ISA transactions最新文献

{"title":"Observer-based fractional-order dynamic terminal sliding mode control of active shock absorbing prostheses for lower limb amputees","authors":"Samane Memarzade,&nbsp;Mohammad Haddad Zarif,&nbsp;Alireza Alfi","doi":"10.1016/j.isatra.2025.01.007","DOIUrl":"10.1016/j.isatra.2025.01.007","url":null,"abstract":"<div><div>Recent biomedical engineering developments have empowered prosthetic devices to evolve from purely mechanical devices to more sophisticated controlled devices, allowing amputees to perform advanced locomotion modes such as passing stairs and walking on sloped surfaces. However, the strongly coupled nonlinear system dynamics make it difficult for the lower-limb prosthesis (LLP) to adapt to complex tasks and isolate the vibrations and acceleration from the residual limb soft tissue. In this regard, realizing the potential of active LLPs to increase user mobility and efficiency requires reliable, stable, and intuitive control strategies to provide a comfortable gait quality. In this study, a fractional-order dynamic terminal sliding mode controller (FDTSMC) is proposed to effectively isolate the residual limb soft tissue from the vibrations and acceleration arising from the pylon and foot. The proposed sliding surfaces guarantee the fast finite-time system states’ convergence, and the chattering is remarkably alleviated. Furthermore, since from the practical viewpoint, the actuators are non-ideal and are affected by dead-zone and hysteresis that degrade the LLP’s performance, an observer is augmented with the control system to estimate the lumped uncertainties and compensate for the effects of model nonlinear dynamics and disturbances. The closed-loop system stability is ensured in terms of Lyapunov concept. Comparative performance investigations in ideal and non-ideal situations are carried out, and the proposed control scheme’s favorable gait shock absorption performance over observer-based conventional SMC and dynamic SMC approaches is revealed.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 217-226"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143416439","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}

{"title":"Fuzzy reinforcement learning based control of linear systems with input saturation","authors":"Kainan Liu ,&nbsp;Xiaojun Ban ,&nbsp;Shengkun Xie","doi":"10.1016/j.isatra.2024.12.045","DOIUrl":"10.1016/j.isatra.2024.12.045","url":null,"abstract":"<div><div>This research introduces an innovative approach to optimal control for a class of linear systems with input saturation. It leverages the synergy of Takagi–Sugeno (T–S) fuzzy models and reinforcement learning (RL) techniques. To enhance interpretability and analytical accessibility, our approach applies T–S models to approximate the value function and generate optimal control laws while incorporating prior knowledge. By addressing the challenge of limited interpretability associated with conventional neural network utilization in RL, our approach utilizes segmented functions for saturation derivative characteristics approximation, effectively handling non-differentiability issues at saturation boundaries. Furthermore, our research presents a novel gradient identification method to overcome the impractical reliance on next-time-step State variables in RL for current-time-step policy improvements. This enables the derivation of optimal control laws corresponding to each fuzzy rule, ensuring practical applicability in the control field. The proposed methodology is rigorously evaluated through computer simulations, confirming its effectiveness, optimality, and convergence properties. This research contributes valuable insights and practical solutions to input-saturation control systems, offering a versatile and robust framework for real-world applications.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 405-414"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143043785","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}

{"title":"Predefined-time adaptive neural network decentralized control for large-scale interconnected systems with input hysteresis","authors":"Xiaoli Li ,&nbsp;Guoju Zhang ,&nbsp;Yingshan Zhou","doi":"10.1016/j.isatra.2025.01.016","DOIUrl":"10.1016/j.isatra.2025.01.016","url":null,"abstract":"<div><div>This study endeavors to develop a predefined-time adaptive neural network decentralized controller for large-scale interconnected nonlinear systems with input hysteresis. Within the framework of the backstepping technique, the proposed control scheme guarantees that the tracking error converges to a small bounded set within a predefined settling time. The upper limit of this convergence time is determined by a single adjustable control parameter. Modified command filter not only tackles the inherent “complexity explosion” issue in traditional backstepping methods but also effectively avoids chattering phenomena possibly induced by <span><math><mrow><mi>s</mi><mi>i</mi><mi>g</mi><mi>n</mi></mrow></math></span> function. An online approximator based on neural networks is utilized to address system uncertainties. Moreover, a novel predefined-time error compensation mechanism is constructed to compensate for the reduction in control accuracy caused by filtering errors. Two simulation case studies demonstrate the feasibility and effectiveness of the proposed control method.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 363-373"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143061772","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}

{"title":"Driving style classification and recognition methods for connected vehicle control in intelligent transportation systems: A review","authors":"Peng Mei ,&nbsp;Hamid Reza Karimi ,&nbsp;Lei Ou ,&nbsp;Hehui Xie ,&nbsp;Chong Zhan ,&nbsp;Guangyuan Li ,&nbsp;Shichun Yang","doi":"10.1016/j.isatra.2025.01.033","DOIUrl":"10.1016/j.isatra.2025.01.033","url":null,"abstract":"<div><div>Advancements in intelligent vehicle technology have spurred extensive research into the impact of driving style (DS) on intelligent transportation systems (ITS), aiming to enhance vehicle safety, comfort, and energy efficiency. Accurate DS identification is pivotal for accelerating ITS adoption, especially in regions where its implementation is still in its infancy. This paper investigates the role of DS recognition methods, particularly clustering and classification techniques, in influencing connected vehicle control and optimizing speed planning within ITS. While traditional speed planning approaches focus on general traffic models, this study emphasizes the critical role of DS in shaping personalized and adaptive speed planning. The paper highlights three primary DS recognition approaches: rule-based, model-based, and learning-based methods, and introduces a framework for integrating DS recognition with speed planning, addressing aspects such as data collection, preprocessing, and classification techniques. This focus provides a novel perspective on leveraging DS recognition to enhance ITS adaptability.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 167-183"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143076664","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}

{"title":"Adaptive global predefined-time control of robotic systems with output constraints via multiple multidimensional Taylor network","authors":"Wenjing He ,&nbsp;Yuqun Han ,&nbsp;Yukun Shi ,&nbsp;Youqing Wang","doi":"10.1016/j.isatra.2025.01.021","DOIUrl":"10.1016/j.isatra.2025.01.021","url":null,"abstract":"<div><div>Adaptive global predefined-time control is examined for the <span><math><mi>n</mi></math></span>-link robotic system, which involves output constraints. The primary challenge in designing the controller is not only to guarantee that the output constraints are never violated, but also to achieve global convergence of the tracking error within a predefined time. First, a barrier function is introduced to transform the output constrained system into an unconstrained system. Then, the command filtering technique is incorporated into the adaptive multiple multidimensional Taylor network (MMTN) control process. Furthermore, a compensation system is constructed to alleviate for errors arising from filtering. Notably, the designed multi-switching-based adaptive MMTN controller realizes the global stability of robotic systems. Finally, a two-link robotic system simulation is presented to demonstrate the feasibility of the proposed control strategy.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 468-476"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143375062","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}

{"title":"Data-driven controller design of discrete-time switched systems using virtual clock approach","authors":"Yapeng Li ,&nbsp;Tao Wang ,&nbsp;Weiming Xiang","doi":"10.1016/j.isatra.2025.01.032","DOIUrl":"10.1016/j.isatra.2025.01.032","url":null,"abstract":"<div><div>This paper presents a novel data-driven controller design methodology for discrete-time switching systems, emphasizing reduced conservativeness. This approach leverages both lifting and virtual clock approaches to achieve this goal. The paper thoroughly examines different application scenarios, including noise-free state measurable, noise-free state unmeasurable, and the consideration of noise. A compromise between conservativeness and applicability is also explored to relax usage restrictions. Importantly, the proposed controller design method is non-conservative in the noise-free case under specific conditions. Simulation results demonstrate that, in the presence of noise, the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance of the controllers significantly surpasses that of gain controllers based on traditional methods. Corresponding numerical and practical examples are added to all the methods presented to illustrate their validity.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 197-207"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143375063","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}

{"title":"Noninteracting optimal and adaptive torque control using an online parameter estimation with help of polynomials in EKF for a PMSM","authors":"Tanja Zwerger ,&nbsp;Paolo Mercorelli","doi":"10.1016/j.isatra.2024.12.037","DOIUrl":"10.1016/j.isatra.2024.12.037","url":null,"abstract":"&lt;div&gt;&lt;div&gt;This paper addresses a non-interacting torque control strategy to decouple the &lt;span&gt;&lt;math&gt;&lt;mi&gt;d&lt;/mi&gt;&lt;/math&gt;&lt;/span&gt;- and &lt;span&gt;&lt;math&gt;&lt;mi&gt;q&lt;/mi&gt;&lt;/math&gt;&lt;/span&gt;-axis dynamics of a permanent magnet synchronous machine (PMSM). The maximum torque per ampere (MTPA) method is used to determine the reference currents for the desired torque. To realize the noninteracting control, knowledge concerning the inductances &lt;span&gt;&lt;math&gt;&lt;msub&gt;&lt;mrow&gt;&lt;mi&gt;L&lt;/mi&gt;&lt;/mrow&gt;&lt;mrow&gt;&lt;mi&gt;d&lt;/mi&gt;&lt;/mrow&gt;&lt;/msub&gt;&lt;/math&gt;&lt;/span&gt; and &lt;span&gt;&lt;math&gt;&lt;msub&gt;&lt;mrow&gt;&lt;mi&gt;L&lt;/mi&gt;&lt;/mrow&gt;&lt;mrow&gt;&lt;mi&gt;q&lt;/mi&gt;&lt;/mrow&gt;&lt;/msub&gt;&lt;/math&gt;&lt;/span&gt; of the electrical machine is necessary. These two inductances are estimated by two extended Kalman filters (EKFs), which use a univariate polynomial as a model to describe the saturation effects of the PMSM. The Kalman filters (KF) are realized within a noninteracting control system to improve the observability of the inductance. Despite the non-perfect decoupling, thanks to the structural stochastic nature of the KFs, noninteracting cancellation errors are represented with its process noise and the inductances are estimated sufficiently well. In this sense, we can speak about KFs for and within noninteracting control. Estimating inductances is fundamental for optimal torque control, which is a viable approach to reducing mechanical vibration and disturbance. Moreover, the control strategy of model-based techniques must be adaptively tuned to work properly. Starting from the existing literature, a viable control structure is proposed in which the stability of the control loop using a Proportional Integral (PI) controller is shown for the resulting time-varying system. In fact, the model is represented as a time-varying system because of the presence of the variable inductances &lt;span&gt;&lt;math&gt;&lt;msub&gt;&lt;mrow&gt;&lt;mi&gt;L&lt;/mi&gt;&lt;/mrow&gt;&lt;mrow&gt;&lt;mi&gt;d&lt;/mi&gt;&lt;/mrow&gt;&lt;/msub&gt;&lt;/math&gt;&lt;/span&gt; and &lt;span&gt;&lt;math&gt;&lt;msub&gt;&lt;mrow&gt;&lt;mi&gt;L&lt;/mi&gt;&lt;/mrow&gt;&lt;mrow&gt;&lt;mi&gt;q&lt;/mi&gt;&lt;/mrow&gt;&lt;/msub&gt;&lt;/math&gt;&lt;/span&gt; and because of the presence of the velocity of the rotor which is not considered as a state. In this paper, a forward Euler discretization is used to realize the observer in the discrete experimental setup. Measures realized with hardware in the loop (HIL) show interesting results in the context of inductance estimation, due to the advantage of the reduction of the dimensions of the two decoupled EKFs resulting from the noninteraction control. Using the HIL simulator, the proposed torque control strategy is investigated, showing promising results in terms of increasing observability due to decoupling. This and the usage of univariate polynomials in EKF calculations lead to significant reduction of measurement points, reduction of oscillations and ripples, deviation between desired and achieved torque and reduction of disturbances. Moreover, the proposed control strategy using a very limited calculation load, at the same time, maintains the ripples inside the technical limits of the obtained torque. Both effects are d","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 452-467"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142974100","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}

{"title":"Smooth braking control of excavator hydraulic load based on command reshaping","authors":"Wenbo Fu ,&nbsp;Wenjuan Lu ,&nbsp;Haitao Liu ,&nbsp;Xiaoming Yuan ,&nbsp;Daxing Zeng","doi":"10.1016/j.isatra.2025.01.006","DOIUrl":"10.1016/j.isatra.2025.01.006","url":null,"abstract":"<div><div>Excavators, a type of human-operated construction machinery, suffer from poor hydraulic load braking stability, which seriously affects operator comfort. To address this challenge, this study investigates load braking laws through model analysis and designs an open-loop control algorithm called command reshaping, which can prolong the small-opening time of the main valve by segmentally adjusting the joystick command during load braking and then actively adjusting the key parameters reflecting the system’s kinetic-potential energy state, thereby suppressing braking oscillations. The experimental results based on a 1.5-ton excavator indicated that the proposed algorithm can significantly enhance braking stability with a small stop-position deviation, the maximum amplitude of the working pressure of the boom cylinder was reduced by at least 40 %, and the maximum amplitude of the swing motor speed was reduced by at least 54 %. Furthermore, the algorithm is easily implemented, cost-free, and suitable for the performance tuning of excavators.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 674-685"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142985637","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}

{"title":"Dynamic event-triggered tolerant containment control protocol for discrete multiagent systems based on finite index policy iteration algorithm","authors":"Shuya Yan ,&nbsp;Xiaocong Li ,&nbsp;Huaming Qian ,&nbsp;Abdullah Al Mamun","doi":"10.1016/j.isatra.2024.12.044","DOIUrl":"10.1016/j.isatra.2024.12.044","url":null,"abstract":"<div><div>For tolerant containment control of multi-agent systems, considering the challenges in modeling and the impact of actuator faults on system security and reliability, a finite index dynamic event-triggered policy iteration algorithm is proposed. This algorithm only requires input and output data, without relying on system models, and simultaneously considers the faults and energy consumption issues to improve the system reliability and save energy consumption. The conditions are provided to demonstrate the convergence and optimality of the algorithm, including a convergence speed, that is, the number of iterations required for convergence is finite. For the convenience of practical implementation, an actor–critic structure is adopted and an actor network weight tuning law with actuator fault factors is designed to more accurately approximate the control protocol in policy iteration algorithm. In addition, an event-triggered mechanism is employed in saving computational resources. Finally, simulation results verify the efficiency of the designed algorithm.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 21-31"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143019055","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}

{"title":"Prediction-based rapid force control of a single-acting pneumatic cylinder under hysteresis nonlinearity","authors":"Hongliang Hua ,&nbsp;Jing Zhang ,&nbsp;Che Zhao ,&nbsp;Zhilin Wu ,&nbsp;Jie Song ,&nbsp;Zhenqiang Liao","doi":"10.1016/j.isatra.2025.01.026","DOIUrl":"10.1016/j.isatra.2025.01.026","url":null,"abstract":"<div><div>Hysteresis characteristics widely affects the performance and reliability of pneumatic systems across various industrial applications. Addressing this challenge can significantly enhance system efficiency and precision. This paper aims to develop a rapid and accurate method for controlling the actuating force of a Single-Acting Pneumatic Cylinder (SAPC), considering hysteresis characteristic. To achieve these objectives, a Neural-Network-Prediction-based Proportional-Integral-Differential (NNP-PID) control strategy is introduced for the rapid prediction and precise control of the actuating force. Control experiments were conducted to elucidate the rapid control mechanism of the proposed NNP-PID strategy and assess its performance. Experimental results indicate that the developed neural network prediction model operates with a computational cost of 1.22 ms on an 8-bit microcontroller, thus meeting real-time control requirements. Compared to a conventional Proportional-Integral-Differential (PID) controller, the NNP-PID controller reduced control overshoot, rise time, settling time, and steady-state error by approximately 17.5 %, 65.9 %, 19.8 %, and 46.4 %, respectively.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 686-696"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143061775","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}