Control Input Research Articles

Coordination control strategy of motion stability and tire slip for electric vehicle driven by in-wheel-motors

The Direct Yaw Moment Control (DYC) is a widely utilized technique for electric vehicles equipped with In-Wheel Motors (IWMs) to ensure yaw stability. However, most existing DYC studies calculate the additional control yaw moment solely based on the torque differences among the four IWMs, disregarding the nonlinear tire characteristics and wheel rotational movements. When road conditions are poor or torque changes are intense, the tire may slip, preventing it from generating the required longitudinal tire force for the desired direct yaw moment. To address this challenge, this study introduces a coordination control strategy for motion stability and tire slip in electric vehicles (EV) driven by IWMs. To enhance control performance, the nonlinear tire characteristics and wheel rotational movements are integrated into the modeling process when calculating tire forces. Additionally, a state and parameter coupling estimation algorithm is utilized to obtain feedback on tire parameters and vehicle motion states. Using these estimation results as a foundation, a coordination strategy is developed to achieve reference motion state tracking and tire slip ratio control. The Model Predictive Control (MPC) algorithm is employed to solve the control problem with constraints on both control inputs and outputs, and the estimation results are utilized to update the control model as well as provide states feedback. Simulations and experiments are conducted to validate the feasibility and effectiveness of the proposed control strategy. The results demonstrate that our proposed control strategy effectively improves vehicle stability by coordinating vehicle motion and tire slip control.

Energy-conserving event-triggered control for multiagent systems with limited resources

An energy-conserving event-driven control method is developed for multiagent systems with unknown disturbances to achieve low-energy formation control. Firstly, an energy-conserving event-driven scheme is developed to save energy by introducing a second trigger function, which is utilized to switch the control input to zero when the consensus error is small. Then, a dynamic energy-conserving event-driven scheme is designed to further decrease the frequency of communication and control by establishing a positive dynamic variable to increase the trigger threshold. Under the designed energy-conserving event-based schemes, the energy consumption during the system stability is significantly reduced, the communication burden is decreased, and the system is Zeno-free and bounded stable. Finally, a four-agent formation example is illustrated to show the effectiveness of the proposed energy-conserving schemes.

Reducing aerodynamic vibration of rigid rotors with retreating side active control avoidance

This paper proposes a new approach to eliminate aerodynamic lift oscillation, called the Dominant Sector Individual Blade Control (DS-IBC) method for rigid rotor helicopters. An Advancing Blade Concept (ABC) rotor model for aerodynamic analysis based on the free-wake method is applied. DS-IBC avoids applying active control on the rotor’s retreating side by employing and restricting active control inputs to a sector area of the rotor disc. Outside this sector, only primary collective and cyclic pitch control are used. Each blade takes turns entering the sector, creating a “relay” active control form to ensure continuous control inputs. The method also includes outer-trim and inner-trim iteration modules. Results show that DS-IBC can eliminate aerodynamic lift oscillation using much smaller control inputs than the sine-trim method. By focusing active control on the rotor’s advancing side, DS-IBC improves the effective lift-to-drag ratio and reduces the implementation difficulty of active rotor control for aerodynamic oscillation elimination, especially at a large lift-offset.

Kullback-Leibler Control in Boolean Control Networks.

This article addresses the Kullback-Leibler (KL) control problem in Boolean control networks. In the considered problem, an extended stage cost function depending on the control inputs is introduced; in contrast to a stage cost of the conventional KL control problems in the Markov decision process cannot take into consideration the control inputs. An associated Bellman equation and a matrix-based iteration algorithm are presented. The theoretical analysis shows that the proposed KL control results in an approximated form of conventional dynamic programming (DP). Furthermore, the convergence analysis is presented, with the weight parameter converging to zero and diverging to infinity. In practical application examples, a comparison of the conventional DP and proposed KL control is illustrated.

Joint angle synergy-based humanoid robot motion generation with fascia-inspired nonlinear constraints

AbstractWhen generating simultaneous joint movements of a humanoid with multiple degrees of freedom to replicate human-like movements, the approach of joint synergy can facilitate the generation of whole-body robotic movement with a reduced number of control inputs. However, the trade-off of minimizing control inputs and keeping characteristics of movements makes it difficult to improve movement performance in a simple control manner. In this paper, we introduce an approach by connecting and constraining these joints. It is inspired by the fascia network of the human body, which constrains the whole-body movements of a human. Compared to when only joint synergy is used, the effectiveness of the proposed method is verified by calculating the errors of joint positions of generated movements and human movements. The paper provides a detailed exploration of the proposed method, presenting simulation-experimental results that affirm its effectiveness in generated movements that closely resemble human movements. Furthermore, we provide one possible method on how these concepts can be implemented in actual robotic hardware, offering a pathway to improve movement control in humanoid robots within their mechanical limitations.

QPJVis Demo: Quality-Boost Progressive Join Query Processing System

Progressive query processing enables data scientists to efficiently analyze and explore large datasets. Data scientists can start further analyses earlier if the progressive result can represent the complete results well. Most progressive processing frameworks carefully control which parts of the input to process in order to improve the quality of progressive results. The input control strategies work well when the data are processed uniformly. However, the progressive results will be biased towards the join keys if the processed data are not uniform. A recently proposed input&output framework named QPJ corrects the bias by temporarily hiding some results. The framework dynamically estimates the distribution of the complete result and outputs progressive results with a similar distribution to the estimated complete result. This demo presents QPJVis, which is a progressive query processing system designed to inherently process the progressive queries using the QPJ framework. Additionally, we also implement an input control framework, Prism, in QPJVis so that users can compare the difference between the input&output framework and a purely input framework.

Human-in-the-Loop Consensus Control for Multiagent Systems With External Disturbances.

In this article, the human-in-the-loop leader-follower consensus control problem is addressed for multiagent systems (MASs) with unknown external disturbances. A human operator is deployed to monitor the MASs' team by transmitting an execution signal to a nonautonomous leader in response to any hazard detected, with the control input of the leader unknown to all followers. For each follower, a full-order observer, in which the observer error dynamic system decouples the unknown disturbance input, is designed for asymptotic state estimation. Then, an interval observer is constructed for the consensus error dynamic system, where the unknown disturbances and control inputs of its neighbors and its disturbance are treated as unknown inputs (UIs). To process the UIs, a new asymptotic algebraic UI reconstruction (UIR) scheme is proposed based on the interval observer, and one of the significant features of the UIR is the capacity to decouple the control input of the follower. The subsequent human-in-the-loop asymptotic convergence consensus protocol is developed by applying an observer-based distributed control strategy. Finally, the proposed control scheme is validated through two simulation examples.

Secure consensus for PDEs-based multiagent systems under DoS attacks via boundary control approach

This paper focuses on secure consensus for leader-following multiagent systems (MASs) modeled by partial differential equations (PDEs) under denial of service (DoS) attacks. To mitigate the negative effects of DoS attacks, which can paralyze communication and cause agents to fail to receive valid control inputs, a buffer region is established in the communication channels among agents to temporarily store messages from neighbors. Additionally, since the states of the leader and followers are not always measurable, observers are used to estimate these states. To address these challenges, this paper proposes two boundary controllers to ensure leader-following consensus in both measurable and unmeasurable states. One controller is based on original boundary information, while the other utilizes observation information from both the leader and followers. To the best of our knowledge, this is the first attempt to use buffers to solve a class of PDEs-based MASs under DoS attacks. Furthermore, the boundary control approach has the potential to significantly reduce the number of actuators required, thereby lowering control costs. Finally, we present two numerical examples to validate the feasibility of the proposed methods.

Sliding Mode Control Based on Reinforcement Learning for T-S Fuzzy Fractional-Order Multiagent System With Time-Varying Delays.

This article researches the sliding mode control (SMC) for fuzzy fractional-order multiagent system (FOMAS) subject to time-varying delays over directed networks based on reinforcement learning (RL), α ∈ (0,1) . First, since there is information communication between an agent and another agent, a new distributed control policy ξi(t) is introduced so that the sharing of signals is implemented through RL, whose propose is to minimize the error variables with learning. Then, different from the existed papers studying normal fuzzy MASs, a new stability basis of fuzzy FOMASs with time-varying delay terms is presented to guarantee that the states of each agent eventually converge to the smallest possible domain of 0 using Lyapunov-Krasovskii functionals, free weight matrix, and linear matrix inequality (LMI). Furthermore, in order to provide appropriate parameters for SMC, the RL algorithm is combined with SMC strategy, and the constraints on the initial conditions of the control input ui(t) are eliminated, so that the sliding motion satisfy the reachable condition within a finite time. Finally, to illustrate that the proposed protocol is valid, the results of the simulation and numerical examples are presented.

Simulation-based Flexible Needle Control with Single-core FBG Feedback for Spinal Injections.

We present a general framework of simultaneous needle shape reconstruction and control input generation for robot-assisted spinal injection procedures, without continuous imaging feedback. System input-output mapping is generated with a real-time needle-tissue interaction simulation, and single-core FBG sensor readings are used as local needle shape feedback within the same simulation framework. FBG wavelength shifts due to temperature variation is removed by exploiting redundancy in fiber arrangement. Targeting experiments performed on both plastisol lumbar phantoms as well as an ex vivo porcine lumbar section achieved in-plane tip errors of and , and total tip errors of and for the two testing environments. Our clinically inspired control strategy and workflow is self-contained and not dependent on the modality of imaging guidance. The generalizability of the proposed approach can be applied to other needle-based interventions where medical imaging cannot be reliably utilized as part of a closed-loop control system for needle guidance.

Optimal Containment Control of a Quadrotor Team With Active Leaders via Reinforcement Learning.

This article proposes an optimal controller for a team of underactuated quadrotors with multiple active leaders in containment control tasks. The quadrotor dynamics are underactuated, nonlinear, uncertain, and subject to external disturbances. The active team leaders have control inputs to enhance the maneuverability of the containment system. The proposed controller consists of a position control law to guarantee the achievement of position containment and an attitude control law to regulate the rotational motion, which are learned via off-policy reinforcement learning using historical data from quadrotor trajectories. The closed-loop system stability can be guaranteed by theoretical analysis. Simulation results of cooperative transportation missions with multiple active leaders demonstrate the effectiveness of the proposed controller.

Discrete-time optimal control problems with time delay argument: New discrete-time Euler–Lagrange equations with delay

Discrete-time optimal control problems are a crucial type of control problems that deal with a dynamic system evolving in discrete time-steps. This paper introduces a new technique for solving linear discrete-time optimal control problems with state delays, applicable to both finite and infinite time horizons. Our method employs a Riccati matrix equation, optimizing control strategies and ensuring system stability through bounded control inputs. We adopt a Bolza problem for the performance index, which guides the classification of control issues. The technique simplifies problems into manageable Riccati matrix equations using the Euler–Lagrange equations and Pontryagin maximum principle, ensuring stability and necessary condition compliance. The paper validates the approach with numerical examples from quantum mechanics and classical physics, demonstrating its practicality and potential for broader application.

An asymmetrically variable wingtip anhedral angles morphing aircraft based on incremental sliding mode control: Improving lateral maneuver capability

This paper presents the design of an asymmetrically variable wingtip anhedral angles morphing aircraft, inspired by biomimetic mechanisms, to enhance lateral maneuver capability. Firstly, we establish a lateral dynamic model considering additional forces and moments resulting during the morphing process, and convert it into a Multiple Input Multiple Output (MIMO) virtual control system by importing virtual inputs. Secondly, a classical dynamics inversion controller is designed for the outer-loop system. A new Global Fast Terminal Incremental Sliding Mode Controller (NDO-GFTISMC) is proposed for the inner-loop system, in which an adaptive law is implemented to weaken control surface chattering, and a Nonlinear Disturbance Observer (NDO) is integrated to compensate for unknown disturbances. The whole control system is proven semi-globally uniformly ultimately bounded based on the multi-Lyapunov function method. Furthermore, we consider tracking errors and self-characteristics of actuators, a quadratic programming-based dynamic control allocation law is designed, which allocates virtual control inputs to the asymmetrically deformed wingtip and rudder. Actuator dynamic models are incorporated to ensure physical realizability of designed allocation law. Finally, comparative experimental results validate the effectiveness of the designed control system and control allocation law. The NDO-GFTISMC features faster convergence, stronger robustness, and 81.25% and 75.0% reduction in maximum state tracking error under uncertainty compared to the Incremental Nonlinear Dynamic Inversion Controller based on NDO (NDO-INDI) and Incremental Sliding Mode Controller based on NDO (NDO-ISMC), respectively. The design of the morphing aircraft significantly enhances lateral maneuver capability, maintaining a substantial control margin during lateral maneuvering, reducing the burden of the rudder surface, and effectively solving the actuator saturation problem of traditional aircraft during lateral maneuvering.

Enhancing voltage stability through wavelet-fuzzy control of hydrogen flow in OC-PEM fuel cell

Open cathode proton exchange membrane fuel cells (OC-PEM fuel cells) serve as electricity generators, utilizing hydrogen as an input source. While effective for fixed loads like residential applications, challenges arise in dealing with output voltage fluctuations caused by rapid load changes. These fluctuations not only impact fuel cell performance but also introduce instability in the supplied power. To solve this issue, the study proposes an innovative hydrogen flow control system employing a feedforward wavelet- fuzzy method. The primary goal of this control system is to enhance fuzzy control performance using wavelets, mitigating signal fluctuations and achieving optimal stability in fuel cell output voltage under constant load conditions. Wavelet functions act as filters on the fuzzy control input, minimizing fluctuations and refining the entire process. Additionally, a feedforward system is incorporated to maintain hydrogen flow at the set point value. The proposed control system is implemented on a validated model using experimental data. Performance analysis reveals that the proposed method effectively stabilizes voltage by accelerating the recovery time from disturbances.

Land use and urbanization indirectly control riverine CH4 and CO2 emissions by altering nutrient input

Urban rivers are recognized as significant sources of methane (CH4) and carbon dioxide (CO2) emissions. Despite this, the influence of land use and urbanization on carbon emissions across rural-urban rivers at the watershed scale has been insufficiently explored. This study utilized in-situ surveys of the Liao River in northern China to investigate the spatial and temporal variations of CH4 and CO2 emissions and their relationship with urbanization and its potential controlling factors. The findings revealed that CH4 emissions peaked in fall, whereas CO2 emissions were highest in summer. The average fluxes of CH4 and CO2 at the water-gas interface were 1387.22 ± 2474.98 µmol·m−2·d−1 and 52.78 ± 54.44 mmol·m−2·d−1, respectively. Water quality parameters accounted for 80.49 % of the total variation in CH4 and CO2 concentrations and fluxes. Structural equation modeling indicated that TN, TP, DTC, and conductivity had direct effects on riverine CH4 and CO2 emissions, with standardized direct effects of 0.50 and 0.49, respectively. Nutrient input emerged as the primary driver, increasing CH4 and CO2 concentrations and fluxes, particularly in urban-adjacent river sections likely receiving higher nutrient loads. This study underscores that land use and urbanization indirectly influence riverine CH4 and CO2 emissions by modifying nutrient inputs. Effective land use management and nutrient input control are recommended strategies to mitigate riverine CH4 and CO2 emissions.

Exploring The Drivers of Entrepreneurial Intentions Among Farmers in Tanzania's Agricultural Sector

Purpose: This paper investigates the entrepreneurial intentions of orange farmers in Muheza, Tanzania, by validating the extended theory of planned behaviour (TPB). Design/Methodology/ Approach: The study used a quantitative method approach, with cluster and simple random sampling, to recruit 349 orange farmers. The survey was conducted on 349 small-scale orange farmers in Muheza. To test the model, the constructs of entrepreneurship training, farmers’ attitudes, subjective norms, perceived behaviour control and entrepreneurial intention inputs were validated, followed by factor analysis and structural equation modelling. Findings: The study's results revealed the crucial role of perceived behaviour control and attitudes in driving the entrepreneurial intention of orange farmers. This significant influence underscores the importance of these factors in the development of entrepreneurial intention among orange farmers. It was also found that attitudes and perceived behaviour control predicted the entrepreneurial intention of orange farmers but not subjective norms, providing valuable insights for future research and policy development. Research Limitation: This study primarily focused on orange farmers in the Tanga Region, specifically in the Muheza District. Practical Implication: The findings suggest a clear path for action. To foster and enhance the entrepreneurial intentions of orange farmers, the government and policymakers should concentrate on instilling positive attitudes and controlling perceived behaviour. By promoting a positive stance toward entrepreneurship, we can significantly boost the willingness of orange farmers to engage in commercial farming, thereby contributing to the growth and development of Tanzania's agricultural sector. Social Implication: The study recommends policy options focusing on cultivating positive attitudes and perceived behaviour control among orange farmers to increase entrepreneurial intention, requiring concerted efforts from the government and policymakers. Originality / Value/ Novelty: It contributes to the body of knowledge, addressing the gap regarding the drivers influencing orange farmers' entrepreneurial intentions. Furthermore, establishing validated drivers of entrepreneurial intention among Tanzanian orange farmers could significantly assist the government in promoting economic development and achieving its vision of becoming a semi-industrialized country.

Synchronization of Kuramoto-oscillator networks under event-triggered impulsive control with noise perturbation

This paper studies the stochastic average synchronization of Kuramoto-oscillator networks under event-triggered impulsive control (ETIC) strategies, in which the event-triggered mechanism (ETM) determines the impulsive control time sequence. The continuous ETM is designed to avoid the Zeno behavior by continuous measuring, and the periodic ETM is proposed by periodic sampling. Based on the proposed ETIC methods, several sufficient conditions for the stochastic average synchronization of Kuramoto-oscillator networks are established. Unlike time-triggered impulsive control, where the triggered instants are pre-designed, ETIC is activated only upon the occurrence of an event, so synchronization conditions are heavily dependent on the ETM. Furthermore, there is no control input between two successive triggering instants, and the control input is required only at the trigger instants. Finally, numerical simulations are shown to illustrate the effectiveness of the theoretical results. Besides, it is found that the presence of noise may favor the synchronization of Kuramoto-oscillator networks.

A Compartmental Approach to Modeling the Measles Disease: A Fractional Order Optimal Control Model

Measles is the most infectious disease with a high basic reproduction number (R0). For measles, it is reported that R0 lies between 12 and 18 in an endemic situation. In this paper, a fractional order mathematical model for measles disease is proposed to identify the dynamics of disease transmission following a declining memory process. In the proposed model, a fractional order differential operator is used to justify the effect and success rate of vaccination. The total population of the model is subdivided into five sub-compartments: susceptible (S), exposed (E), infected (I), vaccinated (V), and recovered (R). Here, we consider the first dose of measles vaccination and convert the model to a controlled system. Finally, we transform the control-induced model to an optimal control model using control theory. Both models are analyzed to find the stability of the system, the basic reproduction number, the optimal control input, and the adjoint equations with the boundary conditions. Also, the numerical simulation of the model is presented along with using the analytical findings. We also verify the effective role of the fractional order parameter alpha on the model dynamics and changes in the dynamical behavior of the model with R0=1.

An Optimal Heat Input Control by Multi Heat Source in Laser Welding

An Optimal Heat Input Control by Multi Heat Source in Laser Welding

Model Predictive Control based on Long-Term Memory neural network model inversion

Long Short-Term Memory (LSTM) neural networks are well suited for representing time series as, compared to other neural networks, their structure avoids vanishing or exploding gradients. LSTM has been embedded into Model Predictive Control algorithms in order to forecast the behavior of nonlinear systems. The new algorithm presented in the paper is of a different nature, as the LSTM network approximates the inverse of the system over a receding horizon and provides a sequence of future inputs as a function of a specified output trajectory. The main advantage of the method appears when the desired output trajectory is generated from a small set of parameters, for example, a convergence rate. The Model Predictive control optimizes its criterion with respect to this small set of variables, and the LSTM supplies the corresponding future control inputs. Eventually, the modeling error of the LSTM can be compensated by feeding the control sequence to the forward model and updating the controller according to the output deviation. The algorithm allows to design Model Predictive controllers for nonlinear systems in a generic way, using a very small number of decision variables even with a long receding horizon.