ISA transactions最新文献_第8页

Adaptive performance enhancement control for flexible-joint manipulator with model uncertainties and actuator failures 具有模型不确定性和执行器失效的柔性关节机械臂自适应性能增强控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-02-01 Epub Date: 2025-12-18 DOI: 10.1016/j.isatra.2025.12.026

Hejia Gao , Yuanyuan Zhao , Chuanfeng He , Tanyu Chen , Changyin Sun

{"title":"Adaptive performance enhancement control for flexible-joint manipulator with model uncertainties and actuator failures","authors":"Hejia Gao , Yuanyuan Zhao , Chuanfeng He , Tanyu Chen , Changyin Sun","doi":"10.1016/j.isatra.2025.12.026","DOIUrl":"10.1016/j.isatra.2025.12.026","url":null,"abstract":"<div><div>This paper focuses on flexible-joint robotic manipulators (FJRM), which possess numerous advantages such as high flexibility, precision, and fault-tolerance capabilities. However, FJRM are susceptible to various factors that may cause malfunctions during dynamic operations. These malfunctions not only compromise the operational stability and accuracy of the manipulator but also significantly shorten the equipment’s service life. To address these issues, developing an effective control strategy is of significant practical importance. This paper proposes a novel adaptive performance enhancement (APE) control method to effectively tackle model uncertainties and actuator failures in FJRM systems. An adaptive neural network (ANN) algorithm is designed to achieve accurate trajectory tracking of uncertain robotic systems by compensating for modeling errors. A non-singular terminal sliding mode (NTSM) policy is proposed to realize compliance control of robotic manipulators, which enhances the system’s robustness and interference suppression ability. The stability of the closed-loop system is subsequently validated using Lyapunov’s direct method. Finally, the effectiveness of the proposed control method is demonstrated through simulations and experiments conducted on the Gazebo simulation platform and the Baxter robot. Comparative analysis with fuzzy neural network (FNN), neural network (NN) and PD control methods further underscores the superiority of the proposed method in terms of control performance.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 628-639"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145829465","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

Data-based iterative learning control for nonlinear systems subject to iteration-dependent durations 基于数据的迭代学习控制与迭代相关的非线性系统。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-02-01 Epub Date: 2025-12-20 DOI: 10.1016/j.isatra.2025.12.034

Yuxin Wu , Deyuan Meng , Jian Sun

引用次数: 0

Multivariate Gaussian process-based learning model predictive control with unscented Kalman filter for autonomous surface vehicles 基于多元高斯过程的无气味卡尔曼滤波学习模型预测控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-02-01 Epub Date: 2025-12-30 DOI: 10.1016/j.isatra.2025.12.047

Zhi-Jie Wu, Li-Ying Hao

{"title":"Multivariate Gaussian process-based learning model predictive control with unscented Kalman filter for autonomous surface vehicles","authors":"Zhi-Jie Wu, Li-Ying Hao","doi":"10.1016/j.isatra.2025.12.047","DOIUrl":"10.1016/j.isatra.2025.12.047","url":null,"abstract":"<div><div>Modeling the nonlinear dynamics of autonomous surface vehicles (ASVs) is a complex challenge, driven by the intricate interplay of hydrodynamic effects and environmental uncertainties. In response to this challenge, this paper develops the system state and observation dynamics for ASVs using multivariate Gaussian process regression (MVGPR), then designs a learning-based model predictive control (MPC) scheme for trajectory tracking of ASVs. First, we introduce the application of MVGPR to model the ASVs dynamics, enabling accurate multi-input and multi-output correlation and uncertainty estimation, addressing the limitations of traditional Gaussian process regression (GPR) in high-dimensional settings. Based on the learned models, an unscented Kalman filter (UKF) is designed to improve state estimation accuracy through prior prediction and posterior updating, ensuring robustness even under unmeasurable states. Additionally, considering the impact of denial-of-service (DoS) attacks in communication networks, an MVGPR-based learning MPC framework is developed. By leveraging predictive capabilities, this framework eliminates the need for external compensators. The proposed method achieves robust and precise trajectory tracking while improving system stability under complex and uncertain maritime environments. Finally, the effectiveness of the proposed learning-based MPC algorithm is verified through comparative simulations and hardware experiments.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 408-418"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145954486","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

Fixed-time sliding mode composite control with prescribed performance for uncertain Stewart parallel mechanism tracking in task space 任务空间不确定Stewart并联机构跟踪的定时滑模组合控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-02-01 Epub Date: 2025-12-25 DOI: 10.1016/j.isatra.2025.12.041

Yu Tang, Guoqin Gao

{"title":"Fixed-time sliding mode composite control with prescribed performance for uncertain Stewart parallel mechanism tracking in task space","authors":"Yu Tang, Guoqin Gao","doi":"10.1016/j.isatra.2025.12.041","DOIUrl":"10.1016/j.isatra.2025.12.041","url":null,"abstract":"<div><div>To improve the tracking control performance in task space of the Stewart parallel mechanism (SPM) with disturbances and uncertainties, a fixed-time sliding mode composite control with prescribed performance (FxT-SMCC-PP) method is developed. First, by constructing a sliding mode term adaptive to the changes of the lumped uncertainty, and embedding fixed-time performance parameters, a fixed-time adaptive sliding mode disturbance observer (FxTASMDO) is designed. Second, the SPM’s tracking error is constrained by an asymmetric hyperbolic cosecant prescribed performance function and transformed into a steady equivalent error by modifying the constraint transformation function. Based on the equivalent error, a fixed-time sliding mode control with prescribed performance is designed and combined with FxTASMDO to form the FxT-SMCC-PP, which can achieve the SPM’s fast and non-overshoot transient response, high steady-state tracking accuracy, and reduction in control energy consumption. Finally, the effectiveness of FxT-SMCC-PP is validated through simulation and prototype experiments.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 614-627"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145866873","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

Dynamic-gain neural network observer based prescribed performance backstepping sliding mode control of uncertain nonlinear systems 基于动态增益神经网络观测器的不确定非线性系统预定性能反步滑模控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-02-01 Epub Date: 2025-12-13 DOI: 10.1016/j.isatra.2025.12.024

Linping Chan, Haiping Du, Chengxin Huo

引用次数: 0

Neuroadaptive fixed-time prescribed performance for full-state-constrained uncertain systems using dynamic surface control approach and its application 全状态约束不确定系统的神经自适应定时性能动态面控制方法及其应用。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-02-01 Epub Date: 2025-12-13 DOI: 10.1016/j.isatra.2025.12.021

Zhangbao Xu , Maokun Zhang , Jianyong Yao

{"title":"Neuroadaptive fixed-time prescribed performance for full-state-constrained uncertain systems using dynamic surface control approach and its application","authors":"Zhangbao Xu , Maokun Zhang , Jianyong Yao","doi":"10.1016/j.isatra.2025.12.021","DOIUrl":"10.1016/j.isatra.2025.12.021","url":null,"abstract":"<div><div>In this article, precise control of a class of full-state constrained systems with uncertainty and unknown dynamics is studied. A neuroadaptive strategy is proposed to address unknown dynamics and parametric uncertainties. Moreover, disturbance observers are built to estimate unknown disturbances. Subsequently, a novel Lyapunov function incorporating an asymmetric prescribed performance function is constructed, ensuring that the tracking error converges to a small region within a fixed time. Furthermore, a neuroadaptive fixed-time prescribed performance controller with full-state constraints and disturbance compensation is developed, avoiding the use of tracking error transformation function in previous prescribed performance control and thus simplifying the controller design process. Moreover, dynamic surface technology is adopted to prevent the differential explosion problem generated in backstepping design. In addition, Lyapunov theory proves that the error system is locally ultimately exponentially bounded, and the asymmetric fixed-time prescribed tracking performance is guaranteed without violating any state constraints. Finally, the designed controller is tested by experiments.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 667-682"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145784187","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

Co-design of dynamic event-triggered mechanism and observer-based control for networked systems under hybrid cyber attacks: A GA-LMI-based approach 混合网络攻击下网络系统动态事件触发机制和基于观察者控制的协同设计：基于ga - lmi的方法。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-02-01 Epub Date: 2026-01-09 DOI: 10.1016/j.isatra.2026.01.008

Tao Yu , Zhanpeng Wang , Zhiying Wu

{"title":"Co-design of dynamic event-triggered mechanism and observer-based control for networked systems under hybrid cyber attacks: A GA-LMI-based approach","authors":"Tao Yu , Zhanpeng Wang , Zhiying Wu","doi":"10.1016/j.isatra.2026.01.008","DOIUrl":"10.1016/j.isatra.2026.01.008","url":null,"abstract":"<div><div>This paper presents a co-design framework for an observer-based controller and a dynamic event-triggered mechanism (DETM) in networked control systems subject to hybrid cyber attacks. The hybrid attacks, including false data injection and replay attacks, are modeled using two independent Bernoulli processes. To reduce the network load a DETM is introduced between the sensor and controller with limited communication bandwidth. The closed-loop system’s stability and <span><math><msub><mi>H</mi><mrow><mi>∞</mi></mrow></msub></math></span> performance are ensured through the derivation of nonlinear matrix inequalities. To address the nonlinear coupling in the co-design conditions, a variable transformation and matrix decomposition approach are employed to decouple the controller gains. However, this method relies on predefined DETM parameters, which may limit design flexibility. To overcome this issue a GA-LMI-based co-design algorithm is proposed to jointly optimize the controller and DETM parameters. Simulation results demonstrate that the proposed method achieves better <span><math><msub><mi>H</mi><mrow><mi>∞</mi></mrow></msub></math></span> performance compared to some existing approaches. The effectiveness and low conservatism of the method are further validated through its application to a buck DC-DC converter system under hybrid cyber attacks.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 165-178"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146000203","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

Optimized actuator-fault-tolerant control using reinforcement learning for attitude dynamic system of quadrotor unmanned aerial vehicle 基于强化学习的四旋翼无人机姿态动态系统执行器容错优化控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-02-01 Epub Date: 2026-01-12 DOI: 10.1016/j.isatra.2026.01.011

Guoxing Wen , Guanlong Li , Lingyu Zhang , Lu Zhang , Lixia Liu

{"title":"Optimized actuator-fault-tolerant control using reinforcement learning for attitude dynamic system of quadrotor unmanned aerial vehicle","authors":"Guoxing Wen , Guanlong Li , Lingyu Zhang , Lu Zhang , Lixia Liu","doi":"10.1016/j.isatra.2026.01.011","DOIUrl":"10.1016/j.isatra.2026.01.011","url":null,"abstract":"<div><div>This study proposes a fault-tolerant optimized backstepping (OB) control for the attitude system having actuator failure of quadrotor unmanned aerial vehicle (QUAV). The design principle of OB technology is to perform reinforcement learning (RL) in every backstepping subsystem, so that the entire backstepping control can attain optimization performance. However, owing to the complication and intricateness of OB control algorithm, it will make the QUAV attitude control tenderly happen system failures when executing the long-time running and high-intensity works. For devising the OB attitude control to have the fault-tolerate capability, the RL is integrated with an adaptive estimation of the proportion term of unknown efficiency factor and bias signal of fault actuator model. So as to achieve the integration smooth, the RL training laws of critic and actor networks are deduced in accordance with gradient descent method of a simple positive function that is equivalent to Hamilton-Jacobi-Bellman (HJB) equation, so that it can significantly reduce the complexity of RL algorithm. Finally, effectiveness of this attitude control scheme is demonstrated through Lyapunov stability proof and simulation example.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 294-301"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146032415","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

Self-triggered adaptive dynamic programming based on experience-replay and spectral adaptive law 基于经验重播和频谱自适应规律的自触发自适应动态规划。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-02-01 Epub Date: 2025-12-09 DOI: 10.1016/j.isatra.2025.12.008

Yuteng Tian , Xuemei Ren , Yongfeng Lv , Chao Zhang , Dongdong Zheng

{"title":"Self-triggered adaptive dynamic programming based on experience-replay and spectral adaptive law","authors":"Yuteng Tian , Xuemei Ren , Yongfeng Lv , Chao Zhang , Dongdong Zheng","doi":"10.1016/j.isatra.2025.12.008","DOIUrl":"10.1016/j.isatra.2025.12.008","url":null,"abstract":"<div><div>In this paper, a novel self-triggered adaptive dynamic programming (ADP) framework is proposed, integrating experience replay (ER) and a spectral adaptive law (SPAL) for optimal control of unknown nonlinear systems. Firstly, in ADP-based optimal control solution methods, a critic neural network (NN) is often used to approximate its cost function, and we design a new critic NN weight updating law based on the SPAL, which improves the system’s generalization ability and makes it possible to solve the optimal control problem efficiently with different initial values. Then, a robust ADP method based on the ER technique is proposed in which a SPAL-based NN system identifier is used to provide data for ER, which systematically enhances the robustness of the ER-based ADP framework. Finally, since the sensors in the event-triggered ADP-based approach require continuous monitoring of the system state to compute the triggering conditions, to avoid this problem, we use a self-triggered mechanism that allows direct prediction of the next triggering moment based on the current state. The effectiveness and communication conservation of the proposed algorithm are verified by a simulation experiment.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 137-149"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145770582","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

Fast integral terminal synchronous sliding mode control for pantograph robots 受电弓机器人快速积分终端同步滑模控制。

IF 6.5 2区计算机科学

ISA transactions Pub Date : 2026-02-01 Epub Date: 2025-12-08 DOI: 10.1016/j.isatra.2025.12.016

Muhammad Ali Hassan , Zhenwei Cao , Kamal Rsetam , Yusai Zheng , Zhihong Man

{"title":"Fast integral terminal synchronous sliding mode control for pantograph robots","authors":"Muhammad Ali Hassan , Zhenwei Cao , Kamal Rsetam , Yusai Zheng , Zhihong Man","doi":"10.1016/j.isatra.2025.12.016","DOIUrl":"10.1016/j.isatra.2025.12.016","url":null,"abstract":"<div><div>In this paper, a fast integral terminal synchronous sliding mode control (FITSSMC) is newly proposed for a 2-degree-of-freedom (2-DOF) pantograph robot (PR). Firstly, the mathematical modeling of the PR is established using inverse kinematics, forward kinematics, and servo motor dynamics. Secondly, the FITSSMC is developed based on the norm-normalized sign function (NNSF) to guarantee the fast synchronous convergence of the position tracking errors of the two servo motors that the PR consists of. Based on the novel exponential piecewise functions, the sliding surface and the reaching law of the proposed FITSSMC are constructed for fast tracking error convergence. Moreover, an integral term is utilized in the proposed FITSSMC to ensure singularity avoidance and strong robustness towards external disturbances. To estimate the unmeasurable states of both servo motors in the PR, two finite-time state observers (FTSOs) are designed. Thirdly, the synchronous and finite-time stability of the PR control system under the FITSSMC is analyzed using the Lyapunov method. Thus, the proposed control scheme is able to achieve the fast synchronous convergence and minimize the synchronous position tracking errors of both motors of the PR. Finally, the comparative simulation and experimental results on the PR demonstrate the superior performance of the proposed control with the fast synchronous convergence and better tracking accuracy in the presence of uncertainties and external disturbances.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"169 ","pages":"Pages 179-193"},"PeriodicalIF":6.5,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145835704","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