ISA transactions最新文献

Lead-time composite control of the single-gimbal control moment gyro under multi-source disturbances. 多源扰动下单云台控制力矩陀螺提前期复合控制。

IF 6.5

ISA transactions Pub Date : 2026-05-07 DOI: 10.1016/j.isatra.2026.05.001

Yingjiang Zhou, Chenglong Zhu, Guoping Jiang, Xiaoling Wang

{"title":"Lead-time composite control of the single-gimbal control moment gyro under multi-source disturbances.","authors":"Yingjiang Zhou, Chenglong Zhu, Guoping Jiang, Xiaoling Wang","doi":"10.1016/j.isatra.2026.05.001","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.05.001","url":null,"abstract":"Servo systems for spacecraft attitude control face two core challenges: 1) Traditional prescribed-time control tends to cause controller gain explosion in pursuit of fast convergence; 2) Coupled high-frequency disturbances, flexible vibrations, parameter uncertainties, and multi-source disturbances severely restrict control accuracy and dynamic performance. To address these issues, this paper proposes a lead-time composite control framework, which integrates an inner-loop lead-time high-frequency disturbance observer (LTHFDO), an outer-loop lead-time super-twisting extended state observer (LTSTESO), and a lead-time second-order integral sliding mode controller (LTSISMC). The dual observers achieve refined separation and accurate estimation of multi-source disturbances. The controller guarantees lead-time stability without gain explosion, suppresses chattering, and eliminates steady-state errors. Comparative simulations verify that the proposed scheme can accurately estimate and compensate for disturbances, shorten the convergence time by 15% and reduce the steady-state error amplitude by more than 80% compared with typical existing methods, demonstrating its superiority and effectiveness.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-05-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147876986","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","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 fault-tolerant control for electro-mechanical braking systems under input saturation and time-delay. 输入饱和时滞下机电制动系统的定时容错控制。

IF 6.5

ISA transactions Pub Date : 2026-05-05 DOI: 10.1016/j.isatra.2026.05.004

Xuan Duc Pham, Tung Lam Nguyen, Duc Thinh Le

{"title":"Fixed-time fault-tolerant control for electro-mechanical braking systems under input saturation and time-delay.","authors":"Xuan Duc Pham, Tung Lam Nguyen, Duc Thinh Le","doi":"10.1016/j.isatra.2026.05.004","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.05.004","url":null,"abstract":"This paper proposes a novel fault-tolerant control strategy for electro-mechanical brakes (EMB) subject to supply faults, input saturation, and time delays, aiming to enhance vehicle safety and align with the development of high-precision fault-tolerant anti-lock braking systems (ABS). The proposed strategy employs a fixed-time controller with a time-varying funnel constraint to maintain the slip ratio within its optimal range, thereby ensuring maximum braking efficiency and enabling the vehicle to achieve the shortest possible stopping distance during emergency braking. Furthermore, a fixed-time command filter is introduced to mitigate the derivative explosion problem, while a fractional-order compensation strategy with auxiliary compensation signals is developed to counteract filtering inaccuracies and input saturation effects. To improve robustness and fault tolerance against external disturbances, supply faults, and input delays, fixed-time extended state observers (FESO) are integrated, enabling the ABS to effectively handle lumped disturbances under various road conditions. The global fixed-time stability of the entire system is rigorously established using Lyapunov theory, and simulation results under dry, wet, and snowy road conditions-along with analyses of key performance indicators (KPIs)-demonstrate the effectiveness, robustness, and novelty of the proposed control strategy.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-05-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147876952","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Memory-based event-triggered fuzzy path tracking security control for autonomous vehicles against stochastic false data injection attacks. 基于记忆的自动驾驶汽车随机假数据注入攻击模糊路径跟踪安全控制。

IF 6.5

ISA transactions Pub Date : 2026-05-04 DOI: 10.1016/j.isatra.2026.05.002

Longxin Guan, Lie Guo, Linli Xu, Pingshu Ge, Xu Wang, Xiaojian Wu

{"title":"Memory-based event-triggered fuzzy path tracking security control for autonomous vehicles against stochastic false data injection attacks.","authors":"Longxin Guan, Lie Guo, Linli Xu, Pingshu Ge, Xu Wang, Xiaojian Wu","doi":"10.1016/j.isatra.2026.05.002","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.05.002","url":null,"abstract":"Controller area network (CAN)-dependent autonomous vehicles (AVs) control system is vulnerable to limited network bandwidth and stochastic false data injection (FDI) attacks, presenting a potential threat to the path tracking performance for AVs. To address this challenge, this article investigates a novel event-triggered robust security control method to enhance the system safety and efficiency. Firstly, an interval type-2 Takagi-Sugeno (IT2 T-S) fuzzy model is established to depict lateral vehicle dynamics. Secondly, an IT2 T-S fuzzy observer is designed to estimate the lateral speed of the vehicle. Then, a novel memory-based event-triggered mechanism (METM) is proposed to balance the network burden and control performance. After that, an observer-based fuzzy security controller is developed to guarantee H∞ stability by Lyapunov-Krasovskii functionals (LKFs) and the linear matrix inequalities (LMIs) approach. Finally, simulation and CAN-based semi-physical hardware-in-loop (HiL) results reveal that, compared with a typical H∞ output feedback controller, the proposed method can reduce the root mean square values of lateral error and yaw angle error by more than 31% and 11%, respectively.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147857892","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fault detection of broken rotor bars in induction motors based on the conservative power theory. 基于保守功率理论的异步电动机转子断条故障检测。

IF 6.5

ISA transactions Pub Date : 2026-05-04 DOI: 10.1016/j.isatra.2026.05.003

Ruhan Pontes Policarpo de Souza, Wesley Angelino de Souza, Cristiano Marcos Agulhari, Alessandro Goedtel, Daniel Morinigo-Sotelo, Óscar Duque-Perez, Vanesa Fernandez-Cavero

{"title":"Fault detection of broken rotor bars in induction motors based on the conservative power theory.","authors":"Ruhan Pontes Policarpo de Souza, Wesley Angelino de Souza, Cristiano Marcos Agulhari, Alessandro Goedtel, Daniel Morinigo-Sotelo, Óscar Duque-Perez, Vanesa Fernandez-Cavero","doi":"10.1016/j.isatra.2026.05.003","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.05.003","url":null,"abstract":"Induction motors (IMs) are widely used in energy conversion and industrial drive systems. One of the critical faults in IMs is the broken rotor bar (BRB), which must be promptly identified due to its potential for abrupt damage. Several monitoring techniques have been proposed for the detection process, including motor current signature analysis (MCSA) and model-based fault detection (MBFD) but the challenges of supply unbalance and harmonic conditions persist as a gap. This paper presents a BRB detection framework based on Conservative Power Theory (CPT), employing time-domain power components as physically interpretable features. In contrast to spectral-based approaches, the proposed method extracts statistical features from the CPT power quantities, naturally accommodating nonsinusoidal and unbalanced supply conditions. The fault identification is evaluated using the k-nearest neighbors, support vector machines, random forest, and multilayer perceptron classifiers. Experimental validation was conducted on three induction motors operating at 50 Hz and 60 Hz, under multiple loads and voltage unbalance factors up to 5.77%. The results demonstrate performance metrics of more than 98% in all cases, with maximum accuracy and an F1-score of 99.77% in binary classification. The treatment of incipient fault severity is addressed by assessing the likelihood of a motor being healthy or faulty, allowing the severity and progression analysis of the faults.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-05-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147857907","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robust gait generator based on the LIPDF model for biped robot with five anti-disturbance strategies. 基于LIPDF模型的五种抗干扰策略双足机器人鲁棒步态发生器。

IF 6.5

ISA transactions Pub Date : 2026-04-30 DOI: 10.1016/j.isatra.2026.04.037

Yingxing Li, Zhaohui Yuan, Jingchao Li, Pengfei Yang, Yuheng Zeng, Jing He, Zeyu Jia

引用次数: 0

Event-triggered optimal line-of-sight formation control for underactuated USVs with unknown disturbance. 未知干扰下欠驱动usv的事件触发最优视线编队控制。

IF 6.5

ISA transactions Pub Date : 2026-04-30 DOI: 10.1016/j.isatra.2026.04.038

Weihan Li, Lipeng Wang, Zhi Zhang, Donghui Yuan

引用次数: 0

Resilient prescribed performance optimal control for underactuated unmanned surface vehicle: A differential game guidance strategy based on control barrier functions. 欠驱动无人水面飞行器弹性规定性能最优控制：一种基于控制障碍函数的微分博弈制导策略。

IF 6.5

ISA transactions Pub Date : 2026-04-28 DOI: 10.1016/j.isatra.2026.04.035

Junji Feng, Guoqing Zhang, Shilin Yin, Jinhui Jiang

{"title":"Resilient prescribed performance optimal control for underactuated unmanned surface vehicle: A differential game guidance strategy based on control barrier functions.","authors":"Junji Feng, Guoqing Zhang, Shilin Yin, Jinhui Jiang","doi":"10.1016/j.isatra.2026.04.035","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.04.035","url":null,"abstract":"This paper investigates the predefined optimal control problem for underactuated unmanned surface vehicles (USVs) in non-cooperative adversarial scenarios, with a focus on enabling defending USVs to achieve effective collision avoidance in obstacle environments while performing optimal interception of attacking USVs. In the guidance stage, the Nash equilibrium point of the game is solved analytically using geometric methods as the expected interception point for both parties. To ensure that USVs maintain a safe distance from obstacles during the game, control barrier functions (CBFs) are introduced to formulate a quadratic programming problem, which strictly enforces safety constraints while minimizing adjustments to the game strategy. In the controller design stage, in order to satisfy the transient and steady state performance constraints of the system states, a robust controller based on predefined time functions and error transformation is designed. By incorporating an elastic term mechanism, this controller enhances the flexibility of error constraints while meeting the prescribed performance bounds. Theoretical analysis proves the optimality of the guidance strategy and the semi-globally uniformly ultimately bounded (SGUUB) stability of the closed-loop system. Finally, simulation results demonstrate the effectiveness, safety and superiority of the proposed algorithm in complex adversarial scenarios.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147847985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Stable and interpretable DDPG controllers: Integrating Control Lyapunov Functions and symbolic regression via Kolmogorov-Arnold Networks. 稳定和可解释的DDPG控制器：通过Kolmogorov-Arnold网络集成控制Lyapunov函数和符号回归。

IF 6.5

ISA transactions Pub Date : 2026-04-28 DOI: 10.1016/j.isatra.2026.04.030

Roham Farhadi, Ramin Vatankhah, Navid Eqra

引用次数: 0

Prescribed-time bearing-based time-varying formation control for multi-agent system. 基于定时方位的多智能体时变群体控制。

IF 6.5

ISA transactions Pub Date : 2026-04-27 DOI: 10.1016/j.isatra.2026.04.036

Yong Chen, Bowen Hao, Fuxi Niu, Zuxiang Wei, Xiaohong Nian, Xunhua Dai

{"title":"Prescribed-time bearing-based time-varying formation control for multi-agent system.","authors":"Yong Chen, Bowen Hao, Fuxi Niu, Zuxiang Wei, Xiaohong Nian, Xunhua Dai","doi":"10.1016/j.isatra.2026.04.036","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.04.036","url":null,"abstract":"In this manuscript, we investigate the problem of prescribed-time bearing-based formation tracking for multi-agent systems. The proposed control law employs a two-stage strategy to achieve formation tracking within a prescribed time. For multi-agent systems with time-varying leader velocities, follower agents estimate the leaders' inputs through a prescribed-time bearing-based observer. The second stage of the control law is a prescribed-time bearing-based formation tracking controller. Relying solely on the measurement and communication of bearing-related information between neighboring agents, the controller drives the followers to achieve the desired bearing-constrained formation in a prescribed time for first-order systems and enables the agents to achieve velocity coordination with the leaders for second-order systems. The prescribed times for the two stages of the control law can be assigned independently by the user, and convergence is proved using Lyapunov analysis. In addition, to demonstrate the effectiveness and practical feasibility of the proposed control law, simulations and a UAV swarm experiment are conducted.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147825036","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive prescribed-time tracking control with guaranteed performance for uncertain nonlinear systems with arbitrary initial errors. 具有任意初始误差的不确定非线性系统自适应定时跟踪控制。

IF 6.5

ISA transactions Pub Date : 2026-04-27 DOI: 10.1016/j.isatra.2026.04.032

Ruicheng Ma, Jiarun Xin, Yuanchao Qu, Yuliang Cai, Li Yang

{"title":"Adaptive prescribed-time tracking control with guaranteed performance for uncertain nonlinear systems with arbitrary initial errors.","authors":"Ruicheng Ma, Jiarun Xin, Yuanchao Qu, Yuliang Cai, Li Yang","doi":"10.1016/j.isatra.2026.04.032","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.04.032","url":null,"abstract":"This paper addresses the challenging problem of adaptive prescribed-time tracking control with guaranteed performance for uncertain strict-feedback nonlinear systems subject to arbitrary initial errors. Unlike existing methods that require restrictive initial conditions or are limited to stabilization problems, this work develops a unified control framework that simultaneously achieves three key objectives: handling arbitrary initial errors without performance violation, ensuring exact prescribed-time convergence, and maintaining guaranteed transient performance throughout the operation. The main contributions include a novel generalized tanh-based error transformation technique that decouples control performance from initial error magnitudes, automatically confining arbitrary initial errors within asymmetric prescribed performance bounds. Furthermore, an enhanced adaptive backstepping framework incorporating fractional-order terms is proposed to guarantee that the tracking error enters the prescribed performance region before a user-specified entry time and converges to zero exactly at a prescribed settling time. Rigorous theoretical analysis demonstrates the uniform ultimate boundedness of all closed-loop signals while achieving both prescribed-time convergence and guaranteed transient performance under system uncertainties. Simulation results confirm the effectiveness of the proposed method.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147824953","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0