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Agile control of test mass based on PINN-DDPG for drag-free satellite.
ISA transactions Pub Date : 2024-11-28 DOI: 10.1016/j.isatra.2024.11.049
Xiaobin Lian, Suyi Liu, Xuyang Cao, Hongyan Wang, Wudong Deng, Xin Ning
{"title":"Agile control of test mass based on PINN-DDPG for drag-free satellite.","authors":"Xiaobin Lian, Suyi Liu, Xuyang Cao, Hongyan Wang, Wudong Deng, Xin Ning","doi":"10.1016/j.isatra.2024.11.049","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.049","url":null,"abstract":"<p><p>Agile control after the release of test mass is related to the success or failure of China's space gravitational wave detection program, such as TianQin and Taiji. In the release process, the test mass's motion state is complex and susceptible to collisions with the satellite cavity. In addition, the release capture control of the test mass uses electrostatic force, which is extremely small. These factors pose a significant challenge to the control system design. For this purpose, this paper proposes a real-time predictive control method for PINN-DDPG based on Physical Information Neural Network (PINN), Long Short-Term Memory (LSTM), and Deep Deterministic Policy Gradient (DDPG) to solve the problem of agile capture control under weak electrostatic force. First, a PINN-LSTM network for real-time state prediction is designed based on PINN and LSTM to solve the problems of interpretability and time-dependent state prediction. Subsequently, a DDPG controller was designed to solve the reinforcement learning control problem in continuous action space. Finally, simulation results demonstrate that, in comparison to the traditional PINN, the PINN-LSTM markedly hastens the training convergence, cutting the time by 60 %. Compared to traditional DDPG control, the PINN-DDPG diminish the stabilization time of position and velocity errors by 70 %.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142815346","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 consensus control for multi-agent systems with time-varying topology and communication constraints.
ISA transactions Pub Date : 2024-11-28 DOI: 10.1016/j.isatra.2024.11.039
Tengfei Liang, Zehui Xiao, Yunfa Wu, Jie Tao, Peng Shi
{"title":"Memory-based consensus control for multi-agent systems with time-varying topology and communication constraints.","authors":"Tengfei Liang, Zehui Xiao, Yunfa Wu, Jie Tao, Peng Shi","doi":"10.1016/j.isatra.2024.11.039","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.039","url":null,"abstract":"<p><p>This paper focuses on the design of event-triggered observer-based heterogeneous memory controllers for leader-following multi-agent systems with time-varying topology. In order to save limited on-board resources, a novel adaptive event-triggered strategy based on the nonlinear transformation law of the estimation error is proposed in this paper, which can effectively reduce some unnecessary data transmission due to small fluctuations after the estimation error converges. Then, a more general topology structure described by an interval type-2 fuzzy model is adopted, which contains both nonlinear time-varying law and uncertain parameters. Taking into account the differences in the interactions between various agents, the heterogeneous fuzzy-dependent controllers with past state measurements are constructed to further improve consensus performance. Moreover, some sufficient conditions are derived to solve the designed observers and controllers while ensuring that the desired consensus of the multi-agent systems can be achieved. Finally, two examples are given to illustrate the superiority and effectiveness of the proposed event-triggered strategy, and also to verify that introducing past state measurements into the controller helps enhance the consensus control performance.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142782187","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
Spatial barycentric coordinates based distributed formation control for multi-agent systems. 基于空间偏心坐标的多机器人系统分布式编队控制。
ISA transactions Pub Date : 2024-11-28 DOI: 10.1016/j.isatra.2024.11.040
Fangyuan Li, Jialing Ning, Hui Liu, Yubo Zhang, Yanhong Liu
{"title":"Spatial barycentric coordinates based distributed formation control for multi-agent systems.","authors":"Fangyuan Li, Jialing Ning, Hui Liu, Yubo Zhang, Yanhong Liu","doi":"10.1016/j.isatra.2024.11.040","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.040","url":null,"abstract":"<p><p>Many applications of multi-agent systems have to execute some tasks in certain formations, while not all nodes have access to localization technologies such as GPS. This paper investigates the problem of formation control for multi-agent systems in three-dimensional space relying on distances between nodes and positions of anchor nodes. The position information of all nodes is represented using generalized spatial barycentric coordinates, and the condition that the formation shape can be uniquely represented by the barycentric coordinates is given. Then, based on this representation method, a distributed spatial formation algorithm is proposed to guide all agents from their initial positions towards the desired ones. Finally, simulation studies have been presented to validate the effectiveness and correctness of the proposed algorithm and design conditions.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142823021","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
Ultrasonic wind vector measurement based on quadratic correlation two-frequency phase method.
ISA transactions Pub Date : 2024-11-27 DOI: 10.1016/j.isatra.2024.11.037
Zebiao Shan, Mingxuan Han, Xiaosong Liu, Yunqing Liu
{"title":"Ultrasonic wind vector measurement based on quadratic correlation two-frequency phase method.","authors":"Zebiao Shan, Mingxuan Han, Xiaosong Liu, Yunqing Liu","doi":"10.1016/j.isatra.2024.11.037","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.037","url":null,"abstract":"<p><p>A proposed method for measuring ultrasonic wind speed and direction utilizes the quadratic correlation phase method to address limited range issues and low measurement accuracy associated with the phase difference method when the signal-to-noise ratio is low. First, the proposed method uses quadratic correlation method combined with the four-step phase shift method to estimate the phase difference based on wind measuring structure of the opposing-type Array Structures. Then, the two-frequency phase difference method extends the measurement range of ultrasonic wind speed and direction. Finally, we also built an ultrasonic wind measurement system and perform practical tests, showing that the maximum measurement errors for wind speed and direction angles are within 0.28m/s and 2.8°, which essentially conforms to the ultrasonic anemometer's design requirements.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142788142","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
Tracking control for two-wheeled mobile robots via event-triggered mechanism.
ISA transactions Pub Date : 2024-11-26 DOI: 10.1016/j.isatra.2024.11.032
Chao Wang, Peng Shi, Imre Rudas
{"title":"Tracking control for two-wheeled mobile robots via event-triggered mechanism.","authors":"Chao Wang, Peng Shi, Imre Rudas","doi":"10.1016/j.isatra.2024.11.032","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.032","url":null,"abstract":"<p><p>In this paper, we investigate the event-based tracking control for two-wheeled mobile robots using a sliding mode control strategy. To address the conflict between the singularity problem and finite-time performance, a new nonsingular terminal sliding mode controller enabling mobile robots to achieve the tracking goal through a wireless network is developed. Further, redesign the controller using sampling information, in which an event condition is introduced to determine the sampling sequence, and the event-triggered controller avoids the high gain situation through the proposed sliding variables. The Zeno phenomenon for event condition is excluded by proofing the existence of minimal positive interevent execution time. Finally, an experiment has been implemented on a remote computer transmitting control signals to a mobile robot, demonstrating the effectiveness and applicability of the designed controller.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142756068","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
Cross-speed spindle motor bearings fault diagnosis combined with multi-space variable scale adaptive filter and feedforward hybrid strategy.
ISA transactions Pub Date : 2024-11-26 DOI: 10.1016/j.isatra.2024.11.045
Hao Zhou, Jianzhong Yang, Qian Zhu, Jihong Chen
{"title":"Cross-speed spindle motor bearings fault diagnosis combined with multi-space variable scale adaptive filter and feedforward hybrid strategy.","authors":"Hao Zhou, Jianzhong Yang, Qian Zhu, Jihong Chen","doi":"10.1016/j.isatra.2024.11.045","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.045","url":null,"abstract":"<p><p>The vibration signal of the spindle motor contains complicated mixed modulation harmonics and background noise when computer numerical control (CNC) machine tools perform machining tasks. Additionally, frequent changes in the running speed of the spindle motor cause significant variations in the signal feature distribution, making fault diagnosis challenging. The adaptive sinusoidal fusion convolutional neural networks (ASFCNN) is proposed to achieve cross-speed spindle motor bearings fault diagnosis. The ASFCNN extracts multi-spatial and variable-scale fault features through the multi-spatial variable-scale adaptive sinusoidal filter (MVASF) for noise reduction. And a multi-level feedforward hybrid strategy (MFHS) is designed to fuse multi-layer features of the convolutional neural network (CNN) and time sequence information for fault feature enhancement. The proposed method is evaluated on a multi-source spindle motor dataset under real working conditions. Experimental results show that the ASFCNN model significantly outperforms the compared classical models in terms of diagnosis accuracy, the effectiveness and interpretability are validated through the visualization methods.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142796552","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
H∞ fault-tolerant fuzzy intermittent control for nonlinear hyperbolic PDE systems with multiple delays and actuator failures.
ISA transactions Pub Date : 2024-11-25 DOI: 10.1016/j.isatra.2024.11.017
Xu Zhang, Xuan Gao, Zi-Peng Wang, Biao Luo, Ke-Zhen Han, Xue-Hua Yan
{"title":"H<sub>∞</sub> fault-tolerant fuzzy intermittent control for nonlinear hyperbolic PDE systems with multiple delays and actuator failures.","authors":"Xu Zhang, Xuan Gao, Zi-Peng Wang, Biao Luo, Ke-Zhen Han, Xue-Hua Yan","doi":"10.1016/j.isatra.2024.11.017","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.017","url":null,"abstract":"<p><p>This study presents an H<sub>∞</sub> fault-tolerant fuzzy intermittent control approach for the nonlinear hyperbolic partial differential equation (PDE) systems with multiple delays and actuator failures (MDAFs). Firstly, the nonlinear hyperbolic PDE systems with MDAFs are characterized by the Takagi-Sugeno (T-S) fuzzy delayed hyperbolic PDE model. Next, by employing the Lyapunov direct method, this paper demonstrates the robust exponential stability using spatial linear matrix inequalities (SLMIs) based on a new switching Lyapunov functional (LF). Furthermore, the H<sub>∞</sub> fault-tolerant fuzzy intermittent control issue for nonlinear hyperbolic PDE systems with MDAFs is transformed into the LMI feasibility problem to deal with the SLMIs. Lastly, the feasibility of the constructed control strategy is demonstrated by two illustrative examples.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142775420","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
Analysis of proportional-resonant damping factors in the parallel operation of UPSs.
ISA transactions Pub Date : 2024-11-24 DOI: 10.1016/j.isatra.2024.11.028
Guilherme Keiel, Jeferson Vieira Flores, Luís Fernando Alves Pereira
{"title":"Analysis of proportional-resonant damping factors in the parallel operation of UPSs.","authors":"Guilherme Keiel, Jeferson Vieira Flores, Luís Fernando Alves Pereira","doi":"10.1016/j.isatra.2024.11.028","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.028","url":null,"abstract":"<p><p>Accurate load-sharing and circulating current mitigation is a particular problem in parallel-connected inverters without intercommunication. This paper analyzes how using multiple-resonant controllers in the voltage regulation loop impacts the parallel operation of uninterruptible power supplies (UPSs) with droop control. It is shown how adding damping factors of all modes of the resonant controller reduces the circulating current between the UPSs, also improving the power-sharing closed-loop stability and performance. Moreover, the proper choice of these damping coefficients can replicate the effects of adding virtual resistance loops to the droop controller structure. An analysis of such coefficients on the stability margins of the voltage regulation system is carried out and the methodology is validated by experimental results considering the parallelism of two 3.5 kVA UPSs with parametric differences in their LC filters.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142752721","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
Leader-follower method-based formation control for snake robots.
ISA transactions Pub Date : 2024-11-24 DOI: 10.1016/j.isatra.2024.11.035
Wu Wang, Zhihang Du, Dongfang Li, Jie Huang
{"title":"Leader-follower method-based formation control for snake robots.","authors":"Wu Wang, Zhihang Du, Dongfang Li, Jie Huang","doi":"10.1016/j.isatra.2024.11.035","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.035","url":null,"abstract":"<p><p>This paper proposes a leader-follower control method for multiple snake robot formation. Based on the simplified snake robot model, this work improves the traditional Serpenoid gait mode to a time-varying frequency form. Combined with the line-of-sight (LOS) method, a snake robot trajectory tracking controller is designed to enable the leader to track the desired trajectory at the ideal velocity. Then, the leader-follower following error system of a snake robot formation is established. In this framework, the follower can maintain a preset geometric position relationship with the leader to ensure the fast convergence of the formation location. Lyapunov's theory proves the stability of a snake robot formation error. Simulation and experimental results show that this strategy has the advantages of faster convergence speed and higher tracking accuracy than other current methods.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142808884","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
Hybrid impulsive control for global stabilization of subfully actuated systems.
ISA transactions Pub Date : 2024-11-23 DOI: 10.1016/j.isatra.2024.11.034
Qinbo Huang, Jitao Sun, Min Zhao
{"title":"Hybrid impulsive control for global stabilization of subfully actuated systems.","authors":"Qinbo Huang, Jitao Sun, Min Zhao","doi":"10.1016/j.isatra.2024.11.034","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.034","url":null,"abstract":"<p><p>This paper presents the first study of the global stabilization of subfully actuated systems (sub-FAS) by hybrid impulsive control method. Since sub-FAS contain singular sets, controllers designed by the conventional high-order fully actuated (HOFA) system approach may not be feasible for all initial conditions in the state space. Different from existing studies that constrain initial conditions to achieve substabilization, we devise a hybrid controller via the HOFA system approach and state-dependent impulsive control method, addressing the global stabilization problem without constraints on the initial states. By transforming sub-FAS into hybrid systems through the hybrid controller, we obtain some criteria for global stabilization of the sub-FAS. It is noted that both stabilizing and destabilizing impulses are used to overcome the singular sets in the sub-FAS. Finally, two examples illustrate the proposed approach.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142752724","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
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