ISA transactions最新文献_第10页

A novel voltage control system based on deep neural networks for MicroGrids including communication delay as a complex and large-scale system

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2025.01.028

Sara Mahmoudi Rashid

{"title":"A novel voltage control system based on deep neural networks for MicroGrids including communication delay as a complex and large-scale system","authors":"Sara Mahmoudi Rashid","doi":"10.1016/j.isatra.2025.01.028","DOIUrl":"10.1016/j.isatra.2025.01.028","url":null,"abstract":"<div><div>Microgrids play an important role in stabilizing the electrical grid and they are the best route to develop green and sustainable energy. Since microgrids are expanding rapidly, it is necessary to consider the related control issues including power quality, bidirectional power flow, voltage and frequency control, and stability analysis. One of the main measurement challenges is the communication delay. It means the delay in sending data from the sensor or measuring unit to the processing unit. The communication delay gets more important when the microgrid is widespread and complex. In this paper, a novel soft switching voltage control system is proposed to solve the voltage control problem of a widespread micro-grid while there are time-varying communication delays. The novel soft switching method is based on a static output feedback controller and deep neural networks. Another novelty of this paper is considering the 33-bus microgrid as a large-scale system that helps develop local and central controllers. The simulation’s results show the effectiveness of a soft switching controller in the presence of dynamic time-varying communication delays. It means that while encountering static communication delays, the static output feedback controller without a soft switching method is sufficient in a large-scale microgrid.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 344-362"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143030507","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

Pursuing a target by wheel-legged mobile robot using NMPC while optimizing obstacles passing

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2024.12.035

M.H. Korayem, H.R. Adriani

{"title":"Pursuing a target by wheel-legged mobile robot using NMPC while optimizing obstacles passing","authors":"M.H. Korayem, H.R. Adriani","doi":"10.1016/j.isatra.2024.12.035","DOIUrl":"10.1016/j.isatra.2024.12.035","url":null,"abstract":"<div><div>In this paper, trajectory tracking control as the pursuit of a specific target by wheel-legged mobile robots (WLMRs) in an environment with the presence of obstacles is presented. These types of robots are designed to navigate different paths such as slippery trajectories, paths with obstacles, and other challenging paths. In addition, the robot can move its legs in different surface conditions and operate more flexibly with the help of wheels attached to the legs. In most cases, it is necessary to follow a specific goal or individual with high efficiency. With considering these requirements, at first, modeling of the WLMR in the n-link and m-leg modes has been performed, and then the equations have been generalized to the four-legged single-link state. Afterward, the trajectory tracking by a four-wheel-legged mobile robot (4WLMR) and following the predetermined goal using nonlinear model predictive control (NMPC) has been investigated. Results of simulation and experimental tests show that the robot has been able to successfully follow its target with the error of 0.03 m in the simulation test and less than 0.15 m in the experimental test. Also, the performance of the robot in dealing with environmental obstacles has been evaluated by simulation and experiment results indicate that energy consumption has been reduced as the robot passes under the obstacle rather than by passing around it. In this case, the tracking error was obtained 0.03 m and 0.2 m in the simulation and in the experimental tests, respectively.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 625-639"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143594156","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

Visualized neural network-based vibration control for pigeon-like flexible flapping wings 基于可视化神经网络的鸽子柔性扑翼振动控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2024.12.038

Hejia Gao , Jinxiang Zhu , Changyin Sun , Zi-ang Li , Qiuyang Peng

{"title":"Visualized neural network-based vibration control for pigeon-like flexible flapping wings","authors":"Hejia Gao , Jinxiang Zhu , Changyin Sun , Zi-ang Li , Qiuyang Peng","doi":"10.1016/j.isatra.2024.12.038","DOIUrl":"10.1016/j.isatra.2024.12.038","url":null,"abstract":"<div><div>This study investigates pigeon-like flexible flapping wings, which are known for their low energy consumption, high flexibility, and lightweight design. However, such flexible flapping wing systems are prone to deformation and vibration during flight, leading to performance degradation. It is thus necessary to design a control method to effectively manage the vibration of flexible wings. This paper proposes an improved rigid finite element method (IRFE) to develop a dynamic visualization model of flexible flapping wings. Subsequently, an adaptive vibration controller was designed based on non-singular terminal sliding mode (NTSM) control and fuzzy neural network (FNN) in order to effectively solve the problems of system uncertainty and actuator failure. With the proposed control, stability of the closed loop system is achieved in the context of Lyapunov’s stability theory. At last, a joint simulation using MapleSim and MATLAB/Simulink was conducted to verify the effectiveness and robustness of the proposed controller in terms of trajectory tracking and vibration suppression. The obtained results have demonstrated great practical value of the proposed method in both military (low-altitude reconnaissance, urban operations, and accurate delivery, etc.) and civil (field research, monitoring, and relief for disasters, etc.) applications.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 374-383"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142928938","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

Diagnostic-constrained fault-tolerant control of bi-directional AGV transport systems with fault-prone sensors 带故障传感器的双向AGV传输系统的诊断约束容错控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2025.01.014

Samia Maza

{"title":"Diagnostic-constrained fault-tolerant control of bi-directional AGV transport systems with fault-prone sensors","authors":"Samia Maza","doi":"10.1016/j.isatra.2025.01.014","DOIUrl":"10.1016/j.isatra.2025.01.014","url":null,"abstract":"<div><div>This paper explores a novel challenge regarding bidirectional Automated Guided Vehicles (AGVs): supervisory control amidst potential sensor faults. The proposed approach uses an event-based control architecture, guided by Supervisory Control Theory (SCT), to achieve non-blocking routing of AGVs. Unlike most routing approaches assuming full event observability, this paper investigates scenarios where events might become unobservable due to sensor faults or disturbances, which may affect the supervisor efficiency. The paper addresses two new key issues regarding AGV systems. First, it examines the diagnosis problem of automated transport systems from a discrete-event systems perspective. Secondly, it presents a control architecture enhanced with a diagnostic layer to improve fault tolerance. The theory of automata and languages is used to address control and diagnostic issues. The proposed methodology offers a systematic approach to design specification and diagnostic automata for routes shared by AGVs. The new specification automata integrate information from the diagnostic automata via synchronized transition guards, guaranteeing the synthesis of a robust supervisor that avoids deadlocks even when observability is compromised. The efficiency of the proposed architecture is examined and showcased by simulation. In addition, a modelling framework based on stochastic timed automata is introduced, applying model checking to assess system reliability which is redefined as the probability of deadlock avoidance.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 227-241"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143019052","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Mode switching control of independent metering fluid power systems 独立计量流体动力系统模式切换控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2025.01.023

Junxiang Chen, Hongda Jiang, Xiangdong Kong, Chao Ai

{"title":"Mode switching control of independent metering fluid power systems","authors":"Junxiang Chen, Hongda Jiang, Xiangdong Kong, Chao Ai","doi":"10.1016/j.isatra.2025.01.023","DOIUrl":"10.1016/j.isatra.2025.01.023","url":null,"abstract":"<div><div>An independent metering system (IMS) realizes the decoupling of the meter-in and meter-out orifices. The energy efficiency of the hydraulic system can be effectively improved by switching between different operational modes. However, the tracking accuracy of the IMS mode-switching system is difficult to ensure, which can easily lead to instability in the hydraulic system. In view of this, this paper proposes a mode switching controller based on an IMS. First, the K-filters theory is innovatively applied to the mode switching hydraulic system to estimate unmeasurable state variables of a system accurately. In addition, fuzzy logic systems (FLSs) are applied to handle the unmodeled errors and disturbances in the mechanical system dynamics model and hydraulic system. Further, aiming at the stability and trajectory tracking problems in the mode switching control (MSC) process of an IMS, the average dwell time (ADT) stability analysis method is applied to the mode switching hydraulic system to construct a set of switching rules to make the closed-loop switching system stable. Moreover, based on the prescribed performance control (PPC) theory, all state errors of a hydraulic system are guaranteed to reach the performance function constraint boundary at the specified time. Also, a dynamic surface control (DSC) technique is used to avoid the explosion of computational complexity caused by iterative differentiation inherent in the traditional backstepping method. Finally, the feasibility and effectiveness of the proposed method are verified by simulation, and experiments are carried out on mini-excavators. The results show that the designed controller can not only ensure the tracking accuracy, but also effectively suppress the instability of the hydraulic system caused by MSC.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 735-748"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143019077","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

Real-time isolation of physiological tremor using recursive singular spectrum analysis and random vector functional link for surgical robotics 基于递归奇异谱分析和随机矢量功能链接的外科机器人生理性震颤实时隔离。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2024.12.040

Asad Rasheed , Jeonghong Kim , Wei Tech Ang , Kalyana C. Veluvolu

{"title":"Real-time isolation of physiological tremor using recursive singular spectrum analysis and random vector functional link for surgical robotics","authors":"Asad Rasheed , Jeonghong Kim , Wei Tech Ang , Kalyana C. Veluvolu","doi":"10.1016/j.isatra.2024.12.040","DOIUrl":"10.1016/j.isatra.2024.12.040","url":null,"abstract":"<div><div>Hand-held robotic instruments enhance precision in microsurgery by mitigating physiological tremor in real time. Current tremor filtering algorithms in these instruments often employ nonlinear phase prefilters to isolate the tremor signal. However, these filters introduce phase distortion in the filtered tremor, compromising accuracy. Although improved variants of recursive singular spectrum analysis (RSSA) have addressed the issue of phase distortion, they still face challenges such as reduced generalization performance, large sample delays, and longer computational times. To address these issues, we integrate an accurate and fast random vector functional link (RVFL) with RSSA, referred to as RSSA-RVFL. The proposed approach consists of two main steps: estimation using RSSA and prediction with RVFL. Additionally, we introduce two moving window variants of RSSA-RVFL for real-time implementation. These variants significantly reduce computational costs while delivering the same performance. Experimental results on real tremor data show that our proposed approach achieves an average accuracy of 79.03%, surpassing the benchmark of 70.40%, with a nine-sample delay.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 556-571"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143019081","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

Hierarchical braking accurate control of electrohydraulic composite braking system for electric vehicles

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2025.01.036

Jun-Cheng Wang

{"title":"Hierarchical braking accurate control of electrohydraulic composite braking system for electric vehicles","authors":"Jun-Cheng Wang","doi":"10.1016/j.isatra.2025.01.036","DOIUrl":"10.1016/j.isatra.2025.01.036","url":null,"abstract":"<div><div>For the electrohydraulic composite braking system, the general total braking force calculation strategy frequently ignores the resist forces, thereby cannot track the braking intention of driver perfectly. Moreover, the torque allocation process reduces the control reliability and energy recovery effect. In this research, a novel hierarchical braking accurate control (HBAC) algorithm is designed to achieve both the control accuracy and the ideal energy recovery efficiency. It includes target calculation, parameter adjustment, and organization coordination levels. In the target calculation level, the resist forces such as air, tire roll resistances are considered to calculate the demanded-braking force accurately. In the parameter adjustment level, the ideal demand-braking force is constrained by the estimated road adhesion coefficient and the vertical load transfer. At the organization coordination level, the torque allocation process is omitted by applying a compensation control of the hydraulic braking torque. The simulation results indicated outstanding braking distances by the proposed HBAC are 111.5 m, 40.8 m, and 63.2 m under the varying adhesion, dry asphalt, and wet asphalt roads, respectively. Moreover, compared with the comparative control strategy, the energy recovery efficiency of HBAC is increased by 11.74 %, 6.67 %, and 8.4 % under these road conditions. Experimental implementation corroborates the effectiveness of proposed strategy.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 594-608"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143061769","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

Nonlinear decoration-driven adaptive neural finite-time control for USVs with two rotatable thrusters under false data injection attacks and input saturation

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2025.01.010

Xiangfei Meng , Guichen Zhang , Bing Han

{"title":"Nonlinear decoration-driven adaptive neural finite-time control for USVs with two rotatable thrusters under false data injection attacks and input saturation","authors":"Xiangfei Meng , Guichen Zhang , Bing Han","doi":"10.1016/j.isatra.2025.01.010","DOIUrl":"10.1016/j.isatra.2025.01.010","url":null,"abstract":"<div><div>This study explores the trajectory tracking control problem in unmanned surface vessels equipped with two rotatable thrusters in an adverse network environment beset by challenges, such as false data injection attacks (FDIAs) and input saturation. This study used the hyperbolic tangent function to provide a smooth transition for the control input, effectively avoiding the system oscillation and instability caused by sudden changes in the input signal. Next, the concept of stepwise reconstruction was used to handle the FDIAs faced by the kinematic and dynamic channels of the system. Under the backstepping framework, the exogenous disturbance bias caused by FDIAs in the kinematic channel was compensated using virtual adaptive technology. In the dynamic channel, the neural-based, high-speed disturbance compensation technology was used to correct the dynamic deviation caused by the composite uncertain dynamics composed of FDIAs and external disturbances. Finite-time technology was further introduced to propose an adaptive finite-time control scheme based on nonlinear decoration. The proposed control scheme was analyzed on the basis of Lyapunov stability theory. The results indicated that all signals in the closed-loop system are bounded. Finally, the effectiveness of the proposed control scheme was verified using simulations. The results revealed that the proposed control scheme enables unmanned surface vessels to track the reference trajectory, exhibiting satisfactory control performance under the constraints of FDIAs, input saturation, and uncertain internal and external dynamics.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 97-109"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143371461","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-based sliding mode control for singularly perturbed systems with switching parameters 具有切换参数的奇异摄动系统的基于事件的滑模控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2024.12.036

Changchun Shen , Jun Cheng

{"title":"Event-based sliding mode control for singularly perturbed systems with switching parameters","authors":"Changchun Shen , Jun Cheng","doi":"10.1016/j.isatra.2024.12.036","DOIUrl":"10.1016/j.isatra.2024.12.036","url":null,"abstract":"<div><div>This paper addresses the event-based sliding mode control problem for singularly perturbed systems with switching parameters. Unlike traditional Markovian switching systems, singularly perturbed S-MSSs allow more flexible state transitions, which can be described by a general distribution rather than the exponential distribution assumed in Markovian switching systems. To enhance the performance of such systems, a novel memory-based dynamic event-triggered protocol (DETP) is proposed, incorporating a memory term for the auxiliary offset variable. This approach reduces the frequency of communication packets, leading to more efficient transmission scheduling. The proposed memory-based DETP distinguishes itself by utilizing both the memory term and the singular perturbation parameter, effectively mitigating communication overhead while maintaining control performance. In addition, an innovative integral-type sliding surface is constructed, and a hidden semi-Markovian switching model is employed to address mode mismatches between the original system and the sliding mode control law. Using parameter-dependent Lyapunov theory, several sufficient conditions are derived to guarantee the exponential mode stability under bounded disturbances (EMSUB) behavior of the sliding mode dynamics. Finally, the effectiveness of the proposed control strategy is demonstrated through two simulation examples.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 208-216"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142923872","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 robust constraint following control design and experimental validation for fuzzy robotic manipulator system 模糊机械臂系统的最优鲁棒约束跟随控制设计与实验验证。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2024.12.041

Hao Sun , Xin Wang , Luchuan Tu , MianHao Wang , Ke Shao

引用次数: 0