ISA transactions最新文献_第7页

Dynamic formation tracking and fault-tolerant control of multi-agent systems based on distance and topology reconstruction methods 基于距离和拓扑重构方法的多智能体系统动态编队跟踪与容错控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-06-17 DOI: 10.1016/j.isatra.2025.06.006

Lu Liu , Yu Cui , Yonghua Wang , Jinglong Wen , Shuaishuai Kong , Yuhang Ma , Dan Liu , Peng Shi , Chenyang Xue

引用次数: 0

Nonlinear self-triggered MPC without terminal conditions for trajectory tracking 无终止条件的非线性自触发MPC轨迹跟踪。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-06-16 DOI: 10.1016/j.isatra.2025.06.005

Hai Zhao , Hongjiu Yang , Yuanqing Xia , Jinhui Zhang

引用次数: 0

Intelligent energy adaptive control of loader shoveling system 装载机铲土系统智能能量自适应控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-06-16 DOI: 10.1016/j.isatra.2025.06.021

Bingwei Cao , Changhao Mu , Jiaqi Dong , Guangliang Tian , Yuqi Wang

{"title":"Intelligent energy adaptive control of loader shoveling system","authors":"Bingwei Cao , Changhao Mu , Jiaqi Dong , Guangliang Tian , Yuqi Wang","doi":"10.1016/j.isatra.2025.06.021","DOIUrl":"10.1016/j.isatra.2025.06.021","url":null,"abstract":"<div><div>Loaders are often faced with various working objects during the shoveling process. The differences in working resistance and its time-varying unpredictability when shoveling different objects are the main causes of high energy consumption during the shoveling stage. In this paper, through the analysis of the shoveling process, the influence of the compacted layer on the working resistance is obtained. The constructed Discrete Element Method<span><span> (DEM) simulation model is used to elucidate that the timely lifting of the boom can have a destructive effect on the compacted layer. Moreover, considering the diversity of working objects, a study was carried out on the effect of different boom lifting ranges on the destruction of the compacted layer. The loader shoveling system's intelligent Energy Adaptive Control (EAC) strategy is constructed by integrating the material recognition model based on the Back Propagation (BP) </span>neural network<span> algorithm. This control strategy can output the set pilot pressure according to the material type, realize the intelligent adjustment of the lifting range of the boom with the change of material type, and reduce the working resistance during the shoveling stage. The peak engine power consumed while shoveling sand, gravel, and boulders decreased by 20.6 %, 19.1 %, and 10.9 %, respectively, improving the energy utilization rate of the loader shoveling system when facing different working objects.</span></span></div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"165 ","pages":"Pages 437-449"},"PeriodicalIF":6.5,"publicationDate":"2025-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144319062","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

Cascade alarm systems: A study on singular value analysis 串级报警系统：奇异值分析的研究。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-06-16 DOI: 10.1016/j.isatra.2025.06.023

J. Taheri-Kalani , M. Aliyari-Shoorehdeli , Gh. Latif-Shabgahi

{"title":"Cascade alarm systems: A study on singular value analysis","authors":"J. Taheri-Kalani , M. Aliyari-Shoorehdeli , Gh. Latif-Shabgahi","doi":"10.1016/j.isatra.2025.06.023","DOIUrl":"10.1016/j.isatra.2025.06.023","url":null,"abstract":"<div><div><span><span>This paper introduces a novel alarm system designed for use with both Independent and Identically Distributed (IID) and non-IID variables. The proposed algorithm, termed the Cascade Alarm System (CAS), utilizes the largest singular value of the signal as the basis for fault detection, employing k alarm subsystems. The greatest singular values<span> extracted from the Lagged Covariance Matrix (LCM) of a sliding window constitute the output of the first alarm subsystem. The CAS offers two primary advantages. First, each subsystem independently generates its own alarm signal, resulting in a more flexible multilevel architecture. Second, the multilevel structure, founded on </span></span>singular value decomposition (SVD), exhibits a filtering property that enhances its resilience to noise and inaccuracies. The maximum singular value effectively captures the essential information of the signal, ensuring that the filtering capabilities of the proposed method do not significantly compromise the performance of the alarm system or the integrity of critical signal information. The experimental results from the implementation of the proposed alarm system under various fault conditions demonstrate satisfactory performance. Additionally, the performance of the Cascade Alarm System has been compared with leading contemporary alarm system design methodologies, including median, </span>moving average filters<span>, delay timers, Cumulative Sum Control Chart (CUSUM), and serial method.</span></div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"165 ","pages":"Pages 497-509"},"PeriodicalIF":6.5,"publicationDate":"2025-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144337379","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 nonsingular fast terminal sliding mode control scheme for robust trajectory tracking of the underactuated EvoBot modular mobile robot in the vertical plane 欠驱动EvoBot模块化移动机器人垂直平面鲁棒轨迹跟踪的非奇异快速终端滑模控制方案。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-06-12 DOI: 10.1016/j.isatra.2025.06.013

H. Jokar , S. Amini Serajgah

{"title":"A nonsingular fast terminal sliding mode control scheme for robust trajectory tracking of the underactuated EvoBot modular mobile robot in the vertical plane","authors":"H. Jokar , S. Amini Serajgah","doi":"10.1016/j.isatra.2025.06.013","DOIUrl":"10.1016/j.isatra.2025.06.013","url":null,"abstract":"<div><div>A robust control strategy for the vertical plane motion of an underactuated EvoBot mobile robot, modeled as a serial double inverted pendulum<span><span><span><span>, is presented in this study. The control objectives include controlling both the directly actuated generalized coordinates and the non-actuated generalized coordinate, which is controllable through dynamic coupling with the actuated coordinates. In this regard, the system's dynamic equations are derived using the </span>Lagrangian approach. A new nonlinear and nonsingular sliding manifold is introduced, based on which a nonsingular fast terminal </span>sliding mode control<span> scheme is proposed for the trajectory tracking control of the robot. This approach addresses the challenges posed by underactuation, system nonlinearities, instability, parameter uncertainties, and </span></span>external disturbances<span><span>. Through Lyapunov stability analysis, it is proven that finite-time asymptotic convergence of the tracking error to zero is ensured when the uncertainty upper bound is known, and convergence to a </span>residual set is achieved when the upper bound is unavailable. The theoretical guarantees provided by the proposed control scheme are further validated through comprehensive MATLAB simulations, where its effectiveness is demonstrated under both low- and high-frequency disturbances as well as parameter uncertainties.</span></span></div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"165 ","pages":"Pages 83-97"},"PeriodicalIF":6.5,"publicationDate":"2025-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144532012","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

Research on the global energy optimization of multi-source and multi-actuator hydraulic systems based on dynamic programming and improved adaptive genetic algorithm 基于动态规划和改进自适应遗传算法的多源多作动器液压系统全局能量优化研究。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-06-11 DOI: 10.1016/j.isatra.2025.06.010

Yuhang Zhong , Wenting Chen , Zihao Chen , Guanyu Zhai , Chao Ai , Gexin Chen

{"title":"Research on the global energy optimization of multi-source and multi-actuator hydraulic systems based on dynamic programming and improved adaptive genetic algorithm","authors":"Yuhang Zhong , Wenting Chen , Zihao Chen , Guanyu Zhai , Chao Ai , Gexin Chen","doi":"10.1016/j.isatra.2025.06.010","DOIUrl":"10.1016/j.isatra.2025.06.010","url":null,"abstract":"<div><div><span><span>Multi-source and multi-actuator hydraulic systems (MSAHSs) are widely used in high-power energy transmission and construction machinery. However, individual control of each component without considering the overall power matching leads the system to the low-efficiency zone, results in environmental pollution and huge economic loss. Therefore, it is highly desirable to find a way of obtaining energy-saving green MSAHSs. In this paper, the </span>power consumption<span> model of closed MSAHSs is established firstly to analyze theoretical factors affecting the component efficiency and find that the hydraulic pressure is the key factor. On this basis, a multi-algorithm integration global power matching method is then proposed, which consist of </span></span>back propagation<span><span> (BP) neural network<span>, dynamic programming (DP) and improved adaptive genetic algorithm (IAGA). BP is used to construct efficiency prediction models for power elements (pumps, motors and engines) respectively, DP is used for elements’ high efficiency zone preliminary search, and IAGA is used to realize the global power matching of the multiple power units with energy conversion and transfer finally through optimal control parameters precise searching. Experiment is conducted on the closed MSAHS in a </span></span>hydraulic fracturing vehicle. Results demonstrate that the MSAHS applied with multi-algorithm integration method improves the overall efficiency to a highest fuel savings of 35.5 % under normal conditions compared with local power matching control.</span></div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"165 ","pages":"Pages 450-473"},"PeriodicalIF":6.5,"publicationDate":"2025-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144340710","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

Flow pulsation compensation based composite adaptive active disturbance rejection control for electro-hydrostatic actuators 基于流量脉动补偿的电动静液执行器复合自适应自抗扰控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-06-11 DOI: 10.1016/j.isatra.2025.06.014

Yaowen Ge, Xiaowei Yang, Weilin Zhu, Wenxiang Deng, Jianyong Yao

{"title":"Flow pulsation compensation based composite adaptive active disturbance rejection control for electro-hydrostatic actuators","authors":"Yaowen Ge, Xiaowei Yang, Weilin Zhu, Wenxiang Deng, Jianyong Yao","doi":"10.1016/j.isatra.2025.06.014","DOIUrl":"10.1016/j.isatra.2025.06.014","url":null,"abstract":"<div><div><span><span>Due to the residual pressure accumulated during the reciprocating movement of the plunger pump, there is a deviation between the flow pulsation and the theoretical calculation value. Current nonlinear control methods for the electro-hydrostatic </span>actuator (EHA) often oversimplify and compensate for flow pulsation linearly, neglecting its nonlinear characteristics and deviation effects. This approach increases matching uncertainties and amplifies noise due to higher control gains, thus limiting the improvement of control performance. To address this issue, this paper proposes a composite adaptive disturbance rejection control method based on flow pulsation compensation for the EHA. This method equates the flow pulsation model of the pump to a combination of a theoretical flow pulsation control input term and a </span>bounded disturbance term (the difference between the theoretical and actual flow pulsation), followed by the design of a composite adaptive law to handle parameter uncertainties, and the design of the expanded state observers based on position and pressure signals to estimate and compensate for the uncertainties nonlinearly. Finally, the effectiveness of the proposed method is verified by comparing with other control methods through experiments.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"165 ","pages":"Pages 486-496"},"PeriodicalIF":6.5,"publicationDate":"2025-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144304106","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

Analysis and design of oscillation frequency correction for servo resonance suppression 伺服谐振抑制中振荡频率校正的分析与设计。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-06-10 DOI: 10.1016/j.isatra.2025.06.011

Yanan Tang , Shaowu Lu , Puliang Yu , Bao Song

{"title":"Analysis and design of oscillation frequency correction for servo resonance suppression","authors":"Yanan Tang , Shaowu Lu , Puliang Yu , Bao Song","doi":"10.1016/j.isatra.2025.06.011","DOIUrl":"10.1016/j.isatra.2025.06.011","url":null,"abstract":"<div><div><span>Mechanical resonance<span><span> poses significant hazards to the normal operation of the servo systems. To mitigate mechanical resonance, online adaptive </span>notch filter<span><span> is extensive used, thus the precise determination of resonant frequency holds significant importance. However, in certain scenarios involving the high-bandwidth servo system, a phenomenon known as frequency shift can make the notch filter ineffective in addressing servo resonance. To solve this problem, an oscillation frequency correction scheme based on two improved sliding-mode observers (ISMOs) utilizing a dual-power approximation law is proposed. First, the oscillation frequency shift is analyzed around the system delay, which can be equivalently modeled using a Pade approximation method. Subsequently, a feedback loop featuring two adaptive </span>feedback coefficients is designed to automatically tune the </span></span></span>time factor<span>. Remarkably, the scheme can dynamically correct oscillation frequency, thereby promoting resonance suppression. At the same time, ISMOs-identified mechanical parameters provide critical foundations for feedback coefficient adjustment. It is worth noting that the dual-power approximation law effectively suppresses high-frequency chatter while maintaining parameter identification accuracy. Finally, the effectiveness of the scheme is validated through simulation and experimental results.</span></div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"165 ","pages":"Pages 422-436"},"PeriodicalIF":6.5,"publicationDate":"2025-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144337378","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

Solving a class of resource allocation problem under dynamic constraints: A predefined-time distributed optimization scheme 求解一类动态约束下的资源分配问题：一种预定义时间分布式优化方案。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-06-09 DOI: 10.1016/j.isatra.2025.05.045

Chuxiong Su, Zhongxu Chen, Zhengyuan Zhu, Hao Dai, Jing Chang

引用次数: 0

Voltage tracking and regulation of vehicle PEMFC system under low load condition based on fuzzy LQG hybrid strategy 基于模糊LQG混合策略的汽车PEMFC系统低负荷电压跟踪与调节。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2025-06-08 DOI: 10.1016/j.isatra.2025.06.008

Ze Liu , Sichuan Xu , Baitao Zhang , Sida Guo

引用次数: 0