20 January 2026, Volume 33 Issue 01
    

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  • YAN Aijun, WANG Fuhe, TANG Jian
    Control Engineering of China. 2026, 33(01): 1-13.
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    To solve the problems of low accuracy and poor generalization ability of the prediction model caused by outliers or noise in data, a robust prediction interval method based on stochastic configuration network and Bayesian quantile regression is proposed. Firstly, the stochastic configuration network (SCN) algorithm is employed to determine the number of the nodes in the hidden layer, as well as the input weights and biases. Then, the Bayesian quantile regression is embedded into the SCN to replace the classical least squares regression, the asymmetric Laplace distribution is used as the prior distribution of the SCN noise, and the maximum posterior estimation is used to convert the prior distribution of the SCN noise into the posterior distribution of the output weights. Finally, the expectation maximization algorithm is used to iteratively optimize the SCN noise and hyper-parameters of the hypothesis distribution on the output weights. The experiment is conducted based on the standard datasets and historical data of the municipal solid waste incineration process to test the proposed method, and it is compared with other prediction algorithms based on SCN and quantile regression. The experimental results show that the proposed method has advantages in terms of the accuracy and generalization ability of point predictions, the reliability of prediction intervals, robustness, and computational efficiency.
  • FENG Xiaoliang, SHI Shengyang, YAN Jingjing
    Control Engineering of China. 2026, 33(01): 14-21.
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    The exponential stability of the switched system with unstabilizable subsystems under the influence of event-driven transmission mechanism and actuator saturation is studied. Firstly, by designing an appropriate event-driven transmission mechanism and a preset proposition, the mode transformation of the closed-loop switched system with the actuator saturation constraint is realized. Then, the increasing/decreasing rate of the Lyapunov function is calculated for two cases, the sufficient conditions ensuring the exponential stability of the closed-loop switched system are obtained, and the rationality of the preset proposition is verified. Finally, based on the linear matrix inequality method, the design method of the feedback matrix is presented . The correctness of the theoretical analysis is verified by the simulation results.
  • LI Shipeng, LI Shuangru, ZHAO Ziyan
    Control Engineering of China. 2026, 33(01): 22-29.
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    Academic performance is a key index to measure the comprehensive ability of college students. In order to accurately predict students’ comprehensive academic performance, the relationship between moral/physical education courses and students’ comprehensive academic performance explored via data-driven correlation modeling. Firstly, taking students’ scores of moral/physical education courses as the original features, various machine learning models such as logistic regression and support vector machines are constructed, and feature engineering is introduced to construct multiple features and improve the prediction performance of the model. Then, the deep integration of multiple machine learning models based on a stacking framework, along with the application of recursive feature elimination to optimize the stacking model, further improves the prediction performance. The model is verified by the score data of the students majoring in automation. The experimental results show that the constructed stacking model has significant accuracy and stability in the prediction of students’ comprehensive academic performance, the prediction accuracy can reach 93%. It proves that moral education and physical education have obvious positive correlation with students’ comprehensive academic performance, which highlights the importance of moral/physical education in the cultivation of students’ comprehensive ability from the perspective of “five education simultaneously”.
  • YANG Yonggang, YIN Yikun
    Control Engineering of China. 2026, 33(01): 30-40.
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    To solve the problems of lack of control surface and weak anti-interference capability of the quadrotor unmanned aerial vehicle (UAV), a dynamic surface sliding mode control method with extended state observer is proposed. Firstly, a mathematical model of the quadrotor UAV is established. Then, the dynamic surface control method based on the backstepping method is combined with the sliding mode control method, and the extended state observer is added. The inner-loop position controller and the outer-loop attitude controller for the quadrotor UAV control system are designed respectively. Finally, the control performance of the proposed method is verified by simulation experiments, and it is compared with the conventional sliding mode control method and the sliding mode control method with extended state observer. The experimental results show that the proposed method is less affected by interference, effectively ensures the robustness of the quadrotor UAV control, has high control accuracy, and effectively suppresses the buffet of the sliding mode control.
  • HUANG Yan, LI Haozhi, CHENG Lan, REN Mifeng, YAN Gaowei
    Control Engineering of China. 2026, 33(01): 40-48.
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    Slow change and multi-condition characteristics are common in the process industry. The slow feature analysis only considers the slow change information, and ignores the data distribution difference among different conditions, which leads to poor prediction accuracy for quality variables. To solve this problem, based on the slow feature analysis, combining the transfer learning strategy, and taking into account the interpretability of the slow features to the quality variables and the local geometric structure of the data, a soft sensor model of multi-condition slow feature regression with structure preservation is proposed. Firstly, the correlation between the slow features and the quality variables is maximized to enhance the interpretability of the slow features to the quality variables. Secondly, the domain adaptation strategy is used to reduce the data distribution difference between the historical conditions and the conditions to be predicted. Finally, the neighborhood preserving embedding is introduced to retain local information, and a multi-objective optimization function is designed to predict the quality variables by using the nonlinear iterative partial least squares framework. Three actual industrial datasets are used to test the proposed model in the experiment. The experimental results show that the proposed model can effectively improve the prediction accuracy of the quality variables.
  • ZHANG Dong, LI Tie
    Control Engineering of China. 2026, 33(01): 49-56.
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    In order to improve the storage efficiency and extraction performance of high-frequency time series data, the encoding for continuous rolling process data of bars and wires is jointly optimized by combining the characteristics of the application data and the encoding method of the time series database (TSDB). Firstly, in order to optimize the application side, considering the structural characteristics and application features of continuous rolling process data of bars and wires, a composite information source model based on work mode is established. Then, in order to optimize the TSDB side, an encoding optimization method based on variable-length blocks is proposed to avoid timestamp encoding redundancy caused by the fixed-length blocks when InfluxDB stores composite source data. Finally, in order to ensure the stability of the optimized system, a non-source code modification scheme is proposed by rewriting the time-structured merge-tree (TSM) files. The test is carried out by using the continuous rolling process data of bars from the real rolling mill. The test results show that the total encoding length of the TSM file and the encoding length of the timestamp are reduced by 37.6% and 91.3% respectively after the encoding optimization, the proposed method can improve the data storage efficiency and significantly enhance the data extraction performance.
  • ZHANG Yan, ZHANG Zhi, LIU Minghong, HAN Lizhi, BAI Guangyu
    Control Engineering of China. 2026, 33(01): 57-65.
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    To address the challenge of coventional multi-label text classification methods in comprehensively considering the complex relationships between text and labels, a multi-label text classification method integrating embedding information and an adaptive heterogeneous graph convolutional network (AHGCN) model is proposed. Firstly, a word representation model based on global word frequency statistics is employed for text representation, combining bidirectional long short-term memory neural networks and self-attention mechanisms to extract multi-level semantic features. Then, the AHGCN model is constructed, the global and local information of both text and labels are fused through multi-scale convolutional kernels, a text-label heterogeneous graph is established to capture their latent correlations. Finally, different hierarchical features are concatenated, and a classifier is utilized to achieve text classification. The proposed method is compared with the current mainstream multi-label text classification methods in the experiment. The experimental results show that the proposed method has the smallest Hamming loss and the highest accuracy rate in the multi-label text classification of large-scale dataset. In the application of actual power grid projects, the multi-label text classification accuracy of the proposed method can reach 96.85%.
  • ZHANG Li
    Control Engineering of China. 2026, 33(01): 66-72.
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    Due to the wide variety of faults in oil and gas pipelines and the inability to effectively store on-site data for long periods, a fault classification method for oil and gas pipelines based on edge computing and an improved random vector functional-link (RVFL) network is proposed. This method extends the functionality of the supervisory control and data acquisition (SCADA) system, enabling it to store and access a large amount of data. Firstly, when a fault occurs in the oil or gas pipeline, the fuzzy clustering algorithm based on the fuzzy likelihood function is utilized to cluster the pipeline pressure values within a certain period prior to the fault. Then, the pressure value density features of the pipeline are extracted and used as enhanced nodes of the RVFL network, and the improved RVFL network is used to classify the fault. The improved RVFL network is deployed in the edge computing module to classify 6 types of faults, and its accuracy rate can reach 96.7%.
  • KONG Lingwen, CHEN Sian, GENG Ruoxi, LI Buchun, LIU Xiangjie
    Control Engineering of China. 2026, 33(01): 73-79.
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    In power engineering construction, establishing photovoltaic power stations on rooftops is an effective way to achieve the goal of low-carbon buildings. However, during the early construction stage, the lack of historical power data leads to low accuracy of photovoltaic power prediction. Therefore, an indirect prediction method for photovoltaic power based on bidirectional gated recurrent unit (GRU) with self-attention mechanism is proposed. Firstly, the Pearson correlation coefficient method and kernel principal component analysis are used to select features and reduce dimensions of the historical meteorological data around the site, thereby extracting key meteorological factors. Then, the bidirectional GRU with self-attention mechanism is employed to predict solar irradiance, and a photovoltaic conversion mechanism model is applied to obtain the complete power sequence. The experimental results show that the proposed method can effectively reconstruct the variation pattern of photovoltaic power and significantly improve prediction accuracy even in the absence of historical power data.
  • XIAO Xinzhao, ZHENG Yuheng, SAI Qingyi, FU Dongxiang
    Control Engineering of China. 2026, 33(01): 80-91.
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    In order to improve the performance of the unmanned aerial vehicle (UAV) pose estimation, the YOLO6D is improved and a six-dimensional (6D) pose estimation algorithm for UAV, named CASlim_YOLO6D, is proposed. In the CASlim_YOLO6D model, the GBneck_1 module is used to reduce feature redundancy generated by 3×3 convolutions in the backbone feature extraction. Deepwise separable convolutions are utilized to decrease model parameters and computational load in the feature fusion, while the convolutional block attention module (CBAM) is integrated to enhance pose estimation accuracy that decreases due to the reduction in model parameters and computational load. The experimental results compared with the YOLO6D model show that the CASlim_YOLO6D model achieves the required pose estimation accuracy and improves the detection speed, meeting the real-time requirements of pose estimation. A visual-guided robotic arm system is established in the experiment, and this system is used in conjunction with CASlim_YOLO6D to grasp the coaxial twin-rotor UAV. The experimental results verify the feasibility and effectiveness of the proposed algorithm.
  • KONG Zhi, YANG Chao, WANG Lifu
    Control Engineering of China. 2026, 33(01): 92-101.
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    The internet of vehicles is an important means to realize intelligent transportation and ensure safe and efficient operation of road traffic. The whole internet of vehicles can be completely controlled by controlling the key vehicles. In order to achieve complete control of the internet of vehicles, a model is established for the internet of vehicles. Vehicles are abstracted as nodes, and sides that can transmit information are established based on the relationship between the distance between two vehicles and the communication radius. The controllability theory of complex networks is used to analyze the controllability of the internet of vehicles. Then, a local-game matching algorithm is proposed to identify the driving nodes in the internet of vehicles based on local topological information. Finally, the experiment takes a section of the street in Ordos City as an example to verify the proposed method. The experimental results show that the local-game matching algorithm can effectively identify the driving nodes in various situations, and outperforms the maximum matching algorithm in terms of running time and storage space.
  • YANG Peng, WANG Dunquan, ZHENG Shu, WANG Jialiang
    Control Engineering of China. 2026, 33(01): 102-111.
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    With the deep integration of information and communication technology and power dispatching management functions, the smart grid shows high complexity and interconnectivity, and the risk of network intrusion attacks keeps increasing. Therefore, an intrusion detection method based on ensemble learning for the smart grid is proposed. Firstly, the correlation-based feature selection (CFS) algorithm is combined with the salp swarm algorithm (SSA) to propose CFS-SSA. CFS-SSA are used to eliminate redundant features by calculating the correlations between features and features, as well as between features and the target variable, and obtain the optimal feature subset. Then, an adaptive weighted voting algorithm is proposed to integrate multiple machine learning algorithms, in order to combine weak ones into a strong one. Several machine learning and deep learning algorithms are selected for comparison with the proposed method in the experiment. The experimental results show that the classification performance of the proposed method is superior to that of the comparison methods. The classification accuracy of the proposed method for the NSL-KDD dataset and the TON_IoT dataset is 80.41% and 98.35% respectively.
  • SHEN Changqiang
    Control Engineering of China. 2026, 33(01): 112-129.
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    Conventional robot path tracking control methods often use neural network backstepping methods, lacking optimization of path tracking target values, which results in significant deviation in robot heading control. Therefore, an optimization algorithm for path tracking control of tracked robots is proposed. Firstly, the motion deviation is calculated based on the dynamic characteristics of the tracked robot during motion, and position constraints are introduced to obtain the path tracking target value. Then, the dynamic decomposition multi-objective particle swarm optimization algorithm is used to optimize the path target value, and the particle prediction control strategy with the principle of minimizing path sampling error is used to achieve the path tracking control of the tracked robot. The experimental results show that the tracked robot controlled by the proposed method reaches the desired path in 0.2 seconds, and the control deviation is small. The proposed method has good path tracking control effect.
  • JIANG Kun, ZHANG Jinggang
    Control Engineering of China. 2026, 33(01): 119-128.
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    In order to enhance the balance control performance of the seesaw system with external disturbances, a parameter adaptive super-twisting sliding mode control algorithm based on observer disturbance compensation is proposed. Firstly, an exponential convergent disturbance observer is designed to estimate and compensate for external disturbances and other uncertainties affecting the system. Then, for the strong-coupling under-actuated seesaw systems like the seesaw, a parameter adaptive super-twisting sliding mode control algorithm based on the hierarchical sliding mode surface is designed by introducing linear terms and a new parameter adaptive law. Finally, a parameter adaptive super-twisting sliding mode control algorithm based on observer disturbance compensation is proposed by combining the exponential convergent disturbance observer with the parameter adaptive super-twisting sliding mode control algorithm based on the hierarchical sliding mode surface, and a quasi-quadratic Lyapunov function is adopted to verify the stability of the system in finite time. The proposed algorithm is compared with the conventional super-twisting sliding mode control algorithm in the experiment. The experimental results show that the proposed algorithm can improve the anti-disturbance ability and convergence speed while realizing the balance control of the seesaw system, and overcome the conservatism of artificial parameter selection.
  • DUAN Qiuhui
    Control Engineering of China. 2026, 33(01): 129-134.
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    To solve the problem that path planning for unmanned surface vehicles in dynamic environments struggles to meet the requirements of global optimality and real-time obstacle avoidance, an algorithm that integrates the improved D* algorithm and the improved dynamic window approach is proposed, namely D*DWA. Firstly, the environmental map is modeled using a grid-based approach, and a hierarchical clustering method is employed to partition the map into regions based on the coordinates of obstacles. Then, a quantitative index vector for regional obstacle complexity is established to optimize the cost function in the D* algorithm, thereby obtaining basic information about the globally optimal path. Finally, based on the key node information in the globally optimal path, an evaluation function for the dynamic window approach is designed to quickly plan a globally optimal and smooth path. The proposed D*DWA is compared with other path planning algorithms through simulation experiment. The experimental results demonstrate that this algorithm improves the efficiency of path planning and enhances path smoothness.
  • WANG Na, LIU Yang
    Control Engineering of China. 2026, 33(01): 135-143.
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    In order to achieve the security consensus of multi-agent systems under network attacks, a control scheme based on network attack detection and topology reconstruction is proposed. Firstly, the deep Q network (DQN) algorithm is used to detect the attacked agents. The state, action, and reward functions are defined. By optimizing the hyperparameters of the algorithm, the detection accuracy is improved. Then, a topology reconstruction scheme of connecting neighbor nodes of the isolated agent in sequence is proposed for the undirected information interaction network, which solves the problem of consensus recovery of the system after isolating the attacked agent, so that the remaining agents can achieve consensus even when only the information of their neighbor nodes is known. Finally, the effectiveness and reliability of the proposed scheme are verified by feasibility analysis and simulation experiments.
  • CHEN Haiting, LIU Jiapeng, YU Jinpeng, ZHU Yiping
    Control Engineering of China. 2026, 33(01): 144-152.
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    A finite-time adaptive fault-tolerant control method for the multi-joint manipulator considering sensor and actuator faults is proposed. Firstly, based on the adaptive technology, the failure degree of actuator and sensor faults is estimated, and a fuzzy logic system is used to approximate the unknown nonlinear terms and unknown disturbances of the manipulator joints. Secondly, adaptive control laws and finite-time controllers are designed to achieve fault-tolerant control of the manipulator. This method ensures that the closed-loop signals of the system are bounded and constrains the system output to a small neighborhood of the desired output within a finite time, and thus improves the stability and security of the system. The effectiveness of the method is verified by simulation results.
  • CAO Chengjie, ZHAO Zhongyuan, DENG Zhiliang
    Control Engineering of China. 2026, 33(01): 153-160.
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    Considering the dynamic uncertainty of the quadrotor unmanned aerial vehicle (UAV) system and the existence of unknown external disturbances, an adaptive event-triggered control method is proposed for the attitude control of the quadrotor UAV. Firstly, based on the backstepping method and combined with the dynamic surface control technology, the complexity of the derivative calculation of the virtual control term is reduced. Then, the approximation property of the radial basis function (RBF) neural network is utilized to compensate for the nonlinear terms and unknown disturbance terms in the system. Finally, an event-triggered mechanism is introduced to design an event-triggered controller, which reduces the update frequency of the controller. Furthermore, it is proved by the Lyapunov stability theory that the proposed control method can ensure that all state signals of the system are eventually bounded, and avoid the Zeno phenomenon. The MATLAB software is used to complete the simulation verification of attitude control in the experiment. The experimental results show that the proposed control method can effectively achieve the attitude control of the quadrotor UAV.
  • XIONG Baoxing, GAN Wenyang, CHEN Mingzhi, ZHU Daqi
    Control Engineering of China. 2026, 33(01): 161-169.
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    For the depth control of the remotely operated vehicle (ROV), a fuzzy linear active disturbance rejection control strategy is proposed. Fuzzy logic control is used in the control strategy to adjust the parameters of the linear active disturbance rejection controller online, enhance the control performance and anti-disturbance ability of the controller. Firstly, the system structure and function of the ROV is introduced. Then, the six-degree-of-freedom dynamic model of the ROV is established to obtain the dynamic model of the ROV in the vertical plane required in the depth control. Finally, the fuzzy linear active disturbance rejection controller is designed. The proposed control strategy is compared with the conventional proportional integral differential (PID) control and linear active disturbance rejection control by computer simulation, and applied to the depth control of the ROV under the open-air water tank in the experiment. The simulation results show that the proposed control strategy has better control performance and better robustness in the presence of external disturbances. The actual application results based on the open-air water tank very the feasibility of the proposed control strategy.
  • ZHANG Shuzhu, ZHU Yulin, WANG Hongfeng, LONG Qingqi, PENG Juanjuan
    Control Engineering of China. 2026, 33(01): 170-177.
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    To address the shortage of emergency supplies and the obstruction of distribution in the early post-earthquake period, a two-stage emergency supply distribution model under uncertain conditions is constructed with the goal of minimizing distribution costs while considering the uncertainty of road accessibility and emergency supply demand after the disaster. In the first stage, the pre-stored emergency supplies are delivered from the central warehouse to transit stations, then from transit stations to disaster areas, the re-purchase plan of emergency supplies is dynamically adjusted based on the real-time feedback during the delivery process. In the second stage, as the information of roads and emergency supply demand become fully known, the distribution routes and scheduling of emergency supplies are re-optimized to achieve efficient replenishment. The experiment verifies the proposed model based on the dataset and the actual case. The experimental results show that the two-stage emergency supply distribution model considering uncertainty and replenishment decisions meets the post-earthquake rescue needs and can provide a reference for optimizing the post-earthquake rescue plan.
  • ZHU Zhujun, ZHOU Changwei, YE Zefu, LI Rong, YAN Gaowei
    Control Engineering of China. 2026, 33(01): 178-184.
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    In order to improve the accuracy of fault diagnosis under multiple working conditions, a discriminative joint probability domain adaptation fault diagnosis method based on adversarial learning is proposed. Firstly, two classifiers with significantly different prediction results under the working condition to be tested are constructed to identify difficult-to-distinguish samples in the target domain. Then, the historical working conditions and the working conditions to be tested are mapped to a unified feature space by using a discriminative domain adaptation method to achieve cross-domain discriminative joint probability distribution alignment. Finally, during iterative training, the common feature mapping matrix is progressively refined by minimizing the prediction result difference between the two classifiers, thereby achieving data distribution alignment and enhancing fault diagnosis performance. The proposed method is verified in the experiment based on the bearing fault diagnosis dataset. The experimental results show that the proposed method has high fault diagnosis accuracy, and demonstrates excellent adaptability and robustness in the cross-condition transfer task.
  • WAN Yifan, WANG Xin
    Control Engineering of China. 2026, 33(01): 185-192.
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    To solve the problems of low contrast, low signal-to-noise ratio and fuzzy edges in infrared images of electrical equipment, a new enhancement algorithm based on non-subsampled shearlet transform (NSST) domain is proposed. The infrared image of power equipment is decomposed into low-frequency subband and high-frequency subband by using NSST and then processed respectively. For the low-frequency subband, the Otsu algorithm optimized by the improved butterfly optimization algorithm is used to segment the low-frequency subband, achieving precise separation of the equipment and the background. Linear enhancement is carried out on the equipment part, and gray-scale balance is carried out on the background part, making the gray difference and contrast between the two increase. For the high-frequency subband, the adaptive threshold is used to separate noise from weak edges, and the noise is set to zero, then an improved fuzzy enhancement algorithm is utilized to enhance the edges. Finally, the enhanced infrared image of the power equipment is obtained by fusion and the inversion transform of NSST. The simulation results show that, compared with the commonly used infrared image enhancement algorithms at present, the proposed algorithm can effectively improve the enhancement effect of infrared images of electrical equipment and suppress noise.