ISA transactions最新文献_第2页

Adaptive fuzzy neural networks cooperative formation control for unmanned surface vehicles with constraints using prescribed time extended state observer 基于时间扩展状态观测器的地面无人驾驶车辆自适应模糊神经网络协同编队控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-28 DOI: 10.1016/j.isatra.2026.01.036

Jie Zhang , Xiangxiang Meng , Shuzhi Sam Ge

{"title":"Adaptive fuzzy neural networks cooperative formation control for unmanned surface vehicles with constraints using prescribed time extended state observer","authors":"Jie Zhang , Xiangxiang Meng , Shuzhi Sam Ge","doi":"10.1016/j.isatra.2026.01.036","DOIUrl":"10.1016/j.isatra.2026.01.036","url":null,"abstract":"<div><div>This paper investigates the adaptive fuzzy neural networks cooperative formation control problem of multiple unmanned surface vehicles with actuator faults and unknown velocity information. Firstly, a new fuzzy neural networks-based prescribed time extended state observer is designed, which can not only estimate unknown velocity from the position information of unmanned surface vehicles, but also estimate ocean disturbances and uncertainties in the system model. Considering the actual requirements of formation operation, the formation error and velocity are constrained within the prescribed safety boundary. Secondly, an adaptive cooperative formation control method is designed by defining distributed cooperative formation error and introducing log-type barrier Lyapunov function to prevent formation error and velocity from violating prescribed constraints. In addition, the designed fuzzy neural networks adaptive law and multiplicative fault adaptive law can compensate for model uncertainties and time-varying multiplicative actuator faults. This method can ensure that multiple unmanned surface vehicles form and maintain the desired formation within a prescribed time, and the formation error converges to a smaller neighborhood of the origin within the prescribed time. Finally, the effectiveness of the proposed control method is demonstrated through multiple simulation analyses.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 140-151"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146115324","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

Velocity-transformation-based adaptive nonlinear extended state observer strategy for quantized posture-feedback tracking of underactuated surface vehicles with velocity constraints 基于速度变换自适应非线性扩展状态观测器的欠驱动地面车辆姿态反馈量化跟踪。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2025-12-22 DOI: 10.1016/j.isatra.2025.12.037

Sung Jin Yoo , Bong Seok Park

{"title":"Velocity-transformation-based adaptive nonlinear extended state observer strategy for quantized posture-feedback tracking of underactuated surface vehicles with velocity constraints","authors":"Sung Jin Yoo , Bong Seok Park","doi":"10.1016/j.isatra.2025.12.037","DOIUrl":"10.1016/j.isatra.2025.12.037","url":null,"abstract":"<div><div>This paper investigates a quantized-posture-based tracking control strategy for uncertain underactuated surface vehicles (USVs) subject to time-varying velocity constraints. Only quantized measurements of position and heading angle are assumed to be available due to posture quantization. To address velocity constraints without relying on the feasibility conditions of virtual control laws, a USV model incorporating nonlinear velocity transformation is introduced. The core contribution of this paper is a novel adaptive nonlinear extended state observer (ANESO) tailored to the nonlinearly transformed USV model. In contrast to existing extended state observers, the proposed ANESO ensures both the satisfaction of velocity constraints and the estimation of unmeasurable velocities and uncertain nonlinearities. This design enables a robust approach to tackling the challenges posed by quantized feedback and system uncertainties. Building upon the ANESO, an adaptive tracking control strategy is proposed to address two key challenges: the nonlinear coupling of the virtual control variable and the unavailability of direct tracking error measurements between unquantized and desired postures. Adaptive tuning laws, derived using quantized posture feedback, are employed to compensate for unknown nonlinearities and parameter uncertainties resulting from quantization errors. The stability of the resulting ANESO-based quantized output-feedback tracking system is rigorously established using Lyapunov theory and the command-filtered backstepping method, and it is also proven that the velocity constraints are satisfied. Comparative simulation studies validate the effectiveness of the proposed approach, highlighting its advantages over existing methods.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 152-162"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146168572","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

Consensus conditions for heterogeneous multi-agent sampled-data control systems with nonlinearities and inter-agent communication delay 具有非线性和通信延迟的异构多智能体采样数据控制系统的一致性条件。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-16 DOI: 10.1016/j.isatra.2026.01.018

Sung Hyun Kim

引用次数: 0

Corrigendum to “Mitigating nonlinear torque oscillations in pneumatic systems with adaptive RBFNN compensated gain-adaptive ADRC” [ISA Trans 168 (2026) 641–655] “用自适应RBFNN补偿增益自适应ADRC减轻气动系统中的非线性扭矩振荡”[ISA Trans 168(2026) 641-655]的更正。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-22 DOI: 10.1016/j.isatra.2026.01.030

Zilong Wu , Zichao Chen , Linyong Bai , Zhiyong Yang

引用次数: 0

Delay and delay-derivative dependent stability analysis for linear time delay systems with a cyclical delay 具有周期时滞的线性时滞系统的时滞及时滞导数相关稳定性分析。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-24 DOI: 10.1016/j.isatra.2026.01.033

Xinzuo Ma, Yiwen Luo, SeakWeng Vong

引用次数: 0

Neural network-based observer combined with nonsingular terminal sliding mode control for QUAV tracking: Experimental validation 基于神经网络观测器与非奇异终端滑模控制相结合的QUAV跟踪：实验验证。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-31 DOI: 10.1016/j.isatra.2026.01.034

Haoping Wang , Omid Mofid , Saleh Mobayen , Sofiane Ahmed Ali , Pawel Rozenblut

{"title":"Neural network-based observer combined with nonsingular terminal sliding mode control for QUAV tracking: Experimental validation","authors":"Haoping Wang , Omid Mofid , Saleh Mobayen , Sofiane Ahmed Ali , Pawel Rozenblut","doi":"10.1016/j.isatra.2026.01.034","DOIUrl":"10.1016/j.isatra.2026.01.034","url":null,"abstract":"<div><div>This study integrates the adaptive neural network technique, state and disturbance observer, and nonsingular terminal sliding mode control framework to achieve rapid trajectory tracking for a quadrotor under state uncertainty, dynamic disturbances, and unknown dynamics. The control methodology begins by modeling the quadrotor’s dynamics, including inherent uncertainties and disturbances. A state observer is designed to estimate unknown states while rejecting uncertainties and disturbances, with exponential convergence of observer errors demonstrated via Lyapunov theory. The tracking error between the observed quadrotor’s states and the desired trajectory is subsequently defined, and a nonsingular terminal sliding mode surface is employed to stabilize this error. Using Lyapunov-based analysis, it is proven that the sliding surfaces converge to zero at an exponential rate. Furthermore, an adaptive neural network strategy is developed to approximate unknown components, including state variables, uncertainties, and disturbances. Simulation and experimental results using a quadrotor with realistic parameters validate the proposed control strategy, confirming its robustness and effectiveness.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 257-273"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146120655","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

Visual guidance based shared remote operation control for hydraulic manipulators 基于视觉引导的液压机械手共享远程操作控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-27 DOI: 10.1016/j.isatra.2026.01.040

Shizhao Zhou , Chong Shen , Manzhi Qi , Yangxiu Xia , Deqing Mei , Zheng Chen

{"title":"Visual guidance based shared remote operation control for hydraulic manipulators","authors":"Shizhao Zhou , Chong Shen , Manzhi Qi , Yangxiu Xia , Deqing Mei , Zheng Chen","doi":"10.1016/j.isatra.2026.01.040","DOIUrl":"10.1016/j.isatra.2026.01.040","url":null,"abstract":"<div><div>Hydraulic manipulators are increasingly used in applications such as ocean exploration and forestry harvesting. Given the potential risks associated with the high output torque, remote operation offers an appropriate method for operating hydraulic manipulators. However, the master-slave heterogeneity in remote operations restricts the operational efficiency and precision, and the occlusions of the operator’s field of view (FOV) can affect the accuracy of the master commands. While visual guidance can assist manipulator operation, the varying imaging conditions and potential target occlusions also limit the reliability of guidance commands. To address these challenges, this paper designs a visual guidance based shared remote operation control for hydraulic manipulators. On the one hand, the speed and accuracy of the mapped commands are balanced by the designed adaptive command mapping method. On the other hand, the reliability of the visual guidance command is enhanced through feature mismatch rectification and fault awareness. Subsequently, a dual-command fusion control method is developed to integrate the optimized commands, thereby achieving shared remote operation. Finally, various experiments are conducted to verify the proposed algorithms. The results demonstrate that the designed scheme guarantees the shared remote operation performance of hydraulic manipulators even when the operator’s FOV is occluded.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 175-186"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146145153","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

Predefined-time formation control of UAV swarm under spatiotemporal constraints 时空约束下无人机群的预定义时间编队控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-17 DOI: 10.1016/j.isatra.2026.01.025

Fenglan Sun , Jiashuo Su , Wei Zhu , Zhi-Hong Guan , Jürgen Kurths

引用次数: 0

Adaptive finite-time hybrid tension–velocity control of uncertain multi-section web machines with uniform ultimate boundedness 具有一致极限有界的不确定多截面卷材机有限时间自适应张力-速度混合控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-02-09 DOI: 10.1016/j.isatra.2026.02.010

Van Trong Dang , Viet Thang Dang , Xuan Bo Nguyen , Hung Dung Pham , Tung Lam Nguyen , Van Trieu Pham

{"title":"Adaptive finite-time hybrid tension–velocity control of uncertain multi-section web machines with uniform ultimate boundedness","authors":"Van Trong Dang , Viet Thang Dang , Xuan Bo Nguyen , Hung Dung Pham , Tung Lam Nguyen , Van Trieu Pham","doi":"10.1016/j.isatra.2026.02.010","DOIUrl":"10.1016/j.isatra.2026.02.010","url":null,"abstract":"<div><div>Multi-section web machines are widely employed in manufacturing environments that are subjected to complex external disturbances. In addition, other adverse factors such as parametric uncertainties and measurement noises also significantly degrade the operating performance of multi-section web machines, raising the challenges in control design. In the paper, an adaptive finite-time hybrid tension-velocity control approach for multi-section web machines is evolved to ensure the operating performance against parametric uncertainties, external disturbances, and measurement noises. First of all, a filter-based extended state observer is proposed to simultaneously estimate uncertainties and disturbances while mitigating the effects of measurement noises on the feedback states. The proposed observer not only improves estimation performance but also achieves practical finite-time stability. Leveraging the critical information from the observer, a dynamic surface control is developed by combining the backstepping technique with a proposed nonlinear low-pass filter to guarantee the high-precision performance of multi-section web machines after a finite-time interval. By integrating an adaptive mechanism into the control framework, the proposed method can eliminate the requirement for knowledge of moments of inertia. Rigorous analysis based on Lyapunov theory confirms that both the proposed observer and the closed-loop systems are uniformly ultimately bounded stable within the explicit settling times. Finally, the effectiveness of our approach is validated through several comparative simulation scenarios against other state-of-the-art methods.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 200-216"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146198388","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

Active disturbance rejection control synthesis for industrial time-delayed process: an observation reconfiguration perspective 工业时滞过程的自抗扰控制综合：一个观察重构的视角。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-17 DOI: 10.1016/j.isatra.2026.01.022

Hang Yi , Zhuo Chen , Yusheng He , Chao Liu , Hongye Su

{"title":"Active disturbance rejection control synthesis for industrial time-delayed process: an observation reconfiguration perspective","authors":"Hang Yi , Zhuo Chen , Yusheng He , Chao Liu , Hongye Su","doi":"10.1016/j.isatra.2026.01.022","DOIUrl":"10.1016/j.isatra.2026.01.022","url":null,"abstract":"<div><div>Uncertain delays or sinusoidal disturbances pose significant challenges for traditional active disturbance rejection control (ADRC) of time-delayed processes, leading to potential instability or performance degradation. To address these difficulties, this paper investigates the control synthesis from a unified perspective of observation reconfiguration (OR), the core concept of which involves reconfiguring the estimated state according to specific challenges. A basic ADRC with a reduced-order model-driven extended state observer is first developed, featuring a concise control structure, intuitive tuning guidance, and detailed stability analysis. To enhance delay robustness, a filter-based OR module reconstructs the estimated state by reshaping the key frequency-domain characteristics. Furthermore, the coordination between the ADRC system and the observer loop is clarified, enabling control parameters to be retuned while maintaining comparable delay robustness. For sinusoidal disturbances, the observer is augmented by incorporating resonant dynamics to generate necessary compensation signals. A delay block subsequently acts as the OR module to counteract the phase shift between the control and disturbance signals precisely. Comparative simulations demonstrate the effectiveness of the proposed method. Experimental validation on an industrial-grade platform further confirms its promising practical applicability.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 333-347"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146032410","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