ISA transactions最新文献_第6页

Integral sliding mode control and stability for Markov jump systems with structured perturbations and time-varying delay driven by fractional Brownian motion 分数布朗运动驱动的具有结构化扰动和时变延迟的马尔可夫跃迁系统的积分滑模控制和稳定性

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-08-01 DOI: 10.1016/j.isatra.2024.05.025

引用次数: 0

Magnetic levitation system control based on a novel tracking differentiator 基于新型跟踪微分器的磁悬浮系统控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-08-01 DOI: 10.1016/j.isatra.2024.05.037

引用次数: 0

Adaptive differential steering strategy for distributed driving unmanned ground vehicle with variable configurations based on modified localized modelling sliding mode control 基于改进型局部建模滑模控制的分布式驾驶无人地面车辆自适应差分转向策略

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-08-01 DOI: 10.1016/j.isatra.2024.05.045

{"title":"Adaptive differential steering strategy for distributed driving unmanned ground vehicle with variable configurations based on modified localized modelling sliding mode control","authors":"","doi":"10.1016/j.isatra.2024.05.045","DOIUrl":"10.1016/j.isatra.2024.05.045","url":null,"abstract":"<div><p>When performing complex tasks such as position transfer and material transportation, the distributed driving unmanned platform with variable configurations needs to address the challenge of multi-wheel cooperative torque distribution control to achieve high-performance differential steering and enhance vehicle dynamics. The configuration change will impact the dynamic performance of the unmanned platform, posing a challenge to the performance of the existing control strategy based on mathematical model development. In order to address the aforementioned issues, this paper analyzes the impact of changes in vehicle configuration on steering gain and proposes a hierarchical adaptive differential steering strategy based on variable vehicle configurations. Firstly, the response characteristics of the yaw angle relative to the active yaw moment under the influence of changes in wheelbase and tread are analyzed. Based on this analysis, two structural modes, maneuverable and balanced, are selected. Secondly, a localized-modelling sliding mode control method with an extended state observer is proposed to estimate the desired yaw moment in the upper controller, considering the motor's execution delay. Then, the lower controller optimizes the torque of each wheel in real-time using the whale optimization algorithm. It aims to optimize tire energy dissipation and tire load rate while ensuring driving stability and achieving differential steering. Finally, through co-simulation and experiments on a scaled prototype, the reliability of the dynamics theory and the superiority of the control algorithm are validated. This optimization has led to significant improvements in the tire dissipation energy index and tire load rate index.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 391-408"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141274911","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

Secure output consensus for multi-agent systems under edge-based event-trigger against denial-of-service 基于边缘事件触发的多代理系统安全输出共识，对抗拒绝服务。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-08-01 DOI: 10.1016/j.isatra.2024.05.053

引用次数: 0

A model-based sliding mode control with intelligent distribution for a proportional valve driven by digital valve arrays 基于模型的滑动模式控制，用于数字阀阵列驱动的比例阀的智能分布

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-08-01 DOI: 10.1016/j.isatra.2024.05.027

{"title":"A model-based sliding mode control with intelligent distribution for a proportional valve driven by digital valve arrays","authors":"","doi":"10.1016/j.isatra.2024.05.027","DOIUrl":"10.1016/j.isatra.2024.05.027","url":null,"abstract":"<div><p>Parallel-connected digital valve arrays are commonly utilized in the pilot stage of the proportional directional valve to enhance dynamic performance and reliability. However, when the digital valve array is driven by a digital signal, it is difficult to optimally assign the signal pulses to each valve. If the assignment is not well executed, it can significantly reduce the switching uniformity of the digital valves or lead to performance degradation of the system. In this paper, a model-based sliding mode control strategy based on the intelligent distribution of control law is proposed and successfully applied to a proportional valve driven by digital valve arrays. The intelligent distribution strategy encompasses a logic distribution algorithm and a circular sliding distribution algorithm that automatically assigns control laws to different valves based on the rolling of the PWM signal cycle. Experimental results confirm that the proposed strategy not only simultaneously reduces the total number of valve switches and enhances the switching uniformity among the valves, but also adapts to the variation in the number of valves. The proposed strategy is not limited to the application of digital valve arrays, it is also applicable in other fields of multi-actuators driven by digital signals, and can simultaneously improve the control accuracy, lifetime, and maintenance friendliness.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 312-323"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141048565","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

Fully distributed consensus of discrete-time linear multi-agent systems with large input and communication delays 具有大输入和通信延迟的离散时间线性多代理系统的全分布式共识。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-08-01 DOI: 10.1016/j.isatra.2024.05.047

引用次数: 0

Event-triggered finite-time formation tracking of multi-agent systems with mismatched disturbances under switching topologies 切换拓扑下具有不匹配干扰的多代理系统的事件触发有限时间编队跟踪

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-08-01 DOI: 10.1016/j.isatra.2024.05.031

{"title":"Event-triggered finite-time formation tracking of multi-agent systems with mismatched disturbances under switching topologies","authors":"","doi":"10.1016/j.isatra.2024.05.031","DOIUrl":"10.1016/j.isatra.2024.05.031","url":null,"abstract":"<div><p>The formation tracking of the leader–follower multi-agent systems (MASs) under switching topologies is investigated. The considered system is exposed to both the mismatched and matched disturbances in the dynamics of the leader and followers, which places higher requirements for the robustness of the control protocol. In the presence of disturbances and leader’s unknown control input, an innovative distributed observer embedded with robust terms is designed firstly to estimate leader’s states in finite time. Taking account of the switching topologies, a novel analysis scheme that divides the convergence process into two stages is proposed to establish the finite-time (FT) convergence of estimation errors. Then, by virtue of a constructed auxiliary variable, a FT controller with an event-triggered mechanism is put forward, in which multiple robust feedback terms are designed wisely to suppress the mismatched and matched disturbances effectively. As a result, the FT formation tracking can be achieved with saved resources, despite perturbed environments and switching topologies. Simulation examples are presented to confirm the effectiveness of the proposed algorithm.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 19-32"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141130746","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 novel dynamic outlier-robust Kalman filter with Moving Horizon Estimation 具有移动地平线估计功能的新型动态离群值稳健卡尔曼滤波器

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-08-01 DOI: 10.1016/j.isatra.2024.05.035

引用次数: 0

Non-overshooting tracking control for nonlinear systems with prescribed finite-time 具有规定有限时间的非线性系统的非过冲跟踪控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-08-01 DOI: 10.1016/j.isatra.2024.05.054

引用次数: 0

Robust distributed fixed-time cooperative hunting control for multi-quadrotor with obstacles avoidance 具有避障功能的多四旋翼飞行器的鲁棒分布式固定时间合作狩猎控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-08-01 DOI: 10.1016/j.isatra.2024.05.048

{"title":"Robust distributed fixed-time cooperative hunting control for multi-quadrotor with obstacles avoidance","authors":"","doi":"10.1016/j.isatra.2024.05.048","DOIUrl":"10.1016/j.isatra.2024.05.048","url":null,"abstract":"<div><p>This paper addressed the robust distributed fixed-time cooperative hunting problem of multiple quadrotors subject to disturbances in obstacles environment. To handle the underactuated issue inherent in quadrotor dynamics, an inner–outer (attitude-position) loop cascade control configuration is proposed to achieve the cooperative flight control of quadrotors. For position subsystem, as the information of target cannot be accessible to all quadrotors, a distributed fixed-time observer is devised to estimate the target’s information. To improve the system’s robustness, a fixed-time extended state observer is designed to reject disturbances actively. Based on two observers, the sliding mode position encirclement control protocol with repulsive force is presented to avoid obstacles and encircle the target within a fixed time. For attitude subsystem, a sliding mode attitude tracking control protocol is proposed such that tracking errors can converge to zero even under disturbances. The stability analysis is performed to show the stabilization of the whole closed-loop system with fixed-time convergence. Finally, two sets of comparison simulation are provided to show the superiority of the developed control strategy.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 73-85"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141294083","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