Annual Reviews in Control最新文献_第4页

A systems perspective on promoting sustainable food systems 促进可持续粮食系统的系统视角

IF 10.7 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Annual Reviews in Control

Pub Date : 2025-01-01 DOI: 10.1016/j.arcontrol.2025.101020

Angela Fontan , Patricia Eustachio Colombo , Rosemary Green , Karl H. Johansson

Global food systems are at the center of some of the most pressing modern societal challenges: They are significant contributors to a range of systemic issues, including health problems and chronic diseases, greenhouse gas emissions and general environmental degradation, and increasing financial burdens on healthcare and economies. Within these complex systems, final sustainable consumption, which refers to the adoption of diets that are both healthy and environmentally friendly, plays a critical role. Significant changes in contemporary dietary patterns are essential to address the rising burden of chronic diseases and public health outcomes and the escalating climate crisis. Achieving these shifts requires coordinated action from policymakers, consumers, and the scientific community in an effort to support the development, implementation, and evaluation of advertising and policy instruments that promote healthier and more sustainable dietary choices. However, driving changes in dietary behavior is a complex challenge, shaped by the interplay of heterogeneous influences, including biological, social, cultural, environmental, political, and economic factors, and further complicated by the difficulty of validating proposed approaches in ways that are both efficient and ethically sound. This vision paper presents the problem of promoting healthy and environmentally friendly diets and their implications for environmental sustainability. In particular, it discusses a systems approach based on social network dynamics and social interventions, illustrating recent findings that demonstrate the potential of influence strategies to drive dietary change. Finally, key scientific challenges and emerging research opportunities are highlighted.

全球粮食系统处于一些最紧迫的现代社会挑战的中心：它们是一系列系统性问题的重要贡献者，包括健康问题和慢性病、温室气体排放和一般环境退化，以及医疗保健和经济日益沉重的财政负担。在这些复杂的系统中，最终可持续消费，即采用既健康又环保的饮食，起着关键作用。当代饮食模式的重大改变对于解决慢性病和公共卫生后果日益加重的负担以及不断升级的气候危机至关重要。实现这些转变需要决策者、消费者和科学界的协调行动，努力支持广告和政策工具的制定、实施和评估，以促进更健康和更可持续的饮食选择。然而，推动饮食行为的改变是一项复杂的挑战，受到各种异质影响的相互作用，包括生物、社会、文化、环境、政治和经济因素，而以既有效又合乎道德的方式验证所提出的方法的难度进一步复杂化。本远景文件提出了促进健康和环境友好型饮食的问题及其对环境可持续性的影响。特别地，它讨论了一种基于社会网络动态和社会干预的系统方法，说明了最近的发现，证明了影响策略在推动饮食变化方面的潜力。最后，强调了关键的科学挑战和新兴的研究机会。

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引用次数: 0

A general framework for verification and control of dynamical models via certificate synthesis 一个通过证书合成来验证和控制动态模型的通用框架

IF 10.7 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Annual Reviews in Control

Pub Date : 2025-01-01 DOI: 10.1016/j.arcontrol.2025.101028

Alec Edwards , Andrea Peruffo , Alessandro Abate

An emerging branch of control theory specialises in certificate learning, concerning the specification of a desired (possibly complex) system behaviour for an autonomous or control model, which is then analytically verified by means of a function-based proof. However, the synthesis of controllers abiding by these complex requirements is in general a non-trivial task and may elude the most expert control engineers. This results in a need for automatic techniques that are able to design controllers and to analyse a wide range of elaborate specifications. In this paper, we provide a general framework to encode system specifications and define corresponding certificates, and we present an automated approach to formally synthesise controllers and certificates. Our approach contributes to the broad field of safe learning for control, exploiting the flexibility of neural networks to provide candidate control and certificate functions, whilst using SAT-modulo-theory (SMT)-solvers to offer a formal guarantee of correctness. We test our framework by developing a prototype software tool, and assess its efficacy at verification via control and certificate synthesis over a large and varied suite of benchmarks.

控制理论的一个新兴分支专注于证书学习，涉及自治或控制模型所需（可能复杂的）系统行为的规范，然后通过基于功能的证明进行分析验证。然而，符合这些复杂要求的控制器的合成通常是一项不平凡的任务，可能会避开最专业的控制工程师。这导致需要能够设计控制器和分析各种详细规格的自动技术。在本文中，我们提供了一个通用的框架来编码系统规范和定义相应的证书，我们提出了一种自动化的方法来形式化地综合控制器和证书。我们的方法有助于控制安全学习的广泛领域，利用神经网络的灵活性来提供候选控制和证书功能，同时使用sat -模理论（SMT）求解器来提供正确性的正式保证。我们通过开发一个原型软件工具来测试我们的框架，并通过对大量不同基准的控制和证书合成来评估其有效性。

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引用次数: 0

From road congestion to vehicle-control enabled artificial traffic fluids 从道路拥堵到车辆控制，人工交通流体

IF 7.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Annual Reviews in Control

Pub Date : 2025-01-01 DOI: 10.1016/j.arcontrol.2025.100989

Iasson Karafyllis , Dionysios Theodosis , Markos Papageorgiou , Miroslav Krstic

This article provides an overview of the design of purely reactive nonlinear feedback two-dimensional Cruise Controllers (CCs) for CAVs relying on two combined principles: (a) Lane-free traffic, whereby vehicles are not bound to fixed traffic lanes; and (b) Vehicle nudging, whereby vehicles influence other vehicles in front or on the sides of them. The design of the two-dimensional CCs is based on a control Lyapunov methodology, with the considered system being subject to various state constraints, and guarantees a number of desired features, including collision avoidance and road boundary respect. Additionally, the emerging macroscopic traffic flow models are derived, and direct relations are established between selectable CC features and the resulting macroscopic traffic flow characteristics. This allows the active design of efficient traffic flow with desired properties, i.e., the construction of artificial traffic fluids.

本文概述了基于两个组合原则的纯响应式非线性反馈二维巡航控制器（CCs）的设计：(a)无车道交通，即车辆不受固定车道的约束；及(b)车辆轻推，即车辆影响其前方或两侧的其他车辆。二维cc的设计基于李雅普诺夫控制方法，所考虑的系统受到各种状态约束，并保证许多所需的特征，包括避免碰撞和道路边界尊重。此外，推导了新兴的宏观交通流模型，并建立了可选择CC特征与宏观交通流特征之间的直接关系。这允许主动设计具有所需特性的高效交通流，即人工交通流体的构建。

引用次数: 0

Hierarchical generalized extended parameter identification for multivariable equation-error ARMA-like systems by using the filtering identification idea 基于滤波辨识思想的多变量方程误差类arma系统的层次广义扩展参数辨识

IF 7.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Annual Reviews in Control

Pub Date : 2025-01-01 DOI: 10.1016/j.arcontrol.2025.100993

Feng Ding , Ling Xu , Xiao Zhang , Huan Xu , Yihong Zhou , Xiaoli Luan

The filtering identification idea is an effective tool for handling the parameter identification of systems with colored noise. The hierarchical identification principle is an effective approach for addressing the identification of complex systems. For multivariable equation-error autoregressive moving-average-like (M-EEARMA-like) models with colored noise, which are also called multivariable controlled autoregressive autoregressive moving-average-like (M-CARARMA-like) models, this paper investigates and proposes the filtered hierarchical generalized extended stochastic gradient identification method, the filtered hierarchical multi-innovation generalized extended stochastic gradient identification method, the filtered hierarchical generalized extended recursive gradient identification method, the filtered hierarchical multi-innovation generalized extended recursive gradient identification method, the filtered hierarchical generalized extended least squares identification method, and the filtered hierarchical multi-innovation generalized extended least squares identification method by using the filtering identification idea and the hierarchical identification principle from available input–output data. These filtered hierarchical generalized extended identification methods can be extended to other linear and nonlinear multivariable stochastic systems with colored noise.

滤波辨识思想是处理有色噪声系统参数辨识的有效工具。层次辨识原理是解决复杂系统辨识问题的有效方法。针对带有色噪声的多变量方程误差自回归类移动平均（M-EEARMA-like）模型，又称多变量控制自回归类移动平均（M-CARARMA-like）模型，研究并提出了滤波分层广义扩展随机梯度辨识方法、滤波分层多创新广义扩展随机梯度辨识方法、滤波层次广义扩展递推梯度辨识方法、滤波层次多创新广义扩展递推梯度辨识方法、滤波层次广义扩展最小二乘辨识方法；利用滤波辨识思想和层次辨识原理，从可用的输入输出数据中得到滤波层次多创新广义扩展最小二乘辨识方法。这些滤波后的层次广义扩展辨识方法可以推广到其他具有有色噪声的线性和非线性多变量随机系统。

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引用次数: 0

Predictive and robust control strategies applied to ground antenna systems 预测和鲁棒控制策略应用于地面天线系统

IF 7.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Annual Reviews in Control

Pub Date : 2025-01-01 DOI: 10.1016/j.arcontrol.2025.100995

Rodrigo Negri de Azeredo , Mohamed Hajjem , Lara Thomas , Stéphane Victor , Patrick Lanusse , Pierre Melchior

A mobile antenna system requires precise control that combines good trajectory tracking and disturbance rejection. The system has several operating scenarios, demanding a robust control design that ensures good performance and stability for a set of uncertain models. Moreover, ground stations are mainly outdoor operating systems, and they are subject to wind gusts that impact the accuracy of the position control. This paper presents a study using predictive control and robust controllers (CRONE and

H_{\infty}

strategies) to assess the application feasibility of these methodologies in tracking antenna systems. The control system design of both CRONE and

H_{\infty}

strategies are carried out in frequency domain. Time domain analysis demonstrates that both robust controllers yield very similar results, ensuring excellent stability and outstanding performances in tracking trajectory operation. The choice of control strategy ultimately depends on the designer’s expertise, software/hardware requirements, and the complexity of the system model, with an advantage of the CRONE controller in terms of robustness and practical implementation. Simulation results are validated on tracking satellite trajectories by comparing MPC, CRONE and

H_{\infty}

controls with various robustness tests.

移动天线系统需要精确的控制，并结合良好的轨迹跟踪和抗干扰能力。该系统有多个操作场景，需要一个鲁棒控制设计，以确保一组不确定模型的良好性能和稳定性。此外，地面站主要是室外操作系统，它们受到阵风的影响，影响位置控制的准确性。本文提出了一项研究，使用预测控制和鲁棒控制器（CRONE和H∞策略）来评估这些方法在跟踪天线系统中的应用可行性。在频域进行了CRONE策略和H∞策略的控制系统设计。时域分析表明，两种鲁棒控制器产生的结果非常相似，确保了良好的稳定性和跟踪轨迹运行的优异性能。控制策略的选择最终取决于设计人员的专业知识，软件/硬件要求以及系统模型的复杂性，CRONE控制器在鲁棒性和实际实现方面具有优势。通过对MPC、CRONE和H∞控制进行鲁棒性测试，验证了仿真结果对卫星轨迹的跟踪效果。

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引用次数: 0

Path to Artificial General Intelligence: Past, present, and future 通用人工智能之路：过去、现在和未来

IF 10.7 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Annual Reviews in Control

Pub Date : 2025-01-01 DOI: 10.1016/j.arcontrol.2025.101021

Ruhi Sarikaya

During the past decade, there has been remarkable progress in Artificial Intelligence (AI). More recently, the emergence of Generative AI was an inflection point in cognitive pattern understanding and generation across multiple modalities including speech, text, imagery, and vision, where AI systems are increasingly matching or surpassing human performance on a growing array of cognitive tasks. These models have been seamlessly integrated into numerous applications and products, reaching hundreds of millions of users. As a result, discussions regarding the achievement of Artificial General Intelligence (AGI) have shifted from theoretical speculation to a plausible near to mid-term objective. In this paper, we present a comprehensive review of the evolution of AI from its inception to the present day. We then examine how advances in computational infrastructure, algorithms, and large-scale modeling are converging to drive the generative AI revolution and shaping the trajectory toward AGI, potentially within the next 5-to-10 years. Specifically, we analyze recent progress in compute capabilities, learning algorithms, and model architectures across a broad spectrum of cognitive tasks. We also share our perspective on the key challenges that remain to be solved, and discuss the critical risks that must be addressed to ensure the safe and beneficial development of AI systems that may eventually exceed human-level performance in perception, reasoning, and general cognition.

在过去的十年里，人工智能（AI）取得了显著的进步。最近，生成式人工智能的出现是跨多种模式（包括语音、文本、图像和视觉）的认知模式理解和生成的转折点，人工智能系统在越来越多的认知任务中越来越多地匹配或超越人类的表现。这些模型已经无缝集成到众多应用程序和产品中，覆盖了数亿用户。因此，关于实现通用人工智能（AGI）的讨论已经从理论推测转变为一个看似合理的近期或中期目标。在本文中，我们对人工智能从诞生到现在的发展进行了全面的回顾。然后，我们研究了计算基础设施、算法和大规模建模方面的进步是如何融合在一起的，以推动生成式人工智能革命，并塑造AGI的发展轨迹，这可能在未来5到10年内实现。具体来说，我们分析了在广泛的认知任务中计算能力、学习算法和模型架构方面的最新进展。我们还分享了我们对仍待解决的关键挑战的看法，并讨论了必须解决的关键风险，以确保人工智能系统的安全和有益发展，这些系统最终可能在感知、推理和一般认知方面超过人类水平的表现。

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引用次数: 0

Structure-preserving model reduction of interconnected dynamical systems 互联动力系统的保结构模型约简

IF 10.7 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Annual Reviews in Control

Pub Date : 2025-01-01 DOI: 10.1016/j.arcontrol.2025.101016

N. van de Wouw , B. Besselink , M.F. Shakib , L.A.L. Janssen , L. Poort , G. Scarciotti , R.H.B. Fey

This paper presents model reduction techniques for two classes of interconnected dynamical systems: firstly, feedback interconnections between large-scale linear systems and static nonlinearities and, secondly, interconnections between (many) linear dynamical systems. For the first class we provide both balancing-based and moment matching approaches that are applicable to large-scale systems, by reducing the linear part only and leaving the nonlinearity intact. Hence, the original feedback interconnection structure is preserved as well. Moreover, we provide a reduction error bound that expresses reduction accuracy depending on the level of reduction of the linear part and the properties of the nonlinearities. In addition, these methods preserve (global and incremental) stability properties. For the second class of systems, we present an approach to link reduction accuracy specifications on the level of the sub-systems to related specifications on the level of the interconnected system. This allows for a modular approach that preserves the structure of the high-order, interconnected system. In turn, this promotes the interpretability of the reduced-order system. In addition, we introduce the concept of abstracted reduction for interconnected linear systems, which enables the modular reduction of the sub-systems, while taking into account the dynamics of the rest of the interconnected system in a computationally tractable way. Finally, these methods also provide an error bound and preserve stability and (optionally) passivity.

本文提出了两类相互关联的动力系统的模型约简技术：第一类是大尺度线性系统与静态非线性系统之间的反馈互联，第二类是（多）线性动力系统之间的互联。对于第一类，我们提供了基于平衡和矩匹配的方法，适用于大型系统，通过减少线性部分，保持非线性完整。因此，原有的反馈互联结构也得以保留。此外，我们还提供了一个表示约简精度的约简误差界，该约简精度取决于线性部分的约简程度和非线性性质。此外，这些方法保持了（全局和增量）稳定性。对于第二类系统，我们提出了一种将子系统层面的降准精度规范与互联系统层面的相关规范联系起来的方法。这允许采用模块化的方法来保留高阶、相互连接的系统的结构。反过来，这促进了降阶系统的可解释性。此外，我们引入了互连线性系统的抽象约简概念，它使子系统的模块化约简成为可能，同时以一种计算可处理的方式考虑到互连系统其余部分的动力学。最后，这些方法还提供了一个错误界限，并保持了稳定性和（可选的）被动性。

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引用次数: 0

From PID to PIDD2α: Performance improvement with a fractional double derivative action 从PID到PIDD2α：分数阶双导数作用下的性能改进

IF 7.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Annual Reviews in Control

Pub Date : 2025-01-01 DOI: 10.1016/j.arcontrol.2025.101006

Marco Milanesi , Antonio Visioli , YangQuan Chen

This paper analyzes the performance achievable by means of PIDD

^{2 α}

controllers, that is, PID controllers with an additional fractional double derivative action. In particular, the performance obtained with an optimized tuning of the parameters is compared with those of standard PID controllers, of fractional-order PID (FOPID) controllers and of Proportional–Integral–Double-Derivative (PIDD or PIDD

^{2}

) controllers. In all the cases the parameters are determined by minimizing the integrated absolute error either in the set-point or load disturbance step response, with a constraint on the maximum sensitivity. A wide set of benchmark processes (both self and non self-regulating) are considered so that general conclusions about the impact that these controllers can have in the process industry can be drawn.

本文分析了PIDD2α控制器所能达到的性能，即附加分数阶双导数作用的PID控制器。特别地，将参数优化后的性能与标准PID控制器、分数阶PID （FOPID）控制器和比例-积分-双导数（PIDD或PIDD2）控制器的性能进行了比较。在所有情况下，参数都是通过最小化设定点或负载扰动阶跃响应中的积分绝对误差来确定的，并对最大灵敏度进行了约束。考虑了一组广泛的基准过程（包括自我调节和非自我调节），以便得出关于这些控制器在过程工业中可能产生的影响的一般结论。

引用次数: 0

Parametrizations of all stable closed-loop responses: From theory to neural network control design 全稳定闭环响应的参数化：从理论到神经网络控制设计

IF 10.7 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Annual Reviews in Control

Pub Date : 2025-01-01 DOI: 10.1016/j.arcontrol.2025.101012

Clara Lucía Galimberti, Luca Furieri, Giancarlo Ferrari-Trecate

The complexity of modern control systems necessitates architectures that achieve high performance while ensuring robust stability, particularly for nonlinear systems. In this work, we tackle the challenge of designing output-feedback controllers to boost the performance of

ℓ_{p}

-stable discrete-time nonlinear systems while preserving closed-loop stability from external disturbances to input and output channels. Leveraging operator theory and neural network representations, we parametrize the achievable closed-loop maps for a given system and propose novel parametrizations of all

ℓ_{p}

-stabilizing controllers, unifying frameworks such as nonlinear Youla parametrization and internal model control. Contributing to a rapidly growing research line, our approach enables unconstrained optimization exclusively over stabilizing controllers and provides sufficient conditions to ensure robustness against model mismatch. Additionally, our methods reveal that stronger notions of stability can be imposed on the closed-loop maps if disturbance realizations are available after one time step. Last, our approaches are compatible with the design of nonlinear distributed controllers. Numerical experiments on cooperative robotics demonstrate the flexibility of the proposed framework, allowing cost functions to be freely designed for achieving complex behaviors while preserving stability.

现代控制系统的复杂性需要在确保鲁棒稳定性的同时实现高性能的体系结构，特别是对于非线性系统。在这项工作中，我们解决了设计输出反馈控制器的挑战，以提高p稳定离散时间非线性系统的性能，同时保持输入和输出通道免受外部干扰的闭环稳定性。利用算子理论和神经网络表示，我们对给定系统的可实现闭环映射进行了参数化，并提出了所有稳定控制器的新参数化，统一了非线性Youla参数化和内模控制等框架。我们的方法促进了快速发展的研究方向，使稳定控制器的无约束优化成为可能，并提供了足够的条件来确保对模型不匹配的鲁棒性。此外，我们的方法表明，如果扰动实现在一个时间步后可用，则可以对闭环映射施加更强的稳定性概念。最后，我们的方法适用于非线性分布式控制器的设计。协作机器人的数值实验证明了该框架的灵活性，允许在保持稳定性的同时自由设计成本函数以实现复杂的行为。

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引用次数: 0

Bio-inspired control strategies in wearable robotics: A comprehensive review of CPGs and DMPs 可穿戴机器人中的仿生控制策略：cpg和dmp的综合综述

IF 7.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Annual Reviews in Control

Pub Date : 2025-01-01 DOI: 10.1016/j.arcontrol.2025.100991

Joana F. Almeida , Cristina P. Santos

Wearable robotic devices such as exoskeletons and orthoses have undergone significant advancements over the past two decades, aiming to support human mobility in rehabilitation, daily life, and industrial settings. Central to their effectiveness is the implementation of control strategies that generate smooth, adaptive, and user-synchronized movements. Among these, bio-inspired approaches that emulate neural and motor mechanisms of human locomotion have gained increasing attention.

This review presents a comprehensive analysis of two prominent bio-inspired control frameworks – Central Pattern Generators (CPGs) and Dynamic Movement Primitives (DMPs) – implemented in wearable lower-limb robotic systems. A total of 45 articles were systematically analysed to identify trends and challenges in their application.

The review examines the purposes of these controllers, the joints and degrees of freedom addressed, the sensors employed, the structural characteristics of each approach, the integration of sensory feedback and intention decoding, the tracking controllers used, and the validation methodologies adopted.

The findings reveal that CPGs and DMPs are primarily adopted for generating adaptive joint trajectories, enabling stable, rhythmic, and responsive locomotion. Their flexibility allows for encoding motion patterns that adapt to user-specific and task-specific requirements. However, challenges such as parameter tuning, integration of sensory feedback, real-time intention decoding, and validation robustness remain open issues.

This work highlights the potential of CPG- and DMP-based strategies to enhance the autonomy, safety, and personalization of wearable robots and provides future research directions to address their current limitations and improve their practical applicability.

在过去的二十年里，外骨骼和矫形器等可穿戴机器人设备取得了重大进展，旨在支持人类在康复、日常生活和工业环境中的移动能力。其有效性的核心是控制策略的实施，产生平滑，自适应和用户同步的运动。其中，模仿人类运动的神经和运动机制的生物启发方法已获得越来越多的关注。本文综述了在可穿戴下肢机器人系统中实现的两个突出的仿生控制框架-中央模式发生器（CPGs）和动态运动原语（dmp）的综合分析。共系统分析了45篇文章，以确定其应用中的趋势和挑战。本文考察了这些控制器的用途、关节和自由度、所采用的传感器、每种方法的结构特征、感官反馈和意图解码的集成、所使用的跟踪控制器以及所采用的验证方法。研究结果表明，cpg和dmp主要用于产生自适应关节轨迹，从而实现稳定、有节奏和响应性的运动。它们的灵活性允许对运动模式进行编码，以适应特定于用户和特定于任务的需求。然而，诸如参数调整、感官反馈集成、实时意图解码和验证鲁棒性等挑战仍然存在。这项工作强调了基于CPG和dmp的策略在增强可穿戴机器人的自主性、安全性和个性化方面的潜力，并提供了未来的研究方向，以解决它们目前的局限性并提高它们的实际适用性。

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引用次数: 0