ISA transactions最新文献_第10页

Systematic solution for multi-model control approaches in nonlinear dynamic systems based on the s-gap metric 基于s-间隙度量的非线性动态系统多模型控制方法的系统解决方案

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-06-28 DOI: 10.1016/j.isatra.2024.06.014

{"title":"Systematic solution for multi-model control approaches in nonlinear dynamic systems based on the s-gap metric","authors":"","doi":"10.1016/j.isatra.2024.06.014","DOIUrl":"10.1016/j.isatra.2024.06.014","url":null,"abstract":"<div>This paper proposes a systematic approach for optimizing the distribution of local models in multi-model control systems (MMCS) to enhance overall robustness. While existing literature discusses this method for linear parameter varying (LPV) and uncertain linear time-invariant (LTI) systems, significant limitations persist in addressing nonlinear dynamic systems. Robust control tools like the gap metric and generalized stability margin (GSM) have limited effectiveness in analyzing the robustness of nonlinear feedback systems. To address these challenges, novel concepts of the gap metric and GSM are introduced to determine central operating points (COPs) within local operating areas (LOAs) across the total operating area (TOA). These COPs guide the extraction of affine disturbance local models (ADLMs). Additionally, an optimization problem based on the s-gap metric and GSM is presented to optimize COPs placement and LOAs boundaries. Challenges such as non-monotonic behavior of the cost function and complexity arising from the s-gap metric formulation necessitate novel solution methods. To address these, constraints are applied to the cost function, and a novel discrete optimization approach is introduced. Finally, theoretical findings are applied to the Duffing system, pH neutralization process, and continuous stirred tank reactor (CSTR) plant to evaluate the proposed method's effectiveness. This comprehensive validation across different systems underscores the versatility and practical utility of the proposed approach.</div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141494676","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

Connectivity preservation control for multiple unmanned aerial vehicles in the presence of bounded actuation 多架无人飞行器在有界驱动情况下的连接性保护控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-06-28 DOI: 10.1016/j.isatra.2024.06.021

{"title":"Connectivity preservation control for multiple unmanned aerial vehicles in the presence of bounded actuation","authors":"","doi":"10.1016/j.isatra.2024.06.021","DOIUrl":"10.1016/j.isatra.2024.06.021","url":null,"abstract":"<div>This paper proposes a novel multi-unmanned aerial vehicle (UAV) connectivity preservation controller, suitable for scenarios with bounded actuation and limited communication range. According to the hierarchical control strategy, controllers are designed separately for the position and attitude subsystems. A distributed position controller is developed, integrating an indirect coupling control mechanism. The innovative mechanism associates each UAV with a virtual proxy, facilitating connections among adjacent UAVs through these proxies. This structuring assists in managing the actuator saturation constraints effectively. The artificial potential function is utilized to preserve network connectivity and fulfill coordination among all virtual proxies. Additionally, an attitude controller designed for finite-time convergence guarantees that the attitude subsystem adheres precisely to the attitude specified by the distributed position controller. Simulation results validate the efficacy of this distributed formation controller with connectivity preservation under bounded actuation conditions. The simulation results confirm the effectiveness of the distributed connectivity preservation controller with bounded actuation.</div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141536223","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

Null space-based control with gain modulation applied to a MARV in backward movement 对后退运动中的 MARV 进行增益调制的空基控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-06-26 DOI: 10.1016/j.isatra.2024.06.019

引用次数: 0

Preview‐Based Path‐tracking Stability Control with Vehicle Dynamic Uncertainty via Robust Weighted LPV/H∞ Technique 通过鲁棒加权 LPV/H∞ 技术实现基于预览的具有车辆动态不确定性的路径跟踪稳定性控制

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-06-22 DOI: 10.1016/j.isatra.2024.06.006

{"title":"Preview‐Based Path‐tracking Stability Control with Vehicle Dynamic Uncertainty via Robust Weighted LPV/H∞ Technique","authors":"","doi":"10.1016/j.isatra.2024.06.006","DOIUrl":"10.1016/j.isatra.2024.06.006","url":null,"abstract":"<div>This article proposes a preview-based robust path-tracking control technique for maintaining lateral stability and tracking performance of autonomous vehicles, particularly in the presence of external disturbances and modeling uncertainties. First, a vehicle-road dynamic model with tire norm-bounded uncertainty is developed, which includes time-varying velocities and preview distances. The lateral and yaw dynamic characteristics are also analyzed in the frequency domain. Subsequently, an optimal preview model corresponding to sideslip-yaw rate states and longitudinal velocities is formulated employing a fuzzy logic model, and the sideslip angle is estimated using a sliding mode observer. Furthermore, a linear parameter-varying (LPV)/<math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math> path-tracking controller that satisfies the pole placement and performance constraint is constructed to guarantee robustness and lateral stability across the whole parameters space with the coexistence of external disturbances and parametric uncertainties. Finally, the simulation results demonstrate that the proposed controller substantially enhances tracking performance while also maintaining excellent lateral stability.</div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141461420","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

Single-sensor rotating blade monitoring method under non-stationary conditions based on velocity and displacement 基于速度和位移的非稳态条件下单传感器旋转叶片监测方法。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-06-22 DOI: 10.1016/j.isatra.2024.06.017

引用次数: 0

Optimal placement of inherent zeros in polynomial-based motion profiles for minimizing residual vibration and travel time under system uncertainties 基于多项式的运动曲线中固有零点的最佳位置，以尽量减少系统不确定性下的残余振动和行程时间。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-06-20 DOI: 10.1016/j.isatra.2024.06.013

引用次数: 0

Slow feature-based feature fusion methodology for machinery similarity-based prognostics 基于特征的慢特征融合方法，用于基于相似性的机械预报。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-06-18 DOI: 10.1016/j.isatra.2024.06.015

引用次数: 0

Tracking of invader drone using hybrid unscented Kalman-Continuous Ant Colony Filter (HUK-CACF) 使用混合无香味卡尔曼-连续蚁群滤波器（HUK-CACF）追踪入侵无人机。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-06-18 DOI: 10.1016/j.isatra.2024.06.018

{"title":"Tracking of invader drone using hybrid unscented Kalman-Continuous Ant Colony Filter (HUK-CACF)","authors":"","doi":"10.1016/j.isatra.2024.06.018","DOIUrl":"10.1016/j.isatra.2024.06.018","url":null,"abstract":"<div>Splendid Unmanned Aerial Vehicle (UAV) applications upshot its enormous use in densely inhabited areas, which is a matter of concern. In such areas, a proper tracking system is required to track an unauthorized/invader drone to ensure safety. With the flexibility of reaching inaccessible places, an Unmanned Aerial Vehicle Mounted Adaptable Radar Antenna Array (UAVMARAA) could be used. In this regard, a Hybrid Unscented Kalman-Continuous Ant Colony Filter (HUK-CACF) is proposed to estimate the position of the invader drone efficiently. Simulation results demonstrate the efficiency and robustness of the proposed filter for tracking system compared to the existing filters in terms of success rate. Further, for various Adaptable Radar Antenna Array (ARAA) patterns such as Uniform Linear Array (ULA), Uniform Rectangular Array (URA), and Uniform Circular Array (UCA), analysis is done for pertaining actual tracking effect for various parameters such as bearing, Doppler shift, ranging, and Radar Cross Section (RCS) by considering wobbling and mutual coupling (MC) effect. The result shows that the proposed filter outperforms in all the scenarios. Among the various ARAA, URA performs better than the other configurations.</div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141443985","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

Backstepping control based on adaptive neural network and disturbance observer for reconfigurable variable stiffness actuator 基于自适应神经网络和扰动观测器的可重构变刚度致动器反步进控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-06-18 DOI: 10.1016/j.isatra.2024.06.011

{"title":"Backstepping control based on adaptive neural network and disturbance observer for reconfigurable variable stiffness actuator","authors":"","doi":"10.1016/j.isatra.2024.06.011","DOIUrl":"10.1016/j.isatra.2024.06.011","url":null,"abstract":"<div>Reconfigurable variable stiffness actuator (RVSA) has attracted increasing attention in robotics due to its safety, compliance, and robustness. However, the control of the RVSA is challenging due to nonlinear factors such as high-order nonlinear dynamic, model uncertainties, time-varying model parameters, and disturbances. In this paper, firstly, a lightweight RVSA structure with both passive and active nonlinear variable stiffness characteristic is developed. Secondly, a dynamic surface backstepping control method based on a radial basis neural network and disturbance observer (DSBC-RBFNN-DOB) is proposed to achieve position control of the lightweight RVSA with matched and unmatched uncertainties. To address solve the “complexity explosion” and noise problems in traditional backstepping control, the dynamic surface backstepping control (DSBC) method is used to design the controller. Then, a method based on radial basis neural network (RBFNN) and disturbance observer (DOB) are used to compensate for the matched and unmatched uncertainties in the link and motor. In this method, the matched uncertainties are compensated using RBFNN, and the DOB is integrated to compensate RBFNN approximation errors and unmatched uncertainties. Through Lyapunov stability analysis, the semi-global boundedness of the controller is proven. Finally, the proposed method is simulated and actually implemented, verifying the effectiveness of the method. Simulation and experimental results show that the root mean square error (RMSE) of the proposed method is only 0.97277° and 0.6418°, respectively. Compared with PID, DSBC, and DSBC-RBFNN, the error reduction percentages in simulation (experiment) are 85.6 % (88.9 %), 49.4 % (88.4 %) and 36.1 % (80.0 %) respectively.</div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141441269","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

Distributed synchronization method of multi-motor driving system’s accelerated backstepping tracking control 多电机驱动系统加速反步态跟踪控制的分布式同步方法

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-06-12 DOI: 10.1016/j.isatra.2024.06.008

{"title":"Distributed synchronization method of multi-motor driving system’s accelerated backstepping tracking control","authors":"","doi":"10.1016/j.isatra.2024.06.008","DOIUrl":"10.1016/j.isatra.2024.06.008","url":null,"abstract":"<div>This paper proposes a distributed synchronization control method and an accelerated backstepping tracking control scheme for the multi-motor driving system (MMDS). In the first step, we create a dynamic model of the MMDS with complex nonlinear dynamics, encompassing elements such as the dead zone, frictions, and disturbances. Next, in order to tackle the challenge of load tracking, we fuse a speed function, a cosine barrier function, a second-order tracking differentiator (TD), and a disturbance compensator into the backstepping approach. Lastly, to address potential issues related to diverse torque inputs, which could result in the overload occurrences, we put forward a novel distributed synchronization control scheme. This scheme aims to achieve torque synchronization for the MMDS while simultaneously ensuring superior load tracking performance. In the distributed synchronization control, a communication network is built to achieve the local coupling and improve the synchronization efficiency, and a corresponding mean deviation coupling synchronization control scheme is designed. Lyapunov theory is utilized to demonstrate the stability of the introduced control scheme. The simulation experimental results for the MMDS show the effectiveness of the proposed scheme.</div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141390055","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