ISA transactions最新文献

Hierarchical RL-ESN control for autonomous underwater vehicle: 6-DOF large angle rotation maneuvering 自主水下航行器的分层RL-ESN控制：六自由度大角度旋转机动。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-08-06 DOI: 10.1016/j.isatra.2025.07.036

Zihan Xia, Bing Huang, Cheng Zhu

{"title":"Hierarchical RL-ESN control for autonomous underwater vehicle: 6-DOF large angle rotation maneuvering","authors":"Zihan Xia, Bing Huang, Cheng Zhu","doi":"10.1016/j.isatra.2025.07.036","DOIUrl":"10.1016/j.isatra.2025.07.036","url":null,"abstract":"<div><div>The attitude representation of the autonomous underwater vehicle (AUV) typically relies on Euler angles and unit quaternions. However, existing works have demonstrated that both approaches exhibit inherent limitations when solving large-angle rotation maneuvers, primarily characterized by singularities and unwinding phenomena. In light of these limitations, this article investigates a model-free tracking control scheme for AUV to perform arbitrary large-angle rotation maneuvers in six degrees of freedom (6-DOF). Specifically, a rotation matrix-based error dynamics is constructed to achieve a globally unique attitude representation. A key technical obstacle is that defining attitude error directly via the rotation matrix complicates controller design. To circumvent this problem, an alternative error metric is presented to transform the rotation matrix-based attitude error from the special orthogonal group in three-dimensional space (SO(3)) to Euclidean space. Distinguished from a single estimation network, a hierarchical echo state network (ESN) is established to estimate hydrodynamic coefficients and actuator faults, which comprises multiple independent subnetworks to conduct various estimation tasks. Moreover, a collaborative critic network (CCN) is utilized to generate reinforcement signals, endowing the hierarchical ESN with favorable learning capability. In this way, the system robustness is significantly enhanced while ensuring high tracking performance. Finally, rigorous theoretical analysis and numerical simulations are presented to show the effectiveness and superiority of the proposed control scheme.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 393-404"},"PeriodicalIF":6.5,"publicationDate":"2025-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144796527","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

Additive-state-decomposition-based cascaded linear ADRC for nonlinear uncertain systems with application to PMSM speed regulation 非线性不确定系统的加性状态分解级联线性自抗扰控制及其在永磁同步电机调速中的应用。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-24 DOI: 10.1016/j.isatra.2025.07.031

Fuxi Jiang , Jie Ye , Siqi Wang , Yuhao Guo , Shanmei Cheng

{"title":"Additive-state-decomposition-based cascaded linear ADRC for nonlinear uncertain systems with application to PMSM speed regulation","authors":"Fuxi Jiang , Jie Ye , Siqi Wang , Yuhao Guo , Shanmei Cheng","doi":"10.1016/j.isatra.2025.07.031","DOIUrl":"10.1016/j.isatra.2025.07.031","url":null,"abstract":"<div><div>This paper investigates the tracking control problem for a class of nonlinear systems subject to time-varying total disturbance and proposes a cascaded linear active disturbance rejection control (CLADRC) approach based on additive state decomposition (ASD). By employing the ASD technique, the original system is equivalently decomposed into a nominal primary system and an uncertain secondary system. The primary system eliminates the estimated total disturbance to achieve precise reference tracking, while the secondary system suppresses the residual disturbance. Both subsystems are governed by state feedback controllers incorporating disturbance estimation and compensation. Compared to the standard linear active disturbance rejection control strategy, the proposed method fully decouples the tracking and robust components of the state feedback controller, enabling independent parameter tuning. Furthermore, by introducing a linear extended state observer for the secondary system, a secondary estimation of the residual disturbance is performed, thereby enhancing the robustness of the overall system. A criterion based on Lyapunov stability theory is provided to ensure that the closed-loop systems remain uniformly ultimately bounded. Finally, simulation and experimental results on permanent magnet synchronous motor (PMSM) speed regulation validate the effectiveness and superiority of the proposed approach.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 474-487"},"PeriodicalIF":6.5,"publicationDate":"2025-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144769468","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

Research on active disturbance rejection control algorithm for pressure pulse fatigue test bench of automotive radiators 汽车散热器压力脉冲疲劳试验台自抗扰控制算法研究。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-23 DOI: 10.1016/j.isatra.2025.07.038

Hongjun Meng , Chengyu Li , Zijing Liu , Wei Zhang , Peiqi Zhao

引用次数: 0

Recursive-filtering-based microseismic event picking under wireless channel fading and measurement outliers 基于递归滤波的无线信道衰落和测量异常值下的微地震事件提取。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-23 DOI: 10.1016/j.isatra.2025.07.034

Hongyu Gao , Manrong Zhang , Lindong Yu , Jiahui Li , Jingbo Song

{"title":"Recursive-filtering-based microseismic event picking under wireless channel fading and measurement outliers","authors":"Hongyu Gao , Manrong Zhang , Lindong Yu , Jiahui Li , Jingbo Song","doi":"10.1016/j.isatra.2025.07.034","DOIUrl":"10.1016/j.isatra.2025.07.034","url":null,"abstract":"<div><div>This study focuses on addressing the challenge of recursive state estimation in microseismic event detection affected by wireless channel attenuation and measurement outliers (MOs). Existing methods face difficulties in accurately picking the first arrival event due to the combined effects of signal distortion from wireless channel fading and the inability to distinguish and suppress measurement outliers effectively. To overcome these challenges, the signal model for the microseismic system with wireless transmission channel fading is established in this paper, which reflects real-world engineering scenarios. Subsequently, a recursive filter incorporating a self-adaptive saturation function (SSF) is proposed to mitigate the adverse effects of MOs on arrival time picking accuracy. The filter gain is derived by minimizing the upper bound matrix of the filter error covariance, and a sufficient condition is proposed to ensure that the filtering error is mean-square exponentially bounded. The presented algorithm effectively suppresses the negative impact of MOs and enhances filtering performance in scenarios with wireless channel fading. The experimental results demonstrate the superiority and effectiveness of the developed approach.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 219-228"},"PeriodicalIF":6.5,"publicationDate":"2025-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144755508","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

Event-triggered human-machine shared steering online learning control strategy to accommodate driver behavioral uncertainty 事件触发的人机共享转向在线学习控制策略，以适应驾驶员行为的不确定性。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-23 DOI: 10.1016/j.isatra.2025.07.033

Wanqing Shi , Hongyan Guo , Jun Liu , Qingyu Meng , Xu Zhao , Dongpu Cao , Hong Chen

引用次数: 0

Super-twisting adaptive control of a quadrotor 四旋翼飞行器的超扭转自适应控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-23 DOI: 10.1016/j.isatra.2025.07.029

Claudio Rosales, Carlos Vacca Sisterna, Francisco Rossomando, Daniel Gandolfo, Carlos Soria, Ricardo Carelli

{"title":"Super-twisting adaptive control of a quadrotor","authors":"Claudio Rosales, Carlos Vacca Sisterna, Francisco Rossomando, Daniel Gandolfo, Carlos Soria, Ricardo Carelli","doi":"10.1016/j.isatra.2025.07.029","DOIUrl":"10.1016/j.isatra.2025.07.029","url":null,"abstract":"<div><div>This paper proposes a novel methodology for the design of robust and adaptive controllers tailored to unmanned aerial vehicles (UAVs). The proposed control architecture integrates a Super-Twisting Sliding Mode Controller (ST-SMC) with an adaptive law to ensure high-performance trajectory tracking under model uncertainties and external disturbances. The ST-SMC effectively mitigates the chattering phenomenon, a common issue in sliding mode control schemes, while maintaining robustness to system nonlinearities. The adaptive component dynamically updates the control parameters in real time to compensate for unmodeled dynamics and parameter variations. The combined approach synergistically improves tracking accuracy and overall system stability. A rigorous stability analysis based on Lyapunov theory guarantees the convergence and boundedness of the control errors. The effectiveness of the proposed method is validated through experimental laboratory flights in a sensor-enhanced environment. The results demonstrate that the two control schemes complement each other, achieving a robust strategy with high performance in the presence of parametric uncertainties.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 241-249"},"PeriodicalIF":6.5,"publicationDate":"2025-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144791045","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

Semi-tensor product-based fuzzy relation matrix technique for gear system state forecasting 基于半张量积的模糊关系矩阵技术的齿轮系统状态预测。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-23 DOI: 10.1016/j.isatra.2025.07.035

Hong L. Lyu , Wilson Wang , Xiao P. Liu

引用次数: 0

Controller design for an approximated nonlinear system using Wavelet Transform 用小波变换设计近似非线性系统的控制器。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-23 DOI: 10.1016/j.isatra.2025.07.030

Rajeev Ranjan Pathak , Anindita Sengupta , Rimi Paul , Ujjwal Mondal

{"title":"Controller design for an approximated nonlinear system using Wavelet Transform","authors":"Rajeev Ranjan Pathak , Anindita Sengupta , Rimi Paul , Ujjwal Mondal","doi":"10.1016/j.isatra.2025.07.030","DOIUrl":"10.1016/j.isatra.2025.07.030","url":null,"abstract":"<div><div>This work presents the method of representing any nonlinear function with Wavelet Transform (WT) coefficients to facilitate the controller design of any nonlinear system. A priori selection of optimal Mother Wavelet (MW) used for the representation purpose involves the statistical method called the Minimum Description Length (MDL) criterion. The dynamics of a benchmark nonlinear system have been taken to validate the above technique, and it has been proven to be superior to the standard linearization technique. Finally, an Adaptive Sliding Mode Controller (ASMC) for the WT-based approximated model (WTAM) of the plant has been designed. The design of the controller uses the Harmony Search Algorithm (HSA) for tuning purposes. The gain of the switching control law is decided by the gain adaptation technique. The Lyapunov Stability criterion is exploited to judge the stability. To validate the controller's performance in real-time, the WTAM of a Cart Inverted Pendulum is taken. The results validate the efficiency of the controller in terms of its ability to handle unbounded disturbances, parametric uncertainties, and chattering.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 459-473"},"PeriodicalIF":6.5,"publicationDate":"2025-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144801345","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

Secure set-membership formation of multi-agent systems via an anti-attack control strategy 基于反攻击控制策略的多智能体系统安全集隶属度形成。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-22 DOI: 10.1016/j.isatra.2025.07.010

Zehui Xiao , Jie Tao , Wei Meng , Peng Shi

{"title":"Secure set-membership formation of multi-agent systems via an anti-attack control strategy","authors":"Zehui Xiao , Jie Tao , Wei Meng , Peng Shi","doi":"10.1016/j.isatra.2025.07.010","DOIUrl":"10.1016/j.isatra.2025.07.010","url":null,"abstract":"<div><div>Secure leader-following formation for multi-agent systems subject to parameter perturbations and saturation constraints is investigated in this article. To capture the variation of attack behaviors across different stages, a more general DoS attack model is developed using a Markov process with time-varying transition probabilities. Then, a memory-based anti-attack scheme is presented for designing the secure observer-based controller, supplying an effective method to weaken the impact of DoS attacks on formation control. Subsequently, the set-membership concept is introduced to derive some sufficient conditions such that the one-step ahead formation errors are always confined to the tracking ellipsoidal set. Combining the sufficient conditions with saturation constraints, an optimization problem is proposed to obtain the optimal ellipsoidal sets. For reaching the leader-following formation, an online optimization algorithm is provided to recursively solve the observer-based controller. To reduce the execution frequency of the optimization problem, a novel event-triggered mechanism with attack-dependent adaptive threshold is embedded in the optimization algorithm. Finally, the effectiveness and advantages of the proposed methods are certified via a simulation example.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 53-62"},"PeriodicalIF":6.5,"publicationDate":"2025-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144765897","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

Optimal memory-based feedback control for time-delayed systems with application to suppressing regenerative chatter 基于最优记忆的时滞系统反馈控制及其抑制再生颤振的应用。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-21 DOI: 10.1016/j.isatra.2025.07.037

Pourya Shadkami Ahvazi, Hossein Mohammadi, Mohsen Mohammadi

{"title":"Optimal memory-based feedback control for time-delayed systems with application to suppressing regenerative chatter","authors":"Pourya Shadkami Ahvazi, Hossein Mohammadi, Mohsen Mohammadi","doi":"10.1016/j.isatra.2025.07.037","DOIUrl":"10.1016/j.isatra.2025.07.037","url":null,"abstract":"<div><div>Chatter, as a self-excited vibration in the milling process, leads to detrimental effects such as increased workpiece surface roughness and tool wear. Therefore, suppressing this phenomenon, characterized as a time-delay system, is critical. This paper proposes an optimal delay-dependent memory-based controller designed using a general Lyapunov functional. The controller incorporates both the current (instantaneous) system state and its time-delayed counterparts as memory-based state feedback, and it is formulated as a Linear Quadratic Regulator (LQR) problem. Optimal strategy is derived from complex partial differential-algebraic Riccati equations and the novelty of this research lies in presenting an efficient approach to obtaining optimal control gains by approximating matrix functions with finite delay-dependent matrices using Linear Matrix Inequalities (LMIs). The proposed controller outperforms memoryless feedback controllers by ensuring asymptotic stability of the closed-loop system and substantially expanding the stability region, enabling greater axial cutting depths at each spindle speed. Moreover, its superiority lies in effectively suppressing chatter under nonlinear dynamic modeling.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 208-218"},"PeriodicalIF":6.5,"publicationDate":"2025-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144746646","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