Control Engineering Practice最新文献_第5页

KAN-Hammerstein model and tube-based model predictive control for robust torque tracking with sEMG feedback in an FES-assisted rehabilitation system fes辅助康复系统中基于表面肌电信号反馈的鲁棒转矩跟踪的KAN-Hammerstein模型和基于管的模型预测控制

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

Control Engineering Practice

Pub Date : 2026-04-01 Epub Date: 2026-01-21 DOI: 10.1016/j.conengprac.2026.106785

Songmiao Li , Yangfan Zhou , Pengze Liu , Dan Ye , Bi Zhang , Xingang Zhao

Functional electrical stimulation (FES) has shown promise in restoring motor functions for patients with spinal cord injury and stroke. However, its clinical application is limited by insufficient accuracy in modeling muscle dynamics and the lack of robust control strategies under complex disturbances. To address these challenges, this study proposes a closed-loop framework that integrates high-precision modeling with strong robustness. A Hammerstein model enhanced by Kolmogorov-Arnold Networks (KAN) is constructed, where the explicit mathematical representation of KAN significantly improves the nonlinear dynamic modeling of muscle behavior. Additionally, a forgetting factor recursive least squares (FFRLS) algorithm is employed for online identification of time-varying parameters, achieving improved performance over traditional approaches. Further, a sliding-mode tube model predictive control (SMC-Tube MPC) strategy driven by surface electromyography (sEMG) feedback is developed. By combining the disturbance rejection capability of sliding mode control with the state constraint handling features of Tube-MPC, the proposed controller enables stable torque tracking under complex perturbations. The framework is validated on an experimental platform integrating a dynamometer, sEMG acquisition device, and electrical stimulator. Experiments with healthy subjects demonstrate high accuracy and strong robustness of the proposed system.

功能性电刺激（FES）在恢复脊髓损伤和中风患者的运动功能方面显示出前景。然而，它的临床应用受到肌肉动力学建模精度不足和缺乏复杂干扰下鲁棒控制策略的限制。为了解决这些挑战，本研究提出了一个集成高精度建模和强鲁棒性的闭环框架。构建了一个由Kolmogorov-Arnold Networks （KAN）增强的Hammerstein模型，其中KAN的显式数学表示显著改善了肌肉行为的非线性动态建模。此外，采用遗忘因子递归最小二乘（FFRLS）算法对时变参数进行在线辨识，取得了比传统方法更好的性能。在此基础上，提出了一种基于表面肌电反馈的滑模管模型预测控制（SMC-Tube MPC）策略。通过将滑模控制的抗扰能力与Tube-MPC的状态约束处理特性相结合，该控制器能够在复杂扰动下实现稳定的转矩跟踪。该框架在一个集成了测功机、表面肌电信号采集装置和电刺激器的实验平台上进行了验证。健康受试者实验结果表明，该系统具有较高的准确率和较强的鲁棒性。

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引用次数: 0

Optimal quantum gate design for Bloch-band interferometry 布洛赫带干涉测量的最佳量子门设计

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

Control Engineering Practice

Pub Date : 2026-04-01 Epub Date: 2026-01-05 DOI: 10.1016/j.conengprac.2025.106714

Ali Sulehria , Jieqiu Shao , Marco M. Nicotra

Recent advancements in quantum sensing have led to a new generation of trapped-atom interferometers that can be “programmed” by performing a sequence of elementary operations, or gates. The objective of each gate is to promote a specific transition between the Bloch states of the free Hamiltonian. This paper details how quantum optimal control was used to generate a library of high-fidelity gates for Bloch-band interferometry. For ease of generalization, the gates featured in this paper are grouped into three broad categories: state-to-state transfer, relative phase unitary, and global phase unitary, each of which is associated with a different quantum optimal control problem formulation. Specific examples of Bloch-band interferometry gates are presented throughout the paper. Sample modifications to account for actuator bandwidth are also provided.

最近在量子传感方面的进展导致了新一代的捕获原子干涉仪，它可以通过执行一系列基本操作或门来“编程”。每个门的目标是促进自由哈密顿量的布洛赫状态之间的特定过渡。本文详细介绍了如何使用量子最优控制来生成用于布洛赫带干涉测量的高保真门库。为了便于推广，本文中的门被分为三大类：状态到状态转移、相对相位酉和全局相位酉，每一类都与不同的量子最优控制问题公式相关联。文中给出了布洛赫带干涉测量门的具体实例。还提供了考虑致动器带宽的修改样例。

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 : 2026-04-01 Epub 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

Distributionally robust fault detection trade-off design with prior fault information 基于先验故障信息的分布式鲁棒故障检测权衡设计

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

Control Engineering Practice

Pub Date : 2026-04-01 Epub Date: 2026-01-12 DOI: 10.1016/j.conengprac.2026.106758

Yulin Feng , Hailang Jin , Steven X. Ding , Hao Ye , Chao Shang

The robustness of fault detection algorithms against uncertainty is crucial in the real-world industrial environment. Recently, a new probabilistic design scheme called distributionally robust fault detection (DRFD) has emerged and received immense interest. Despite its robustness against unknown distributions in practice, current DRFD focuses on the overall detectability of all possible faults rather than the detectability of critical faults that are a priori known. Hence, a new DRFD trade-off design scheme is put forward in this work by utilizing prior fault information. The key contribution includes a novel distributional robustness metric of detecting a known fault and a new relaxed distributionally robust chance constraint that ensures robust detectability. Then, a new DRFD design problem of fault detection under unknown probability distributions is proposed, and this offers a flexible balance between the robustness of detecting known critical faults and the overall detectability against all possible faults. To address the resulting semi-infinite chance-constrained problem, we first reformulate it to a finite-dimensional problem characterized by bilinear matrix inequalities. Subsequently, a tailored heuristic solution algorithm is developed, which includes a sequential minimization procedure and an initialization strategy. Finally, case studies on a simulated three-tank system and a real-world battery cell are carried out to showcase the effectiveness of the proposed heuristic algorithm and the advantages of our DRFD method.

在现实工业环境中，故障检测算法对不确定性的鲁棒性至关重要。最近，出现了一种新的概率设计方案，称为分布式鲁棒故障检测（DRFD），并引起了人们的极大兴趣。尽管在实践中对未知分布具有鲁棒性，但目前的DRFD侧重于所有可能故障的总体可检测性，而不是先验已知的关键故障的可检测性。因此，本文提出了一种利用先验故障信息的DRFD权衡设计方案。关键贡献包括一种新的检测已知故障的分布鲁棒性度量和一种新的松弛分布鲁棒机会约束，以确保鲁棒可检测性。然后，提出了一种未知概率分布下的故障检测DRFD设计问题，在检测已知关键故障的鲁棒性和对所有可能故障的总体可检测性之间实现了灵活的平衡。为了解决由此产生的半无限机会约束问题，我们首先将其重新表述为一个以双线性矩阵不等式为特征的有限维问题。随后，开发了一种定制的启发式求解算法，该算法包括顺序最小化过程和初始化策略。最后，以模拟的三罐系统和现实世界的电池为例进行了案例研究，以展示所提出的启发式算法的有效性和我们的DRFD方法的优势。

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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 : 2026-04-01 Epub 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

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 : 2026-04-01 Epub 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。

{"title":"Non-minimum-phase resonant controller for active damping control: Application to piezo-actuated nanopositioning system","authors":"Aditya Natu, Hassan Hosseinnia","doi":"10.1016/j.conengprac.2026.106790","DOIUrl":"10.1016/j.conengprac.2026.106790","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"169 ","pages":"Article 106790"},"PeriodicalIF":4.6,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146038359","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

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 : 2026-04-01 Epub 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

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 : 2026-04-01 Epub 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

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 : 2026-04-01 Epub 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

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 : 2026-04-01 Epub 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