IET Control Theory and Applications最新文献_第7页

Enhanced precision in robot arm positioning: A nonlinear damping approach for flexible joint manipulators 提高机械臂定位精度：柔性关节机械手的非线性阻尼方法

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-22 DOI: 10.1049/cth2.12707

Amir Hossein Jafari, Rached Dhaouadi, Reza Jafari

{"title":"Enhanced precision in robot arm positioning: A nonlinear damping approach for flexible joint manipulators","authors":"Amir Hossein Jafari, Rached Dhaouadi, Reza Jafari","doi":"10.1049/cth2.12707","DOIUrl":"https://doi.org/10.1049/cth2.12707","url":null,"abstract":"This article introduces an advanced nonlinear controller designed for optimizing the performance of a single-link robot arm featuring a flexible joint. The proposed nonlinear control strategy incorporates a Proportional-Integral (PI) controller in conjunction with a nonlinear velocity feedback component, aimed at providing effective nonlinear damping and suppressing vibrations. To validate the controller's performance, extensive simulations are conducted utilizing machine learning techniques within the Python environment. The performance of the proposed nonlinear damping controller is benchmarked against a conventional linear cascaded P-PI control structure, with both controllers fine-tuned using the Nelder-Mead algorithm. Simulation results demonstrate that the nonlinear damping controller yields substantial improvements in the dynamic behavior of the robot axis arm, showcasing superior step and sinusoidal position tracking performance, along with active vibration damping capabilities. This research contributes valuable insights into the enhanced nonlinear control strategies for flexible-joint robot arms, offering promising advancements in their overall dynamic performance.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 15","pages":"1968-1976"},"PeriodicalIF":2.2,"publicationDate":"2024-06-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12707","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142435822","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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}

引用次数: 0

Hysteresis based predictive torque control without weighting factors for induction motor drives 基于磁滞的预测转矩控制，不含感应电机驱动器的权重系数

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-21 DOI: 10.1049/cth2.12681

Muhammad Bilal Shahid, Weidong Jin, Muhammad Abbas Abbasi, Abdul Rashid Husain, Abdul Rauf Bhatti, Akhtar Rasool, Syed Md. Galib

{"title":"Hysteresis based predictive torque control without weighting factors for induction motor drives","authors":"Muhammad Bilal Shahid, Weidong Jin, Muhammad Abbas Abbasi, Abdul Rashid Husain, Abdul Rauf Bhatti, Akhtar Rasool, Syed Md. Galib","doi":"10.1049/cth2.12681","DOIUrl":"https://doi.org/10.1049/cth2.12681","url":null,"abstract":"This work proposes a weighting-factor-free finite control set predictive torque control (FCS-PTC) for induction motor drives by incorporating a hysteresis controller to eliminate stator flux error from the cost function. The tuning of the weighting factor coefficient in FCS-PTC is critical for improved drive performance. Conventionally, the tuning is based on an intuitive understanding of the dynamical system and empirical methods, which may not yield optimal results. The proposed method regulates the flux by incorporating a separate two-level hysteresis controller and torque by the conventional cost function-based PTC. The cost function uses torque error only and employs a reduced number of voltage vectors. The reduction of voltage vectors is obtained through the flux hysteresis output and sector determination. The proposed work is implemented experimentally on the dSpace DS1104 controller board for a two-level three, three-phase voltage source inverter-fed induction motor drive. The experimental results validate the effectiveness of the proposed work under different drive tests compared to conventional PTC and direct torque control (DTC). The obtained results show comparable dynamic performance of the drive with <math>\u0000 <semantics>\u0000 <mrow>\u0000 <mn>43</mn>\u0000 <mo>%</mo>\u0000 </mrow>\u0000 <annotation>$43%$</annotation>\u0000 </semantics></math> lower computational burden than conventional PTC. Along with computational benefit, the proposed work demonstrates improved total harmonic distortion (THD) at low-speed regions due to the absence of a weighting factor in the cost function.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 18","pages":"2675-2692"},"PeriodicalIF":2.2,"publicationDate":"2024-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12681","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142862023","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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}

引用次数: 0

Coordinated finite-time control of multiple motors with saturation constraints 带饱和约束的多电机有限时间协调控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-20 DOI: 10.1049/cth2.12684

Changfan Zhang, Junming Zhang, Jing He, Lin Jia, Yang Zhou

{"title":"Coordinated finite-time control of multiple motors with saturation constraints","authors":"Changfan Zhang, Junming Zhang, Jing He, Lin Jia, Yang Zhou","doi":"10.1049/cth2.12684","DOIUrl":"https://doi.org/10.1049/cth2.12684","url":null,"abstract":"A multi-motor coordinated tracking control strategy based on a disturbance sliding-mode observer and an anti-saturation non-singular fast-terminal sliding mode is proposed to address the issues of slow convergence and controller output saturation in multi-motor coordinated control systems. Firstly, a mathematical model of a multi-motor traction system considering uncertain parameter perturbations, external disturbances, and dead zones was established. Secondly, a disturbance sliding-mode observer was designed based on the mathematical model to eliminate motor disturbances and estimate the torque. The observer's forward compensation was added to design a total-consensus-based fast non-singular terminal sliding-mode controller. Then, a fast anti-saturation auxiliary system with fast finite-time convergence was constructed. Finally, a comparative experiment was conducted with traditional anti-saturation sliding-mode control to demonstrate that the proposed method had faster convergence, stronger disturbance rejection, and better tracking performance in the presence of multi-motor parameter perturbations, unknown disturbances, and input saturation.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 12","pages":"1586-1596"},"PeriodicalIF":2.2,"publicationDate":"2024-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12684","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141968010","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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}

引用次数: 0

Reinforcement learning-based finite-time cross-media tracking control for a cross-media vehicle under unknown dynamics and disturbances 未知动态和干扰条件下基于强化学习的跨媒体车辆有限时间跨媒体跟踪控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-18 DOI: 10.1049/cth2.12693

Shichong Wu, Lingli Xie, Jun Xian, Fei Liao, Wenhua Wu, Mingqing Lu, Xian Yi

{"title":"Reinforcement learning-based finite-time cross-media tracking control for a cross-media vehicle under unknown dynamics and disturbances","authors":"Shichong Wu, Lingli Xie, Jun Xian, Fei Liao, Wenhua Wu, Mingqing Lu, Xian Yi","doi":"10.1049/cth2.12693","DOIUrl":"https://doi.org/10.1049/cth2.12693","url":null,"abstract":"This study proposes a reinforcement learning-based finite-time cross-media tracking control approach for a slender body cross-media vehicle encountering unknown hydrodynamics, wind, and wave disturbances. Initially, a reinforcement learning framework consisting of the actor neural network and critic neural network is constructed. The critic neural network monitors the actions of the actor neural network and approximates the cost function, while the actor neural network estimates the unknown hydrodynamics and disturbances, minimising the cost function to optimise performance. Subsequently, the command filter featuring finite-time convergence is formulated, effectively managing the corresponding filter error through a proposed error compensating signal. By integrating these techniques, a reinforcement learning-based finite-time control strategy is developed, circumventing the singularity issue inherent in traditional finite-time backstepping strategies. Comparative analysis with existing methods demonstrates the strong robustness of the proposed scheme against unknown hydrodynamics and disturbances, ensuring finite-time convergence of the system's states and optimising controller performance. Finally, simulations confirm the effectiveness and superiority of the presented approach.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 11","pages":"1475-1490"},"PeriodicalIF":2.2,"publicationDate":"2024-06-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12693","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141584114","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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}

引用次数: 0

Finite-time control for a quadcopter UAV in the application of wildfire monitoring 四旋翼无人飞行器的有限时间控制在野火监测中的应用

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-17 DOI: 10.1049/cth2.12696

Joewell Mawanza, John Agee, Ernest Bhero

引用次数: 0

Attack detection method for encrypted wave-variable-based bilateral control systems 基于加密波变量的双边控制系统的攻击检测方法

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-17 DOI: 10.1049/cth2.12697

Tetsuro Miyazaki, Naoto Shono, Kaoru Teranishi, Takahiro Kanno, Toshihiro Kawase, Kiminao Kogiso, Kenji Kawashima

{"title":"Attack detection method for encrypted wave-variable-based bilateral control systems","authors":"Tetsuro Miyazaki, Naoto Shono, Kaoru Teranishi, Takahiro Kanno, Toshihiro Kawase, Kiminao Kogiso, Kenji Kawashima","doi":"10.1049/cth2.12697","DOIUrl":"https://doi.org/10.1049/cth2.12697","url":null,"abstract":"This study presents an energy-based attack detection method involving an encrypted bilateral control system using wave variables. In the considered bilateral control system, the leader and follower receive the follower's force information and the leader's velocity information, respectively, through the wave variables. The considered attack model multiplies the wave variables by an attack parameter, which is possible due to the malleability of the encryption scheme. The bilateral control system will be destabilized if the attacker chooses a relatively large parameter value. This motivates in developing a passivity observer for each leader and follower side to compute the total energy and constructing an energy-based detection method that can be incorporated into the encrypted bilateral control system and is summarized in the presented theorem. Furthermore, this study provides a specific design for reasonable threshold parameters concerning the control system energy. The theorem and the experimental validation confirm that the developed encrypted wave-variable-based bilateral control system with the proposed attack detector is secure and effective as a countermeasure against malleability-based attacks.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 11","pages":"1461-1474"},"PeriodicalIF":2.2,"publicationDate":"2024-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12697","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141584004","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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}

引用次数: 0

Optimal data injection attack design for spacecraft systems via a model free Q-learning approach 通过无模型 Q-learning 方法优化航天器系统的数据注入攻击设计

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-14 DOI: 10.1049/cth2.12685

Huanhuan Yuan, Mengbi Wang, Chao Xi

引用次数: 0

A mismatched composite disturbance observer-based adaptive tracking controller for robotic manipulators 基于错配复合干扰观测器的机器人操纵器自适应跟踪控制器

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-14 DOI: 10.1049/cth2.12690

Zhongtao Liu, Weikai He, Xiangbao Li, Cungen Liu, Huaizhi Shao, Peng Fu

引用次数: 0

Adaptive fuzzy disturbance suppression for constrained nonlinear systems under faulty condition 故障条件下约束非线性系统的自适应模糊干扰抑制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-14 DOI: 10.1049/cth2.12683

Meiying Yang, Li Tang

{"title":"Adaptive fuzzy disturbance suppression for constrained nonlinear systems under faulty condition","authors":"Meiying Yang, Li Tang","doi":"10.1049/cth2.12683","DOIUrl":"10.1049/cth2.12683","url":null,"abstract":"For a class of full-states constraints nonlinear system with actuator failure, an adaptive fuzzy disturbance observer tracking design is carried out by using Lyapunov function and the dynamic surface method. The integral explosion problem is avoided by using the dynamic surface design method. Because the disturbance of the system is unknown, a nonlinear fuzzy disturbance observer is designed to estimate the unknown disturbance. And the unknown nonlinear function is approximated fuzzy logic systems. Based on the Lyapunov function method and backstepping approach, the stability of considered systems are analysed. And the proposed method can guarantee that all the signals in the closed-loop system are bounded and the system output can track the desired signal to the small neighbourhood range. In addition, the fuzzy disturbance observer can estimate the unknown disturbance state well. Finally, several sets of simulation examples are given and compared with other method, and the experimental results are quantitatively analysed. Then, the robustness and superiority of the proposed control scheme are verified and demonstrated.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 12","pages":"1517-1528"},"PeriodicalIF":2.2,"publicationDate":"2024-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12683","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141344446","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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}

引用次数: 0

Filter design for cyber-physical systems against DoS attacks and unreliable networks: A Markovian approach 针对 DoS 攻击和不可靠网络的网络物理系统过滤器设计：马尔可夫方法

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-06-14 DOI: 10.1049/cth2.12703

Pedro M. Oliveira, Jonathan M. Palma, Márcio J. Lacerda

{"title":"Filter design for cyber-physical systems against DoS attacks and unreliable networks: A Markovian approach","authors":"Pedro M. Oliveira, Jonathan M. Palma, Márcio J. Lacerda","doi":"10.1049/cth2.12703","DOIUrl":"10.1049/cth2.12703","url":null,"abstract":"This article proposes a novel approach for designing a mode-dependent <math>\u0000 <semantics>\u0000 <msub>\u0000 <mi>H</mi>\u0000 <mi>∞</mi>\u0000 </msub>\u0000 <annotation>$mathcal {H}_infty$</annotation>\u0000 </semantics></math> full-order dynamic filter for a cyber-physical system (CPS) that is subject to polytopic uncertainties. The CPS operates on an unreliable network that is susceptible to transmission failures and Denial of Service (DoS) attacks. The attackers have limited energy resources, and the duration of the DoS attack is limited to a maximum number of consecutive time instants. The network is modeled after a proposed non-homogeneous Markov chain whose transition probability matrix may feature uncertain and unknown probabilities, which are dependent on time-varying parameters. The design conditions for the filter are obtained using parameter-dependent linear matrix inequalities. The proposed filter is shown to be effective in reducing the impact of DoS attacks and transmission failures on the CPS. Numerical experiments are presented to illustrate the efficacy of the proposed filter design method, demonstrating its ability to mitigate the effects of uncertainties and attacks on the CPS.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 12","pages":"1505-1516"},"PeriodicalIF":2.2,"publicationDate":"2024-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12703","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141344358","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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}

引用次数: 0