ISA transactions最新文献

{"title":"Improved performance of a shunt hybrid active power filter by a robust exponential functional link network-based nonlinear adaptive filter control to enhance power quality","authors":"","doi":"10.1016/j.isatra.2024.05.036","DOIUrl":"10.1016/j.isatra.2024.05.036","url":null,"abstract":"<div><p>This research article details the design and implementation of a nonlinear adaptive filtering (NAF) technique using an exponential functional link network (EFLN) for a shunt hybrid active power filter (SHAPF) control to solve the current-associated power quality issues on the utility side at the distribution level of electrical power systems. Separation of the fundamental component from the harmonics, achieving unity power factor operation, reducing the reactive power drawn from the source, balancing the currents during transients, and reduction of total harmonic distortion (THD) of the source current are the issues considered to resolve. The proposed technique solves these issues by generating the sinusoidal reference current and separating the fundamental current from the harmonics. When compared to conventional and existing adaptive filtering techniques such as least mean square (LMS), least mean fourth (LMF), and variable step size LMS (VSS-LMS), the proposed EFLN-NAF method excels in terms of speedy convergence, adaptability in noise-specific environments and reduced steady-state coefficient error. MATLAB/Simulink software is utilized to perform the simulations to examine the suggested strategy for the chosen SHAPF topology both in static and dynamic scenarios. For a 15 kW and 3kVAr requirement of the nonlinear load, simulation results proved that the designed PPF for 2kVAr is able to share the reactive power with the APF, thereby reducing its rating and cost. The proposed method of filtering has been proven to be fast converging with 0.049 s, and the THD in steady state is brought to 1.32 % in steady-state and to 3.77 % during transient conditions, which are under standard limits. A hardware prototype of the experimental setup is constructed at the laboratory scale with OPAL-RT (OP4510) as the controller. With an active and reactive power demand of 1.1 kW and 210VAr, the designed PPF supplies 110 VAr, whereas the rest is supplied by the APF. The practical THD in source current is observed to be 2.081 %, which meets the standards. The results from both simulations and experiments are validated, and the efficacy of the proposed technique in mitigating the aforementioned power quality issues is proved.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 324-349"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141131268","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}

{"title":"A remaining useful life prediction algorithm incorporating real-time and integrated model for hidden actuator degradation","authors":"","doi":"10.1016/j.isatra.2024.05.033","DOIUrl":"10.1016/j.isatra.2024.05.033","url":null,"abstract":"<div><p>This paper proposed a prediction algorithm for the degraded actuator taking into account the impact of estimation error of hidden index in the closed-loop system. To this end, a unified prediction framework is established to evaluate the hidden degradation information and recursively update the degradation model parameters simultaneously. The advantage is that the prediction framework can comprehensively compensate the estimation error of hidden degradation index caused by system uncertainty. To jointly estimate the degradation information in avoidance of the impact of system uncertainty, a modified adaptive Kalman filter is designed, and the proof of stability is provided. With the priori estimate from the filter, the degradation model parameters are updated by the inverse filtering probability based on Bayes’ theorem. It is followed by the computation of the remaining useful life (RUL) prediction utilizing aforementioned hidden degradation information and the latest degradation model. The effectiveness of the proposed RUL prediction algorithm is demonstrated by the degraded actuator in the continuous casting process.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 243-257"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141142725","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}

{"title":"Sparse Wasserstein stationary subspace analysis for fault detection and diagnosis of nonstationary industrial processes","authors":"","doi":"10.1016/j.isatra.2024.05.043","DOIUrl":"10.1016/j.isatra.2024.05.043","url":null,"abstract":"<div><p>Fault detection and diagnosis of nonstationary processes are crucial for ensuring the safety of industrial production systems. However, the nonstationarity of process data poses multifaceted challenges to them. First, conventional stationary fault detection methods encounter difficulties in discerning evolving trends within nonstationary data. Secondly, the majority of current nonstationary fault detection methods directly extract features from all variables, rendering them susceptible to redundant interference. Moreover, nonstationary trends possess the capacity to conceal and modify the correlations among variables. Coupled with the smearing effect of faults, it is challenging to achieve accurate fault diagnosis. To address these challenges, this paper proposes sparse Wasserstein stationary subspace analysis (SWSSA). Specifically, a <span><math><msub><mrow><mi>ℓ</mi></mrow><mrow><mn>2</mn><mo>,</mo><mi>p</mi></mrow></msub></math></span>-norm constraint is introduced to endow the stationary subspace model with excellent sparse representation capability. Furthermore, recognizing that fault variables within the sparse stationary subspace influence only a limited subset of stationary sources, this paper proposes a novel contribution analysis method based on local dynamic preserving projection (LDPP), termed LDPPBC, which can effectively mitigate the smearing effect on nonstationary fault diagnosis. LDPPBC establishes a LDPP matrix by extracting the latent positional information of fault variables within the stationary subspace. This allows LDPPBC to selectively analyze the contributions of variables within the latent fault subspace to achieve precise fault diagnosis while avoiding the interference of variable contributions from the fault-free subspace. Finally, the superiority of the proposed method is thoroughly validated through a numerical simulation, a continuous stirred tank reactor, and a real industrial roaster.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 285-295"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141285689","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}

{"title":"Integral barrier Lyapunov function-based fixed-time integrated guidance and control with asymmetric field-of-view angle constraints","authors":"","doi":"10.1016/j.isatra.2024.06.004","DOIUrl":"10.1016/j.isatra.2024.06.004","url":null,"abstract":"<div><p>The missile integrated guidance and control (IGC) problem with seeker’s asymmetric field-of-view (FOV) angle constraints is addressed. In the introduced model, the fin deflections controller is used to drive the body line-of-sight angle rate, which avoids the solving and tracking of aerodynamic angles in traditional IGC method. A novel fixed-time convergence virtual input based on the integral barrier Lyapunov function is designed to ensure the asymmetric FOV angle constraints are never violated. The virtual input is tracked by a new proposed pre-defined fixed time controller with adjustable initial convergence speed. The lumped uncertainty including aerodynamic coefficient and target maneuvering is coped by the fixed-time disturbance observer. It is proved that the closed-loop system states are converged to the bounded region in a fixed-time and the asymmetric FOV angle constraints are satisfied. The 6-degree of freedom flight simulations and comparisons verified the advantages of the proposed algorithm.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 183-197"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141397344","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}

{"title":"Output-feedback path-following control of underactuated AUVs via singular perturbation and interconnected-system technique","authors":"","doi":"10.1016/j.isatra.2024.05.052","DOIUrl":"10.1016/j.isatra.2024.05.052","url":null,"abstract":"<div><p>This paper focuses on the output-feedback control for path-following of underactuated autonomous underwater vehicles subject to multiple uncertainties and unmeasured velocities. First, a novel extended state observer is proposed to estimate the mismatched lumped disturbance and recover the unmeasured velocities. Based on this premise, to overcome the limitation of relying solely on the accurate kinematic model, a disturbance observer-based stabilizing controller is developed. The difference in bandwidths between the observer and the vehicle dynamics allows for a mathematical setup amenable to standard singular perturbation theory. In the fast mode, a kinematic observer is designed to reject system uncertainty caused by unknown attack angular velocity and prohibitive path-tangential angular velocity, using a novel physical perspective. In the slow mode, an interconnected-system control law is proposed by integrating the backstepping technique with the time scale decomposition method. Furthermore, the stability of the overall closed-loop system is established. Finally, simulation results are presented to demonstrate the effectiveness of the proposed method for path-following of underactuated autonomous underwater vehicles in the vertical plane.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 103-116"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141400013","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}

{"title":"Composite control based on FNTSMC and adaptive neural network for PMSM system","authors":"","doi":"10.1016/j.isatra.2024.05.026","DOIUrl":"10.1016/j.isatra.2024.05.026","url":null,"abstract":"<div><p>In this paper, a novel fixed-time non-singular terminal sliding mode control (NFNTSMC) method with an adaptive neural network (ANN) is proposed for permanent magnet synchronous motor (PMSM) system to improve PMSM performance. For nominal PMSM system without disturbance, a novel fixed-time non-singular terminal sliding mode control is designed to achieve fixed-time convergence property to improve the dynamic performance of the system. However, parameters mismatch and external load disturbances generally exist in PMSM system, the controller designed by NFNTSMC requires a large switching gain to ensure the robustness of the system, which will cause high-frequency sliding mode chattering. Therefore, an adaptive radial basis function (RBF) neural network is designed to approximate the unknown nonlinear lumped disturbance including parameters mismatch and external load disturbances online, and then the output of the neural network can be compensated to the NFNTSMC controller to reduce the switching gain and sliding mode chattering. Finally, the fixed-time convergence property and stability of the system are proved by Lyapunov method. The simulation and experimental results show that the presented strategy possesses satisfactory dynamic performance and strong robustness for PMSM system. And the proposed control scheme also provides an effective and systematic idea of the controller design for PMSM.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 198-211"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141136826","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}

{"title":"Adaptive neural fault-tolerant prescribed performance control of a rehabilitation exoskeleton for lower limb passive training","authors":"","doi":"10.1016/j.isatra.2024.06.001","DOIUrl":"10.1016/j.isatra.2024.06.001","url":null,"abstract":"<div><p>This article studies the passive tracking problem of a wearable exoskeleton for lower limb rehabilitation therapy in the face of unmodeled dynamics, interactive friction, disturbance, prescribed performance constraints, and actuator faults. Adaptive neural networks and a smooth performance function are incorporated to establish a novel fault-tolerant tracking scheme, which can not only compensate for the nonlinear uncertainties and disturbance, but also handle the actuator fault with guaranteed tracking performance. A state feedback controller is presented by using the full state information and an output feedback controller is developed when the angular velocity is unavailable. The differential explosion issue of the backstepping technique is resolved by constructing a first-order filter and the unmeasurable velocity is estimated by a nonlinear observer. Semiglobal uniform boundedness stabilities of the exoskeleton system are proved via the Lyapunov direct method. The tracking performances of the designed control approaches are tested by comparative simulations.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 143-152"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141274134","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}

{"title":"Fall prediction, control, and recovery of quadruped robots","authors":"","doi":"10.1016/j.isatra.2024.05.039","DOIUrl":"10.1016/j.isatra.2024.05.039","url":null,"abstract":"<div><p>When legged robots perform complex tasks in unstructured environments, falls are inevitable due to unknown external disturbances. However, current research mainly focuses on the locomotion control of legged robots without falling. This paper proposes a comprehensive decision-making and control framework to address the falling over of quadruped robots. First, a capturability-based fall prediction algorithm is derived for planar single-contact and 3D multi-contact locomotion with a predefined gait sequence. For safe fall control, a novel contact-implicit trajectory optimization method is proposed to generate both state and input trajectories and contact mode sequences. Specifically, incorporating uncertainty into the system and terrain models enables mitigating the non-smoothness of contact dynamics while improving the robustness of the resulting trajectories. Furthermore, a model-free deep reinforcement learning-based approach is presented to achieve fall recovery after the robot completes a fall. Experimental results demonstrate that the proposed fall prediction algorithm accurately predicts robot falls with up to 95% accuracy approximately 395ms in advance. Compared to classical locomotion controllers, which often struggle to maintain balance under significant pushes or terrain perturbations, the presented framework can autonomously switch to the fall controller approximately 0.06s after the perturbation, effectively preventing falls or achieving recovery with a threefold reduction in touchdown impact velocity. These findings highlight the effectiveness of the proposed framework in enhancing the stability and safety of legged robots in unstructured environments.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 86-102"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141294082","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}

{"title":"Parallel event-triggered dynamic output feedback control for nonlinear networked systems with randomly occurring multiple communication delays","authors":"","doi":"10.1016/j.isatra.2024.05.029","DOIUrl":"10.1016/j.isatra.2024.05.029","url":null,"abstract":"<div><p>This paper investigates the issue of parallel event-triggered (PET) dynamic output feedback control for networked control systems (NCSs) built by the discrete-time T–S fuzzy model. Initially, a novel PET dynamic output feedback controller is designed. Based on saving network resources and enhancing transmission efficiency, the PET strategy makes full use of relative and absolute triggering condition information. And the dynamic output feedback control can not only address unmeasurable states but also provide a better response to the internal information of the system. The random multiple communication delays and the <span><math><mi>ℓ</mi></math></span>th-order Rice fading model with different channel coefficients, meanwhile, are both applied in the system. It is closer to the actual situation. Subsequently, new sufficient conditions of membership function dependence are proposed via the staircase function approximation method combined with Lyapunov stability. It guarantees that the system is exponentially mean square stable (EMSS) with <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance. Ultimately, the presented results are validated using two examples. In the future, we will explore the correlative research of T–S fuzzy Markov jump NCSs.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"151 ","pages":"Pages 1-11"},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141025662","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}

{"title":"Fractional finite-time control for robust tracking of nonlinear systems subject to Hölder disturbances with application to UAVs","authors":"Moussa Labbadi ,&nbsp;Thierry-Marie Guerra ,&nbsp;Mohamed Djemai","doi":"10.1016/j.isatra.2024.07.033","DOIUrl":"10.1016/j.isatra.2024.07.033","url":null,"abstract":"<div><p>The aim of the present article is to design a robust fractional-order (FO) finite-time (FnT) control able to tackle Hölder disturbances of second-order nonlinear systems. First, a novel sliding manifold with Arc-Tangent function is suggested for second nonlinear systems. It has been proven that the system states globally converge to the origin in FnT using the proposed sliding mode variable. To ensure a FnT stability of the sliding variable, a robust control is developed. By using fractional operators, a uniformly continuous control law is designed to tackle Hölder disturbances. Furthermore, the suggested approach is shown to be resistant to matched Hölder disturbances and uncertainties that are continuous but not necessarily differentiable. Moreover, the FnT stability of quadrotors using the proposed control, that is our second result. The quadrotor simulations analysis demonstrates the practicality of the proposed FnT controller in the presence of Hölder disturbances.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"153 ","pages":"Pages 209-222"},"PeriodicalIF":6.3,"publicationDate":"2024-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0019057824003665/pdfft?md5=479a422d37b2f8017a4b7ae94e3b1069&pid=1-s2.0-S0019057824003665-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141899245","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}