Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering最新文献

Hybrid-triggered H∞ control for Markov jump systems with quantizations and hybrid attacks 具有量子化和混合攻击的马尔可夫跃迁系统的混合触发 H∞ 控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-09-19 DOI: 10.1177/09596518241276228

Yunjun Chen, Bolin Dong, Xiehuan Li

{"title":"Hybrid-triggered H∞ control for Markov jump systems with quantizations and hybrid attacks","authors":"Yunjun Chen, Bolin Dong, Xiehuan Li","doi":"10.1177/09596518241276228","DOIUrl":"https://doi.org/10.1177/09596518241276228","url":null,"abstract":"The hybrid-triggered quantized H∞ control problem is investigated for discrete-time Markov jump systems (MJSs) under hybrid cyber attacks. A novel hybrid-triggered mechanism obeying Bernoulli distribution between the time-triggered mechanism and the adaptive event-triggered mechanism is introduced. The triggered condition considers the average value between current measured output and latest triggered output to avoid the unnecessary triggered data released. Meanwhile, a quantizer is adopted to optimize the data transmission rate and an observer-based controller is designed to resist the impact of deception attacks and aperiodic DoS attacks on the system. Utilizing Lyapunov stability theory and iterative methods, sufficient conditions are obtained to ensure that the closed-loop MJSs are asymptotically mean-square stable with H∞ performance. Then, an algorithm for gain matrices and triggered matrices is given. Finally, the effectiveness and availability of the proposed method are verified by a numerical example and a DC motor model.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"19 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142259211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Design optimization and simulation of a 3D printed cable-driven continuum robot using IKM-ANN and nTop software 使用 IKM-ANN 和 nTop 软件对 3D 打印电缆驱动连续机器人进行设计优化和仿真

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-09-14 DOI: 10.1177/09596518241276233

Selman Djeffal, Abdelhamid Ghoul, Abdelhakim Saadi, Zineddine Izri, Mohamed Razi Morakchi, Hoa Wang

{"title":"Design optimization and simulation of a 3D printed cable-driven continuum robot using IKM-ANN and nTop software","authors":"Selman Djeffal, Abdelhamid Ghoul, Abdelhakim Saadi, Zineddine Izri, Mohamed Razi Morakchi, Hoa Wang","doi":"10.1177/09596518241276233","DOIUrl":"https://doi.org/10.1177/09596518241276233","url":null,"abstract":"The first aspect of the paper focuses on presenting the innovative design of a new continuum robot, which was initially conceptualized using SolidWorks and then brought to life through 3D printing. This section illustrates the construction process, detailing the wiring method and the separator between each section of the robot. A key feature of the newly proposed design is the ball-like shape on the upper side of each disk, allowing each disk to rotate freely and gracefully in conjunction with the next one. To further enhance the design, the disk was optimized using nTopology software, an AI-based solution that reduces weight while maintaining performance. This modern engineering tool proved to be instrumental in addressing engineering challenges effectively. Subsequently, both the original and optimized disks were fabricated using 3D printing technology. In addition to the physical construction, the study employed an Artificial Neural Network (ANN) coupled with Particle Swarm Optimization (PSO) to simulate the developed model by solving its inverse kinematic model. The findings from this research have paved the way for a new continuum robot design that can be trained using the ANN-PSO method. Furthermore, the powerful nTopology tool was demonstrated to be capable of skillfully optimizing any given components without sacrificing performance.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"17 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142259212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Optimal course tracking control of USV with input dead zone based on adaptive fuzzy dynamic programing 基于自适应模糊动态编程的具有输入死区的 USV 最佳航迹跟踪控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-09-14 DOI: 10.1177/09596518241272850

Yuanhao Wang, Weiwei Bai, Wenjun Zhang, Shicai Chen, Yang Zhao

引用次数: 0

Development of new framework for order abatement and control design strategy 制定订单消减和控制设计战略的新框架

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-08-23 DOI: 10.1177/09596518241271853

Ram Kumar, Afzal Sikander

{"title":"Development of new framework for order abatement and control design strategy","authors":"Ram Kumar, Afzal Sikander","doi":"10.1177/09596518241271853","DOIUrl":"https://doi.org/10.1177/09596518241271853","url":null,"abstract":"The reduced-order model (ROM) of large-scale linear time-invariant systems is constructed in this study using a new system abatement technique. The Coulomb’s and Franklin’s law algorithm (CFLA) is used in this study to determine the ROM of a complex single-input, single-output (SISO) system. In control engineering problems, producing a ROM of a complex system using CFLA is relatively simple. This method employs the properties of molecular dynamics to identify the best values of the variables in the search space. The unknown coefficients of ROM are determined by reducing the integral square error (ISE) value between the original system and ROM. This research looks at various examples of different orders for finding ROMs. Finally, various performance indicators were evaluated and represented in tabulated form and bar graphs to assess the efficacy of the proposed methodology. The simplified model for the original higher-order system is also used to design a PID controller. The response of the closed-loop ROM with the PID controller is identical to that of the closed-loop original system with the PID controller. The simulation results are compared to previous well-known research, revealing that the proposed approach produces ROMs that outperform regarding time and frequency response.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"295 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142221096","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Unwinding-free composite full-order sliding-mode control for attitude tracking of flexible spacecraft 用于柔性航天器姿态跟踪的无缠绕复合全阶滑动模式控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-08-13 DOI: 10.1177/09596518241262507

Weiming Liu, Xiangyu Wang

{"title":"Unwinding-free composite full-order sliding-mode control for attitude tracking of flexible spacecraft","authors":"Weiming Liu, Xiangyu Wang","doi":"10.1177/09596518241262507","DOIUrl":"https://doi.org/10.1177/09596518241262507","url":null,"abstract":"In this paper, the attitude tracking control problem is investigated for flexible spacecraft. A novel feedforward-feedback composite control scheme is proposed based on the combination of a generalized proportional integral observer (GPIO) and the full-order sliding-mode control technique. To estimate the lumped disturbances composed of the flexible appendages’ vibration, external environmental disturbance and model uncertainty, a generalized proportional integral observer is firstly constructed. Then, a two-layer recursive full-order sliding-mode surface is developed, where the inner layer is designed as linear sliding-mode surface and the outer layer is designed as a terminal sliding-mode surface. With the feedforward compensation of the GPIO’s estimates, a continuous unwinding-free composite attitude tracking controller is derived to achieve the finite-time arrival of the full-order sliding-mode surface and further ensure the asymptotic set convergence of the attitude tracking errors. Rigorous set stability analysis of the closed-loop attitude tracking error system is given. Comparative simulations are presented to demonstrate the effectiveness and superiority of the proposed composite control scheme.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"295 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142221036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Predefined-time adaptive robust control of a class of nonlinear singular systems 一类非线性奇异系统的预定义时间自适应鲁棒控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-08-13 DOI: 10.1177/09596518241263019

Xiaotong Liu, Renming Yang

引用次数: 0

Optimal model reference adaptive fractional-order proportional integral derivative control of idle speed system under varying disturbances 变化扰动下空转速度系统的最优模型参考自适应分数阶比例积分导数控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-08-08 DOI: 10.1177/09596518241266670

Yi Yang, Haiyan Henry Zhang

{"title":"Optimal model reference adaptive fractional-order proportional integral derivative control of idle speed system under varying disturbances","authors":"Yi Yang, Haiyan Henry Zhang","doi":"10.1177/09596518241266670","DOIUrl":"https://doi.org/10.1177/09596518241266670","url":null,"abstract":"This paper presents an original model reference adaptive fractional-order proportional integral derivative (MRAC-FOPID) controller for the stabilization of the idle speed system in an internal combustion engine under different external load torques. The MRAC-FOPID controller is developed by aligning the changing of FOPID controller’s five parameters with a cost function’s negative gradient direction. Numerical simulations are presented and show that the proposed MRAC-FOPID controller uses 49% more control effort to achieve 72% and 40% more reductions in the relative integral squared error (RISE) and relative integral time absolute error (RITAE), respectively, compared to an optimized model reference adaptive proportional integral derivative (MRAC-PID) controller. Furthermore, the MRAC-FOPID controller is found to have better robustness than other two previously published optimal controllers, with only a 3.07% relative change in RISE when facing variable disturbance. This work also highlights a novel Matlab/Simulink based implementation of the adaptively-varying-order derivative operators, which cannot only be extended to the design of other adaptive fractional-order controllers but may also facilitate hardware realization of the MRAC-FOPID controller in real idle speed systems.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"158 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141933525","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Distributed robust neural network adaptive fault-tolerant control for amorphous flattened air-ground wireless self-assembly network system 非晶扁平化空地无线自组装网络系统的分布式鲁棒神经网络自适应容错控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-08-03 DOI: 10.1177/09596518241263894

Zhifang Wang, Quanzhen Huang, Suxia Chen, Jianguo Yu

{"title":"Distributed robust neural network adaptive fault-tolerant control for amorphous flattened air-ground wireless self-assembly network system","authors":"Zhifang Wang, Quanzhen Huang, Suxia Chen, Jianguo Yu","doi":"10.1177/09596518241263894","DOIUrl":"https://doi.org/10.1177/09596518241263894","url":null,"abstract":"With the rapid development of wireless communication technology, how to solve the problem of unknown fault interference (including external unknown interference and internal actuator unknown fault disturbance) encountered during the operation of amorphous flat air-ground wireless self-assembled network systems has become a research hotspot. In this paper, a distributed robust neural network adaptive fault-tolerant controller is designed by incorporating the robust neural network optimal control law into the robust adaptive fault-tolerant controller, and the robust fault-tolerant control factor and adaptive neural network adjustment factor makes the closed-loop wireless self-assembled network system with the active feedback adjustment of the robust fault-tolerant feedback matrix K of the adaptive neural network to make the performance parameters converge to the ideal target value asymptotically, and the system error function can asymptotically converge to zero. The simulation and experimental results show that the system as a whole has good robust fault tolerance performance and active learning performance of the adaptive neural network. Moreover, the stability of the air-ground wireless self-assembly network topology can be relatively improved by 50% when the communication distance between the wireless self-assembly network nodes is 1500 m. This paper provides a certain research basis for the subsequent deployment and application of large-scale long spacing of air-ground wireless self-assembled networks.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"3 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141933478","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

Design of an observer-based anti-disturbance speed tracking controller for integrated motor-transmission systems under uncertain parameters and road slope variation 为不确定参数和路面坡度变化条件下的集成式电机传动系统设计基于观测器的抗扰动速度跟踪控制器

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-08-03 DOI: 10.1177/09596518241266865

Weilong Lai, Juntao Pan

{"title":"Design of an observer-based anti-disturbance speed tracking controller for integrated motor-transmission systems under uncertain parameters and road slope variation","authors":"Weilong Lai, Juntao Pan","doi":"10.1177/09596518241266865","DOIUrl":"https://doi.org/10.1177/09596518241266865","url":null,"abstract":"The performance of speed tracking is crucial for electric vehicles. In this paper, the observer-based speed tracking controller is designed to improve the stability, reliability, and economy of the IMT system by obtaining unmeasurable state information using the observer. The nonlinearity of the IMT system, the uncertainty of the electric damping coefficient, and the drive shaft damping coefficient are taken into account. First, the norm-bounded uncertainty reduction method describes the system uncertainty parameters and establishes the state space in expression. Second, the system is reconstructed to deal with the nonlinear and unmeasurable states. Third, Lyapunov stability theory and linear matrix inequality (LMI) are used to design the optimal controller that has [Formula: see text] and LQR performance conditions to minimize the effects of sensor noise and road slope and to ensure system stability and control performance. Among them, the nonlinear mismatch term in the system is dealt with using the differential mean value theorem (DMVT). Finally, compared with other controllers, the designed controller has good tracking performance, anti-disturbance, and robustness, and the observer can estimate the state effectively.","PeriodicalId":20638,"journal":{"name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","volume":"65 1","pages":""},"PeriodicalIF":1.6,"publicationDate":"2024-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141933482","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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

H∞ preview control for a class of continuous-time system with actuator saturation 一类具有执行器饱和的连续时间系统的 H∞ 预览控制

IF 1.6 4区计算机科学

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2024-08-03 DOI: 10.1177/09596518241267018

Jiang Wu, Yingxin Wang, Denggui Fan, Hao Xie, Li Li, Yao Zou

引用次数: 0