ISA transactions最新文献_第8页

Model predictive motion/force control in robotic grinding system for turbine blade 涡轮叶片机器人磨削系统的模型预测运动/力控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-04-26 DOI: 10.1016/j.isatra.2025.04.031

Ziling Wang, Lai Zou, Jiantao Li, Junjie Zhang, Wenxi Wang

{"title":"Model predictive motion/force control in robotic grinding system for turbine blade","authors":"Ziling Wang, Lai Zou, Jiantao Li, Junjie Zhang, Wenxi Wang","doi":"10.1016/j.isatra.2025.04.031","DOIUrl":"10.1016/j.isatra.2025.04.031","url":null,"abstract":"<div><div>The nonlinear time-varying contact state and low robot motion accuracy in the robot grinding system cause unstable contact forces and position errors in tool paths, reducing the grinding quality. This is particularly problematic when grinding complex curved workpieces such as turbine blades. Therefore, a model predictive motion/force control (MPMFC) algorithm is proposed to achieve precise control of the robot's trajectory and contact force. In this algorithm, an online trajectory interpolation method between adjacent cutter-contact (CC) points is first implemented to acquire the ideal trajectory information of the robotic end-effector within one control cycle. Furthermore, the control system of the MPMFC is developed based on optimum control, incorporating an admittance model for contact force prediction between the workpiece and grinding tool, as well as a robot kinematics model for motion prediction. Simulation and experiments are conducted to verify the superiority of the control algorithm. The force control accuracy and position control accuracy with the MPMFC method during the tracking process of the blade are respectively 1.934 N and 0.132 mm, which are improved by over 38 % and 37 % than that with some conventional motion/force controllers.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"162 ","pages":"Pages 256-271"},"PeriodicalIF":6.3,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144015134","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

Zeta converter: Kharitonov polynomials based interval reduced order modeling Zeta转换器：基于Kharitonov多项式的区间降阶建模。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-04-26 DOI: 10.1016/j.isatra.2025.04.014

V.P. Meena , V.P. Singh

引用次数: 0

Adaptive path following control for autonomous surface vehicles towed by a single tugboat with output constraints 带输出约束的单拖船拖曳自主水面车辆自适应路径跟踪控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-04-26 DOI: 10.1016/j.isatra.2025.04.019

Qiang Guo, Xianku Zhang

{"title":"Adaptive path following control for autonomous surface vehicles towed by a single tugboat with output constraints","authors":"Qiang Guo, Xianku Zhang","doi":"10.1016/j.isatra.2025.04.019","DOIUrl":"10.1016/j.isatra.2025.04.019","url":null,"abstract":"<div><div>This paper proposes an adaptive fixed-time path-following control scheme for autonomous tugboats towing vessels, addressing both performance and feasibility constraints. To establish a clear path relationship, the kinematic models of the tugboat and the towed vessel are decoupled, allowing coordinated control through the tugboat’s propulsion system and towline dynamics. Building on this foundation, a barrier Lyapunov function combined with an adaptive backstepping approach is employed to design a controller that ensures high navigation accuracy while meeting output constraints. To achieve seamless coordination, a consensus-based dynamic controller is developed, enabling velocity and heading synchronization between the tugboat and the towed vessel. Furthermore, a fixed-time convergence algorithm is incorporated, guaranteeing system stability and error convergence within a predefined time frame. To enhance robustness against nonlinear uncertainties and external disturbances, radial basis neural networks and adaptive robust terms are integrated into the control framework. Finally, simulation results validate the effectiveness of the proposed approach, demonstrating precise path-following performance and reliable error convergence under complex operational conditions.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"162 ","pages":"Pages 75-84"},"PeriodicalIF":6.3,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144015094","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

Retraction notice to “Application of robust information game decision theory for risk-assessment problem in large scale users” [ISA Trans 116 (2021) 167–181] 关于“稳健信息博弈决策理论在大规模用户风险评估问题中的应用”的撤回通知[ISA Trans 116 (2021) 167-181]

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-04-24 DOI: 10.1016/j.isatra.2025.04.029

Chich-Jen Shieh , Inna Pustokhina , Aleksandr A. Rudenko , Sergey A. Sedov , Olga Yurevna Nedorezova , Achla Anderson

引用次数: 0

Switching event-triggered self-adjusting prescribed performance force control of electrohydraulic load simulator 开关事件触发的电液负载模拟器自调节规定性能力控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-04-23 DOI: 10.1016/j.isatra.2025.04.010

Jiafeng Li , Ruihang Ji , Hao Yan , Jiefeng Shan , Zanwei Chen

引用次数: 0

Fault detection and tolerant control with a variable-bandwidth extended state observer for electro-hydraulic servo systems with lumped disturbance and measurement noise 带有集总扰动和测量噪声的电液伺服系统的变带宽扩展状态观测器故障检测与容错控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-04-23 DOI: 10.1016/j.isatra.2025.04.013

Xing Ren , Qing Guo , Tieshan Li , Dan Jiang , Yan Shi

{"title":"Fault detection and tolerant control with a variable-bandwidth extended state observer for electro-hydraulic servo systems with lumped disturbance and measurement noise","authors":"Xing Ren , Qing Guo , Tieshan Li , Dan Jiang , Yan Shi","doi":"10.1016/j.isatra.2025.04.013","DOIUrl":"10.1016/j.isatra.2025.04.013","url":null,"abstract":"<div><div>In this study, a novel fault detection and tolerant control method are presented for electro-hydraulic servo systems (EHSS) with actuator partial loss of effectiveness (LOE) fault. Meanwhile, the parameter uncertainties, external disturbances, and output measurement noise are also considered. Firstly, we construct a new mapping function with a simple and flexible structure, and then design a variable-bandwidth extended state observer (VBESO) based on this function to estimate the states and lumped disturbance of the system. The designed VBESO can not only balance estimation accuracy and noise sensitivity, but also decouple the fault component from the lumped disturbance, thus facilitating fault detection. Subsequently, we design an adaptive law with time-varying gain that can accurately approximate the actuator LOE coefficient, and propose a stable fault detection scheme by combining the designed adaptive law, with the detection results that are less affected by changes in system states. The mutual coordination of the mentioned decoupling, adaptive law, and time-varying gain is a key feature of our method, rarely seen in other works. Furthermore, a fault-tolerant controller with the proposed VBESO and adaptive law is developed, which can guarantee that, even in the presence of the considered adverse obstacles, the hydraulic cylinder maintains high tracking accuracy and the control performance can be promptly recovered after an actuator fault occurs. Finally, the proposed method is validated by simulations and experiments, and it is compared with other controllers in different scenarios.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"162 ","pages":"Pages 287-300"},"PeriodicalIF":6.3,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143995623","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

Acceleration control in a dual-stage inertial stabilization system using embedded-parallel-based repetitive-peak compensation 基于嵌入式并行重复峰值补偿的双级惯性稳定系统加速度控制。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-04-22 DOI: 10.1016/j.isatra.2025.04.009

Zhiyong Yu , Tianrong Xu , Tao Tang

{"title":"Acceleration control in a dual-stage inertial stabilization system using embedded-parallel-based repetitive-peak compensation","authors":"Zhiyong Yu , Tianrong Xu , Tao Tang","doi":"10.1016/j.isatra.2025.04.009","DOIUrl":"10.1016/j.isatra.2025.04.009","url":null,"abstract":"<div><div>Acceleration control demonstrates high sensitivity to nonlinear vibrations in the inertial stabilized motion, usually serving as the preferred choice for observation systems in applications like space optical communications, enabling precise tracking and pointing. However, the stabilization performance is limited by the inadequate gain at mid- to high-frequencies in conventional acceleration control, as well as other nonlinear factors like flexibility and backlash. In this paper, an embedded-parallel-based stabilization methodology is proposed for an acceleration-based dual-stage inertial system to achieve additional notch shaping of the sensitivity function. The essence of this method involves implementing a repetitive controller with a low waterbed effect, paralleled with a peak compensator at a specific frequency to establish an efficient and rapid compensation structure. Relying exclusively on a repetitive controller proves effective in eliminating uncertain periodic vibrations, acting as a substitute for an infinite number of peak compensators. Incorporating an additional mid- to low-frequency peak compensator, designed based on the priori narrowband vibration spectrum, is considered an auxiliary supplement to the repetitive controller. Crucially, this parallel structure neither destabilizes the system nor imposes significant computational burden. Simulations and experiments were conducted at typical vibration frequencies of 1-4 Hz, and experimental results demonstrated a 35%–48% improvement in acceleration stabilization performance, enhancing the system’s capability to reject non-strictly periodic vibrations beyond the control bandwidth.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"162 ","pages":"Pages 243-255"},"PeriodicalIF":6.3,"publicationDate":"2025-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144056128","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

Free-will arbitrary time optimization for multi-agent systems with time-varying function 具有时变函数的多智能体系统的自由意志任意时间优化。

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-04-19 DOI: 10.1016/j.isatra.2025.04.004

Jia Wu , Wenyan Tang , Wenzhong Lei , Yongfang Xie , Touseef Ali

引用次数: 0

A prescribed-time functional observer for systems with unknown input 具有未知输入的系统的规定时间函数观测器

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-04-15 DOI: 10.1016/j.isatra.2025.03.024

Jiatong He , Jiancheng Zhang , Yan Wang , Xudong Zhao

{"title":"A prescribed-time functional observer for systems with unknown input","authors":"Jiatong He , Jiancheng Zhang , Yan Wang , Xudong Zhao","doi":"10.1016/j.isatra.2025.03.024","DOIUrl":"10.1016/j.isatra.2025.03.024","url":null,"abstract":"<div><div>This paper different from traditional approaches, proposes a novel method where the target vector <span><math><mi>z</mi></math></span> is treated as the state variable of an observer LTI system by system reformulations, which greatly facilitates the use of the classical Luenberger state observer to address the prescribed-time functional observer (PTFO) design issue. Subsequently, for the newly formulated LTI system with <span><math><mi>z</mi></math></span> as the state variable, a PTFO is developed for the single-output case that is capable of accurately estimating <span><math><mi>z</mi></math></span> within a user-defined time, and is subsequently extended to the multiple-output case. More importantly, it can avoid the jumps that usually occur in Engel’s prescribed-time observers. Besides, The sufficient and necessary conditions for PTFO realization are explicitly formulated through the original system matrices, thereby enabling designers/users to conduct preliminary compatibility assessments prior to control scheme implementation. Finally, two examples are presented to demonstrate the effectiveness of the proposed method.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"161 ","pages":"Pages 88-96"},"PeriodicalIF":6.3,"publicationDate":"2025-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143904487","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

Adaptive observer-based bipartite tracking consensus for nonlinear multi-agent systems with unknown sensor failures 具有未知传感器故障的非线性多智能体系统的自适应观测器二部跟踪一致性

IF 6.3 2区计算机科学

ISA transactions Pub Date : 2025-04-15 DOI: 10.1016/j.isatra.2025.03.019

Yun Chen , Huiling Xu , Zhiping Lin , Yuqing Chen , Zhengcai Li , Jun Zhang

引用次数: 0