ISA transactions最新文献_第4页

Adaptive sliding mode controller based on improved Sparrow search algorithm for tracking control of human lower limb exoskeleton 基于改进Sparrow搜索算法的自适应滑模控制器用于人体下肢外骨骼的跟踪控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-09 DOI: 10.1016/j.isatra.2025.07.011

Zhedong Xie, Yingbo Li, Bing Tian, Yuxuan Liu, Chao Zhang, Hongyu Guo

引用次数: 0

Simultaneous modeling and backstepping control algorithm for trajectory tracking of underactuated USV based on real-time sailing data in complex ocean conditions 基于复杂海洋条件下实时航行数据的欠驱动无人潜航器轨迹跟踪同步建模与反演控制算法。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-08 DOI: 10.1016/j.isatra.2025.07.013

Zaopeng Dong , Sihang Lu , Zhihao Hu , Wangsheng Liu , Yilun Ding , Yuanchang Liu

{"title":"Simultaneous modeling and backstepping control algorithm for trajectory tracking of underactuated USV based on real-time sailing data in complex ocean conditions","authors":"Zaopeng Dong , Sihang Lu , Zhihao Hu , Wangsheng Liu , Yilun Ding , Yuanchang Liu","doi":"10.1016/j.isatra.2025.07.013","DOIUrl":"10.1016/j.isatra.2025.07.013","url":null,"abstract":"<div><div>The trajectory tracking problem of underactuated unmanned surface vessel (USV) in complex ocean conditions is investigated in this paper. A kind of high-precision maneuvering motion group (MMG) model is established to replace the traditional Fossen model for the trajectory tracking of underactuated USV. To improve the accuracy of identified USV model parameters, a novel multi-innovation least squares (MILS) identification algorithm is proposed by expanding the innovation value to a vector matrix, and then online identified USV model parameters are obtained by using MILS algorithm based on the real-time sailing data. Concurrently, by introducing virtual point position information and intermediate state, the proposed approach concurrently reduces computational requirements in the design process of the backstepping control algorithm. In addition, considering the effects of identification modeling errors and ocean disturbances, a nonlinear composite disturbance observer is designed, further enhancing the stability of the control algorithm. Finally, the effectiveness and reliability of the proposed algorithm are verified through simulation experiments.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 145-158"},"PeriodicalIF":6.5,"publicationDate":"2025-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144677075","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 new hybrid neurodynamics-based model-less solution for redundant robot fault-tolerant motion planning and control 基于混合神经动力学的冗余机器人容错运动规划与控制新方法。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-08 DOI: 10.1016/j.isatra.2025.07.004

Xin Wang , Ning Tan , Zhaohui Zhong , Cong Hu , Kai Huang , Xiaoyi Gu

{"title":"A new hybrid neurodynamics-based model-less solution for redundant robot fault-tolerant motion planning and control","authors":"Xin Wang , Ning Tan , Zhaohui Zhong , Cong Hu , Kai Huang , Xiaoyi Gu","doi":"10.1016/j.isatra.2025.07.004","DOIUrl":"10.1016/j.isatra.2025.07.004","url":null,"abstract":"<div><div>For tasks utilizing redundant manipulators, the motion of multiple joints is involved in performing tracking control. In some cases, the failure of one or more joints may lead to task failure or even cause damage, highlighting the necessity of fault tolerance as a crucial capability for robotic control systems. To achieve the fault-tolerant control capability of the redundant manipulator, a quadratic programming problem is formulated to minimize the joint velocity based on the task-priority strategy. Based on this formulation, a constraint transformation method is employed to handle the joint velocity constraints, and finally, this quadratic programming problem is solved using zeroing neurodynamics with finite-time convergence. Unlike most previous fault-tolerant control algorithms, the proposed method estimates the Jacobian matrix in a data-driven manner based on gradient neurodynamics, without requiring the kinematic model of the redundant manipulator. The effectiveness of the proposed method is evaluated through simulations and experiments using manipulators with different degrees of freedom.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 298-308"},"PeriodicalIF":6.5,"publicationDate":"2025-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144628338","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-triggered control scheme of switched delay systems with mixed achievement by joint switching on input and signal with sampling 输入和信号采样联合开关混合成就切换延迟系统的事件触发控制方案。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-08 DOI: 10.1016/j.isatra.2025.07.001

Chang-Hua Lien , Hao-Chin Chang , Ker-Wei Yu , Hung-Chin Li , Cheng-Ruei Yu , Sundarapandian Vaidyanathan

{"title":"Event-triggered control scheme of switched delay systems with mixed achievement by joint switching on input and signal with sampling","authors":"Chang-Hua Lien , Hao-Chin Chang , Ker-Wei Yu , Hung-Chin Li , Cheng-Ruei Yu , Sundarapandian Vaidyanathan","doi":"10.1016/j.isatra.2025.07.001","DOIUrl":"10.1016/j.isatra.2025.07.001","url":null,"abstract":"<div><div>The present work addresses the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> and passivity achievement of switched delay model by using the improved event-triggered control (ETC) scheme. Our developed ETC scheme adopts facile joint switching on rule and feedback with sampling instead of real-time monitoring mechanism. The mixed achievement for switched time-delay model under consideration with arbitrary switching rule can also be accomplished by sampling input. The delay and sampled instant are provided under an interval period instead of constant or pointwise one in some previous circulated articles. The proffered matrix presentation approach and some inequalities are applied to show consequences smoothly in this article. Finally, our main developed outcomes are demonstrated by a practical and some numerical examples. Efficiency on saving communication resource and less conservativeness of consequences are observed from the provided information.</div></div><div><h3>MSC</h3><div>34K36, 93C42, 93C43</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 25-40"},"PeriodicalIF":6.5,"publicationDate":"2025-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144755507","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

Dual-loop optimization of digital accelerometers based on advanced dual-degree-of-freedom Smith predictor 基于先进双自由度Smith预测器的数字加速度计双环优化。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-08 DOI: 10.1016/j.isatra.2025.07.009

Yi Wang , Tiantian Huang , Dekun Yang , Zhijuan Zhu , Liang Cai , Kaichen Song

{"title":"Dual-loop optimization of digital accelerometers based on advanced dual-degree-of-freedom Smith predictor","authors":"Yi Wang , Tiantian Huang , Dekun Yang , Zhijuan Zhu , Liang Cai , Kaichen Song","doi":"10.1016/j.isatra.2025.07.009","DOIUrl":"10.1016/j.isatra.2025.07.009","url":null,"abstract":"<div><div><span>In digital accelerometers<span><span>, the setpoint<span> loop is designed to balance the controlled object, and the disturbance loop is used to measure external inputs. Traditional closed-loop control structure of<span> digital accelerometers is optimized only for the disturbance loop, failing to optimize the performance of the dual loops simultaneously. An advanced dual-degree-of-freedom (ADOF) Smith </span></span></span>predictive control is proposed herein, structurally isolating the setpoint loop from the disturbance loop. Firstly, the principle of the closed-loop digital accelerometer is elaborated, and the contradiction between the performance optimization of dual loops is analyzed. Secondly, an ADOF Smith predictive control is proposed and compared with other control structures. Furthermore, the setpoint and disturbance controllers in the structure are designed using the Dahlin algorithm and H </span></span><span><math><mrow><mi>∞</mi></mrow></math></span><span> optimal control methods for parameter tuning, with the controllers being determined by a single parameter. To quantitatively describe the relationship between the control parameters and robust performance, the relationship between the control parameters and the margin indicators is derived, and the control performance is evaluated. Finally, an experimental platform of a digital closed-loop accelerometer is constructed to validate the proposed ADOF control structure and parameter tuning methods. The experimental results show that the performance of the proposed ADOF control structure significantly outperforms traditional digital closed-loop control and filtered Smith predictive control, and compared with the dual-degree-of-freedom control structure, it exhibits better nominal performance under low robustness parameters due to delay compensation.</span></div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 445-458"},"PeriodicalIF":6.5,"publicationDate":"2025-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144621562","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

Precise tracking of underwater electric manipulator via model-based adaptive robust control with joint-friction compensation 基于模型的联合摩擦补偿自适应鲁棒控制水下电动机械臂精确跟踪。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-07 DOI: 10.1016/j.isatra.2025.07.005

Xincheng Hu , Chong Shen , Fanghao Huang , Deqing Mei , Zheng Chen

{"title":"Precise tracking of underwater electric manipulator via model-based adaptive robust control with joint-friction compensation","authors":"Xincheng Hu , Chong Shen , Fanghao Huang , Deqing Mei , Zheng Chen","doi":"10.1016/j.isatra.2025.07.005","DOIUrl":"10.1016/j.isatra.2025.07.005","url":null,"abstract":"<div><div>The underwater electric manipulator is potentially complemented to perform high-accuracy underwater operations, owing to the high accuracy and rapid response of motor-driven mechanisms. However, some special designs for sealing and pressure resistance in underwater environments result in increased joint-friction, model nonlinearity, and parameter uncertainty. Therefore, this paper proposes a model-based adaptive robust control design of underwater electric manipulators, with joint-friction compensation for precise tracking performance. Specifically, an adaptive robust controller with the basic dynamics model is designed firstly to ensure essential tracking performance. Additionally, joint-friction characteristics are meticulously considered to construct an improved LuGre model. This is followed by the parameter identification and the formulation of an additional joint-friction desired compensation control law. In comparative underwater experiments, it is verified that the proposed controller can effectively address model nonlinearity and parameter uncertainty with joint-friction compensation, thereby achieving precise tracking performance.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 266-279"},"PeriodicalIF":6.5,"publicationDate":"2025-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144661442","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

Model predictive control of nonlinear dynamical systems based on long sequence stable Koopman network 基于长序列稳定库普曼网络的非线性动力系统模型预测控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-07 DOI: 10.1016/j.isatra.2025.07.003

Qifan Wang , Yuhong Jin , Lei Hou , Chuanjiang Li , Nasser A Saeed , Ahmed Fouly , Emad Mahrous Awwad

{"title":"Model predictive control of nonlinear dynamical systems based on long sequence stable Koopman network","authors":"Qifan Wang , Yuhong Jin , Lei Hou , Chuanjiang Li , Nasser A Saeed , Ahmed Fouly , Emad Mahrous Awwad","doi":"10.1016/j.isatra.2025.07.003","DOIUrl":"10.1016/j.isatra.2025.07.003","url":null,"abstract":"<div><div>In recent years, the Koopman method has found numerous applications in the field of nonlinear control due to its ability to map nonlinear states into high-dimensional spaces, thereby transforming nonlinear control problems into linear or bilinear problems. However, Koopman methods based on deep learning<span><span><span> suffer from slow convergence, and the Koopman coefficients obtained through iterative processes cannot guarantee long-term prediction stability in the high-dimensional mapped space. To address these issues, we propose a Stable Deep Koopman Network with Model Predictive Control (SDKN-MPC) method for nonlinear control. The SDKN-MPC method utilizes the Stable Koopman Solver Algorithm to solve for a stable Koopman operator. It incorporates </span>neural network<span> training for embedding functions, with both training processes interleaved until convergence is achieved towards a unified stable solution. Subsequently, Model Predictive Control (MPC) is employed to control the high-dimensional </span></span>linear system<span><span><span> mapped through the Koopman operator, yielding high-dimensional desired inputs. These inputs undergo further processing through an auxiliary network to obtain the actual </span>predictive control inputs. The proposed method is subjected to long-term predictive performance testing across multiple typical nonlinear control tasks and is compared with existing deep learning-based approaches. The results demonstrate that our method can extract more effective </span>nonlinear features, converges rapidly, and exhibits superior predictive performance compared to existing methods.</span></span></div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 126-144"},"PeriodicalIF":6.5,"publicationDate":"2025-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144628339","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

Periodic event-triggered robust trajectory tracking control for underactuated unmanned surface vehicle without velocity measurement 欠驱动无人水面车辆无速度测量的周期事件触发鲁棒轨迹跟踪控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-06 DOI: 10.1016/j.isatra.2025.07.002

Enhua Zhang , Jian Wang , Xing Wang , Xiaofeng Liang

{"title":"Periodic event-triggered robust trajectory tracking control for underactuated unmanned surface vehicle without velocity measurement","authors":"Enhua Zhang , Jian Wang , Xing Wang , Xiaofeng Liang","doi":"10.1016/j.isatra.2025.07.002","DOIUrl":"10.1016/j.isatra.2025.07.002","url":null,"abstract":"<div><div><span>This paper proposes a periodic event-triggered control (PETC) algorithm for underactuated unmanned surface vehicle<span> (USV) subject to unknown exogenous perturbances within limited communication bandwidth. Initially, the underactuated USV model is reformulated using output redefinition-based dynamic inversion (ORDI) so that the system attains a well-defined relative degree through an approximate variable vector. While typical USV control strategies isolate the yaw and surge channel, the ORDI integrates both dimensions into a single framework to adopt a direct controller design. Subsequently, the minimum-learning-parameter </span></span>radial basis function<span> neural network<span><span> (RBFNN) with adaptive laws is employed to effectively approximate the nonlinear dynamics and external perturbations with rapid and fewer computations. After that, an anti-chattering velocity observer is presented to provide accurate velocity estimation based solely on position </span>data transmission<span>. Building on this, a PETC algorithm is introduced which balances the periodic sampling with traditional event-triggered control via a sliding mode manifold. This mechanism is designed to assess the requirement for computations and the subsequent transmission of updated measurements alongside current control signals. Furthermore, it can dynamically adjust the communication frequency between the controller and the actuators<span>, in accordance with the digital platform’s demands. Moreover, Theoretical analysis rigorously proves that state errors and estimation errors converge to equilibrium and ensure the system stability. Numerical simulations substantiate the robustness and superior performance of the proposed control scheme under bandwidth limitations and uncertain conditions.</span></span></span></span></div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"166 ","pages":"Pages 1-13"},"PeriodicalIF":6.5,"publicationDate":"2025-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144602641","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

Time-optimal global path planning and collision-avoidance local path planning for USVs in traffic separation scheme-implemented coastal waters 基于分道通航的沿海水域无人水面艇全局路径规划与避碰局部路径规划

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-04 DOI: 10.1016/j.isatra.2025.06.030

Yihan Tao, Jialu Du

{"title":"Time-optimal global path planning and collision-avoidance local path planning for USVs in traffic separation scheme-implemented coastal waters","authors":"Yihan Tao, Jialu Du","doi":"10.1016/j.isatra.2025.06.030","DOIUrl":"10.1016/j.isatra.2025.06.030","url":null,"abstract":"<div><div><span>Under multiple constraints including unmanned surface vehicle<span><span> (USV) dynamics, traffic separation scheme (TSS) requirements, navigable water boundaries, and safety thresholds for collision risks, time-optimal path planning and collision-avoidance (COLAV) path planning for USVs in TSS-implemented coastal waters remain challenging. To overcome this challenge, we innovatively develop a hierarchical Gaussian-process-based </span>nonlinear programming (GPNLP) approach for the USV time-optimal global path planning and COLAV local path planning. We model irregular static obstacles using </span></span>Gaussian process regression for the first time, such that navigable waters are more sufficiently utilized for path planning. A TSS compliance assessment function is created to output violation penalties for the TSS requirements that should be satisfied as far as practicable. Accordingly, we plan the time-optimal global path and the COLAV local path hierarchically by minimizing two integral objective functions (with respect to the TSS violation penalties) subject to the multiple constraints. Simulations and simulation comparison results demonstrate that both the planned USV time-optimal global path and COLAV local path under the proposed hierarchical GPNLP approach are USV dynamics compliant and TSS compliant.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"165 ","pages":"Pages 280-294"},"PeriodicalIF":6.5,"publicationDate":"2025-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144568249","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

Fuzzy modal time-scheduled control and L2-gain analysis for switched nonlinear systems 切换非线性系统的模糊模态时序控制与l2增益分析。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-07-02 DOI: 10.1016/j.isatra.2025.06.026

Jinling Wang , Jun-Guo Lu , Jiarong Li , Qinghao Zhang , Cheng Hu

引用次数: 0