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Model-Free Current Predictive control for PMSMs With Ultra-Local Model Employing Fixed-Time Observer and Extremum-Seeking Method

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IEEE Transactions on Power Electronics 2025年第8期40卷 10682-10693页

作者： Lin, Xinpo Liu, Jianxing Liu, Zhuang Gao, Yabin Peretti, Luca Wu, Ligang Harbin Institute of Technology Department of Control Science and Engineering Weihai264209 China Harbin Institute of Technology Department of Control Science and Engineering Harbin150001 China KTH Royal Institute of Technology Division of Electric Power and Energy Systems Stockholm10044 Sweden

Conventional model predictive current control of permanent magnet synchronous machines (PMSMs) relies heavily on a precise mathematical model, which may be challenging to obtain in certain cases. To address this issue, this paper proposes a model-free predictive current controller for PMSMs. Specifically, the dynamic model of the motor currents is represented using two ultra-local models, which express the derivatives of a controlled output as the sum of an amplified control input and an unknown offset term. All system parameters, nonlinear terms, and unmodeled dynamics are encapsulated into two offset terms. Online estimation of these two offset terms is performed using a second-order fixed-time convergence observer without requiring exact knowledge of the system parameters in advance. In contrast to both the linear extended state observer and the super-twisting observer, the fixed-time observer enhances convergence speed while concurrently sustaining minimal chatting. To get rid of the need for model rated parameters, an extremum-seeking approach is utilized to tune the control gains in the ultra-local model, where the amplitude of the disturbance item in extremum-seeking approach is adaptively attenuated, resulting in effective reduction of the fluctuations of both the control gains and PMSM's currents in steady state. Subsequently, a predictive controller is designed using this ultra-local model. Finally, the effectiveness and advantages of the proposed control scheme are confirmed through experimental results. © 1986-2012 IEEE.

关键词： Permanent magnets

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Distributed Hamiltonian Adaptive Disturbance Rejection control with Actuator Dynamics

Distributed Hamiltonian Adaptive Disturbance Rejection Contr...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Nguyen, Nhan Technical Group Lead of Advanced Control and Evolvable Systems Group Intelligent Systems Division NASA Ames Research Center Moffett Field CA94035 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper presents a distributed Hamiltonian control of a class of Lagrangian infinite-dimensional systems with adaptive disturbance rejection control in presence of actuator dynamics. The distributed Hamiltonian control is formulated as a linear quadratic optimal control in a semigroup abstraction. Two adaptive disturbance estimation is based on a model prediction approach combined with two different adaptation strategies. The model prediction is based on disturbance measurements using look-ahead sensors. When used in con junction with an adaptive estimation of the disturbance signal or with an adaptive parameter estimation of the disturbance dynamics, the performance of the disturbance rejection is further improved. A demonstration problem of a flexible HALE aircraft illustrates the effectiveness of the proposed adaptive disturbance rejection control strategies in the presence of actuator dynamics. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Disturbance rejection

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Launch Collision Risk Assessment: what impacts on the European Spaceport operations if considering uninhabited space objects?

Launch Collision Risk Assessment: what impacts on the Europe...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Zemoura, Mélissa Farago, François Orbital Mechanics and Mission Analysis engineer CNES Space Transportation Systems Department Safety Performance and Control Division Paris France

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

With a continuous increase of the number of objects on near-Earth orbits, including newly injected payloads, operational spacecraft, space stations and space debris, efforts are necessary to better assess and limit the risk of collisions between objects. At launcher level, this means to evaluate the impacts of injecting payloads and upper stages on the orbital environment at launch date, and to implement mitigation measures when possible. Today, for every launch conducted from the European Spaceport in French Guiana, a collision risk calculation is conducted before lift-off in order to estimate whether an element of the launcher, either upper stage, multiple-launch system or payload, is expected to collide with an inhabited space station. When the risk overpasses a given criterion, the associated launch window is closed in order to protect the stations. This operation is performed with respect to the French Space Operation Act. The objective is purely safety, meaning the protection of human lives. Considering the emerging issue of space debris proliferation, it is important now to also contribute to the protection of the orbital environment. Some launching authorities worldwide are already applying LCOLA methods regarding any kind of objects, with different objectives such as the protection of the injected payloads or an environmental concern. From CNES side, it would be a novelty since only safety LCOLA has ever been performed until now to decide on the launch authorization. This paper describes a first step in assessing the impact on launch window closures when broadening the scope of LCOLA beyond inhabited objects. To enlarge the inputs of our computation tool, a list of specific objects from the Space Track catalog is established in order to evaluate the risk at launch time with respect to collisions between the injected objects and the selected on-orbit objects, and as a consequence to limit the generation of fragments in orbit. The calculation is performed all

关键词： Space stations

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Analytical Flight Dynamic Model Development for eVTOL Aircraft

Analytical Flight Dynamic Model Development for eVTOL Aircra...

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AIAA Science and Technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Nguyen, Nhan Webb, Benjamin Technical Group Lead of Advanced Control and Evolvable Systems Group Intelligent Systems Division NASA Ames Research Center Moffett Field CA94035 United States Intelligent Systems Division NASA Ames Research Center Moffett Field CA94035 United States

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

This paper presents an analytical flight dynamic model development method for a multirotor eVTOL aircraft in hover and transition flight. The method captures the analytical stability and control sensitivities of rotor unsteady aerodynamic loads about a trim solution generated by a rotorcraft aeromechanics comprehensive analysis tool. The rotor aerodynamic forces include circulatory and non-circulatory components to account for unsteady aerodynamics. The circulatory forces are corrected for unsteady aerodynamics using the time-domain approximation of Theodorsen's function. The integrated flight dynamic model includes the rigid-body aircraft flight dynamics, inflow dynamics, unsteady aerodynamics, and blade pitch and rotor actuator dynamics. Stability analyses shows that the Lift+Cruise aircraft is statically unstable in roll and yaw axes and also dynamically unstable in hover. Closed-loop feedback control is necessary for stable hover flight. © 2025, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Flight dynamics

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Collaborative Satisfaction of Long-Term Spatial Constraints in Multi-Agent systems: A Distributed Optimization Approach (extended version)

arXiv

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arXiv 2025年

作者： Mehdifar, Farhad Dhullipalla, Mani H. Bechlioulis, Charalampos P. Dimarogonas, Dimos V. The Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden The Division of Systems and Control The Department of Electrical and Computer Engineering University of Patras Patra Greece

This paper addresses the problem of collaboratively satisfying long-term spatial constraints in multi-agent systems. Each agent is subject to spatial constraints, expressed as inequalities, which may depend on the positions of other agents with whom they may or may not have direct communication. These constraints need to be satisfied asymptotically or after an unknown finite time. The agents’ objective is to collectively achieve a formation that fulfills all constraints. The problem is initially framed as a centralized unconstrained optimization, where the solution yields the optimal configuration by maximizing an objective function that reflects the degree of constraint satisfaction. This function encourages collaboration, ensuring agents help each other meet their constraints while fulfilling their own. When the constraints are infeasible, agents converge to a least-violating solution. A distributed consensus-based optimization scheme is then introduced, which approximates the centralized solution, leading to the development of distributed controllers for single-integrator agents. Finally, simulations validate the effectiveness of the proposed approach. Copyright © 2025, The Authors. All rights reserved.

关键词： Multi agent systems

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Efficient Simulation of Singularly Perturbed systems Using a Stabilized Multirate Explicit Scheme

arXiv

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arXiv 2025年

作者： Shi, Yibo Rojas, Cristian R. Division of Decision and Control Systems KTH Royal Institute of Technology Sweden

Singularly perturbed systems (SPSs) are prevalent in engineering applications, where numerically solving their initial value problems (IVPs) is challenging due to stiffness arising from multiple time scales. Classical explicit methods require impractically small time steps for stability, while implicit methods developed for SPSs are computationally intensive and less efficient for strongly nonlinear systems. This paper introduces a Stabilized Multirate Explicit Scheme (SMES) that stabilizes classical explicit methods without the need for small time steps or implicit formulations. By employing a multirate approach with variable time steps, SMES allows the fast dynamics to rapidly converge to their equilibrium manifold while slow dynamics evolve with larger steps. Analysis shows that SMES achieves numerical stability with significantly reduced computational effort and controlled error. Its effectiveness is illustrated with a numerical example. Copyright © 2025, The Authors. All rights reserved.

关键词： Numerical methods

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Mixed Integer Linear Programming for Active Contact Selection in Deep Brain Stimulation

arXiv

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arXiv 2025年

作者： Frigge, Anna Franziska Medvedev, Alexander The Division of Systems and Control Department of Information Technology Uppsala University Uppsala Sweden

Deep brain stimulation (DBS) programming remains a complex and time-consuming process, requiring manual selection of stimulation parameters to achieve therapeutic effects while minimizing adverse side-effects. This study explores mathematical optimization for DBS programming, using functional subdivisions of the subthalamic nucleus (STN) to define the desired activation profile. A Mixed Integer Linear Programming (MILP) framework is presented allowing for dissimilar current distribution across active contacts. MILP is compared to a Linear Programming (LP) approach in terms of computational efficiency and activation accuracy. Results from ten Parkinson’s disease patients treated with DBS show that while MILP better matches the predefined stimulation target activation profile, LP solutions more closely resemble clinically applied settings, suggesting the profile may not fully capture clinically relevant patterns. Additionally, MILP’s limitations are discussed, including its reliance on precisely defined target regions and its computational burden for larger target sets. © 2025, CC BY-NC-SA.

关键词： Mixed-integer linear programming

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Communication-aware Multi-agent systems control Based on k-hop Distributed Observers

arXiv

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arXiv 2025年

作者： Zaccherini, Tommaso Liu, Siyuan Dimarogonas, Dimos V. Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

We propose a distributed control strategy to allow the control of a multi-agent system requiring k-hop interactions based on the design of distributed state and input observers. In particular, we design for each agent a finite time convergent state and input observer that exploits only the communication with the 1-hop neighbors to reconstruct the information regarding those agents at a 2-hop distance or more. We then demonstrate that if the k-hop based control strategy is set-Input to State Stable with respect to the set describing the goal, then the observer information can be adopted to achieve the team objective with stability guarantees. Copyright © 2025, The Authors. All rights reserved.

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A Unifying Complexity-Certification Framework for Branch-and-Bound Algorithms for Mixed-Integer Linear and Quadratic Programming

arXiv

引用

arXiv 2025年

作者： Shoja, Shamisa Arnström, Daniel Axehill, Daniel Division of Automatic Control Department of Electrical Engineering Linköping University Sweden Division of Systems and Control Department of Information Technology Uppsala University Sweden

In model predictive control (MPC) for hybrid systems, solving optimization problems efficiently and with guarantees on worst-case computational complexity is critical, particularly in real-time applications. These optimization problems often take the form of mixed-integer linear programs (MILPs) or mixed-integer quadratic programs (MIQPs) that depend on system parameters. A common approach for solving such problems is the branch-and-bound (B&B) method. This paper extends existing complexity certification methods by presenting a unified complexity-certification framework for B&B-based MILP and MIQP solvers, specifically for the family of multi-parametric MILP and MIQP problems that arise in, e.g., hybrid MPC applications. The framework provides guarantees on worst-case computational metrics, including the maximum number of iterations or relaxations B&B algorithms require to reach optimality. It systematically accounts for different branching and node selection strategies, as well as heuristics integrated into B&B, ensuring a comprehensive certification framework. By offering theoretical guarantees and practical insights for solver customization, the proposed framework enhances the reliability of B&B for real-time application. The usefulness of the proposed framework is demonstrated through numerical experiments on both random MILPs and MIQPs, as well as on MIQPs arising from a hybrid MPC problem. © 2025, CC BY.

关键词： Mixed-integer linear programming

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Parallel Domain-Decomposition Algorithms for Complexity Certification of Branch-and-Bound Algorithms for Mixed-Integer Linear and Quadratic Programming

arXiv

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arXiv 2025年

When implementing model predictive control (MPC) for hybrid systems with a linear or a quadratic performance measure, a mixed-integer linear program (MILP) or a mixed-integer quadratic program (MIQP) needs to be solved, respectively, at each sampling instant. Recent work has introduced the possibility to certify the computational complexity of branch-and-bound (B&B) algorithms when solving MILP and MIQP problems formulated as multi-parametric MILPs (mp-MILPs) and mp-MIQPs. Such a framework allows for computing the worst-case computational complexity of standard B&B-based MILP and MIQP solvers, quantified by metrics such as the total number of LP/QP iterations and B&B nodes. These results are highly relevant for real-time hybrid MPC applications. In this paper, we extend this framework by developing parallel, domain-decomposition versions of the previously proposed algorithm, allowing it to scale to larger problem sizes and enable the use of high-performance computing (HPC) resources. Furthermore, to reduce peak memory consumption, we introduce two modifications to the existing (serial) complexity certification framework, integrating them into the proposed parallel algorithms. Numerical experiments show that the parallel algorithms significantly reduce computation time while maintaining the correctness of the original framework. © 2025, CC BY.

关键词： Mixed-integer linear programming

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