ISA transactions最新文献_第10页

Neural network-based fixed-time practical attitude synchronization control for uncertain networked spacecraft systems. 基于神经网络的不确定网络航天器系统定时实用姿态同步控制。

IF 6.5

ISA transactions Pub Date : 2025-08-09 DOI: 10.1016/j.isatra.2025.08.005

Runlong Peng, Jinchen Ji, Bin Zheng, Nan Li, Zhonghua Miao, Jin Zhou

引用次数: 0

Nonlinear dual-motor steer-by-wire system cooperative control via fixed-time command-filtered. 基于定时命令滤波的非线性双电机线控系统协同控制。

IF 6.5

ISA transactions Pub Date : 2025-08-09 DOI: 10.1016/j.isatra.2025.08.018

Qilong Wei, Song Gao, Liwei Shi, Shoulin Gao, Kaiwei Wu, Yang Li

{"title":"Nonlinear dual-motor steer-by-wire system cooperative control via fixed-time command-filtered.","authors":"Qilong Wei, Song Gao, Liwei Shi, Shoulin Gao, Kaiwei Wu, Yang Li","doi":"10.1016/j.isatra.2025.08.018","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.018","url":null,"abstract":"This paper investigates a novel dual-motor steer-by-wire (DMSBW) system to enhance the reliability of steer-by-wire (SBW) systems. However, various nonlinearities in the DMSBW system complicate the torque variation in each subsystem, resulting in different dynamic responses of the two motors, which leads to serious coordination problems in the system. Therefore, a fixed-time command-filtered cooperative control strategy is proposed. First, the nonlinearity of the system's aligning torque, friction torque, and load torque caused by backlash are considered, and the nonlinear model of the DMSBW system is established. Then, a high-gain observer (HGO) is employed to rapidly estimate the nonlinear alignment torque and friction torque of the system. Next, a fixed-time robust backstepping controller based on the HGO is designed, embedding a robust control term to compensate for the backlash nonlinearity. Fixed-time control enhances the system's convergence performance, and a command filter along with a compensation signal is designed to improve the controller's control accuracy. Finally, hardware-in-the-loop experiments show that the proposed control strategy enables the DMSBW system to achieve high-precision cooperative operation under nonlinear conditions.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144984213","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

Quasi-exact dynamic average consensus under asynchronous communication and symmetric delays. 异步通信和对称时延下的准精确动态平均一致性。

IF 6.5

ISA transactions Pub Date : 2025-08-09 DOI: 10.1016/j.isatra.2025.08.011

Rodrigo Aldana-López, Rosario Aragüés, Carlos Sagüés

引用次数: 0

Fixed-time optimal time-varying formation control for unmanned surface vehicle systems based on reinforcement learning. 基于强化学习的无人水面车辆系统定时最优时变编队控制。

IF 6.5

ISA transactions Pub Date : 2025-08-08 DOI: 10.1016/j.isatra.2025.07.057

Qiaokun Kang, Qintao Gan, Ruihong Li, Luke Li, Guoquan Ren

引用次数: 0

Closed-loop fault-tolerant dynamic control allocation design and implementation. 闭环容错动态控制分配设计与实现。

IF 6.5

ISA transactions Pub Date : 2025-08-08 DOI: 10.1016/j.isatra.2025.08.016

Hongyu Jing, Kemao Ma

引用次数: 0

Persistent surveillance for heterogeneous robots considering movement randomness and energy allocation. 考虑运动随机性和能量分配的异构机器人持续监控。

IF 6.5

ISA transactions Pub Date : 2025-08-08 DOI: 10.1016/j.isatra.2025.08.007

Tiedan Hua, Yang Chen

{"title":"Persistent surveillance for heterogeneous robots considering movement randomness and energy allocation.","authors":"Tiedan Hua, Yang Chen","doi":"10.1016/j.isatra.2025.08.007","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.007","url":null,"abstract":"This paper addresses a new persistent surveillance problem where heterogeneous robots measure task nodes, taking into account movement randomness and energy allocation. The heterogeneous robots, which consist of an unmanned ground vehicle (UGV) and unmanned aerial vehicles (UAVs), are deployed in real-time counteracting environmental inspection applications. To avoid hostile intruders from predicting their future routing information and to improve measurement efficiency, this paper seeks to: (1) address the privacy of persistent surveillance, and (2) make balanced programs about the energy cost. Specifically, this paper first proposes a framework in which UAVs perform stochastic movement based on Markov Chain and leverage the probabilistic measurement to fulfill the overall frequency of the task nodes. Then, persistent surveillance with movement randomness and energy allocation (PSREA) is formulated as an optimization problem, which is non-convex and becomes quite complex when regarding excessive task nodes. A clustering-based task network simplification algorithm and an iterative two-stage algorithm are proposed to cover an enormous number of task nodes and to deal with the non-convex problem, respectively. The numerical results demonstrate that the proposed algorithms can significantly improve the inspection performance compared to the benchmark results.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144983519","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

Designing non-overshooting fractional-order PI controllers for a particular case of fractional-order systems. 针对分数阶系统的特殊情况设计非超调分数阶PI控制器。

IF 6.5

ISA transactions Pub Date : 2025-08-08 DOI: 10.1016/j.isatra.2025.08.014

Mohammad Tabatabaei

{"title":"Designing non-overshooting fractional-order PI controllers for a particular case of fractional-order systems.","authors":"Mohammad Tabatabaei","doi":"10.1016/j.isatra.2025.08.014","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.014","url":null,"abstract":"It is crucial to attain a non-overshooting step response in various applications. On the other hand, although various approaches have been presented to design fractional-order proportional-integral (FOPI) controllers in the literature, none of them can ensure a non-overshooting unit step response (USR) for the closed-loop system. This paper designs non-overshooting FOPI controllers for a fractional-order system (FOS) with one and two fractional orders. First, the FOPI controller parameters are chosen to achieve a monotonic magnitude-frequency response (MFR) for the closed-loop system, thereby achieving a non-overshooting or minimum overshoot USR. It is demonstrated that if the sum of the fractional order of the FOPI controller and the maximum order of the plant (for the FOS with one and two fractional orders, where the fractional orders are between one and zero) is equal to 1, a monotonic MFR can be attained. The proportional gain and the integrator time constant are then calculated to attain a desired phase margin (PM) and loop gain crossover frequency (GCF). The main constraints on PM are attained, and the stability of the closed-loop system is proved. Numerical simulations demonstrate the correctness of the presented controller in the presence of disturbance and uncertainty in model parameters. Comparative simulations demonstrate the superiority of the designed FOPI to an already published work in the literature. The performance of the proposed FOPI controller in controlling the ionic polymer-metal composite actuator is also demonstrated.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144857262","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

Superharmonic resonance study and fault diagnosis induced by slant crack in rotor-bearing system. 转子-轴承系统斜裂纹诱发的超谐波共振研究及故障诊断。

IF 6.5

ISA transactions Pub Date : 2025-08-07 DOI: 10.1016/j.isatra.2025.07.056

Weipeng Sun, Kaicheng Zhang, Shen Hu, Daoli Zhao, Yusen Jiang, Wei Ma, Qiuhong Huang

{"title":"Superharmonic resonance study and fault diagnosis induced by slant crack in rotor-bearing system.","authors":"Weipeng Sun, Kaicheng Zhang, Shen Hu, Daoli Zhao, Yusen Jiang, Wei Ma, Qiuhong Huang","doi":"10.1016/j.isatra.2025.07.056","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.07.056","url":null,"abstract":"Crack faults in rotor-bearing systems can cause major safety hazards, which makes it necessary to monitor and diagnose them promptly. This paper investigates the crack fault mechanism and further proposes a diagnosis between crack faults and others. A cracked stiffness model was developed based on fracture mechanics, and the cracked rotor was analyzed in detail for stresses. The multi-failure rotor test bench was established and related experiments were carried out to verify the model's accuracy. The results show that the critical rotational speed decreases obviously as the crack angle increases for crack depth ratios from 0.8 to 1. For the slant cracked rotor-bearing system with crack depth coefficient of a/R (Ratio of crack depth to shaft radius) = 1 and angle of 45∘, superharmonic resonance and horizontal resonance were observed around 1/3ωn (critical speed), and the resonance peaks were hysteretic in horizontal direction. Based on the harmonic resonance characteristics, three neural networks, Back Propagation (BP), Kernel Extreme Learning Machine (KELM) and Random Forest (RF), are used to classify different faults including cracks, and they are optimized by Sparrow Search Algorithm (SSA). The results show that all three models have high classification accuracy, while the optimized KELM model is the most efficient.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144812756","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-windup compensator based on LADRC and its application in the attitude control of near-space aircraft. 基于LADRC的抗卷绕补偿器及其在近空飞行器姿态控制中的应用。

IF 6.5

ISA transactions Pub Date : 2025-08-07 DOI: 10.1016/j.isatra.2025.07.051

Yanqiu Zhao, Di Zhou, Chuntao Shao, Siyuan Li

引用次数: 0

Estimation of accelerometers' bias in decentralized relative localization via the rotating UWB tag. 基于旋转超宽带标签的分散相对定位中加速度计偏差估计。

IF 6.5

ISA transactions Pub Date : 2025-08-07 DOI: 10.1016/j.isatra.2025.08.012

Meysam Alizad, Hadi Nobahari

{"title":"Estimation of accelerometers' bias in decentralized relative localization via the rotating UWB tag.","authors":"Meysam Alizad, Hadi Nobahari","doi":"10.1016/j.isatra.2025.08.012","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.012","url":null,"abstract":"This paper proposes a novel algorithm for cooperative relative localization of multiple aerial robots. The algorithm estimates acceleration biases and velocities alongside relative positions, leveraging relative range and inertial measurements. A group of quadrotors, consisting of one master and two regular units, collaboratively estimates the relative positions. The master quadrotor estimates the acceleration biases of each unit and shares these values to compensate for their effects on position estimation. The proposed method incorporates geometric constraints as additional measurements, enabling accurate estimation. When applied individually, the law of cosines and the velocity constraint reduce the average estimation error of acceleration biases by 71 % and 81 %, respectively. An observability analysis is conducted, providing necessary conditions for system observability. The performance of the proposed method is evaluated through simulations under various conditions-including noise-free and noisy measurements, as well as uncertainties in initial estimation guesses-and through experimental validation. Comparative analysis with existing approaches demonstrates that the proposed method effectively estimates velocities by compensating for acceleration biases, with the potential to enhance absolute navigation accuracy.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144860027","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