ISA transactions最新文献

{"title":"A general TD-Q learning control approach for discrete-time Markov jump systems","authors":"Jiwei Wen ,&nbsp;Huiwen Xue ,&nbsp;Xiaoli Luan ,&nbsp;Peng Shi","doi":"10.1016/j.isatra.2025.02.032","DOIUrl":"10.1016/j.isatra.2025.02.032","url":null,"abstract":"<div><div>This paper develops a novel temporal difference Q (TD-Q) learning approach, designed to address the robust control challenge in discrete-time Markov jump systems (MJSs) which are characterized by entirely unknown dynamics and transition probabilities (TPs). The model-free TD-Q learning method is uniquely comprehensive, including two special cases: Q learning for MJSs with unknown dynamics, and TD learning for MJSs with undetermined TPs. We propose an innovative ternary policy iteration framework, which iteratively refines the control policies through a dynamic loop of alternating updates. This loop consists of three synergistic processes: firstly, aligning TD value functions with current policies; secondly, enhancing Q-function’s matrix kernels (QFMKs) using these TD value functions; and thirdly, generating greedy policies based on the enhanced QFMKs. We demonstrate that, with a sufficient number of episodes, the TD value functions, QFMKs, and control policies converge optimally within this iterative loop. To illustrate efficiency of the developed approach, we introduce a numerical example that highlights its substantial benefits through a thorough comparison with current learning control methods for MJSs. Moreover, a structured population dynamics model for pests is utilized to validate the practical applicability.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"160 ","pages":"Pages 111-121"},"PeriodicalIF":6.3,"publicationDate":"2025-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143607623","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":"A synchronous control strategy of robot social behavior driven by scenario information and neural modulation mechanism","authors":"Renkai Liu ,&nbsp;Xiaorui Liu ,&nbsp;Hang Su ,&nbsp;Jinpeng Yu","doi":"10.1016/j.isatra.2025.03.002","DOIUrl":"10.1016/j.isatra.2025.03.002","url":null,"abstract":"<div><div>Robots have been widely employed in scenarios that involve various environmental factors and social individuals. As one kind of social companion, robot is supposed to obey human social protocol and display anthropomorphic behaviors. In this paper, we focus on the problem of robot behavior control in multi-individuals scenarios, and build a coordinated robot behavior model containing body movement/orientation, head rotation and eyeball movement. Within the proposed model, a synchronous control strategy based on social space theory and neural modulation mechanism is proposed. This strategy collects RGB-D camera stream and acoustic field data perceived from multi-individuals scenario, and controls the robot to complete movement and social gaze behaviors. As for the eye-head coordinated gaze behavior, it is modulated by a novel optimal control algorithm based on the minimum neural transmission noise. Above works are validated on the Xiaopang robot platform, the experimental observations indicate that the robot can achieve anthropomorphic response in dynamic multi-individuals scenario. Within above promising results, the effectiveness of this strategies could be proven</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"160 ","pages":"Pages 279-288"},"PeriodicalIF":6.3,"publicationDate":"2025-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143744654","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":"Geometric attitude tracking control of quadrotor UAVs with adaptive extended state observers","authors":"Liping Wang,&nbsp;Jiapeng Chen,&nbsp;Yuyuan Huang,&nbsp;Yongbin Zhu,&nbsp;Hailong Pei","doi":"10.1016/j.isatra.2025.02.025","DOIUrl":"10.1016/j.isatra.2025.02.025","url":null,"abstract":"<div><div>This paper studies a geometric attitude tracking control problem of quadrotor unmanned aerial vehicles (UAVs) with adaptive extended state observers (AESOs). Through coordinate transformation, the error dynamic of AESO can be transformed into a canonical form which is easier to analyze by linear time-varying theory. In the presence of unknown disturbances and system uncertainties, the estimated error and stability of AESO can be analyzed. Simultaneously, a geometric tracking controller is developed on SO(3) with AESOs which guarantees that the error exponentially converges to a bounded set related to the estimated error. Some examples and a flight test are given to verify the availability of the control scheme.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"160 ","pages":"Pages 289-297"},"PeriodicalIF":6.3,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143639874","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":"Optimized nonlinear robust controller along with model-parameter estimation for blood glucose regulation in type-1 diabetes","authors":"Atif Rehman ,&nbsp;Syed Hassan Ahmed ,&nbsp;Iftikhar Ahmad","doi":"10.1016/j.isatra.2025.02.030","DOIUrl":"10.1016/j.isatra.2025.02.030","url":null,"abstract":"<div><div>Glucose acts as a fundamental energy source for cells and plays a pivotal role in various physiological processes, including metabolism, signaling, and cellular control. Maintaining precise regulation of blood glucose levels is crucial for overall health and equilibrium. To achieve this balance, insulin is administered either orally or through an artificial pancreas (AP) during sleep, utilizing control algorithms based on mathematical models to regulate blood glucose concentration (BGC). The extended Bergman minimal model (EBMM) is an advanced mathematical framework that incorporates a state variable to accommodate disturbances in insulin levels triggered by factors such as meal intake or exercise-induced sugar burning. In our study, we propose robust nonlinear controllers: adaptive backstepping sliding mode control (AB-SMC), and adaptive backstepping integral super twisting sliding mode control (ABIST-SMC) and compare these with the backstepping sliding mode control (B-SMC) for stabilizing BGC in type 1 diabetic patients. These controllers aim to regulate blood glucose levels in type 1 diabetic patients by providing robust and adaptive control strategies that mitigate disturbances and ensure stability, ultimately enhancing health outcomes and quality of life. Moreover, adaptive parameter estimation is incorporated to eliminate the need for exact model parameter values for control design. The controller gains are meticulously fine-tuned using improved grey wolf optimization, with the integral time absolute error serving as the objective function. Notably, the ABIST-SMC controller emerges as the most efficient, achieving the desired reduction level in less than 1.92 min. The stability of the proposed controllers is rigorously analyzed using the Lyapunov control theory, demonstrating their capability to achieve asymptotic stability. Simulations are conducted to evaluate and compare the performance of the suggested controllers. Additionally, hardware validation is executed using a hardware-in-loop experimental setup.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"160 ","pages":"Pages 163-174"},"PeriodicalIF":6.3,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143639887","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":"A pruning-aware dynamic slimmable network using meta-gradients for high-speed train bogie bearing fault diagnosis","authors":"Jingsong Xie ,&nbsp;Sha Cao ,&nbsp;Tongyang Pan ,&nbsp;Tiantian Wang ,&nbsp;Jinsong Yang ,&nbsp;Jinglong Chen","doi":"10.1016/j.isatra.2025.02.031","DOIUrl":"10.1016/j.isatra.2025.02.031","url":null,"abstract":"<div><div>Although intelligent fault diagnosis achieves remarkable achievements, computation efficiency is a commonly ignored problem in existing studies. Pruning network networks enable us to find compact models that not only retain the diagnosis accuracy, but also consume fewer computation resources for training and inference. However, current studies are inefficient in building a saliency criterion for parameter importance evaluation. In this paper, we identify a pruning-aware dynamic slimmable network which uses the meta-gradients to select unnecessary parameters to prune. The slimmable network is designed with two sub-networks, called the classifier and the evaluator to generate meta-gradients for parameter pruning. And an iterative pruning algorithm is proposed to improve computation efficiency while retaining diagnosis performance. Our method is verified on a high-precision bogie fault simulation experimental data set and achieves state-of-art performance in terms of accuracy and efficiency compared with existing studies.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"160 ","pages":"Pages 196-204"},"PeriodicalIF":6.3,"publicationDate":"2025-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143744652","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":"Event-triggered boundary consensus force control for PDE modeling multi-flexible manipulators with both actuator delay and communication delay","authors":"Xinyang Ma,&nbsp;Jinkun Liu","doi":"10.1016/j.isatra.2025.02.026","DOIUrl":"10.1016/j.isatra.2025.02.026","url":null,"abstract":"<div><div>A distributed adaptive consistency controller is designed for PDE modeling multi-flexible manipulators with both actuator delay and communication delay. The input integral is fed back into the controller to avoid the influence of the actuator delay. The adaptive law is designed to observe the ideal signal for the agent without the ideal signal information. The event-triggered method is used in the adaptive law to reduce information transmission pressure and simplify analysis. Based on the integral Krasovskii Lyapunov function and the adaptive law, the designed controller works even with the unknown communication delay between manipulators. A matrix composed of the system and controller parameters is designed, representing the convergence rate of the system, and the optimization function FMINCON is used to optimize the matrix, in order to obtain appropriate controller coefficients. Control goal realization and the stability of the closed-loop system are proven via the Lyapunov direct method. Simulation results verify the effectiveness of the proposed controller.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"160 ","pages":"Pages 72-86"},"PeriodicalIF":6.3,"publicationDate":"2025-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143588695","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-based tuning of bumpless feedforward for tracking of multi-phase trajectories with application to wire-bonding machine","authors":"Yifan Xu ,&nbsp;Silu Chen ,&nbsp;Zhuang Xu ,&nbsp;Chi Zhang ,&nbsp;Weizhen Wang ,&nbsp;Dunant Halim","doi":"10.1016/j.isatra.2025.02.028","DOIUrl":"10.1016/j.isatra.2025.02.028","url":null,"abstract":"<div><div>To improve the settling time for high-speed point-to-point motion, a piecewise-model feedforward controller is introduced which utilizes multiple inverse sub-models with bumpless transfer between them. As the transfer function of this bumpless feedforward controller is non-commutative and non-invertible, a set of special perturbation and reference inputs are designed to extract the signals required for computing the gradient of the cost function. In this way, the optimal parameters within different motion phases are found within an integrated process. It is experimentally demonstrated in a wire-bonding machine that the root-mean-square of tracking error is improved by at least 15.3% in settling phase by the proposed data-based tuning method with bumpless feedforward controller, compared with existing tuning methods with uniform feedforward controller.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"160 ","pages":"Pages 257-267"},"PeriodicalIF":6.3,"publicationDate":"2025-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143607641","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":"Modeling and design of power conditioning unit of CubeSat electrical power subsystem with robust nonlinear MPPT controller","authors":"Muhammad Noman,&nbsp;Usman Ali Afzal,&nbsp;Iftikhar Ahmad,&nbsp;Shahzad Ahmed","doi":"10.1016/j.isatra.2025.02.020","DOIUrl":"10.1016/j.isatra.2025.02.020","url":null,"abstract":"<div><div>Two non-inverting buck-boost converters, one for each solar panel of the X and Y axes of CubeSat have been used to condition the power with a common output capacitor on DC bus. The power generated from each axis of the solar panel is added to the DC-bus along with the power generated by the less illuminated solar panels. For the proposed model, Synergetic control, Sliding Mode Control, and Super Twisting Sliding Mode Control algorithms have been implemented for the MPPT, and their results are compared with each other. The results indicate that the ST-SMC performs well and gives the best dynamic performance and robustness under varying load conditions of temperature, irradiance, and disturbance. Moreover, the stability of the system is validated by using the Lyapunov stability criterion.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"160 ","pages":"Pages 150-162"},"PeriodicalIF":6.3,"publicationDate":"2025-03-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143569161","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":"Event-triggered output feedback control for low-order stochastic nonlinear time-delay systems with stochastic inverse dynamics","authors":"Liuliu Zhang ,&nbsp;Peng Wang ,&nbsp;Changchun Hua","doi":"10.1016/j.isatra.2024.12.031","DOIUrl":"10.1016/j.isatra.2024.12.031","url":null,"abstract":"<div><div>This paper focuses on the problem of event-triggered output feedback control for low-order stochastic nonlinear time-delay systems with stochastic inverse dynamics. Before proceeding, it is necessary to address several technical obstacles. Firstly, the strategy of varying the supply rate is paired with stochastic-input-to-state-stable (SISS) to address immeasurable stochastic inverse dynamics. Secondly, a novel reduced-order observer with a set of constant gains is designed. In addition, an event-triggered output feedback controller is developed and a new analytical approach is applied to show that the Zeno behavior does not happen. With the aid of the Lyapunov stability theory, it is proved that the closed-loop system is globally asymptotically stable in probability. Finally, a simulation example is presented to illustrate the effectiveness of the proposed event-triggered control scheme.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 11-20"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143506662","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":"ACC ad","authors":"","doi":"10.1016/S0019-0578(25)00137-5","DOIUrl":"10.1016/S0019-0578(25)00137-5","url":null,"abstract":"","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages II-III"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143594155","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}