Search Results (95)

In traditional vehicle trajectory tracking processes, the dynamic model of the vehicle may not accurately represent complex and nonlinear vehicle behaviors. Moreover, conventional control methods may perform poorly when dealing with system uncertainties and disturbances, facing challenges in real-time computation. To address these issues, this paper proposes an autonomous driving control method based on control-affine feedforward neural network (CAFNN) and fast tube model predictive control (tube-MPC). This method utilizes CAFNN for system dynamic identification, replacing traditional mathematical modeling with data-driven neural network pattern recognition to more accurately describe the vehicle’s nonlinear dynamic characteristics. On this basis, the proposed tube-MPC structure is divided into two parts: nominal MPC and sliding mode control (SMC). The nominal MPC controller associates the MPC problem with a linear complementarity problem (LCP) using a ramp function, enabling rapid computation of the quadratic programming (QP) solution through piecewise affine (PWA) functions; the auxiliary SMC controller employs multi-power sliding mode reaching laws to enhance the system’s robustness against external disturbances and model uncertainties. This control strategy demonstrates high accuracy and stability in vehicle trajectory tracking under complex road conditions, providing strong support for the advancement of autonomous driving technology. Full article

Low altitude logistics and aerial transport increasingly rely on multirotor unmanned aerial vehicles (UAVs) carrying slung payloads, where cable flexibility and load swing can degrade safety and delivery accuracy. This paper studies payload trajectory tracking for a dual-quadrotor cooperative slung-load system, targeting accurate tracking with swing suppression under thrust, attitude, and cable-tension limits. First, a payload-layer dynamic model is derived from d’Alembert’s principle with geometric cable constraints, and explicit tension reconstruction formulas are provided to enable direct enforcement of tension bounds. Building on this model, a payload-layer DEA nominal tracking controller is designed by applying dynamic extension to the tension-scalar channels and enforcing output-level linear error dynamics. To ensure real-time feasibility, a convex quadratic-programming (QP) projection layer minimally corrects the nominal command to satisfy thrust saturation, attitude-cone constraints, and cable-tension bounds. Moreover, an adaptive tuning control layer updates the DEA feedback gain and the projection weighting matrix within preset constraint limits based on energy residual and constraint-activation information, improving robustness and reducing manual tuning. Input-to-state stability is established under bounded disturbances and constraint-activation switching via a composite Lyapunov analysis. ROS–PX4–Gazebo simulations show low tracking error, suppressed swing, and sustained tension-limit compliance, validating the fusion controller. Full article

The application of Genome-Scale Metabolic Network Models (GSMM) in fermentation optimization is hampered by challenges in differentiating viable from dead cells and parameter distortion induced by conventional detection methods. Using E. coli BL21(DE3) as the model organism, this study developed a flux analysis strategy that couples cell kinetics with GSMM. Key parameters were estimated using the gradient descent algorithm, thereby enabling precise prediction of viable cell concentration and glucose consumption dynamics. Integrating this with the Quadratic Programming-based parsimonious Flux Balance Analysis (QP-pFBA) algorithm, intracellular metabolic reaction fluxes were quantified. Results demonstrated that the model can effectively differentiate viable from dead cells; Batch D, adopting the gradient-increasing feeding strategy, achieved the maximum specific growth rate (μ_max) of 0.6457, the highest among the four batches. Moreover, key metabolic reaction fluxes were highly correlated with the feeding strategy. This framework forgoes specialized, high-cost equipment and offers robust cross-strain/process adaptability, thereby greatly advancing GSMM utility. It provides a powerful tool for precise fermentation control and accelerates the shift toward data-driven biomanufacturing. Full article

This paper investigates the formation control problem of multi-UAV systems in the presence of switched trajectories and time-varying communication topologies. A distributed formation control protocol is proposed to enable UAVs to track piecewise continuous trajectories while the underlying communication network switches among a finite set of directed graphs. Sufficient and necessary conditions for achieving accurate formation tracking under dual-switching scenarios are derived through stability analysis while the stability of the overall switched system is proven by using multiple Lyapunov functions. To ensure collision avoidance during both trajectory and topology transitions, control barrier functions (CBFs) are employed to construct safety sets, and a quadratic programming(QP)-based optimization framework is designed to modify control inputs in real time. Simulation results demonstrate that the proposed approach effectively coordinates formation tracking, topology switching, and inter-agent safety, offering a solution for UAV collaboration in dynamic and uncertain environments. Full article

A two-layer control framework for unmanned underwater vehicle (UUV) navigation is proposed, combining a lower-layer active disturbance rejection controller (ADRC) with an upper-layer safe reinforcement learning (RL) policy for obstacle-avoidance navigation. The lower layer, utilizing ADRC, ensures high tracking accuracy and effective disturbance rejection, while the upper layer integrates the twin delayed deep deterministic policy gradient (TD3) algorithm, combined with a control barrier function (CBF)-based quadratic programming (QP) safety filter and safety-inspired reward shaping (SR). The method is evaluated in two simulation studies: (i) velocity and attitude control to assess tracking and disturbance rejection, and (ii) obstacle-avoidance navigation to assess learning efficiency, trajectory smoothness, and safety-related metrics. Simulation results show that ADRC achieves faster tracking and stronger disturbance rejection than a conventional proportional–integral–derivative (PID) controller. Moreover, the proposed TD3 + QP + SR scheme exhibits faster learning, smoother trajectories, and improved safety performance compared with RL baselines. These results indicate that the proposed framework enables efficient and safe UUV navigation in simulation scenarios with obstacles and disturbances. Full article

In this paper, we present a physical interaction scheme for omnidirectional multirotor aerial vehicles (MRAVs) equipped with fixedly tilted non-coplanar propellers, based on an admittance control architecture. An external wrench observer is employed to estimate the interaction wrench at the end-effector, hence eliminating the need for an additional force/torque sensor. We show that using the nominal allocation matrix in this class of admittance controllers can lead to a contact loss during complex interaction scenarios due to unmodeled and state-dependent aerodynamics effects. To address this issue, we propose a method for identifying the wrench map across different regions of the vehicle’s orientation in $SO\left(3\right)$ using free-flight experimental data. This is achieved by formulating a Quadratic Programming (QP) optimization whose solution provides the best approximation of the wrench map for a given orientation of the MRAV. The effectiveness of this approach is experimentally demonstrated, including static point contacts at various orientations, sliding contact, and peg-in-hole tasks. Full article

Humanoid mobile manipulators integrate a humanoid upper body with a mobile platform, forming a highly redundant system capable of performing complex manipulation tasks. To address the redundancy arising from the coordinated motion of the wheeled base, waist, and dual arms, this study proposes a human-inspired holistic control method based on multi-objective optimization. The degrees of freedom (DOF) of the upper limbs and the mobile base are unified within a single control framework, thereby enhancing overall motion coordination. Specifically, the controller is formulated as a strictly convex quadratic program (QP) that ensures accurate end-effector tracking while effectively handling joint position and velocity constraints. Inspired by human motor characteristics, the method incorporates a hierarchical weight assignment strategy and base DOF optimization to preserve arm manipulability while achieving effective coordination between the base and waist. Simulation studies of dual-arm handling tasks and real-world experiments involving mobile handling and peg-in-hole assembly demonstrate that the proposed method generates smooth, humanoid-like motions, thereby validating the effectiveness of the proposed control framework. Full article

This paper addresses the problem of cooperative coverage control for heterogeneous Autonomous Underwater Vehicle (AUV) swarms operating in complex underwater environments. The objective is to achieve optimal coverage of a target region while simultaneously ensuring collision avoidance—both among AUVs and with static obstacles—and satisfying the inherent dynamic constraints of the AUVs. To this end, we propose a hierarchical control framework that fuses Control Barrier Functions (CBFs) with consensus theory. First, addressing the heterogeneity and limited sensing ranges of the AUVs, a cooperative coverage model based on a modified Voronoi partition is constructed. A nominal controller based on consensus theory is designed to balance the ratio of task workload to individual capability for each AUV. By minimizing a Lyapunov-like function via gradient descent, the swarm achieves self-organized optimal coverage. Second, to guarantee system safety, multiple safety constraints are designed for the AUV double-integrator dynamics, utilizing Zeroing Control Barrier Functions (ZCBFs) and High-Order Control Barrier Functions (HOCBFs). This approach unifies the handling of collision avoidance and velocity limitations. Finally, the nominal coverage controller and safety constraints are integrated into a Quadratic Programming (QP) formulation. This constitutes a safety-critical layer that modifies the control commands in a minimally invasive manner. Theoretical analysis demonstrates the stability of the framework, the forward invariance of the safe set, and the convergence of the coverage task. Simulation experiments verify the effectiveness and robustness of the proposed method in navigating obstacles and efficiently completing heterogeneous cooperative coverage tasks in complex environments. Full article

This paper presents a robust data-driven methodology for estimating transmission loss coefficients (B-coefficients) in power systems using linear and quadratic programming (LP and QP), both of which belong to the family of convex optimization models. The first model employs a linear objective function with linear constraints, ensuring computational efficiency for simpler scenarios. The second model utilizes a quadratic objective function, also under linear constraints, to better capture more complex nonlinear relationships. By framing the estimation problem as a parameter identification task, both methodologies minimize the cost functions that quantify the mismatch between measured and modeled power losses. By considering a broad range of operational scenarios, our approach effectively captures the stochastic behavior inherent in power system operations. The effectiveness of both the LP and QP models is validated in terms of their ability to accurately extract physically meaningful B-coefficients from diverse simulation datasets. This study underscores the potential of integrating linear and quadratic programming as powerful and scalable tools for data-driven parameter estimation in modern power systems, especially in environments characterized by uncertainty or incomplete information. Full article

Partial demagnetization of multiple in-wheel motors changes torque distribution characteristics and can reduce vehicle stability, which poses a challenge for in-wheel motor drive electric vehicles (IWMDEVs) to maintain a balance between safety and efficiency. To address this issue, a hierarchical multi-objective adaptive fault-tolerant control (FTC) strategy based on wheel terminal torque compensation is developed. In the upper layer, a nonlinear model predictive controller (NMPC) generates the desired total driving force and corrective yaw moment according to vehicle dynamics and driving conditions. The lower layer employs a quadratic programming (QP) scheme to allocate the wheel torques under actuator and tire constraints. Two adaptive coefficients—the stability–efficiency weighting factor and the current compensation factor—are updated through a randomized ensembled double Q-learning (REDQ) algorithm, enabling the controller to adaptively balance yaw stability preservation and energy optimization under different fault scenarios. The proposed method is implemented and verified in a CarSim–Simulink–Python co-simulation environment. The simulation results show that the controller effectively improves yaw and lateral stability while reducing energy consumption, validating the feasibility and effectiveness of the proposed strategy. This approach offers a promising solution to achieve reliable and energy-efficient control of IWMDEVs. Full article

This paper proposes an integrated trajectory tracking strategy for unmanned delivery vehicles operating under complex road geometries and varying adhesion conditions. The method combines adaptive speed regulation informed by road curvature and adhesion with lateral predictive control. A Proportional-Integral-Derivative (PID) controller is utilized for speed regulation to suppress tire force saturation. while the lateral controller adopts model predictive control (MPC) and generates steering commands by solving a quadratic programming (QP) problem with explicit constraints that cover bounds on input magnitude and input rate. Extensive co-simulations using MATLAB/Simulink and Carsim demonstrate that the proposed method outperforms traditional fixed-speed control strategies in both single- and double-lane change scenarios. It achieves superior tracking accuracy and vehicle stability and effectively suppresses sideslip and instability under low adhesion conditions. The results validate the effectiveness of the control strategy, providing key theoretical and practical insights for the safe and reliable operation of unmanned delivery vehicles in complex urban environments. Full article

To resolve the inherent coupling conflict between trajectory tracking and lateral stability in distributed electric drive buses, this paper proposes a hierarchical cooperative control framework. A simplified two-degree-of-freedom (2-DOF) vehicle model is first established, and kinematically derived reference states for stable motion are computed. At the upper level, a model predictive controller (MPC) generates real-time steering commands while explicitly minimizing lateral tracking error. At the lower level, a proportional integral derivative (PID)-based roll moment controller and a linear quadratic regulator (LQR)-based direct yaw moment controller are designed, with four-wheel torque distribution achieved via quadratic programming subject to friction circle and vertical load constraints. Co-simulation results using TruckSim and MATLAB/Simulink demonstrate that, during high-speed single-lane-change maneuvers, peak lateral error is reduced by 11.59–18.09%, and root-mean-square (RMS) error by 8.67–14.77%. Under medium-speed double-lane-change conditions, corresponding reductions of 3.85–12.16% and 4.48–11.33% are achieved, respectively. These results fully validate the effectiveness of the proposed strategy. Compared with the existing MPC–direct yaw moment control (DYC) decoupled control framework, the coordinated control strategy proposed in this paper achieves the optimal trade-off between trajectory tracking and lateral stability while maintaining the quadratic programming solution delay below 0.5 milliseconds. Full article

This paper presents an optimal control for autonomous vehicles navigating in intersection scenarios. The proposed controller is based on solving a Quadratic Programming optimization technique to provide a feasible control signal respecting actuator constraints. The proposed controller was implemented in a scale-sized vehicle and is executed using only on-board perception and computing systems to retrieve the state dynamics, i.e., an inertial measurement unit and a monocular camera, to compute the estimated states through intelligent computer vision algorithms. The stability of the error signals of the closed-loop system was proved both mathematically and experimentally, using standard performance indices for ten trials. The proposed technique was compared against LQR and MPC strategies, showing 67% greater accuracy than the LQR approach and 53.9% greater accuracy than the MPC technique, while turning during the intersection. Moreover, the proposed QP controller showed significantly greater efficiency by reducing the control effort by 63.3% compared to the LQR, and by a substantial 78.4% compared to the MPC. These successful results proved that the proposed controller is an effective alternative for autonomously navigating within intersection scenarios. Full article

This study introduces a real-time optimization framework for eco-driving of heavy-duty vehicles over long-distance routes. A longitudinal dynamic model incorporating powertrain performance and fuel consumption is formulated, and the eco-driving scenario is expressed as a quadratic programming (QP) problem. To improve computational efficiency, a novel variable-step spatial segmentation method is introduced, which ensures a balance between modeling accuracy and computational cost. Simulations involving mixed-terrain scenarios verify the effectiveness of the proposed approach. The results show that the QP-based method achieves fuel savings comparable to those offered by dynamic programming while significantly reducing computation time to sub-second levels; thus, the proposed strategy offers real-time applicability. These findings demonstrate the feasibility of global optimal velocity profile generation in practical eco-driving scenarios. Full article

This paper proposes a distributed model predictive control (DMPC) framework integrating an event-triggered mechanism and an adaptive alternating direction method of multipliers (ADMM) to address the challenges of constrained computational resources and stringent real-time requirements in distributed vehicle platoon control systems. Firstly, the longitudinal dynamic model and communication topology of the vehicle platoon are established. Secondly, under the DMPC framework, a controller integrating residual-based adaptive ADMM and an event-triggered mechanism is designed. The adaptive ADMM dynamically adjusts the penalty parameter by leveraging residual information, which significantly accelerates the solving of the quadratic programming (QP) subproblems of DMPC and ensures the real-time performance of the control system. In order to reduce unnecessary solver invocations, the event-triggered mechanism is employed. Finally, numerical simulations verify that the proposed control strategy significantly reduces both the computation time per optimization and the cumulative optimization instances throughout the process. The proposed approach effectively alleviates the computational burden on onboard resources and enhances the real-time performance of vehicle platoon control. Full article