ISA transactions最新文献

Real-time random reference tracking nonlinear model predictive control: a case study on wind turbines. 实时随机参考跟踪非线性模型预测控制：风电机组实例研究。

ISA transactions Pub Date : 2025-07-10 DOI: 10.1016/j.isatra.2025.06.018

Mohammad Soleymani, Nooshin Bigdeli, Mehdi Rahmani

{"title":"Real-time random reference tracking nonlinear model predictive control: a case study on wind turbines.","authors":"Mohammad Soleymani, Nooshin Bigdeli, Mehdi Rahmani","doi":"10.1016/j.isatra.2025.06.018","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.06.018","url":null,"abstract":"Recently, a research effort to extend nonlinear model predictive control methods from setpoint stabilization to reference tracking has been felt increasingly. On the other hand, uncertainty in the reference signal and the requirement for its dynamic forecasting in applications such as wind turbine control motivate the need for robust tracking nonlinear model predictive control approaches more and more. Therefore, this study proposes a random reference tracking nonlinear model predictive control with dynamic forecasting of stochastic references. Convergence to a robust invariant set is guaranteed by an additional constraint limiting the previous step's tracking stage cost function. The proposed predictive approach is implemented using a parallel Newton-type method to make it more efficient and applicable. The proposed approach for wind turbine control is designed considering the random wind speed reference. Simulations are performed for extreme and fatigue load scenarios. The results show that the proposed controller performs more robustly than the nominal nonlinear model predictive control approach, performing better in optimal power extraction and reducing aerodynamic loads.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144621605","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

Multi-source positioning information fusion method based on improved robust Kalman filter. 基于改进鲁棒卡尔曼滤波的多源定位信息融合方法。

ISA transactions Pub Date : 2025-07-09 DOI: 10.1016/j.isatra.2025.07.006

Weiwei Lin, Jiajun Wang, Xiaoling Wang, Jun Zhang, Haojun Gao

引用次数: 0

A new hybrid neurodynamics-based model-less solution for redundant robot fault-tolerant motion planning and control. 基于混合神经动力学的冗余机器人容错运动规划与控制新方法。

ISA transactions Pub Date : 2025-07-08 DOI: 10.1016/j.isatra.2025.07.004

Xin Wang, Ning Tan, Zhaohui Zhong, Cong Hu, Kai Huang, Xiaoyi Gu

{"title":"A new hybrid neurodynamics-based model-less solution for redundant robot fault-tolerant motion planning and control.","authors":"Xin Wang, Ning Tan, Zhaohui Zhong, Cong Hu, Kai Huang, Xiaoyi Gu","doi":"10.1016/j.isatra.2025.07.004","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.07.004","url":null,"abstract":"For tasks utilizing redundant manipulators, the motion of multiple joints is involved in performing tracking control. In some cases, the failure of one or more joints may lead to task failure or even cause damage, highlighting the necessity of fault tolerance as a crucial capability for robotic control systems. To achieve the fault-tolerant control capability of the redundant manipulator, a quadratic programming problem is formulated to minimize the joint velocity based on the task-priority strategy. Based on this formulation, a constraint transformation method is employed to handle the joint velocity constraints, and finally, this quadratic programming problem is solved using zeroing neurodynamics with finite-time convergence. Unlike most previous fault-tolerant control algorithms, the proposed method estimates the Jacobian matrix in a data-driven manner based on gradient neurodynamics, without requiring the kinematic model of the redundant manipulator. The effectiveness of the proposed method is evaluated through simulations and experiments using manipulators with different degrees of freedom.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144628338","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

Dual-loop optimization of digital accelerometers based on advanced dual-degree-of-freedom Smith predictor. 基于先进双自由度Smith预测器的数字加速度计双环优化。

ISA transactions Pub Date : 2025-07-08 DOI: 10.1016/j.isatra.2025.07.009

Yi Wang, Tiantian Huang, Dekun Yang, Zhijuan Zhu, Liang Cai, Kaichen Song

{"title":"Dual-loop optimization of digital accelerometers based on advanced dual-degree-of-freedom Smith predictor.","authors":"Yi Wang, Tiantian Huang, Dekun Yang, Zhijuan Zhu, Liang Cai, Kaichen Song","doi":"10.1016/j.isatra.2025.07.009","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.07.009","url":null,"abstract":"In digital accelerometers, the setpoint loop is designed to balance the controlled object, and the disturbance loop is used to measure external inputs. Traditional closed-loop control structure of digital accelerometers is optimized only for the disturbance loop, failing to optimize the performance of the dual loops simultaneously. An advanced dual-degree-of-freedom (ADOF) Smith predictive control is proposed herein, structurally isolating the setpoint loop from the disturbance loop. Firstly, the principle of the closed-loop digital accelerometer is elaborated, and the contradiction between the performance optimization of dual loops is analyzed. Secondly, an ADOF Smith predictive control is proposed and compared with other control structures. Furthermore, the setpoint and disturbance controllers in the structure are designed using the Dahlin algorithm and H ∞ optimal control methods for parameter tuning, with the controllers being determined by a single parameter. To quantitatively describe the relationship between the control parameters and robust performance, the relationship between the control parameters and the margin indicators is derived, and the control performance is evaluated. Finally, an experimental platform of a digital closed-loop accelerometer is constructed to validate the proposed ADOF control structure and parameter tuning methods. The experimental results show that the performance of the proposed ADOF control structure significantly outperforms traditional digital closed-loop control and filtered Smith predictive control, and compared with the dual-degree-of-freedom control structure, it exhibits better nominal performance under low robustness parameters due to delay compensation.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144621562","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

Model predictive control of nonlinear dynamical systems based on long sequence stable Koopman network. 基于长序列稳定库普曼网络的非线性动力系统模型预测控制。

ISA transactions Pub Date : 2025-07-07 DOI: 10.1016/j.isatra.2025.07.003

Qifan Wang, Yuhong Jin, Lei Hou, Chuanjiang Li, Nasser A Saeed, Ahmed Fouly, Emad Mahrous Awwad

{"title":"Model predictive control of nonlinear dynamical systems based on long sequence stable Koopman network.","authors":"Qifan Wang, Yuhong Jin, Lei Hou, Chuanjiang Li, Nasser A Saeed, Ahmed Fouly, Emad Mahrous Awwad","doi":"10.1016/j.isatra.2025.07.003","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.07.003","url":null,"abstract":"In recent years, the Koopman method has found numerous applications in the field of nonlinear control due to its ability to map nonlinear states into high-dimensional spaces, thereby transforming nonlinear control problems into linear or bilinear problems. However, Koopman methods based on deep learning suffer from slow convergence, and the Koopman coefficients obtained through iterative processes cannot guarantee long-term prediction stability in the high-dimensional mapped space. To address these issues, we propose a Stable Deep Koopman Network with Model Predictive Control (SDKN-MPC) method for nonlinear control. The SDKN-MPC method utilizes the Stable Koopman Solver Algorithm to solve for a stable Koopman operator. It incorporates neural network training for embedding functions, with both training processes interleaved until convergence is achieved towards a unified stable solution. Subsequently, Model Predictive Control (MPC) is employed to control the high-dimensional linear system mapped through the Koopman operator, yielding high-dimensional desired inputs. These inputs undergo further processing through an auxiliary network to obtain the actual predictive control inputs. The proposed method is subjected to long-term predictive performance testing across multiple typical nonlinear control tasks and is compared with existing deep learning-based approaches. The results demonstrate that our method can extract more effective nonlinear features, converges rapidly, and exhibits superior predictive performance compared to existing methods.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-07-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144628339","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

Periodic event-triggered robust trajectory tracking control for underactuated unmanned surface vehicle without velocity measurement. 欠驱动无人水面车辆无速度测量的周期事件触发鲁棒轨迹跟踪控制。

ISA transactions Pub Date : 2025-07-06 DOI: 10.1016/j.isatra.2025.07.002

Enhua Zhang, Jian Wang, Xing Wang, Xiaofeng Liang

{"title":"Periodic event-triggered robust trajectory tracking control for underactuated unmanned surface vehicle without velocity measurement.","authors":"Enhua Zhang, Jian Wang, Xing Wang, Xiaofeng Liang","doi":"10.1016/j.isatra.2025.07.002","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.07.002","url":null,"abstract":"This paper proposes a periodic event-triggered control (PETC) algorithm for underactuated unmanned surface vehicle (USV) subject to unknown exogenous perturbances within limited communication bandwidth. Initially, the underactuated USV model is reformulated using output redefinition-based dynamic inversion (ORDI) so that the system attains a well-defined relative degree through an approximate variable vector. While typical USV control strategies isolate the yaw and surge channel, the ORDI integrates both dimensions into a single framework to adopt a direct controller design. Subsequently, the minimum-learning-parameter radial basis function neural network (RBFNN) with adaptive laws is employed to effectively approximate the nonlinear dynamics and external perturbations with rapid and fewer computations. After that, an anti-chattering velocity observer is presented to provide accurate velocity estimation based solely on position data transmission. Building on this, a PETC algorithm is introduced which balances the periodic sampling with traditional event-triggered control via a sliding mode manifold. This mechanism is designed to assess the requirement for computations and the subsequent transmission of updated measurements alongside current control signals. Furthermore, it can dynamically adjust the communication frequency between the controller and the actuators, in accordance with the digital platform's demands. Moreover, Theoretical analysis rigorously proves that state errors and estimation errors converge to equilibrium and ensure the system stability. Numerical simulations substantiate the robustness and superior performance of the proposed control scheme under bandwidth limitations and uncertain conditions.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144602641","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

Time-optimal global path planning and collision-avoidance local path planning for USVs in traffic separation scheme-implemented coastal waters. 基于分道通航的沿海水域无人水面艇全局路径规划与避碰局部路径规划

ISA transactions Pub Date : 2025-07-04 DOI: 10.1016/j.isatra.2025.06.030

Yihan Tao, Jialu Du

{"title":"Time-optimal global path planning and collision-avoidance local path planning for USVs in traffic separation scheme-implemented coastal waters.","authors":"Yihan Tao, Jialu Du","doi":"10.1016/j.isatra.2025.06.030","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.06.030","url":null,"abstract":"Under multiple constraints including unmanned surface vehicle (USV) dynamics, traffic separation scheme (TSS) requirements, navigable water boundaries, and safety thresholds for collision risks, time-optimal path planning and collision-avoidance (COLAV) path planning for USVs in TSS-implemented coastal waters remain challenging. To overcome this challenge, we innovatively develop a hierarchical Gaussian-process-based nonlinear programming (GPNLP) approach for the USV time-optimal global path planning and COLAV local path planning. We model irregular static obstacles using Gaussian process regression for the first time, such that navigable waters are more sufficiently utilized for path planning. A TSS compliance assessment function is created to output violation penalties for the TSS requirements that should be satisfied as far as practicable. Accordingly, we plan the time-optimal global path and the COLAV local path hierarchically by minimizing two integral objective functions (with respect to the TSS violation penalties) subject to the multiple constraints. Simulations and simulation comparison results demonstrate that both the planned USV time-optimal global path and COLAV local path under the proposed hierarchical GPNLP approach are USV dynamics compliant and TSS compliant.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144568249","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

Fuzzy modal time-scheduled control and L₂-gain analysis for switched nonlinear systems. 切换非线性系统的模糊模态时序控制与l2增益分析。

ISA transactions Pub Date : 2025-07-02 DOI: 10.1016/j.isatra.2025.06.026

Jinling Wang, Jun-Guo Lu, Jiarong Li, Qinghao Zhang, Cheng Hu

引用次数: 0

Fractional-order sliding mode coordinated controller using super-twisting disturbance observer for an NSSS with predefined-time stability. 基于超扭转扰动观测器的非定常稳定系统分数阶滑模协调控制器。

ISA transactions Pub Date : 2025-07-01 DOI: 10.1016/j.isatra.2025.06.032

Jiuwu Hui

{"title":"Fractional-order sliding mode coordinated controller using super-twisting disturbance observer for an NSSS with predefined-time stability.","authors":"Jiuwu Hui","doi":"10.1016/j.isatra.2025.06.032","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.06.032","url":null,"abstract":"This paper develops a fractional-order sliding mode coordinated control (FOSMCC) strategy incorporating dual super-twisting disturbance observers (STDOs) to enhance the control performance, stability, and reliability of the nuclear steam supply system (NSSS) under complex, time-varying operating conditions and compound disturbances. The FOSMCC strategy synthesizes the fractional-order control and predefined-time theory with sliding mode control, augmented by the disturbance feedforward compensation loop driven by dual STDOs. Such control framework provides enhanced control performance guarantees, including fast transient response, high steady-state precision, and reinforced disturbance rejection. Furthermore, by employing Lyapunov's direct approach, it is theoretically demonstrated that the entire NSSS, under the developed coordinated strategy, achieves superior predefined-time stability. Finally, comprehensive numerical validation and comparative studies reveal that the developed FOSMCC strategy with STDOs significantly outperforms both the latest fractional-order fixed-time sliding mode controller (FOFTSMC) and the practically adopted coordinated controller (PACC), exhibiting better transient/steady-state control response and stronger robustness against disturbances. Simulation results validate that, in the presence of compound disturbances, the proposed FOSMCC strategy reduces the integral absolute control error of nuclear power and water level by 89.37 % and 87.67 %, respectively, compared to FOFTSMC, and by 99.97 % and 99.99 %, respectively, compared to PACC.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144577443","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

A novel MPC-based cascaded control for multi-area smart grids: Tackling renewable energy and EV integration challenges. 基于多区域智能电网的新型mpc级联控制：应对可再生能源和电动汽车集成挑战。

ISA transactions Pub Date : 2025-06-30 DOI: 10.1016/j.isatra.2025.06.024

Muhammad S Tolba, Muhammad Majid Gulzar, Ali Arishi, Mohamed Soliman, Ali Faisal Murtaza

{"title":"A novel MPC-based cascaded control for multi-area smart grids: Tackling renewable energy and EV integration challenges.","authors":"Muhammad S Tolba, Muhammad Majid Gulzar, Ali Arishi, Mohamed Soliman, Ali Faisal Murtaza","doi":"10.1016/j.isatra.2025.06.024","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.06.024","url":null,"abstract":"This paper presents an advanced cascaded control scheme for load frequency regulation in multi-area power systems incorporating renewable energy sources (RES) and electric vehicles (EVs). The proposed design (Model predictive control cascaded with one plus proportional-integral control cascaded with tilt control in parallel with one plus fractional-order integral derivative controller (MPC-((1+PI)-(T+(1+IλDμ)))) combines predictive, tilt, and fractional-order dynamics to improve adaptability and robustness under uncertainties. Controller parameters are tuned using the Lyrebird Optimization Algorithm (LOA), ensuring fast convergence and effective global search. Simulation results under varying operational conditions, including nonlinearity effects such as Generation Rate Constraints (GRC), Governor Dead Band (GDB), and Communication Time Delays (CTD), confirm the controller's superiority. It achieves a 96.4 % ITAE reduction, 98.6 % undershoot mitigation, and a settling time of just 5.8 s outperforming existing benchmark strategies (GOA: PDf+(0.75+PI), CBOA: PI-PD, JSA: PI, and ARA: 1+PID).","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144546658","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