ISA transactions最新文献_第6页

Numerical algorithm for nonlinearity compensation of hardly constrained actuation for trajectory tracking control of deadzone-included dynamic systems 用于包含死区的动态系统轨迹跟踪控制的硬约束执行的非线性补偿数值算法

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-07-26 DOI: 10.1016/j.isatra.2024.07.025

{"title":"Numerical algorithm for nonlinearity compensation of hardly constrained actuation for trajectory tracking control of deadzone-included dynamic systems","authors":"","doi":"10.1016/j.isatra.2024.07.025","DOIUrl":"10.1016/j.isatra.2024.07.025","url":null,"abstract":"<div><p>This paper addresses the control of a nonlinear system affected by deadzone effects, using a constrained actuator. The system itself incorporates a second-order oscillatory dynamic actuator, with an unknown nonlinear input-output relationship. The proposed algorithm not only accommodates the deadzone constraints on control inputs but also considers the actuator's saturation limits in control input calculations. It introduces a trajectory tracking mechanism that, instead of directly following the primary trajectory, adheres to an alternative trajectory capable of stable tracking, gradually converging to the main trajectory while accounting for operational constraints. In practical control systems, the actuator's input-output relationship is often nonlinear and unknown, requiring inversion for model-based control. This paper employs an offline-trained neural network trained on synthetic data to identify and approximate the actuator's behavior. To optimize the control system's performance and ensure stability during sudden error changes, the control input operates in two modes: position and velocity control. This dual-mode control allows for continuous switching between the two, facilitated by an innovative optimization technique based on the gradient descent method with a variable step size. Simulation results validate the effectiveness of the proposed algorithm in controlling systems constrained by hard limits and featuring nonlinear oscillatory actuators, providing a valuable contribution to the field of control systems.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0019057824003598/pdfft?md5=92a988abf27b7d4b4e72246957a2a461&pid=1-s2.0-S0019057824003598-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141852869","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}

引用次数: 0

Fractional-Order Robust Control Design under parametric uncertain approach 参数不确定方法下的分数阶稳健控制设计

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-07-25 DOI: 10.1016/j.isatra.2024.07.023

{"title":"Fractional-Order Robust Control Design under parametric uncertain approach","authors":"","doi":"10.1016/j.isatra.2024.07.023","DOIUrl":"10.1016/j.isatra.2024.07.023","url":null,"abstract":"<div><p>This paper presents a novel methodology that combines fractional-order control theory with robust control under a parametric uncertainty approach to enhance the performance of linear time-invariant uncertain systems with integer or fractional order, referred to as Fractional-Order Robust Control (FORC). In contrast to traditional approaches, the proposed methodology introduces a novel formulation of inequalities-based design, thus expanding the potential for discovering improved solutions through linear programming optimization. As a result, fractional order controllers are designed to guarantee desired transient and steady-state performance in a closed-loop system. To enable the digital implementation of the designed controller, an impulse response invariant discretization of fractional-order differentiators (IRID-FOD) is employed to approximate the fractional-order controllers to an integer-order transfer function. Additionally, Hankel’s reduction order method is applied, thus making it suitable for hardware deployment. Experimental tests carried out in a thermal system and the assessment results, based on time-domain responses and robustness analysis supported by performance indices and set value analysis in a thermal system test-bed, demonstrate the improved and robust performance of the proposed FORC methodology compared to classical robust control under parametric uncertainty.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-07-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141851268","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

Finite-time prescribed performance tracking control for nonlinear time-delay systems with state constraints and actuator hysteresis 具有状态约束和致动器滞后的非线性时延系统的有限时间规定性能跟踪控制

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-07-24 DOI: 10.1016/j.isatra.2024.07.027

引用次数: 0

Modified super twisting control for robust trajectory tracking and hovering of quadrotor 用于四旋翼飞行器稳健轨迹跟踪和悬停的改进型超级扭转控制

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-07-23 DOI: 10.1016/j.isatra.2024.07.024

引用次数: 0

Optimal Controller Identification for multivariable non-minimum phase systems 多变量非最小相位系统的最佳控制器识别

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-07-22 DOI: 10.1016/j.isatra.2024.07.016

引用次数: 0

A preliminary study of combustion flame by digital image processing and residue for fireworks flash powder 通过数字图像处理和残留物对烟花闪光粉燃烧火焰的初步研究

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-07-22 DOI: 10.1016/j.isatra.2024.07.026

{"title":"A preliminary study of combustion flame by digital image processing and residue for fireworks flash powder","authors":"","doi":"10.1016/j.isatra.2024.07.026","DOIUrl":"10.1016/j.isatra.2024.07.026","url":null,"abstract":"<div><p>Fireworks play a vital role in festive celebrations and entertainment. These fireworks industries are administered by the Petroleum and Explosives Safety Organisation (PESO), Nagpur, Government of India. Even though PESO prescribed the standard composition for various fireworks products, concerns persist regarding the potential deviation from these standards, particularly in the pursuit of increased noise levels to attract consumers. This change in the burning and reactive properties of chemicals could potentially lead to accidents and environmental pollution. The current work investigated the combustion characteristics of two unknown market flash powder samples and a PESO standard sample. The samples were openly ignited in a controlled atmosphere, and video recordings of the resulting chemical flames were analyzed to determine fire area, flame intensity, and motion magnitude. The residues were also collected for EDAX and SEM analysis. Fire pixels from video frames are segmented to create a comprehensive database detailing flame area and motion magnitude under different circumstances. From the flame area profile, motion magnitude and SEM/EDAX analysis, it is found that PESO standard sample combustion is better than the unknown flash powder combustion.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141842351","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

Non-smooth optimization algorithm to solve the LINEX soft support vector machine 解决 LINEX 软支持向量机的非平滑优化算法。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-07-20 DOI: 10.1016/j.isatra.2024.07.021

引用次数: 0

Hydrodynamic analysis and manipulation control on a streamlined I-AUV 流线型 I-AUV 的流体动力学分析和操纵控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-07-20 DOI: 10.1016/j.isatra.2024.07.019

引用次数: 0

A SSA-based CFFOPID drop deloaded tidal turbine controller using HVDC-link 使用高压直流链路的基于 SSA 的新型 CFFOPID 跌落脱载潮汐涡轮机控制器

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-07-20 DOI: 10.1016/j.isatra.2024.07.015

{"title":"A SSA-based CFFOPID drop deloaded tidal turbine controller using HVDC-link","authors":"","doi":"10.1016/j.isatra.2024.07.015","DOIUrl":"10.1016/j.isatra.2024.07.015","url":null,"abstract":"<div><p>In contemporary scenario, electric power companies have observed upsurge in penetration level of tidal power plants (TPPs) in the traditional electric power system framework. However, the tidal turbines offer less frequency assistance due to their lesser rotor mass. Hence, TPPs may be collaborated with conventional units like diesel engine generator (DEG) to confirm system frequency stability in multi-area micro-grid system. The DEG comprises of primary and proportional integral derivative (PID) secondary frequency controls. However, in TPPs, to advance the system frequency regulation, deloading control approach is suggested and a cascade fuzzy fractional order PID-ID with derivative filter (CFFOPID-IDF) droop controller is suggested in place of the conventional non-cascade controller droop in the deloaded region. The suggested controller gains are fetched exploiting Salps swarm algorithm. For further enhancement of the dynamic responses, a precise high voltage direct current (AHVDC) link with the inertia emulation-based control (INEC) scheme is adopted, which allows the utilization of the gathered energy from the capacitance of the HVDC interface for frequency regulation. It provides better results compared to conventional AC tie line interface having less undershoot (34 %/20.63 %/43.75 %) and settling time (20.45 %/59.09 %/16.83 %) for variation in area-1 frequency/area-2 frequency/tie line power, respectively. The recommended control scheme is evidenced superior over numerous existing control techniques and provides least cost function in contrast to other control techniques. Additionally, it offers a highly stable performance under variable load conditions.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141842636","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

Backstepping based intelligent control of tractor-trailer mobile manipulators with wheel slip consideration 基于反步法的牵引车移动机械手智能控制，考虑车轮打滑问题

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2024-07-18 DOI: 10.1016/j.isatra.2024.07.020

{"title":"Backstepping based intelligent control of tractor-trailer mobile manipulators with wheel slip consideration","authors":"","doi":"10.1016/j.isatra.2024.07.020","DOIUrl":"10.1016/j.isatra.2024.07.020","url":null,"abstract":"<div><p>In this research, a new hybrid backstepping control strategy based on a neural network is proposed for tractor-trailer mobile manipulators in the presence of unknown wheel slippage and disturbances. To minimize the negative impacts of wheel slippage, the desired velocities of the tractor’s wheels are computed with a proposed kinematic control model with an adaptive term. As the system’s dynamical model contains unavoidable uncertainties, model-based backstepping control technique is unable to effectively manage these systems. Hence, the proposed controller blends a radial basis function neural network with the merits of a dynamical model-based backstepping approach. The neural networks are employed to approximate the non-linear unknown smooth function. To minimize the impact of external disturbances, and network reconstruction error an adaptive term is added to the control law. The Lyapunov theorem and Barbalat’s lemma are employed to guarantee the stability of the control method. The tracking error is shown to be bounded and to rapidly converge to zero with the proposed method. To demonstrate the efficacy and validity of the control mechanism, comparison simulation results are presented.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141841910","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