ISA transactions最新文献

A safety-constrained deep reinforcement learning strategy for velocity control of a pipeline inspection robot. 基于安全约束的管道检测机器人速度控制深度强化学习策略。

IF 6.5

ISA transactions Pub Date : 2026-09-02 DOI: 10.1016/j.isatra.2026.08.034

Zhongchao Zhang, Guangqiu Wang, Yiming Li, Kai Huang

{"title":"A safety-constrained deep reinforcement learning strategy for velocity control of a pipeline inspection robot.","authors":"Zhongchao Zhang, Guangqiu Wang, Yiming Li, Kai Huang","doi":"10.1016/j.isatra.2026.08.034","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.08.034","url":null,"abstract":"Maintaining stable velocity control for a self-propelled pipeline inspection robot remains challenging under high-dimensional state spaces, time-varying friction, and non-stationary operating conditions. This study proposes a safety-constrained deep reinforcement learning control strategy for robust velocity regulation under contact-friction and lubrication disturbances. The proposed method employs a quantile-based distributional critic with a Huber loss to improve value estimation under uncertain disturbances. A lower-tail distributional risk indicator is introduced to regulate curiosity-driven exploration and clipped policy updates. In addition, a safety shield projects raw actions into the feasible actuator range, and the shield correction cost is fed back into policy learning. The controller is trained in Isaac Sim and deployed on an experimental prototype. Experiments are conducted under different operating conditions and velocity disturbances. Compared with the A2C baseline and ablation variants, the proposed method achieves lower MAPE under all tested conditions, with an average reduction of at least 16.5%. Compared with alternative value- and policy-update variants, the proposed method reduces the average MAPE and IQR by 67.4%-76.0% and 41.3%-62.7%, respectively, while exhibiting lower overshoot. These results indicate that the proposed method improves tracking accuracy, reduces velocity dispersion, and enhances velocity-control robustness under the tested contact and lubrication disturbances.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148889806","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

Anti-disturbance tracking control for MEMS gyroscopes with resilient guaranteed profiles: Theory and experiments. 弹性保证轮廓MEMS陀螺仪的抗干扰跟踪控制：理论与实验。

IF 6.5

ISA transactions Pub Date : 2026-08-29 DOI: 10.1016/j.isatra.2026.08.031

Wenqiang Wei, Yu Bai, Ke Cui, Yang Gao, Xiong Cheng, Chong Shen, Daying Sun, Huiliang Cao

{"title":"Anti-disturbance tracking control for MEMS gyroscopes with resilient guaranteed profiles: Theory and experiments.","authors":"Wenqiang Wei, Yu Bai, Ke Cui, Yang Gao, Xiong Cheng, Chong Shen, Daying Sun, Huiliang Cao","doi":"10.1016/j.isatra.2026.08.031","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.08.031","url":null,"abstract":"In this paper, an anti-disturbance tracking control scheme with resilient guaranteed profiles is proposed for microelectromechanical system (MEMS) gyroscopes. First, a state observer is constructed for cases in which the velocity measurement is unavailable or severely affected by measurement noise. Based on the recovered velocity information and the invariant manifold principle, a filter-based unknown system dynamics estimator (USDE) is then developed to estimate the system uncertainties. Second, to meet the stringent time and accuracy requirements of MEMS gyroscopes in practical measurement tasks, a resilient quantitative guaranteed performance control (RQGPC) strategy with a dynamically adjustable envelope is proposed. By introducing an auxiliary submodule to monitor input saturation, the proposed RQGPC can accommodate saturation effects while avoiding violations of the preset error constraints. The proposed scheme constrains the convergence process within a predesigned region. Consequently, the overshoot and settling time can be specified by the user, and effective tracking performance can be maintained under parameter uncertainties, external disturbances, and input saturation. Finally, the closed-loop stability is analyzed using Lyapunov theory, and the effectiveness of the proposed method is verified through simulation and experimental results.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-08-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148893026","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

Can predefined-time stability be guaranteed for discrete-time systems? Novel theorems and a sliding mode realization. 离散系统的预定义时间稳定性能否得到保证？新颖的定理和滑模实现。

IF 6.5

ISA transactions Pub Date : 2026-08-27 DOI: 10.1016/j.isatra.2026.08.028

Chao Jia, Junjie Ping

引用次数: 0

Adjustable transient performance for unknown nonlinear systems via control gain selection: Application to tower crane systems. 基于控制增益选择的未知非线性系统的可调暂态性能：在塔式起重机系统中的应用。

IF 6.5

ISA transactions Pub Date : 2026-08-27 DOI: 10.1016/j.isatra.2026.08.027

Yajing Zhao, Xiaoping Liu, Cungen Liu, Na Wang

引用次数: 0

Predefined-time disturbance observer-based fuzzy tracking control for uncertain space robot with global prescribed performance. 具有全局预定性能的不确定空间机器人基于预定义时间扰动观测器的模糊跟踪控制。

IF 6.5

ISA transactions Pub Date : 2026-08-27 DOI: 10.1016/j.isatra.2026.08.022

Yanzhe Yang, Zhiping Chen, Haiping Ai, Yawei Zheng, An Zhu, Xiaodong Fu

{"title":"Predefined-time disturbance observer-based fuzzy tracking control for uncertain space robot with global prescribed performance.","authors":"Yanzhe Yang, Zhiping Chen, Haiping Ai, Yawei Zheng, An Zhu, Xiaodong Fu","doi":"10.1016/j.isatra.2026.08.022","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.08.022","url":null,"abstract":"In this paper, an adaptive fuzzy prescribed performance control strategy based on predefined-time theory is proposed for a space robot under external disturbances and dynamic uncertainties. Firstly, an adaptive fuzzy backstepping framework that integrates predefined-time control theory is presented. To mitigate the impact of external disturbances on tracking performance, a predefined-time nonlinear disturbance observer (PTNDO) is introduced to compensate for them, thereby enhancing the convergence accuracy of trajectory tracking control. Next, global predefined-time prescribed performance control (PTPPC) is introduced to improve the transient and steady-state performance of the control system. Additionally, a single-parameter fuzzy logic system (FLS) is introduced to compensate for dynamic uncertainties in the system. An adaptive fuzzy predefined-time controller is then developed based on PTNDO, PTPPC, and single-parameter FLS. Compared to multi-parameter FLS, single-parameter FLS reduces the consumption of computational resources while retaining the desired level of approximation accuracy. By utilizing PTNDO and PTPPC, the transient and steady-state performance of the space robot control system are enhanced and the limitations of traditional prescribed performance control caused by initial states are avoided. The predefined-time stability of the proposed controller is rigorously proven by using Lyapunov theory, and numerical simulations demonstrate its superiority and effectiveness compared with existing methods.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148876880","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 fuzzy dynamic event-triggered consensus of multi-agent systems under sensor attacks. 传感器攻击下多智能体系统的自适应模糊动态事件触发一致性。

IF 6.5

ISA transactions Pub Date : 2026-08-27 DOI: 10.1016/j.isatra.2026.08.026

Liting Lu, Yiru Tang, Zhi Lian, Mou Chen

{"title":"Adaptive fuzzy dynamic event-triggered consensus of multi-agent systems under sensor attacks.","authors":"Liting Lu, Yiru Tang, Zhi Lian, Mou Chen","doi":"10.1016/j.isatra.2026.08.026","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.08.026","url":null,"abstract":"As information exchange among agents increases, multi-agent systems with limited communication and energy resources have become increasingly vulnerable to cyber threats, particularly sensor attacks that compromise data integrity and system stability. To address this challenge, this paper proposes a control framework for nonlinear multi-agent systems under sensor attacks, integrating adaptive fuzzy control with dynamic attack detection mechanism and dynamic event-triggered strategies. The proposed detection scheme uses only the local output errors of the agents without requiring knowledge of inter-agent static output mappings, thereby reducing implementation complexity. To achieve consensus tracking under attacks, an adaptive fuzzy consensus controller incorporating Nussbaum-type functions is developed within the backstepping framework to handle uncertain and time-varying output gains caused by attacks. Additionally, a dynamic event-triggered mechanism employing an auxiliary variable is proposed to significantly reduce communication overhead while preserving resilient consensus performance under sensor attacks. Rigorous theoretical analysis proves that all closed-loop signals remain bounded and consensus tracking is achieved despite the presence of attacks. Finally, simulation studies further demonstrate the proposed framework's effectiveness.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148868554","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

Structure-preserving constrained smoothing model for partial cross-domain fault diagnosis under time-varying conditions. 时变条件下局部跨域故障诊断的保结构约束平滑模型。

IF 6.5

ISA transactions Pub Date : 2026-08-26 DOI: 10.1016/j.isatra.2026.08.025

Hongdi Zhou, Yukun Jin, Bo Li, Xixing Li, Xiuqun Hou, Zhaoguang Zhang, Yijie Cai

引用次数: 0

Barrier function-based dynamic surface control with global stability guarantees: Theory and implementation. 具有全局稳定性保证的基于屏障函数的动态曲面控制：理论与实现。

IF 6.5

ISA transactions Pub Date : 2026-08-26 DOI: 10.1016/j.isatra.2026.08.024

Jie Zhang, Jiajun Wu, Linfeng Huang, Jie Tao, Yong-Hua Liu, Chun-Yi Su, Renquan Lu

{"title":"Barrier function-based dynamic surface control with global stability guarantees: Theory and implementation.","authors":"Jie Zhang, Jiajun Wu, Linfeng Huang, Jie Tao, Yong-Hua Liu, Chun-Yi Su, Renquan Lu","doi":"10.1016/j.isatra.2026.08.024","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.08.024","url":null,"abstract":"Classical dynamic surface control (CDSC) is widely adopted to alleviate the complexity explosion inherent in integrator backstepping control (IBC), where each virtual control input is processed through a linear low-pass filter. Nevertheless, the introduction of such filters inevitably induces additional errors, which may compromise the global boundedness of the closed-loop system. This paper develops an improved dynamic surface control (DSC) framework for strict-feedback nonlinear systems (SFNSs) that rigorously guarantees global stability. In contrast to CDSC approaches, the proposed method replaces linear filters with barrier function-based nonlinear filters, which effectively mitigate the complexity issue while constraining the filtered errors. A salient feature of the proposed framework is its ability to ensure global uniform boundedness (GUB) of all closed-loop signals, whereas existing CDSC methods typically provide only semiglobal uniform boundedness (SGUB). Extensive simulation and experimental results demonstrate that the proposed approach achieves an average reduction of 57.15% in tracking error compared with CDSC and preserves accurate tracking performance even under a large filtering time constant (ψ=1), thereby highlighting its improved robustness and superior control performance.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148868623","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/predefined-time control for robotic systems with unknown system dynamics estimator. 具有未知系统动力学估计量的机器人系统的定时/预定义时间控制。

IF 6.5

ISA transactions Pub Date : 2026-08-25 DOI: 10.1016/j.isatra.2026.08.023

Siyan Li, Yashan Xing, Min Wang, Jing Na

引用次数: 0

A boundary-curve-based discrete tracking differentiator with phase compensation and its application for intake pressure control in high-altitude testing systems. 基于边界曲线的相位补偿离散跟踪微分器及其在高空测试系统进气压力控制中的应用。

IF 6.5

ISA transactions Pub Date : 2026-08-22 DOI: 10.1016/j.isatra.2026.08.021

Zhuang Xu, Bo Feng, Hongyu Lin, Yunde Xie, Hehong Zhang, Zhiqiang Long

{"title":"A boundary-curve-based discrete tracking differentiator with phase compensation and its application for intake pressure control in high-altitude testing systems.","authors":"Zhuang Xu, Bo Feng, Hongyu Lin, Yunde Xie, Hehong Zhang, Zhiqiang Long","doi":"10.1016/j.isatra.2026.08.021","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.08.021","url":null,"abstract":"Reliable pressure signal filtering and differentiation in high-altitude testing systems are challenging because of rapid signal variations, wide bandwidth, and strong measurement noise. This work proposes a boundary-curve-based discrete optimal tracking differentiator (TD) with phase compensation to improve pressure signal processing and control performance. A novel second-order discrete optimal control composite function (Fqr) is constructed using boundary and control characteristic curves, avoiding the complex square-root operations of the classical Han's TD (Fhan-TD). A prediction compensation scheme is further introduced to improve the phase quality of Fqr-TD. Simulation results under signal-to-noise ratios (SNRs) of 20-50 dB show that Fqr-TD reduces the tracking filtering error by about 25%-26% and the differentiation error by about 31%-32% compared with Fhan-TD. Experimental results show that the proposed TD-based active disturbance rejection control (ADRC) achieves a steady-state pressure error below 0.1 kPa, limits the maximum transient pressure fluctuation to 0.8 kPa, shortens the response time to 4.0 s, and reduces valve oscillation from ±5.0∘ to within ±0.4∘, demonstrating its effectiveness for intake pressure control in high-altitude testing systems.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148835172","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