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algorithms for Closed-Loop Glucose control (Artificial Pancreas) in Diabetes. A Novel Noninvasive Approach for their Evaluation Based on Mathematical Modeling

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IFAC Proceedings Volumes 1981年第2期14卷 3711-3716页

作者： C. Cobelli G. Pacini A. Ruggeri S. Del Prato E. Duner R. Nosadini A. Tiengo Istituto per Ricerche di Dinamica dei Sistemi e di Bioingegneria Consiglio Nazionale delle Ricerche Padova Italy. Istituto di Elettrotecnica e di Elettronica Universitd di Padova Padova Italy Istituto di Medicina Clinica Universitd di Padova Padova Italy

Several algorithms for external closed-loop blood glucose control (artificial pancreas) in diabetes have been proposed but never compared. In this paper a novel noninvasive approach for their evaluation is presented which is based on a model of the blood glucose regulation system of type I diabetic. Results arc presented on the performance of three artificial pancreas algorithms in controlling a 24h simulated diabetic patient, challenged with two oral glucose tolerance tests. Two routes (peripheral and portal) for insulin delivery are considered. Dynamic and static differences/similarities in the performance of the various control schemes for two insulin infusion routes are noted, in particular the inability of all the algorithms in normalizing plasma insulin levels during the postabsorptive state when the peripheral route is considered.

关键词： Glucose regulation system diabetes artificial pancreas mathematical modeling control algorithms

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Model Predictive control for Autonomous UAV Landings: A Comprehensive Review of Strategies, Applications and Challenges

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The Journal of Engineering 2025年第1期2025卷

作者： Kesavan Panjavarnam Zool Hilmi Ismail Collin Howe Hing Tang Kazuma Sekiguchi Gianmarco Goycochea Casas Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia Kuala Lumpur Malaysia Center for Artificial Intelligence and Robotics Universiti Teknologi Malaysia Kuala Lumpur Malaysia Department of Applied Mechanics and Design Universiti Teknologi Malaysia Johor Bahru Malaysia Department of Mechanical Systems Engineering Tokyo City University Tokyo Japan Department of Forest Engineering Federal University of Viçosa Viçosa Minas Gerais Brazil

This survey presents a structured review of model predictive control (MPC) strategies for autonomous UAV landings, covering both theory and practice. As UAVs are increasingly used in critical missions, robust and precise landing control is essential. The paper introduces the MPC framework—linear and nonlinear models, constraints, and optimization—and analyses 48 articles from 2017 to early April 2025, identified via Scopus. These studies are organized into six thematic areas: maritime platform landings, landings on moving ground vehicles, fixed-wing UAVs in constrained settings, robust and fault-tolerant control, sensor fusion and vision-based methods, and cooperative multi-agent strategies. Advanced topics include neural optimization, economic and distributed MPC, and learning-based approaches using Gaussian Processes and deep neural networks to enhance real-time adaptability under uncertainty. Bibliometric analysis reveals trends in publication frequency, geographic distribution, and research clustering. The review also highlights key challenges such as real-time computation, robust perception, and sensor integration in GPS-denied or turbulent environments. This work offers a comprehensive reference for the development of intelligent and resilient MPC-based control systems for autonomous UAV landings.

关键词： communications and control control algorithms control strategies drone landing non-linear control systems systematic review trajectory planning

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Semi-active stiffness dampers for seismic control of structures

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ADVANCES IN STRUCTURAL ENGINEERING 2007年第5期10卷 501-524页

作者： Kori, Jagadish G. Jangid, R. S. Indian Inst Technol Dept Civil Engn Bombay 400076 Maharashtra India

This paper describes the application of semi-active variable stiffness damper (SAVSD) for response control of the seismically excited structure. The SAVSD consists of hydraulic damper connected in the form of bracing in a selected story of frame structure. The SAVSD changes its stiffness depending upon the structural response and accordingly adds the control forces in the structural system. In this paper, the comparative study and the performance of SAVSD under different ratios of damper stiffness to structural story stiffness is presented. The specific objective of this study is to evaluate the optimum value of damper stiffness ratio and its importance in structural response reduction. The optimum stiffness ratio is investigated for the structure subjected to four different types of earthquake ground motions. Here, the switching control law and newly proposed modified switching control law are used and the results are compared with uncontrolled and passive control cases. A numerical study is performed on five and ten-story shear building with different configurations of damper placement. The numerically evaluated optimum parametric values are considered for the analysis of the optimum damper placement in the structure. It is revealed that, the proposed modified switching control law is very effective in reducing the story displacements and inter-story drifts without increasing the top floor accelerations. The numerical results of various analyses indicate that SAVSD shows better performance over the passive dampers in reducing the structural responses.

关键词： structural control semi-active control variable stiffness damper control algorithms earthquake

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control strategies for harmonic mitigation and power factor correction using shunt active filter under various source voltage conditions

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2012年第1期42卷 661-671页

作者： Zaveri, Naimish Chudasama, Ajitsinh SV Natl Inst Technol Dept Elect Engn Surat Gujarat India MS Univ Fac Technol Dept Elect Engn Baroda Gujarat India

This paper gives a new insight into the concept of load compensation using shunt active filter (SAF) under ideal and non-ideal source voltage conditions. A novel approach based on an improved instantaneous active and reactive current component method is proposed. The performance of the proposed control strategy has been compared with instantaneous reactive power theory, symmetrical component theory and dq theory. SAF has been realized by three-phase voltage source converter. Reference currents generated by control strategies has been tracked by a SAF in a hysteresis band control scheme. The performance of the proposed scheme is evaluated in terms of reactive power compensation, reduction in magnitude of source currents, compensator currents, and harmonic compensation as per IEEE-519 standard. To ascertain the viability of the proposed control algorithm, the performance is evaluated under different source voltage conditions with the IEEE Standard-1459 power definitions. Variation in magnitude as well as harmonic content of source voltage has been considered. Under balanced sinusoidal source voltage condition, all control strategies congregate to similar results. Under unbalanced sinusoidal source voltage condition, dq theory and proposed theory have shown similar performance. However, under distorted source voltage conditions, an improved instantaneous active and reactive current component theory presents superior performance. A three-phase, three-wire distribution system supplying non-linear load is considered for simulation study. Simulation results from a complete model of SAF are presented to validate and compare the control strategies. (c) 2012 Elsevier Ltd. All rights reserved.

关键词： Shunt active filter control algorithms Non-ideal source voltage Unity power factor Source apparent power reduction THU

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Distributed wireless-based control strategy through Selective Negative Derivative Feedback algorithm

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MECHANICAL SYSTEMS AND SIGNAL PROCESSING 2020年 142卷 106742-106742页

作者： Debattisti, N. Bacci, M. L. Cinquemani, S. Politecn Milan Dept Mech Engn Via La Masa 1 Milan 20156 Italy

In this study the use of many stand-alone devices is considered for active vibration control. A stand-alone device represents a control unit which is able to independently perform the vibration control task, since it is embedded with sensors, an inertial actuator and a micro-controller, in which the control algorithm is implemented. The aim of this architecture is to improve the performance of a decentralized control strategy through a partial sharing of data between devices, without the use of cables. The proposed algorithm also aims to avoid instability phenomena related to the dynamics of inertial actuators. First, the formulation of the modified Negative Derivative Feedback resonant controller is derived;then, the steps of the control strategy are explained, which are based on a preliminary modal identification of the structure and an automatic assignment of a compensator for each resonance frequency to be controlled. Finally, the proposed method is validated with experimental results from a clamped-clamped beam. (C) 2020 Elsevier Ltd. All rights reserved.

关键词： Vibration control Inertial actuators control algorithms Wireless sensors Automation

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Scanned orbital welding: Thermal modeling and lumped adaptive control

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JOURNAL OF PRESSURE VESSEL TECHNOLOGY-TRANSACTIONS OF THE ASME 1999年第4期121卷 393-399页

作者： Sfetsos, H Angelis, J Doumanidis, C Tufts Univ Dept Mech Engn Medford MA 02155 USA

Scan orbital welding of cylindrical vessel, flange, and piping parts is performed by their rapid revolution under a radially or axially translated heat source, with its power modulated so as to implement a specified thermal distribution. Thus, the plasma-arc welding torch sweeps the stainless steel surface to generate a desirable temperature field and the concomitant material features. A numerical simulation of the thermal field is developed for off-line analysis. On this basis, a lumped thermal regulator of the heat-affected zone, employing infrared temperature feedback at a single spot, as well as standard PI, gain scheduling, and self-tuning control algorithms is tested. The thermal model is also employed for real-rime torch efficiency identification and compensation. The numerical reference model serves as the basis for an in-process adaptive thermal control system to regulate the temperature field, using thermal feedback from the infrared pyrometer. A distributed-parameter control strategy with guidance of the torch,notion and power by a new weighted attraction strategy to randomly sampled points, is tested on scan-welded flanges. The regulator is validated computationally and experimentally and its applicability To other scanned processing of materials is considered.

关键词： Pipes Adaptive control Flanges Heat Electric arcs Materials processing Vessels Modeling control algorithms control systems Pyrometers Gain scheduling Welding Feedback Temperature Computer simulation Stainless steel

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Pulse shaping for optimal control of molecular processes

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JOURNAL OF CHEMICAL PHYSICS 2006年第14期124卷 144109,1-5页

作者： Cheng, TW Brown, A Univ Alberta Dept Chem Edmonton AB T6G 2G2 Canada

In this paper, a new method is proposed to design optimized control fields with desired temporal and/or spectral properties. The method is based on penalizing the difference between an optimized field obtained from an iterative scheme and a reference field with desired temporal and/or spectral properties. Compared with the standard optimal control theory, the current method allows a simple, experimentally accessible field be found on the fly;while compared with parameter space searching optimization, the iterative nature of this method allows automatic exploration of the intrinsic mechanism of the population transfer. The method is illustrated by examing the optimal control of vibrational excitation of the Cl-O bond with both temporally and spectrally restricted pulses. (c) 2006 American Institute of Physics.

关键词： QUANTUM-OPTIMAL-control control algorithms COHERENT control LASER-PULSES DYNAMICS FIELD EXCITATIONS

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Adaptive position-pressure control of a brake by wire actuator for sport motorcycles

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EUROPEAN JOURNAL OF control 2014年第2期20卷 79-86页

作者： Todeschini, Fabio Corno, Matteo Panzani, Giulio Savaresi, Sergio M. Politecn Milan Dipartimento Elettron Informaz & Bioingn I-20133 Milan Italy

In this work the control of an electro-hydraulic brake by wire system is presented. The actuator is composed of an electric motor, a mechanical transmission, a hydraulic pump and a pipeline connected to the brake caliper. The highly nonlinear, time-varying relationship between pump piston position and plant pressure ismodelled, showing how the closed loop performances degrade without considering it. A hybrid position-pressure switching controller that aims at coping with the mentioned non-linearity is proposed. A position-pressure map estimation algorithm is introduced;this allows one to make the closed loop system robust with respect to temperature variation and brake pad wear. (C) 2013 European control Association. Published by Elsevier Ltd. All rights reserved.

关键词： Actuators control algorithms control system design Adaptive control systems Physical modelling

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A flexible architecture for telemanipulator control

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control ENGINEERING PRACTICE 2002年第11期10卷 1293-1299页

作者： Weber, A Breitwieser, H Benner, J Univ Karlsruhe Inst Mech Verfahrenstech & Mech D-76128 Karlsruhe Germany Forschungszentrum Karlsruhe D-76021 Karlsruhe Germany

Many automation tasks require human intervention and guidance. A control system architecture combining work units and master units by software interfaces is described. OSCAR(1) is incorporated as a universal transform service. It is regarding dynamic properties of work units. Implementing the transform at the master site eases integration of new robot types. The dynamic behaviour when crossing singular points is compared with a closed form standard transform. The control system has also been applied in medical manipulator systems. (C) 2002 Published by Elsevier Science Ltd.

关键词： telemanipulation distribution control control algorithms optimisation medical applications manual control

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Energy management with improved frequency sharing based control for battery/ultracapacitor hybrid energy system in the presence of delay

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IET POWER ELECTRONICS 2020年第10期13卷 2019-2028页

作者： Joshi, Mahendra Chandra Samanta, Susovon Natl Inst Technol Dept Elect Engn Rourkela India

Hybrid energy storage system (HESS) consists of different electrical storage devices with complementary characteristics to satisfy both the energy and power requirements of the load. This study presents an improved frequency sharing algorithm for battery/ultracapacitor (UC) HESS in the presence of delay. Time delay is inevitable with the digital implementation of control algorithms. Presence of delay deteriorates the transient response of the system by limiting the bandwidth of inner current loops. The DC-link voltage will settle only after settling of the slower loop, i.e. battery loop, hence the presence of delay will make the system response slower in conventional methods. However, the improved algorithm shares battery current loop error during transients with faster UC current loop and hence DC-link voltage settling becomes faster. Furthermore, for safe and efficient operation, an energy management algorithm (EMA) has been designed that ensures nominal UC voltage and other operational constraints as described in the study. To analyse the effect of UC voltage control loop on the operation of the DC-link voltage control loop during transients, UC voltage control loop with different bandwidths have been designed and tested. Microcontroller based implementation was done for experimental verification of the improved control algorithm and EMA.

关键词： battery powered vehicles electric current control voltage control energy management systems microcontrollers energy storage supercapacitors UC voltage control loop different bandwidths microcontroller based implementation improved control algorithm hybrid energy storage system consists different electrical storage devices complementary characteristics power requirements improved frequency sharing algorithm time delay control algorithms transient response inner current loops slower loop battery loop system response improved algorithm shares battery current loop error DC-link voltage settling energy management algorithm ensures nominal UC voltage DC-link voltage control loop

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