehicle stability issue under arbitrary conditions. First, based on K-means++ clustering algorithm, the stability state is classified into three categories: stable state, transient stable state, and unstable state. According to the classification results, a hierarchical cooperative control strategy combining active front wheel steering (AFS) and direct yaw moment control (DYC) is developed to dynamically adjust the specific working range and weight distribution of AFS and DYC. The simulation analysis is conducted under double lane change and slalom maneuvers. Finally, the yaw rate of the stability state variable is reduced by 18.6% through experimental test, which further verifies the performance of the proposed coordinated control strategy.

在动态条件下，垂直载荷的变化会显著影响轮胎的附着性能和车辆的稳定性，给分布式驱动电动汽车的高效控制带来挑战。针对任意条件下车辆的稳定性问题，提出了一种基于状态参数辨识的DDEVs协调控制策略。首先，基于k -means++聚类算法，将稳定状态分为稳定状态、暂态稳定状态和不稳定状态三类；根据分类结果，提出了主动前轮转向与直接偏航力矩控制相结合的分级协同控制策略，动态调节主动前轮转向与直接偏航力矩的具体工作范围和重量分布。在双变道和回转工况下进行了仿真分析。最后，通过实验测试，稳定状态变量的横摆角速度降低了18.6%，进一步验证了所提协调控制策略的性能。

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引用次数: 0

Non-minimum-phase resonant controller for active damping control: Application to piezo-actuated nanopositioning system 主动阻尼控制的非最小相位谐振控制器：在压电驱动纳米定位系统中的应用

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

Control Engineering Practice

Pub Date : 2026-01-22 DOI: 10.1016/j.conengprac.2026.106790

Aditya Natu, Hassan Hosseinnia

Nanopositioning systems frequently encounter limitations in control bandwidth due to their lightly damped resonance behavior. This paper presents a novel Non-Minimum-Phase Resonant Controller (NRC) aimed at active damping control within dual closed-loop architectures, specifically applied to piezo-actuated nanopositioning systems. The control strategy is structured around formulated objectives for shaping sensitivity functions to meet predetermined system performance criteria. Leveraging non-minimum-phase characteristics, the proposed NRC accomplishes complete damping and the bifurcation of double resonant poles at the primary resonance peak through a constant-gain design accompanied by tunable phase variation. The NRC demonstrates robustness against frequency variations of the resonance arising from load changes and is also capable of damping higher-order flexural modes simultaneously. Furthermore, by establishing high gains at low frequencies within the inner closed-loop and integrating it with a conventional PI tracking controller, the NRC achieves substantial dual closed-loop bandwidths that can exceed the first resonance frequency. Moreover, the NRC significantly diminishes the effect of low-frequency reference signals on real feedback errors while effectively rejecting disturbances proximate to the resonance frequency. All contributions are thoroughly formulated and exemplified mathematically, with the controller’s performance confirmed through an experimental setup utilizing an industrial nanopositioning system. The experimental results indicate dual closed-loop bandwidths of 830 Hz and 755 Hz, characterized by  ± 3 dB and  ± 1 dB bounds, respectively, that surpass the resonance frequency of 710 Hz.

纳米定位系统由于其轻阻尼共振特性，经常遇到控制带宽的限制。本文提出了一种新颖的非最小相位谐振控制器（NRC），旨在双闭环结构中的主动阻尼控制，特别适用于压电驱动的纳米定位系统。控制策略是围绕制定的目标来塑造灵敏度函数，以满足预定的系统性能标准。利用非最小相位特性，所提出的NRC通过恒增益设计和可调相位变化实现了完全阻尼和双谐振极在主共振峰的分岔。NRC对由载荷变化引起的共振频率变化具有鲁棒性，并且能够同时阻尼高阶弯曲模态。此外，通过在内闭环中建立低频的高增益，并将其与传统的PI跟踪控制器集成，NRC实现了可超过第一共振频率的实质性双闭环带宽。此外，NRC显著降低了低频参考信号对实际反馈误差的影响，同时有效地抑制了接近共振频率的干扰。所有的贡献都经过了数学的彻底阐述和举例说明，控制器的性能通过利用工业纳米定位系统的实验装置得到证实。实验结果表明，双闭环带宽分别为830 Hz和755 Hz，分别为 ± 3 dB和 ± 1 dB，超过了710 Hz的谐振频率。

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引用次数: 0

Bi-level predictive safety control for multi-axis CNC systems based on FAS approaches 基于FAS方法的多轴数控系统双级预测安全控制

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

Control Engineering Practice

Pub Date : 2026-01-22 DOI: 10.1016/j.conengprac.2026.106798

Lixue Xu , Xiubo Wang , Guangren Duan

This paper investigates a bi-level predictive control (BL-PC) strategy for the safety control problem of coupled multi-axis computer numerical control (CNC) systems based on the fully actuated system (FAS) approach. A general mixed-difference FAS model with variable granularity is first established to capture the dynamics of multi-axis, multi-physical domain CNC systems. By exploiting the full-actuation, an input mapping is then constructed to decouple the CNC system into a set of linear closed-loop subsystems. The original input, state, and safety constraints are then integrated into time-varying input constraints by employing control barrier Lyapunov functions. To address the complexity and poor real-time performance associated with handling these time-varying constraints, a bi-level predictive control architecture is developed. Specifically, the outer-loop reference governor generates feasible reference inputs that satisfy the time-varying constraints over the predictive horizon, while the inner-loop employs an unconstrained predictive controller to track the resulting steady states. This strategy guarantees closed-loop stability and reduces the computational burden of real-time optimization. The effectiveness and engineering applicability of the proposed method are validated through simulations of multi-physical domain CNC systems and experiments on a multi-axis CNC platform.

针对耦合多轴数控系统的安全控制问题，研究了一种基于全驱动系统（FAS）方法的双层预测控制策略。为了捕获多轴、多物理域数控系统的动力学特性，首先建立了一种通用的变粒度混合差分FAS模型。通过利用全驱动，然后构建一个输入映射，将CNC系统解耦为一组线性闭环子系统。原始输入、状态和安全约束然后通过使用控制屏障Lyapunov函数集成到时变输入约束中。为了解决与处理这些时变约束相关的复杂性和实时性差的问题，开发了一种双层预测控制体系结构。具体而言，外环参考调节器生成可行的参考输入，满足预测范围内的时变约束，而内环采用无约束预测控制器跟踪结果的稳态。该策略保证了闭环稳定性，减少了实时优化的计算量。通过多物理域数控系统仿真和多轴数控平台实验，验证了该方法的有效性和工程适用性。

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引用次数: 0

Regenerative braking torque control with tire-force-based limiting for vehicle stability of a front-rear motor-driven EV 基于轮胎力限制的前后轮电动汽车稳定性再生制动转矩控制

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

Control Engineering Practice

Pub Date : 2026-01-22 DOI: 10.1016/j.conengprac.2026.106789

Chaeho Lim , Seonggyeong Ju , Yunjeong Hwang , Hanseon Ga , Jinseok Song , Seibum B. Choi , Sooyoung Kim

Regenerative braking is essential for improving energy efficiency in electric vehicles, yet control strategies for coasting remain underdeveloped. Existing control methods respond conservatively to wheel slip, limiting regenerative torque usage and degrading deceleration consistency and lateral stability. This study proposes an advanced regenerative braking control algorithm that maintains longitudinal slip stability, enhances yaw stability, and better preserves the driver’s intended regenerative braking. The controller integrates a slip controller, a yaw stability controller, and a torque compensator, which are coordinated based on real-time slip conditions. Simulation and vehicle experiments verify the proposed method, confirming an average 64% improvement in preserving driver braking intention and a 37% reduction in yaw rate MAE, thereby demonstrating its effectiveness and practical applicability to production EVs.

再生制动对于提高电动汽车的能源效率至关重要，但其滑行控制策略仍不发达。现有的控制方法对车轮滑移反应保守，限制了再生扭矩的使用，降低了减速一致性和横向稳定性。本研究提出了一种先进的再生制动控制算法，既能保持纵向滑移稳定性，又能增强偏航稳定性，更好地保留驾驶员的再生制动意愿。该控制器集成了滑移控制器、偏航稳定性控制器和转矩补偿器，并根据实时滑移情况进行协调。仿真和整车实验验证了该方法的有效性，在保持驾驶员制动意图方面平均提高了64%，在横摆角速度MAE方面平均降低了37%，证明了该方法在量产电动汽车上的有效性和实用性。

引用次数: 0