This paper addresses a novel nonlinear algorithm for the trajectory tracking of a planar cable-driven parallel robot. In particular, we outline a nonlinear continuous-time generalized predictive control (NCGPC). The proposed controller design is base...
This paper presents a novel robust optimal predictive control approach for a class of nonlinear continuous-time systems perturbed by unknown disturbances. First, a new error state with a linear proportional-integral-differential (PID) structure consi...
Modeling ship maneuvering dynamics presents numerous challenges, including long-term multi-step recursive error accumulation, insufficient generalization under distributed control rates, and high-frequency disturbance amplification effects. Tradition...
This article addresses the problem of optimizing electrical power generation using kite power systems (KPSs). KPSs are airborne wind energy systems that aim to harvest the power of strong and steady high-altitude winds. With the aim of maximizing the...
In order to enhance the tracking accuracy and disturbance rejection capability in the speed loop of an optoelectronic tracking servo control system, a parameter self-adjusting disturbance rejection generalized predictive control method (STGPC) based...
Despite its advantages over its AC counterparts, DC microgrids present a lot of challenges. One of these challenges is the instability issues caused by constant power loads (CPLs). CPLs deteriorate the system’s performance due to their incremen...
Accurately predicting the long-term behavior of complex dynamical systems is a central challenge for safety-critical applications like autonomous navigation. Mechanistic models are often brittle, relying on difficult-to-measure parameters, while stan...
The industrial processes that require the use of the web require a control system which allows for preserving the properties of the web unaltered, avoiding the risk of wrinkling, tearing, breakage and other defects. This control generally takes place...
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The synchronous control of yaw motion and tilting motion is an important problem related to the lateral stability and energy consumption of narrow tilting vehicles. This paper proposes a method for the tilting control of narrow tilting vehicles: tilt...
Research on trajectory tracking is crucial for the development of autonomous vehicles. This paper presents a trajectory tracking scheme by utilizing model predictive control (MPC) and preview-follower theory (PFT), which includes a reference generati...
In Model Predictive Control (MPC) algorithms, control signals are generated after solving optimization problems. If the model used for prediction is linear then the optimization problem is a standard, easy to solve, quadratic programming problem with...
Achieving dynamic stability in bipedal locomotion against sustained external disturbances remains a significant challenge in humanoid robotics. Traditional methods, such as zero moment point (ZMP) preview control, often lack the reactive compliance a...
Diabetes is a metabolic disorder characterized by persistent hyperglycemia, with its incidence steadily rising worldwide. Blood glucose monitoring is a core measure in diabetes management, and continuous glucose monitoring provides more comprehensive...
To enhance the control performance of permanent-magnet synchronous motor (PMSM) drive systems, achieving high-precision motion control, a generalized predictive control (GPC) method based on a novel extended-state observer (ESO) is investigated for t...
Oscillating-water-column wave energy converters (OWC-WECs) are gaining attention for their high energy potential and environmental friendliness. However, their irregular input energy characteristics pose challenges to achieving stable power generatio...
Central carbon segregation is a typical internal defect of continuous cast steel billets. Real-time and accurate carbon segregation prediction is of great significance for lean control of the production quality in continuous casting processes. In thi...
Industrial processes governed by food safety regulations, such as high-temperature short-time (HTST) pasteurization, rely on continuous sensor monitoring to ensure compliance with standards like Hazard Analysis and Critical Control Points (HACCP). Ho...
The power system is moving away from the centralized generation paradigm. One of the current trends is the microgrid concept, where loads, small generators and renewable energy resources (RERs) that are in close proximity are controlled as one entity...
This study investigates the tracking control of quadrotor micro aerial vehicles using nonlinear model predictive control (NMPC), with primary emphasis on the implementation of a real-time embedded control system. Apart from the limited memory size, o...
The development and optimization of lipid nanoparticle (LNP) formulations through hydrodynamic mixing is critical for ensuring the efficient and cost-effective supply of vaccines. Continuous LNP formation through microfluidic mixing can overcome manu...
With the development of Internet of Things infrastructures and intelligent traffic systems, the traffic congestion that results from the continuous complexity of urban road networks and traffic saturation has a new solution. In this research, we prop...
The prediction of mold level is a basic and key problem of continuous casting production control. Many current techniques fail to predict the mold level because of mold level is non-linear, non-stationary and does not have a normal distribution. A hy...
Traffic operation efficiency is greatly impacted by the increase in travel demand and the increase in vehicle ownership. The continued increase in traffic demand has rendered the importance of controlling traffic, especially at intersections. In gene...
Scientific and simulation applications are continuously gaining importance in many fields of research and industries. These applications require massive amounts of memory and substantial arithmetic computation. Therefore, general-purpose computing on...
Active inference provides a unified framework for perception and action as processes of minimizing prediction error given a generative model of the environment. Whilst standard formulations assume continuous inference and control, empirical evidence...
During the spin freezing step of a recently developed continuous spin freeze-drying technology, glass vials are rapidly spun along their longitudinal axis. The aqueous drug formulation subsequently spreads over the inner vial wall, while a cold gas f...
With the continuous and large-scale development of renewable energy, there is a prominent decrease in the level of inertia in new power systems. This decrease leads to the weakening of the system’s capability to provide inertia support and freq...
Existing control strategies, such as Real-time Optimization (RTO), Dynamic Real-time Optimization (DRTO), and Economic Model Predictive Control (EMPC) cannot enable optimal operation and control behavior in an optimal fashion. This work proposes a no...
There has always been a high expectation that wind generation systems would capture maximum power and integrate properly with the grid. Utilizing a wind generation system with increased management to meet the growing electricity demand is a clever wa...
This paper presents closed-form optimal cooperative guidance laws for two UAVs under information constraints that achieve the required relative approach angle. Two UAVs cooperate to optimize a common cost function under a coupled constraint on termin...
Machine learning (ML) models are now widely used in digital twins of water treatment facilities. These models are commonly trained based on historical datasets, and their predictions serve various important objectives, such as anomaly detection and o...
Firm-level financial statement data form multivariate annual time series with strong cross-variable dependencies and temporal dynamics, yet publicly available panels are often short and incomplete, limiting the generalization of predictive models. We...
The time of a satellite navigation system is primarily generated by the main control station of the ground system. Consequently, when ground stations fail, there is a risk to the continuous provision of time services to the equipment and users. Furth...
Obstacle-avoidance risk threshold control and global discrete keypoint re-entry are critical factors influencing the smooth dynamic obstacle avoidance of unmanned vessels. For underactuated USVs, which operate in planar motion with three degrees of f...
The adoption of Interior Permanent Magnet Synchronous Motor (IPMSM) in Battery Electric Vehicle (BEV) and Plug-in Hybrid Electric Vehicle (PHEV) drives the need for innovative approaches to improve control performance and power conversion efficiency....
With the development of unmanned combat air vehicles (UCAVs) and artificial intelligence (AI), within visual range (WVR) air combat confrontations utilizing intelligent UCAVs are expected to be widely used in future air combats. As controlling highly...
In this article, we survey the sensor network calculus (SensorNC), a framework continuously developed since 2005 to support the predictable design, control and management of large-scale wireless sensor networks with timing constraints. It is rooted i...
This article covers the signal processing for a human–robot remote controlled welding application. For this purpose, a test and evaluation system is under development. It allows a skilled worker to weld in real time without being exposed to the...
A scientific and effective coordinated control strategy is crucial to the safe and economic operation of a microgrid (MG). With the continuous improvement of the renewable energy source (RES) penetration rate in MG, the randomness and intermittency o...
This work focuses on developing and applying Encrypted Lyapunov-based Model Predictive Control (LMPC) in a nonlinear chemical process network for Ethylbenzene production. The network, governed by a nonlinear dynamic model, comprises two continuously...
With the current global trend of the wind turbines to be commissioned, the next generation of state-of-the-art turbines will have a generating capacity of 20 MW with rotor diameters of 250 m or larger. This systematic increase in rotor size is prompt...
Trajectory prediction is a critical component of autonomous driving, intelligent transportation systems, and human–robot interactions, particularly in complex environments like intersections, where diverse road constraints and multi-agent inter...
This study presents a method for the active control of a follow-up lower extremity exoskeleton rehabilitation robot (LEERR) based on human motion intention recognition. Initially, to effectively support body weight and compensate for the vertical mov...
Solar power systems have been growing globally to replace fossil fuel-based energy and reduce greenhouse gases (GHG). In addition to panel efficiency deterioration and contamination, the produced power of photovoltaic (PV) systems is intermittent due...
This paper explores the feasibility of multilevel dual-active bridge-inverter (DABMI) applications for grid-connected applications of a modern Model of Predictive Direct Power Control (MPDPC) based on the conservative power theory (CPT). In the case...
The energy research community is continuously pursuing improvements in power system resiliency and reliability. Microgrids offer a unique opportunity for enhanced reliability and resiliency by utilizing localized generation and energy storage when gr...
The research related to subsea inspection, and the prediction of corrosion is a challenging task, and the progress in this area is continuously generating exciting new developments that may be used in subsea inspection. Wall thickness monitoring is a...
Time-varying disturbances arising from complex terrain and the lack of rigorous constraint-handling mechanisms significantly degrade the path-tracking performance of unmanned agricultural tractors (UATs). To address these issues, this paper proposes...
In greenhouses, plant growth is directly influenced by internal environmental conditions, and therefore requires continuous management and proper environmental control. Inadequate environmental conditions make plants vulnerable to pests and diseases,...
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