Transactions of the Institute of Measurement and Control最新文献_第9页

Path planning of unmanned surface vehicle based on artificial potential field approach considering virtual target points 基于考虑虚拟目标点的人工势场方法的无人水面车路径规划

IF 1.8 4区计算机科学

Transactions of the Institute of Measurement and Control Pub Date : 2023-08-07 DOI: 10.1177/01423312231190208

T. Luan, Z. Tan, B. You, Mingxiao Sun, Hanhong Yao

{"title":"Path planning of unmanned surface vehicle based on artificial potential field approach considering virtual target points","authors":"T. Luan, Z. Tan, B. You, Mingxiao Sun, Hanhong Yao","doi":"10.1177/01423312231190208","DOIUrl":"https://doi.org/10.1177/01423312231190208","url":null,"abstract":"Aiming at the local minimum problem and target unreachable problems in the path planning of unmanned surface vehicle (USV), a path planning algorithm of USV considering virtual target point is proposed. For the target unreachable problem, a repulsive force potential field function is created. According to the measured distance between the target and the obstacle, the repulsive force of the target is zero, so that the USV can reach the target point. For the local minimum problem, the local minimum caused by various obstacles is analyzed, simulated annealing (SA) and artificial potential field approach (APFA) are combined to solve the minimum point problem caused by general obstacles. For the local minimum problem caused by special U-shaped obstacles, a virtual target point algorithm (VTPA) is established to solve this problem. The simulation results prove that this algorithm solves the problem of long path caused by too large repulsive force. Compared with Dual-Tree Rapidly exploring Random Tree (DT-RRT) algorithm, the efficiency of this algorithm has been significantly improved. Algorithm running time was reduced by 33.4%. Path length was reduced by 17.8%. Not only the time is saved, but also the path planning is optimized, so that the speed of the algorithm is accelerated.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48161239","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: 1

Exponential sliding mode controller for tracking trajectory of nonlinear systems 非线性系统轨迹跟踪的指数滑模控制器

IF 1.8 4区计算机科学

Transactions of the Institute of Measurement and Control Pub Date : 2023-08-04 DOI: 10.1177/01423312231188774

M. Hernández-González, AY Alanis, JD Rios, EA Hernadez-Vargas

引用次数: 0

Recursive d-step-ahead predictive control of MIMO nonlinear systems with input time-delay via multi-dimensional Taylor network extended from PID 基于PID扩展的多维Taylor网络的输入时滞MIMO非线性系统的递推d-stepahead预测控制

IF 1.8 4区计算机科学

Transactions of the Institute of Measurement and Control Pub Date : 2023-08-03 DOI: 10.1177/01423312231180946

Chenlong Li, Hong-sen Yan, Chao Zhang

{"title":"Recursive d-step-ahead predictive control of MIMO nonlinear systems with input time-delay via multi-dimensional Taylor network extended from PID","authors":"Chenlong Li, Hong-sen Yan, Chao Zhang","doi":"10.1177/01423312231180946","DOIUrl":"https://doi.org/10.1177/01423312231180946","url":null,"abstract":"In this paper, a recursive d-step-ahead predictive control scheme based on multi-dimensional Taylor network (MTN) is proposed for the real-time tracking control of multiple-input multiple-output (MIMO) nonlinear systems with input time-delay. The MTN predictive model is designed using a recursive approach to compensate the influence of time-delay, and an extended Kalman filter (EKF) is applied as its learning algorithm. An MTN controller is developed based on a proportional–integral–derivative (PID) controller where the closed-loop errors between the reference input and the system output are set as the MTN controller’s inputs. Then, a back propagation (BP) algorithm, designed to update its weights according to errors caused by system uncertainty, is used as a learning algorithm for the MTN controller. Meanwhile, the convergence of the MTN predictive model and the stability of the closed-loop system are evaluated. Two numerical examples and a practical example – continuous stirred tank reactor (CSTR) process are presented to verify the superiority of the proposed scheme. The experimental results and the computational complexity analysis show that the proposed scheme is effective, promising its desirable robustness, anti-disturbance, tracking and real-time performance.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-08-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48778164","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

Modeling and anti-swing control of quadrotor-suspended system with variable cable length at unequal speed 不等速度变索长四旋翼悬挂系统的建模与防摆控制

IF 1.8 4区计算机科学

Transactions of the Institute of Measurement and Control Pub Date : 2023-08-02 DOI: 10.1177/01423312231187446

Dong Zhang, Hengzhi Han, Y. Yang, Yubin Hu

引用次数: 0

Two-stage multirate state feedback control designs for systems with slow and fast eigenvalue modes 慢速和快速特征模态系统的两阶段多速率状态反馈控制设计

IF 1.8 4区计算机科学

Transactions of the Institute of Measurement and Control Pub Date : 2023-08-02 DOI: 10.1177/01423312231187445

R. Munje, B. Patre

{"title":"Two-stage multirate state feedback control designs for systems with slow and fast eigenvalue modes","authors":"R. Munje, B. Patre","doi":"10.1177/01423312231187445","DOIUrl":"https://doi.org/10.1177/01423312231187445","url":null,"abstract":"Design of feedback control, for a system with slow and fast eigenvalue modes, using single sampling rate results in either information loss (for a larger sampling period) or increased computations (for a smaller sampling period). This paper contributes to designing multirate state feedback controllers for such systems. In this, it is shown that the feedback control for a linear time-invariant system, having slow and fast eigenvalue modes, can be successfully designed by multirate sampling of states in two stages. Multirate sampling refers to sampling slow- and fast-varying states at different rates, that is sampling slow states at a lower rate than the fast states. Here, two approaches for multirate sampling of states are presented, depending on the sampling sequence. In the first approach, fast subsystem states are sampled initially, and then, slow subsystem states are sampled, whereas in the second approach, slow subsystem states are sampled before sampling the fast subsystem states. As far as the two-stage design is concerned, the first stage of the design of feedback control is initiated just after sampling the first subsystem. Then, the left subsystem is sampled, and the second stage of the design of feedback control is accomplished. It is proved that the feedback controls derived with the multirate sampling of states stabilize the full-order system in both approaches. The design and implementation aspects of both approaches are compared. Finally, the applicability of the proposed control is demonstrated by simulating two examples. Simulations are also compared with other methods proposed in the literature.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45269101","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

Networked fault detection for fuzzy systems using a quantizer with event-triggered strategy 基于事件触发策略量化器的模糊系统网络故障检测

IF 1.8 4区计算机科学

Transactions of the Institute of Measurement and Control Pub Date : 2023-07-31 DOI: 10.1177/01423312231187451

Ziran Chen, Ziqi Cui, Hongtao Sun, Cheng Tan

引用次数: 0

Connectivity-preserving rendezvous in discrete-time multi-agent systems via relative neighborhood proximity graph 基于相对邻域邻近图的离散时间多智能体系统保连通交会

IF 1.8 4区计算机科学

Transactions of the Institute of Measurement and Control Pub Date : 2023-07-29 DOI: 10.1177/01423312231187012

Guangqiang Xie, Biwei Zhong, Haoran Xu, Y. Li, Xianbiao Hu, Chang-Dong Wang

{"title":"Connectivity-preserving rendezvous in discrete-time multi-agent systems via relative neighborhood proximity graph","authors":"Guangqiang Xie, Biwei Zhong, Haoran Xu, Y. Li, Xianbiao Hu, Chang-Dong Wang","doi":"10.1177/01423312231187012","DOIUrl":"https://doi.org/10.1177/01423312231187012","url":null,"abstract":"In this paper, we focus on the rendezvous problem of discrete-time multi-agent systems. Each agent is equipped with the same sensing, computing, and motion-control capabilities to achieve rendezvous based on the neighbors’ states. First, a convex hull combination algorithm (CHCA) is designed, in which each agent solves a convex problem composed of perceived neighbors in the sensing region and chooses an optimal control strategy to move to the next position with guaranteed connectivity under low-density network topologies. Second, the relative neighborhood graph is incorporated into the CHCA (RNCHCA) as the constraint set to adapt to the high-density network topologies. The convergence and connectivity of the proposed algorithms are proved based on the geometric concept and case analyses. Finally, a large number of simulation results show that under the initially connected topologies with different densities, the RNCHCA can achieve a higher rendezvous speed than that achieved by the traditional circumcenter algorithm, particularly under high-density network topologies.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43262578","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

Extended state observer–based improved non-singular fast terminal sliding mode for mobile manipulators 基于扩展状态观测器的移动机械手非奇异快速终端滑模改进

IF 1.8 4区计算机科学

Transactions of the Institute of Measurement and Control Pub Date : 2023-07-28 DOI: 10.1177/01423312231184513

Mhmed Algrnaodi, M. Saad, M. Saad, R. Fareh, Y. Kali

{"title":"Extended state observer–based improved non-singular fast terminal sliding mode for mobile manipulators","authors":"Mhmed Algrnaodi, M. Saad, M. Saad, R. Fareh, Y. Kali","doi":"10.1177/01423312231184513","DOIUrl":"https://doi.org/10.1177/01423312231184513","url":null,"abstract":"The robust non-singular fast terminal sliding mode (NFTSM) controller is adopted in this work to solve the problem of tracking trajectory of a mobile manipulator (MM) suffering from uncertainties. The NFTSM method has the capability to ensure convergence rate and to provide good tracking accuracy and robustness against external perturbations and parameter uncertainties (total disturbances). However, the NFTSM controller needs high discontinuous gain to reject the effect of strong disturbances, which results in vibrations in the steady-state and chattering in the control law. To solve these issues, an extended state observer–based NFTSM technique is proposed for [Formula: see text]-degree of freedom (DoF) coupling MM. The proposed method is designed to approximate and compensate in real-time the uncertainties. It also ensures robustness against total disturbances, good convergence rate, and good tracking accuracy. The stability of the proposed control is also verified based on the Lyapunov theory. Experimental works are conducted on a 5-degree-of-freedom (5-DoF) MM where the results obtained demonstrate the effectiveness of the developed technique and prove the stability of the closed-loop system.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-07-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44262994","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: 1

Perturbation observer design based on extremum seeking control: An analytical insight 基于极值寻优控制的摄动观测器设计:一种分析见解

IF 1.8 4区计算机科学

Transactions of the Institute of Measurement and Control Pub Date : 2023-07-27 DOI: 10.1177/01423312231184561

T. Taleshian, Abolfazl Ranjbar Noei, J. Sadati, M. Malekzadeh

引用次数: 0

A modular fault diagnosis method for rolling bearing based on mask kernel and multi-head self-attention mechanism 基于掩码核和多头自注意机制的滚动轴承模块化故障诊断方法

IF 1.8 4区计算机科学

Transactions of the Institute of Measurement and Control Pub Date : 2023-07-27 DOI: 10.1177/01423312231188777

Si Li, Yanhe Xu, Wei Jiang, Kunjie Zhao, Wei Liu

{"title":"A modular fault diagnosis method for rolling bearing based on mask kernel and multi-head self-attention mechanism","authors":"Si Li, Yanhe Xu, Wei Jiang, Kunjie Zhao, Wei Liu","doi":"10.1177/01423312231188777","DOIUrl":"https://doi.org/10.1177/01423312231188777","url":null,"abstract":"Data-driven methods have been applied in fault diagnosis. However, in practical engineering, workers are more concerned with the real-time health status of bearings. And it is difficult to complete the effective training of diagnostic models with insufficient labeled fault data. Therefore, this paper proposes a modular method based on a mask kernel and multi-head self-attention mechanism for rolling bearing fault diagnosis. First, the proposed method divides the diagnosis into two modules of status detection and fault recognition. The approach of sharing one backbone for both modules simplifies the optimization process. The method combines the translation invariance of the convolution kernel and the mask attention mechanism of the transformer by computing the local self-attention and superimposing the partial local attention by the mask to ensure the integrity of the information. Finally, a zero-shot training method is proposed to embed the query into the model to achieve cross-distribution fault diagnosis of bearings. The experiments on the data sets of Case Western Reserve University and machinery fault simulator are implemented to diagnose the bearings. The results show that the proposed method can obtain higher diagnostic accuracy and computational efficiency than the existing methods and can be valid for scenarios with cross-condition diagnosis or imbalanced samples.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":" ","pages":""},"PeriodicalIF":1.8,"publicationDate":"2023-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45527814","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