ISA transactions最新文献

{"title":"Distributed observer-based prescribed-time affine formation control for underactuated unmanned surface vessels under DoS attack","authors":"Tao Liu ,&nbsp;Jixiang Li ,&nbsp;Bin Zhou ,&nbsp;Yong Hao ,&nbsp;Xianfeng Wang","doi":"10.1016/j.isatra.2025.02.017","DOIUrl":"10.1016/j.isatra.2025.02.017","url":null,"abstract":"<div><div>This study addresses the control challenges of distributed prescribed-time maneuvers for underactuated unmanned surface vessels (USVs) operating in affine formation under adverse conditions, including ocean disturbances, unmodeled dynamics, and denial-of-service (DoS) attacks. The research develops a control scheme that enables USVs to perform complex maneuvers such as translation, shearing, rotation, and scaling, despite intermittent communication failures due to periodic DoS attacks. The approach integrates a distributed prescribed-time observer (DPTO) for each vessel to monitor local time-varying desired states, coupled with an adaptive prescribed-time local tracking control (APTLTC) strategy that drives the USV to track the desired states. The effectiveness and robustness of this control solution are validated through theoretical analysis and simulation, demonstrating significant resilience against network disruptions. This study contributes to safer maritime operations by providing a robust control framework for underactuated USVs under cyber-physical threats.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"159 ","pages":"Pages 165-180"},"PeriodicalIF":6.3,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143569159","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}

{"title":"H∞ controller design for Nabla discrete fractional-order systems","authors":"Jin-Xi Zhang ,&nbsp;Yuanda Lv ,&nbsp;Xuefeng Zhang ,&nbsp;Witold Pedrycz","doi":"10.1016/j.isatra.2025.02.005","DOIUrl":"10.1016/j.isatra.2025.02.005","url":null,"abstract":"<div><div>This article aims to provide several criteria with sufficient conditions for Nabla discrete fractional-order systems to satisfy a certain <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance index. Firstly, the instability region is approximated by a series of union sets of fan-shaped domains, and the mathematical expression of each fan-shaped domain is given. Secondly, by using the above approximation method and the generalized Kalman-Yakubovič-Popov lemma, some criteria with linear matrix inequality (LMI) formulations for the boundedness of the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> norm of the transfer function matrix for Nabla discrete FOSs are derived. Thirdly, an LMI-based <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> state feedback controller design method is provided by using the projection lemma, which is aimed to stabilize the system and optimize its <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance index simultaneously. Finally, the effectiveness of the proposed approach is verified by the accurate numerical solutions and system state responses obtained from two simulation examples.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"159 ","pages":"Pages 247-256"},"PeriodicalIF":6.3,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143461194","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}

{"title":"Tool wear monitoring by estimating milling torque and calculating the wear energy coefficient under variable depth of cut conditions","authors":"Defeng Peng ,&nbsp;Hongkun Li ,&nbsp;Bin Sun ,&nbsp;Zhaodong Wang","doi":"10.1016/j.isatra.2025.02.004","DOIUrl":"10.1016/j.isatra.2025.02.004","url":null,"abstract":"<div><div>Tool wear monitoring (TWM) is important for machining accuracy and workpiece surface quality, the electric current signal method can’t realize the visualization of TWM in variable cutting depth cutting, and the force signal method has difficulties in data acquisition. Combining the characteristics of both methods, the paper proposes a novel TWM method by estimating milling torque and constructing wear coefficient. Firstly, a time-shifted modal decomposition method (TSMD) is proposed to remove the high-frequency interference from the current data, and extract the milling torque component from the feed current. Then, a prediction model driven by current data is established, which estimates instantaneous torque using the residual-enhanced dual embedding channel attention model (RL-EDCA). Finally, the tool wear energy coefficient is proposed based on the characteristics of machine-tool power consumption, its overall change trend is consistent with the trend of tool wear amount as the experimental result, which realizes the visual monitoring of tool wear state in curved surface machining, and provides a new framework for TWM in small batch production.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"159 ","pages":"Pages 375-386"},"PeriodicalIF":6.3,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143517721","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}

{"title":"Virtual torque control combining with modal decoupling research for hydraulic-driven lower limb exoskeleton robot","authors":"Jinsong Zhao ,&nbsp;Huidong Hou ,&nbsp;Xianwei Niu ,&nbsp;Yi Liu ,&nbsp;Lin Xia ,&nbsp;Lianjie Men ,&nbsp;Zhiyong Ma","doi":"10.1016/j.isatra.2025.01.047","DOIUrl":"10.1016/j.isatra.2025.01.047","url":null,"abstract":"<div><div>The hydraulic-driven lower limb exoskeleton robot (HDLLER) can provide excellent assistance during human walking. However, complex torque coupling disturbances exist between each joint, negatively impacting the precise torque tracking of each joint channel of the robot. To address the coupling force disturbances between HDLLER joints and the human–robot interactions, this paper proposes a virtual torque control (VTC) strategy based on modal decoupling. Specifically, a human–robot coupled dynamic model of the HDLLER considering human motion disturbances is first established. Then, based on vibration theory, a modal space decoupling approach is proposed to transform the system’s mass and stiffness matrices into diagonal matrices, creating two independent control channels. Furthermore, a VTC strategy is introduced to compensate for disturbances caused by human motion and the residual terms after modal decoupling, thereby enhancing the HDLLER’s performance. Finally, to handle parameter variations during modal decoupling and inaccuracies in model identification, the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> theory is introduced to optimize the proposed VTC, effectively reducing the control strategy’s dependence on model accuracy and improving system robustness. The effectiveness of the proposed method is verified through a series of comparative experiments.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"159 ","pages":"Pages 191-202"},"PeriodicalIF":6.3,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143442705","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}

{"title":"Robust contrastive learning based on evidential uncertainty for open-set semi-supervised industrial fault diagnosis","authors":"Shuaijie Chen,&nbsp;Chuang Peng,&nbsp;Lei Chen,&nbsp;Kuangrong Hao","doi":"10.1016/j.isatra.2025.01.041","DOIUrl":"10.1016/j.isatra.2025.01.041","url":null,"abstract":"<div><div>Semi-supervised learning is increasingly applied in industrial fault diagnosis, presuming that the label spaces of labeled samples and unlabeled samples are identical. However, unknown faults in real-world scenarios present a challenge for traditional closed-set approaches. To this end, we propose a novel framework for open-set semi-supervised industrial fault diagnosis, named Evidential Robust Contrastive Learning (ERCL). The theory of evidence is introduced to explicitly assess sample uncertainty, guiding the evidential robust contrastive representation module to implement instance-level training strategies for each unlabeled sample. Additionally, an adaptive out-of-distribution detection module is developed to detect unknown faults by evaluating the difference in mutual information distributions between in-distribution (ID) and out-of-distribution (OOD) samples, thereby avoiding over-reliance on prior knowledge. The proposed framework is validated with the Tennessee Eastman process and polyester esterification process. As proved in the experiments, ERCL exhibits superior diagnosis accuracy in open scenarios with limited labeled data.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"159 ","pages":"Pages 32-43"},"PeriodicalIF":6.3,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143367081","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}

{"title":"A novel nonlinear model predictive control approach to minimize losses in open-channel irrigation systems","authors":"Gregory Conde ,&nbsp;Carlos Ocampo-Martinez ,&nbsp;Nicanor Quijano","doi":"10.1016/j.isatra.2025.02.003","DOIUrl":"10.1016/j.isatra.2025.02.003","url":null,"abstract":"<div><div>Open-channel irrigation systems (OCIS) are widely recognized as the simplest, most widely adopted, and economically advantageous method of water transportation in agriculture. However, these systems often experience substantial water losses due to seepage and leaks, which are closely correlated with the channel levels. The control mechanisms commonly discussed for OCIS primarily emphasize preserving constant channel levels, leading to constant losses. In order to overcome this limitation, the present study offers a paradigm change in control objectives, thereby facilitating the management of channel levels and flow variability. The new objectives seek to address user water demands, mitigate channel water levels, prevent overflow instances, and limit ecological and infrastructural impacts. A request-based operational approach is utilized in implementing a nonlinear model predictive control (NMPC) technique. The NMPC employs a simple modeling framework that can effectively describe the behavior of OCIS in various operational settings. It also integrates a receding-horizon cost function to optimize water allocation and minimize water levels. The provided design of the control strategy includes a set of feasible conditions that ensure the operability and stability of the controlled system. The efficacy of the proposed control technique has been verified by experimentation on a well-established testbed documented in previous academic papers. This validation process has demonstrated a notable 50% decrease in water waste while simultaneously ensuring sufficient water supply to users.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"159 ","pages":"Pages 278-292"},"PeriodicalIF":6.3,"publicationDate":"2025-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143477026","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}

{"title":"Trajectory tracking control for ships with fixed-time prescribed performance considering input saturation and dead zone","authors":"Yunsong Lei ,&nbsp;Xianku Zhang ,&nbsp;Shihang Gao ,&nbsp;Qiang Guo","doi":"10.1016/j.isatra.2025.03.014","DOIUrl":"10.1016/j.isatra.2025.03.014","url":null,"abstract":"<div><div>To enable underactuated ships to achieve trajectory tracking under unknown external disturbances, model uncertainties, and actuator saturation and dead zone, a fixed-time prescribed performance trajectory tracking control method is designed. Firstly, the position tracking errors are constrained by designing the barrier Lyapunov function, and the prescribed performance function is set as the constraint boundary to address the issue of fixed constraint boundaries in traditional methods. Secondly, RBF neural networks are employed to estimate the model uncertainties, and adaptive laws are used to estimate the upper bound of the composite disturbances. Finally, the controller is designed by incorporating fixed-time convergence theory and further using fixed-time sliding mode surface in order to overcome the shortcomings of traditional control algorithms in terms of slow response and the use of finite-time convergence with respect to the initial state. Through Lyapunov stability analysis, it is proven that all signals in the closed-loop system are bounded, and the velocity tracking errors can achieve global fixed-time convergence. Simulation results demonstrate that the proposed control scheme enables underactuated ship to achieve trajectory tracking even in the presence of input saturation and dead zone. Statistical results show that the performance indicators of the proposed controller are significantly smaller than those of the first group in the comparative experiments, with a shorter settling time. Moreover, compared to traditional saturation handling methods, the input curves of the proposed controller are smoother and more aligned with practical engineering requirements.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"161 ","pages":"Pages 155-165"},"PeriodicalIF":6.3,"publicationDate":"2025-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143782366","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}

{"title":"The suspension load deviation control method for high-power locomotives via Harris Hawk optimization","authors":"Yuqi Xiao ,&nbsp;Yongjun Wu","doi":"10.1016/j.isatra.2025.03.023","DOIUrl":"10.1016/j.isatra.2025.03.023","url":null,"abstract":"<div><div>In this study, the theoretical model for the static secondary spring load adjustment of six-axle railway vehicles is established, which can be applicable to any six-axle railway vehicle, including locomotives, subways, passenger trains and freight trains. Meanwhile, the simplified model of the supporting structure is proposed, which reduces the calculation process greatly by simplifying the 12-points supporting structure of a six-axle railway vehicle into a 4-points supporting structure. Moreover, we present the Harris hawk optimization method in the field of suspension load control of railway vehicles. The load control experiments of a six-axle railway vehicle prove that the performance of this method is significantly improved compared with the classical method in terms of maximum force difference, root mean square error and calculation efficiency. The proposed method reduces the position and amount of padding, further reducing the padding workload and improves the efficiency of the static secondary spring load deviation control.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"161 ","pages":"Pages 289-301"},"PeriodicalIF":6.3,"publicationDate":"2025-03-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143775271","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}

{"title":"Maximum sensitivity constrained region based tuning of active disturbance rejection control for industrial applications in presence of time-varying disturbances","authors":"Faraz Haider,&nbsp;Ahmad Ali","doi":"10.1016/j.isatra.2025.03.011","DOIUrl":"10.1016/j.isatra.2025.03.011","url":null,"abstract":"<div><div>Linear active disturbance rejection control (ADRC) uses conventional Luenberger type linear extended state observer (LESO) and a simple proportional derivative (PD) controller for anti-disturbance applications. Limitation of the linear ADRC lies in its inability to adequately reject time-varying disturbances. Modified ADRC strategies discussed in this manuscript, including LESO-based proportional integral derivative-ADRC (LESO-PID-ADRC) and proportional resonant-ADRC (LESO-PR-ADRC), exhibit the capability to proficiently track ramp and sinusoidal references while effectively suppressing similar disturbances. Additionally, a quasi-generalized integrator-extended state observer based PID-ADRC (QGI-PID-ADRC) is proposed which is capable of tracking both step and ramp references while simultaneously rejecting ramp and sinusoidal disturbances. Furthermore, maximum sensitivity constrained region (MSCR) based graphical tuning approach is presented for the PID and PR controllers. Frequency domain analysis is conducted to illustrate reference tracking and disturbance rejection capability of the designed controllers. Moreover, stability of the closed loop system is illustrated using Nyquist plots. Simulation study is conducted in MATLAB for two complex systems (ship motion model and pressurized water reactor (PWR)) which have associated nonlinearities, time-varying system parameters and modeling uncertainties. The research demonstrates that LESO-PID-ADRC, QGI-PID-ADRC and LESO-PR-ADRC, when tuned using the proposed graphical approach, outperform recently introduced control strategies, excelling in both reference tracking and disturbance rejection.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"161 ","pages":"Pages 122-135"},"PeriodicalIF":6.3,"publicationDate":"2025-03-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143789461","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}

{"title":"Adaptive event-triggered control for uncertain nonlinear systems with multiple intermittent actuator faults of uncertain directions","authors":"Xinpeng Fang ,&nbsp;Huijin Fan ,&nbsp;Lei Liu ,&nbsp;Wei Wang ,&nbsp;Bo Wang","doi":"10.1016/j.isatra.2025.03.013","DOIUrl":"10.1016/j.isatra.2025.03.013","url":null,"abstract":"<div><div>Reverse actuator faults may occur intermittently in practical systems due to reversed magnetic field polarity, aeroelasticity, radiation, software errors, wrong wiring, etc., which cause the actuators to perform the opposite control actions from the desired, and thus the directions of the faults are not only unknown but also uncertain. In practice, the faults with reverse mode may force the system to be unstable and reduce its safety and lifespan. Therefore, tolerating intermittent faults of uncertain directions can significantly contribute to the safety enhancement and lifespan extension of the system. This paper investigates the adaptive event-triggered fault-tolerant control issue for uncertain nonlinear systems in the presence of multiple intermittent actuator faults of uncertain directions. Unlike the existing results, the faults with reverse mode are considered in this study while their total number could be infinite. Therefore, the possibly infinite number of jumps of the reverse faults makes the existing fault-tolerant control approaches no longer applicable. To solve this problem, a series of novel Nussbaum functions with well-defined sign properties in certain intervals is first proposed. Then, a piecewise integration-based contradiction argument is devised in a well-constructed fault-related time sequence, which shows the boundedness of the designed Nussbaum functions even if the reverse actuator faults are multiple and intermittent. Furthermore, considering the frequent changes of the control signals caused by intermittent actuator faults, a novel event-triggering mechanism is proposed, which is related not only to the magnitude but also to the rate of change of the transmitted signals. Besides showing the global uniform boundedness of all the closed-loop signals, it is also established that the system output tracks the given reference trajectory asymptotically. Finally, simulation and comparison results illustrate the effectiveness and advantages of the proposed fault-tolerant control scheme.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"161 ","pages":"Pages 14-23"},"PeriodicalIF":6.3,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143904567","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}