ISA transactions最新文献_第3页

Semi-global exponential convergence nonlinear control of the quadrotor unmanned aerial vehicle based on Lie algebra so(3) 基于李代数的四旋翼无人机半全局指数收敛非线性控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-20 DOI: 10.1016/j.isatra.2026.01.021

Zhihao Zhou, Bin Xian, Jiaming Cai, Jian Yu

{"title":"Semi-global exponential convergence nonlinear control of the quadrotor unmanned aerial vehicle based on Lie algebra so(3)","authors":"Zhihao Zhou, Bin Xian, Jiaming Cai, Jian Yu","doi":"10.1016/j.isatra.2026.01.021","DOIUrl":"10.1016/j.isatra.2026.01.021","url":null,"abstract":"<div><div>This paper addresses the position-attitude tracking control problem of quadrotor unmanned aerial vehicles (QUAVs). Over the past decade, the attitude control of QUAVs has achieved global exponential stability (GES) by leveraging Lie group theory to address the singularities in the attitude error representation. However, the position control of QUAVs has not yet reached GES. Based on the geometric position control law and the Lie-algebra-based attitude control law, this paper proposes an improved robust position-attitude control law. For attitude control, a method for computing attitude error represented in Lie algebra <span><math><mrow><mi>so</mi></mrow><mo>(</mo><mn>3</mn><mo>)</mo></math></span> is proposed to address the singularity of the logarithmic map. For position control, a novel hybrid computational scheme of the desired rotation matrix is proposed to address the body flipping problem when the desired yaw direction is parallel to the desired thrust direction. Both attitude and position errors are globally defined on their respective manifolds, ensuring singularity-free tracking performance over the entire configuration space. For stability analysis, some Lyapunov-based techniques are employed to bound the high-order coupling terms between position and attitude. In the presence of unknown disturbances, the position-attitude control system is proven to be semi-globally exponentially stable. The proposed control law is validated through numerical simulations and indoor flight experiments under wind disturbances, in comparison with the classical geometric control method.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 320-332"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146044516","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

Preset-trajectory-based output-feedback design for adaptive decentralized prescribed-time tracking of uncertain interconnected nonlinear systems with dead-zone nonlinearities 具有死区非线性的不确定互联非线性系统的自适应分散规定时间跟踪的基于预设轨迹的输出反馈设计。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-13 DOI: 10.1016/j.isatra.2026.01.020

Seok Gyu Jang, Sung Jin Yoo

{"title":"Preset-trajectory-based output-feedback design for adaptive decentralized prescribed-time tracking of uncertain interconnected nonlinear systems with dead-zone nonlinearities","authors":"Seok Gyu Jang, Sung Jin Yoo","doi":"10.1016/j.isatra.2026.01.020","DOIUrl":"10.1016/j.isatra.2026.01.020","url":null,"abstract":"<div><div>This paper develops a preset-trajectory-based adaptive output-feedback strategy for decentralized prescribed-time tracking of uncertain strict-feedback nonlinear systems subject to interconnections and dead-zone inputs. The framework assumes that unmatched nonlinear functions, nonlinear interconnection terms, and the parameters of dead-zone input nonlinearities are completely unknown. The primary contributions include designing local tracking-error trajectories (i.e., local preset trajectories) using local output-feedback signals and developing a novel design strategy with a time-varying function to initialize parameter estimation errors to zero without requiring zero initial estimates. Neural-network-based state filters reconstruct the unmeasured states, while an adaptive dead-zone inverse approximation compensates for the unknown dead-zone nonlinearity. A decentralized output-feedback controller is designed to achieve practical prescribed-time stability, with transient behavior shaped by the constructed preset trajectories. The proposed design explicitly avoids the singularity that may arise in the adaptive dead-zone inverse approximation due to parameter estimates approaching zero. This work rigorously analyzes the boundedness of the closed-loop signals and practical prescribed-time stability of the local tracking errors, based on the zero initial condition of the Lyapunov function. The simulation results comparing the proposed approach with existing methods demonstrate its effectiveness and advantages.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 163-174"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146000180","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

A representation-enhanced graph temporal convolutional network under complex missing patterns for equipment anomaly detection 用于设备异常检测的复杂缺失模式下的表示增强图时态卷积网络。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-20 DOI: 10.1016/j.isatra.2026.01.024

Liangmei Luo , Zhixuan Li , Shuying Wang , Kai Zhang , Qing Zheng , Lingwen Bao , Guofu Ding

{"title":"A representation-enhanced graph temporal convolutional network under complex missing patterns for equipment anomaly detection","authors":"Liangmei Luo , Zhixuan Li , Shuying Wang , Kai Zhang , Qing Zheng , Lingwen Bao , Guofu Ding","doi":"10.1016/j.isatra.2026.01.024","DOIUrl":"10.1016/j.isatra.2026.01.024","url":null,"abstract":"<div><div>Extracting effective anomaly features and mitigating interference from missing data is crucial for multivariate time series anomaly detection in equipment. However, existing studies tend to focus on modeling under complete data scenarios and fail to adequately account for the challenges posed by complex missing data patterns, ultimately compromising the reliability of anomaly detection. To this end, this work proposes a representation-enhanced graph temporal convolutional network (REGTCN) under a complex missing pattern for equipment anomaly detection. This method is designed as a jointly optimized framework integrating reconstruction-based and prediction-based paradigms to enhance the representation of system health status. In the reconstruction module, we develop a missing-tolerant masked graph attention (MGAT) network to mitigate the adverse effects of missing patterns. In the prediction module, we propose an adaptive multi-scale temporal convolutional interaction network (AMTCIN) to capture sufficient temporal features. Finally, Extensive experiments are conducted under various missing-data scenarios. Experimental results demonstrate that our method outperforms all baseline models.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 115-128"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146042315","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

Inertial stability control method for the task space of inertially stabilized platform for spherical mechanism 球面机构惯性稳定平台任务空间的惯性稳定控制方法。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-23 DOI: 10.1016/j.isatra.2026.01.029

Meiyu Wang , Dapeng Tian , Cailing Wang , Bing Ge , Fuchao Wang

{"title":"Inertial stability control method for the task space of inertially stabilized platform for spherical mechanism","authors":"Meiyu Wang , Dapeng Tian , Cailing Wang , Bing Ge , Fuchao Wang","doi":"10.1016/j.isatra.2026.01.029","DOIUrl":"10.1016/j.isatra.2026.01.029","url":null,"abstract":"<div><div>The spherical mechanism inertially stabilized platform (ISP) offers significant advantages, including enhanced motion flexibility and superior space utilization efficiency. The joint space control (JSC) of such systems involves computationally intensive processes and fails to fully mitigate multisource disturbances. In order to further improve the performance, this paper proposes a double-loop disturbance observer (DLDOB) method in the task space. There are three main parts of this control method. The first portion is designed as a gravity compensation controller in order to solve the problem of unbalanced gravity distribution caused by the asymmetric structure of the spherical mechanism. The second portion is the main controller of the system, which is the DLDOB. It includes the disturbance observer (DOB) in the joint space and the adaptive sliding mode disturbance observer (ASMDO) in the task space. This method simplifies the computationally intensive joint-to-task space transformation process. It estimates and compensates for system disturbances in both joint and task spaces, thereby improving system robustness. The third portion is a velocity feedback controller, which ensures the inertial stabilization control of the ISP. To verify the effectiveness of the proposed method, the stability of the control system was proven in the paper using the Lyapunov method. Besides, simulations and experiments were carried out. It was verified that the proposed method has stronger disturbance rejection and stabilization performance compared with the conventional method.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 348-364"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146095267","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

Switching iterative learning control of a piezoelectric nano motion stage with hysteretic state and parameter estimation 具有滞回状态和参数估计的压电纳米运动平台切换迭代学习控制。

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.2026.01.042

Yangming Zhang , Peng Yan

{"title":"Switching iterative learning control of a piezoelectric nano motion stage with hysteretic state and parameter estimation","authors":"Yangming Zhang , Peng Yan","doi":"10.1016/j.isatra.2026.01.042","DOIUrl":"10.1016/j.isatra.2026.01.042","url":null,"abstract":"<div><div>The control of piezoelectric nano motion stages is one of the key enabling techniques supporting high precision optical scanning tasks in nano-measurement applications. This paper proposes a hysteretic state and parameter estimation scheme for switching iterative learning control of a piezoelectric driven stage, in which the hysteresis nonlinearities of such a motion system are reflected by an asymmetric Bouc-Wen model (ABWM). Aided by only the displacement measurement, the prediction error of the hysteresis model is utilized to devise an update law for obtaining the hysteretic state observation error. The parameters of the entire ABWM are adaptively estimated by the use of the hysteretic state observation error. Based on this, a novel adaptive state observer is presented for hysteretic estimation and inverse compensation. Moreover, both the external perturbation and the unmodeled dynamics of the asymmetric hysteretic system are also considered, and the robust compensation term with an adaptive gain is introduced to address their adverse effects. The convergence of the parameter estimation errors and the state observation errors is rigorously analyzed by the Lyapunov stability theory. To boost the feedforward inverse control performance, a switching iterative learning control framework is developed to seek the high-accuracy trajectory tracking. Comprehensive experiments regarding the adaptive model prediction and the trajectory tracking are conducted on a piezoelectric nano motion stage. Both the excellent model prediction performance and the satisfactory displacement control accuracy are demonstrated by the experimental results.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 365-377"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146115392","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

Resource allocation over nonlinear uncertain multi-agent systems: An efficient communication perspective 非线性不确定多智能体系统的资源分配：一个有效的通信视角。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-29 DOI: 10.1016/j.isatra.2026.01.037

Haoze Li, Chenjie Yan, Sitian Qin

{"title":"Resource allocation over nonlinear uncertain multi-agent systems: An efficient communication perspective","authors":"Haoze Li, Chenjie Yan, Sitian Qin","doi":"10.1016/j.isatra.2026.01.037","DOIUrl":"10.1016/j.isatra.2026.01.037","url":null,"abstract":"<div><div>Multi-agent system (MAS), as the main framework for distributed resource allocation, may be subject to resource limitations, communication bandwidth constraints, and environmental changes in actual operation, which can lead to nonlinear behavior, uncertain parameters, and unbalanced communication in the MAS. To address these challenges, this paper proposes a novel distributed algorithm that includes a controller and an optimal estimator. By incorporating a dynamic compensation mechanism and tracking technique, the proposed algorithm effectively handles system nonlinearities, tracks uncertain parameters, and compensates for asymmetric communication, thereby enhancing the system’s robustness and expanding its application scope. Furthermore, to further improve the communication efficiency of MAS, a dynamic event-triggered mechanism is integrated with the dynamic compensation mechanism, ensuring that MAS can effectively conserve communication resources under unbalanced communication topologies. Finally, the proposed algorithm is validated through a case study involving a five-drone cooperative formation in a nonlinear uncertain MAS.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 52-62"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146133798","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

Critic-actor reinforcement learning for optimized cooperative formation of multi-nonholonomic wheeled Mobile vehicles 多非完整轮式移动车辆协同队形优化的关键角色强化学习。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-01-12 DOI: 10.1016/j.isatra.2026.01.017

Lixia Liu , Peiyong Duan , Xiaoyu Liu , Bin Li , Guoxing Wen , Kaizhou Gao

{"title":"Critic-actor reinforcement learning for optimized cooperative formation of multi-nonholonomic wheeled Mobile vehicles","authors":"Lixia Liu , Peiyong Duan , Xiaoyu Liu , Bin Li , Guoxing Wen , Kaizhou Gao","doi":"10.1016/j.isatra.2026.01.017","DOIUrl":"10.1016/j.isatra.2026.01.017","url":null,"abstract":"<div><div>This study mainly focuses on an optimized leader–follower formation problem for a group of nonholonomic wheeled mobile vehicles (NWMVs). By systematically integrating the critic-actor reinforcement learning (RL) and adaptive neural network (NN), a distributed cooperative formation scheme for the multi-nonholonomic wheeled mobile vehicles (MNWMVs) consisting of a kinematic controller and a dynamic torque controller is proposed. The Hamilton-Jacobi-Bellman (HJB) equation, regarding the performance index function, possesses highly nonlinear and strongly coupled characteristics. It is challenging to solve the HJB equation to acquire the optimized formation protocol of multiple NWMVs, as it possesses under-actuated and nonholonomic Lagrange dynamic properties. Significantly, the key feature of the developed optimized formation tracking algorithm for MNWMVs is an adaptive identifier integrated into the critic-actor RL strategy. It effectively addresses the uncertainties associated with Lagrange dynamics. Furthermore, the developed optimized formation scheme is greatly simplified due to the RL training laws obtained from the negative gradient of a simple positive function. Finally, numerical simulations and physical experiments are performed to validate and demonstrate the theoretical results.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 311-319"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146004915","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 Lyapunov function-based sliding mode control for spacecraft rendezvous and docking 基于Lyapunov函数的航天器交会对接滑模控制。

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.2026.01.039

Zhiwen Fan , Xiaojuan Song , Shufeng Lu , Baozeng Yue

{"title":"Predefined-time Lyapunov function-based sliding mode control for spacecraft rendezvous and docking","authors":"Zhiwen Fan , Xiaojuan Song , Shufeng Lu , Baozeng Yue","doi":"10.1016/j.isatra.2026.01.039","DOIUrl":"10.1016/j.isatra.2026.01.039","url":null,"abstract":"<div><div>This study focuses on the predefined-time control problem for spacecraft rendezvous and docking (R&D), with particular attention to the effects of external disturbances, actuator faults, and actuator saturation. First, the relative motion model incorporates gravity gradient torque and perturbative forces induced by the <span><math><msub><mi>J</mi><mn>2</mn></msub></math></span> term to enhance the practical applicability of the controller. Subsequently, a new Lyapunov function with predefined-time stability properties is proposed, and a predefined-time sliding mode controller is developed based on sliding mode control theory to ensure that the system states converge within a specified time. The proposed controller is general and can be extended to other nonlinear control problems. Additionally, a control torque redistribution scheme is designed to reduce actuator workload and energy consumption, enabling optimal control allocation even under the influence of disturbances, faults, and saturation. Finally, comparative simulations are conducted to validate the effectiveness and robustness of the proposed control strategy.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 230-242"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146183943","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

Robust multi-innovation full parameter identification for separable fractional-order systems based on online measurements 基于在线测量的分数阶可分离系统鲁棒多创新全参数辨识。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-03-01 Epub Date: 2026-02-11 DOI: 10.1016/j.isatra.2026.02.002

Junwei Wang , Xudong Shi , Weili Xiong , Feng Ding , Holderbaum William

{"title":"Robust multi-innovation full parameter identification for separable fractional-order systems based on online measurements","authors":"Junwei Wang , Xudong Shi , Weili Xiong , Feng Ding , Holderbaum William","doi":"10.1016/j.isatra.2026.02.002","DOIUrl":"10.1016/j.isatra.2026.02.002","url":null,"abstract":"<div><div>In fractional-order systems, the simultaneous estimation of system parameters and the differential order is challenging, especially when measurements contain outliers, which may significantly degrade the identification performance. Currently, although robust principal component analysis methods can separate outliers, they are essentially offline batch processing techniques and cannot simultaneously perform online matrix recovery and parameter estimation. This results in a key limitation of these methods, making them unsuitable for real-time applications. Thus, we propose an online robust parameter estimation framework for fractional-order systems. In this framework, the outlier detection problem is converted into a matrix decomposition problem, in which the information matrix is recovered online by formulating a Sylvester equation. This proposed framework can automatically detect outliers in real-time and adaptively estimate parameters simultaneously. Moreover, this framework incorporates a multi-innovation strategy to fully utilize historical data, and its sliding window mechanism ensures the feasibility of real-time data updates. Subsequently, a robust multi-innovation gradient-based iterative (RMIGI) algorithm is derived for simultaneous full parameter estimation. Finally, the effectiveness and superiority of the RMIGI method are demonstrated through Monte Carlo simulations and a circuit case study, supported by a theoretical analysis that proves its convergence via a contraction inequality and characterizes its computational complexity.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"170 ","pages":"Pages 217-229"},"PeriodicalIF":6.5,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146198345","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

Suppressing torsional drill-string vibrations considering high- and low-frequency disturbances by model reference adaptive control with equivalent-input-disturbance method 等效输入扰动法模型参考自适应控制抑制高低频干扰下钻柱扭振。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-02-01 Epub Date: 2025-12-17 DOI: 10.1016/j.isatra.2025.12.028

Chengda Lu , Hengyu Huang , Hao Sun , Feixue Jin , Daiki Sato , Jundong Wu

{"title":"Suppressing torsional drill-string vibrations considering high- and low-frequency disturbances by model reference adaptive control with equivalent-input-disturbance method","authors":"Chengda Lu , Hengyu Huang , Hao Sun , Feixue Jin , Daiki Sato , Jundong Wu","doi":"10.1016/j.isatra.2025.12.028","DOIUrl":"10.1016/j.isatra.2025.12.028","url":null,"abstract":"<div><div>This paper develops a torsional drill-string vibration suppression method based on model reference adaptive control and equivalent-input-disturbance considering high- and low-frequency disturbances. Most existing studies treat the bit–rock interaction merely as an undifferentiated external disturbance and achieve vibration suppression by compensating for it as a whole. However, they often fail to specifically address or decouple the distinct high-frequency and low-frequency components inherently present within the complex disturbance generated. To address this gap, this paper establishes a torsional vibration model of the drill-string. Then, a control scheme for torsional drill-string vibration based on the model reference adaptive control with equivalent-input-disturbance (MRAC-EID) method is developed. The state-dependent low-frequency bit-rock interaction disturbance is suppressed through the MRAC method, and the higher-frequency disturbance caused by the segment flexible characteristics of the drill-string is suppressed through the EID method. The stability analysis of the torsional drill-string vibration suppression system is conducted. Finally, the effectiveness of the developed MRAC-EID method is verified through simulation and micro-rig experiments, showing that the developed method achieves vibration suppression under different formations.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 683-693"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145829431","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