ISA transactions最新文献

MIMO ultra-local model-based adaptive enhanced model-free control using extremum-seeking for coupled mechatronic systems 耦合机电系统基于MIMO超局部模型的自适应增强无模型极值寻优控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.050

Dingxin He , Haoping Wang , Yang Tian , Michel Fliess

{"title":"MIMO ultra-local model-based adaptive enhanced model-free control using extremum-seeking for coupled mechatronic systems","authors":"Dingxin He , Haoping Wang , Yang Tian , Michel Fliess","doi":"10.1016/j.isatra.2024.11.050","DOIUrl":"10.1016/j.isatra.2024.11.050","url":null,"abstract":"<div><div>Multiple degree-of-freedom (DOF) mechatronic systems, such as robots and robotic arms, play a crucial role in modern life and production. However, due to strong coupling, uncertain dynamics, and external disturbance, accurately modeling these systems is challenging, making traditional model-based control methods impractical. To address this, this paper proposes an extremum-seeking-based adaptive enhanced model-free control for multi-input multi-output (MIMO) mechatronic systems to realize robust trajectory tracking. Unlike previous model-free control methods that decouple and reorganize the MIMO system into several single-input single-output ultra-local models, this paper develops a MIMO ultra-local model with a non-diagonal gain matrix <span><math><mi>α</mi></math></span> to approximate the system dynamics within an ultra-short time window. Time-delay estimation (TDE), Proportional–Derivative (PD) control law and accuracy compensation compose an TDE-based enhanced intelligent PD control that ensures the closed-loop stability. Furthermore, an extremum-seeking (ES) technique is designed to optimize the gain matrix <span><math><mi>α</mi></math></span> to enhance control performance. The main contributions of this paper are the development of a model-free control framework based on the MIMO ultra-local model and the successful application of ES to optimize the non-diagonal gain matrix <span><math><mi>α</mi></math></span>. Stability analysis of the closed-loop system is conducted using Lyapunov theorem. Finally, numerical simulations on a 2-DOF robotic manipulator and co-simulation results on a 3-DOF PUMA 560 robotic manipulator validate the effectiveness and superiority of the proposed methods.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"157 ","pages":"Pages 233-247"},"PeriodicalIF":6.3,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142792683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A flexible protocol of finite-time consensus for second-order multi-agent systems with pinning control 具有固定控制的二阶多智能体系统的一种灵活的有限时间一致性协议。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.055

Ziwei Zhang , Xiuxia Yin , Songlin Hu

{"title":"A flexible protocol of finite-time consensus for second-order multi-agent systems with pinning control","authors":"Ziwei Zhang , Xiuxia Yin , Songlin Hu","doi":"10.1016/j.isatra.2024.11.055","DOIUrl":"10.1016/j.isatra.2024.11.055","url":null,"abstract":"<div><div>In this paper, we consider the finite-time consensus problem for second-order multi-agent systems with pinning control. Unlike the existing finite-time consensus algorithms for second-order multi-agent systems in which all agents’ velocities and positions are assumed to have common communication weights and nonlinear couplings, we allow communication weights, nonlinear couplings and the feedback gains to be inconsistent for each agent’s velocity and position. A flexible continuous protocol is designed to solve the finite-time consensus problem. Based on the Lyapunov functional approach and finite-time stability analysis, it is proved that this model not only achieves finite-time consensus for every agent but also estimates the settling time depending on initial data without assuming that <span><math><mrow><msub><mrow><mi>α</mi></mrow><mrow><mn>2</mn></mrow></msub><mo>=</mo><mfrac><mrow><mn>2</mn><msub><mrow><mi>α</mi></mrow><mrow><mn>1</mn></mrow></msub></mrow><mrow><mn>1</mn><mo>+</mo><msub><mrow><mi>α</mi></mrow><mrow><mn>1</mn></mrow></msub></mrow></mfrac></mrow></math></span>. Moreover, some simulation examples are given to verify the effectiveness of the theoretical results.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"157 ","pages":"Pages 11-19"},"PeriodicalIF":6.3,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142808875","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Variable-coupled distributed resource allocations for multi-agent system with limited admissible interaction 有限允许交互的多智能体系统变量耦合分布式资源分配。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.057

Linhua Luan, Sitian Qin

{"title":"Variable-coupled distributed resource allocations for multi-agent system with limited admissible interaction","authors":"Linhua Luan, Sitian Qin","doi":"10.1016/j.isatra.2024.11.057","DOIUrl":"10.1016/j.isatra.2024.11.057","url":null,"abstract":"<div><div>Variable-coupled distributed resource allocations (VCDRAs) involve optimizing resource distribution among interconnected entities, reflecting the complex correlation in practical systems. Based on the consensus technology, this paper proposes a novel distributed optimization algorithm to address the VCDRA in scenarios where agents are confronted with admissible interaction ranges and external disturbances. Admissible interaction refers to agents only transmitting information within a specified range due to limited communication capabilities or resource availability. The proposed distributed optimization algorithm improves existing interaction mechanisms, reducing computational demands and unifying the communication schemes of the multi-agent system, thereby avoiding additional information exchange. Theoretically, it is proven that the algorithm can get the optimal solution of VCDRA with an exponential rate. Compared to existing algorithms for suppressing external disturbances, the robustness of the proposed distributed optimization algorithm no longer relies on the upper bound of external disturbances, allowing it to remain effective even in the presence of unbounded disturbances. Finally, smart grids and wireless communications applications demonstrate the convergence and robustness of the developed distributed optimization algorithm, further proving its superiority in practical applications.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"157 ","pages":"Pages 35-45"},"PeriodicalIF":6.3,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142820479","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A zero-shot attribute-embedded model with a feature difference mapping sigmoid function for compound fault diagnosis of rotating machinery 基于特征差分映射s型函数的零射属性嵌入模型用于旋转机械复合故障诊断。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.12.026

Lv Wang , Dingliang Chen , Yongfang Mao , Yi Qin

{"title":"A zero-shot attribute-embedded model with a feature difference mapping sigmoid function for compound fault diagnosis of rotating machinery","authors":"Lv Wang , Dingliang Chen , Yongfang Mao , Yi Qin","doi":"10.1016/j.isatra.2024.12.026","DOIUrl":"10.1016/j.isatra.2024.12.026","url":null,"abstract":"<div><div>The detection of machinery compound faults has always been a great challenge. Most of the current compound fault diagnosis methods require a large number of compound fault data to participate in training. However, in actual engineering, it is impractical to collect abundant fault samples, especially compound fault samples. To address the issue of lacking the compound fault data for training, this paper proposes a zero-shot attribute-embedded model for compound fault diagnosis (ZSAECFD). This model only uses the data of various single faults for training, but the trained model is able to diagnose the unseen compound faults. Using the data of single faults, the attribute prototypes for single and compound faults of bearings and gearbox are first constructed. By calculating the Euclidean distances between attributes and attribute prototypes, the compound fault types can be distinguished. Moreover, considering that the traditional sigmoid has the limited ability to map the difference of features in multi-label classification tasks, we propose a new activation function, feature difference mapping sigmoid (F-sigmoid). It can effectively amplify the differences between features, which is helpful for improving the accuracy of attribute recognition. It is also proven that F-sigmoid can effectively alleviate the problem of gradient vanishing compared to sigmoid. The performance of the proposed ZSAECFD is validated through the compound fault diagnosis experiments on bearings and gearboxes. Without using the compound fault data for training, the diagnostic accuracy of bearing faults reaches 81.82 %, and the diagnostic accuracy of gear faults is up to 88.17 %. The experimental results show that the proposed model can effectively diagnose the unseen compound faults, and has advantages over the classical and advanced zero-shot learning methods.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"157 ","pages":"Pages 451-465"},"PeriodicalIF":6.3,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142901453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Extended state observer-based adaptive dynamic surface prescribed performance control for electro-hydraulic actuators with uncertainties 基于扩展状态观测器的不确定电液执行器自适应动态表面规定性能控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.12.009

Qian-Kun Liang , Yan Cai , Jin-Chun Song , Bing-Long Wang

引用次数: 0

Relaxed event-triggered tracking control of positive T–S fuzzy systems via a membership function method 基于隶属函数法的正T-S模糊系统松弛事件触发跟踪控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.060

Zhiyong Bao, Xiaomiao Li

{"title":"Relaxed event-triggered tracking control of positive T–S fuzzy systems via a membership function method","authors":"Zhiyong Bao, Xiaomiao Li","doi":"10.1016/j.isatra.2024.11.060","DOIUrl":"10.1016/j.isatra.2024.11.060","url":null,"abstract":"<div><div>In this paper, the sampled-data-based event-triggered tracking control for the positive nonlinear system is discussed. The event-triggered mechanism naturally causes a mismatch between the membership functions of the system model and the fuzzy controller. Meanwhile, the positive constraint and tracking behavior increase the complexity of system analysis and bring conservative analysis results. How to achieve positive and event-triggered tracking control while ensuring good tracking performance has become challenging. To address the challenge, firstly, the positive T–S fuzzy model is established to characterize the positive tracking nonlinearsystem. Subsequently, a novel Lyapunov–Krasovskii functional is constructed, which takes into account the tracking errors and transmission delays induced by the event-triggered mechanism. Furthermore, the piecewise linear membership functions (PLMFs) are used to relax the conservativeness of analysis results. Then, to ensure the system positivity and obtain the approximation errors of PLMFs, an outer constraint is proposed to handle the mismatched membership functions caused by the sampled-data-based event-triggered mechanism. Finally, the proposed approaches are demonstrated to achieve good tracking performance while reducing communication resources through a numerical example and a two-linked tank practical example.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"157 ","pages":"Pages 78-88"},"PeriodicalIF":6.3,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142820449","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Separable synchronous auxiliary model adaptive momentum estimation strategy for a time-varying system with colored noise from on-line measurements 在线测量有色噪声时变系统的可分离同步辅助模型自适应动量估计策略。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.048

Yanshuai Zhao, Yan Ji

{"title":"Separable synchronous auxiliary model adaptive momentum estimation strategy for a time-varying system with colored noise from on-line measurements","authors":"Yanshuai Zhao, Yan Ji","doi":"10.1016/j.isatra.2024.11.048","DOIUrl":"10.1016/j.isatra.2024.11.048","url":null,"abstract":"<div><div>The primary focus of this article is to explore parameter estimation for time-varying systems affected by colored noise. Based on the attributes of the time-varying system with colored noise under investigation, the original system is separated and two different subsystems are reconstructed. To address the influence of the hidden variables in the system and the time-varying noise signal, we introduce auxiliary models into the reconstructed systems to achieve the separation and synchronization estimation of the time-varying parameters within the system. With the aim of achieving high-precision performance in estimating the time-varying parameters, a separable synchronous auxiliary model adaptive momentum algorithm is presented by introducing bias correction to the momentum and gradient square term and online parameter estimation is implemented. The proposed algorithm is used for estimating the time-varying output error moving average model to verify the performance. The results of simulation experiments illustrate the efficacy of the proposed method for estimating the time-varying system with colored noise. Additionally, the proposed algorithm is extended to a kind of direct current (DC) motor modeling parameter identification problem and shows good tracking performance.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"157 ","pages":"Pages 213-223"},"PeriodicalIF":6.3,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142857335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Estimation of induction motor equivalent circuit parameters and losses from transient measurement 通过瞬态测量估算感应电机等效电路参数和损耗。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.12.012

Diptarshi Bhowmick , Suparna Kar Chowdhury

{"title":"Estimation of induction motor equivalent circuit parameters and losses from transient measurement","authors":"Diptarshi Bhowmick , Suparna Kar Chowdhury","doi":"10.1016/j.isatra.2024.12.012","DOIUrl":"10.1016/j.isatra.2024.12.012","url":null,"abstract":"<div><div>Due to robustness and low-cost, Induction motors are among the most commonly utilized types of motors in industrial applications. The operation and efficiency of any induction motor can be predicted with reasonable accuracy by solving its equivalent circuit. However, the equivalent circuit parameters may differ from the measured one with aging and when the operating conditions varies. So, it would be advantageous, if the motor parameters can be estimated by a simple and cost-effective method under running condition. Within this research, the circuit model parameters, motor losses, applied load torque and rotor inertia of a 3-phase induction motor at various loads have been estimated applying Particle Swarm Optimization (PSO) technique, from the measured transient current and supply voltage. Using the estimated quantities, various performance indicators were assessed. The predicted operational metrics were evaluated against the corresponding recorded experimental values. The comparison revealed negligible errors, establishing the reliability of the proposed method. In practical applications, the developed algorithm seems promising for predicting:<ul><li><span>(a)</span><span><div>The control parameters associated with power electronic drives driving the induction motor.</div></span></li><li><span>(b)</span><span><div>The proposed parameter estimation technique, with appropriate modifications, could significantly contribute in the domain of fault classification for induction motors.</div></span></li><li><span>(c)</span><span><div>With the help of thermal models, this research work is capable of developing a temperature based predictive condition monitoring scheme for induction motors.</div></span></li><li><span>(d)</span><span><div>It has the potential to revolutionize the approach to motor monitoring, potentially enhancing operational efficiency, reliability, and lifespan.</div></span></li></ul></div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"157 ","pages":"Pages 573-590"},"PeriodicalIF":6.3,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142908028","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Synchronization of complex dynamical networks with saturated delayed impulsive control 饱和延迟脉冲控制下复杂动态网络的同步。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.058

Zhilong He , Chuandong Li , Linfei Nie

引用次数: 0

Barrier function-based prescribed performance trajectory tracking control of wheelchair upper-limb exoskeleton robot under actuator fault and external disturbance: Experimental verification 基于障碍函数的轮椅上肢外骨骼机器人在执行器故障和外部干扰下的预定性能轨迹跟踪控制：实验验证。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.052

Huan-Chung Li , Omid Mofid , Saleh Mobayen , Khalid A. Alattas , Telung Pan , Hung-Wen Chiu

{"title":"Barrier function-based prescribed performance trajectory tracking control of wheelchair upper-limb exoskeleton robot under actuator fault and external disturbance: Experimental verification","authors":"Huan-Chung Li , Omid Mofid , Saleh Mobayen , Khalid A. Alattas , Telung Pan , Hung-Wen Chiu","doi":"10.1016/j.isatra.2024.11.052","DOIUrl":"10.1016/j.isatra.2024.11.052","url":null,"abstract":"<div><div>This paper presents an innovative control strategy for the trajectory tracking of wheelchair upper-limb exoskeleton robots, integrating sliding mode control with a barrier function-based prescribed performance approach to handle actuator faults and external disturbances. The dynamic model of the exoskeleton robot is first extended to account for these uncertainties. The control design is then divided into two phases. In the first phase, the sliding mode control technique is applied to ensure robust trajectory tracking by defining the tracking error between the robot’s states and desired trajectories. A sliding surface is constructed based on this error, and to further enhance tracking performance, a prescribed performance control scheme is incorporated, which ensures fast error convergence and improves transient behavior. In the second phase, an advanced barrier function technique is introduced to mitigate the impact of actuator faults and disturbances, enhancing the overall robustness of the system. Stability and tracking accuracy are rigorously verified through Lyapunov theory, ensuring the system's resilience to uncertainties. The combined approach not only guarantees rapid error convergence but also prevents performance degradation due to excessive control action, maintaining system stability. Finally, the effectiveness of the proposed method is demonstrated through extensive simulations and hardware-in-loop experiments, highlighting its practical applicability for real-world exoskeleton systems.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"157 ","pages":"Pages 530-542"},"PeriodicalIF":6.3,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142808878","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0