ISA transactions最新文献_第2页

Cooperative control for a ROV-based deep-sea mining vehicle with learned uncertain nonlinear dynamics.

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2025.02.033

Yuheng Chen, Haicheng Zhang, Weisheng Zou, Haihua Zhang, Daolin Xu

{"title":"Cooperative control for a ROV-based deep-sea mining vehicle with learned uncertain nonlinear dynamics.","authors":"Yuheng Chen, Haicheng Zhang, Weisheng Zou, Haihua Zhang, Daolin Xu","doi":"10.1016/j.isatra.2025.02.033","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.02.033","url":null,"abstract":"To overcome the bottleneck problem of the track slippage of the tracked mining vehicle in the traditional deep-sea mining system, this paper proposes an enhanced remotely-operated vehicle (ROV)-based deep-sea mining system. A ROV-based Deep-sea Mining Vehicle (RDMV), consisting of two ROVs and a mining robot (MRT), is instead of the traditional tracked Deep-sea mining vehicle. Firstly, the dynamic model of the RDMV as a control object is established based on Lagrangian function. Secondly, a cooperative control strategy is proposed for traction and sinking control of the RDMV. A distributed model predictive control (DMPC)-based controller is developed to obtain virtual speed control laws to meet the control objects. To track the virtual speed control laws, a learning-based model predictive control (LMPC)-based controller is investigated to compute the ROVs' optimal control input, where a Kinky Inference (KI) prediction function is introduced in the state transition model to estimate the unknown external disturbances under random noise. Finally, the feasibility and the superiority of the LMPC controller is preliminarily verified in a degenerate individual motion control of a ROV, and then the cooperative control strategy is proven to be effective through numerical simulations.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143588689","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

Sensorless Control of Permanent magnet in-wheel motor for EVs Using Global Fast Terminal Sliding Mode Observer.

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2025.02.022

Hao Huang, Keqin Li, Chunfen Yu, Zhonghua Sun, Yuanfeng Zhang, Zhibin Zhao, Bin Luo

{"title":"Sensorless Control of Permanent magnet in-wheel motor for EVs Using Global Fast Terminal Sliding Mode Observer.","authors":"Hao Huang, Keqin Li, Chunfen Yu, Zhonghua Sun, Yuanfeng Zhang, Zhibin Zhao, Bin Luo","doi":"10.1016/j.isatra.2025.02.022","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.02.022","url":null,"abstract":"This article aims to provide a high-precision sensorless controller for permanent magnet in-wheel motors (PMIWMs) used in electric vehicles (EVs) when an unexpected failure of the position sensor occurs. To address this, we propose a position sensorless control method that combines a global fast terminal sliding mode observer (GFTSMO) with a phase-locked loop (PLL) estimation scheme. First, the GFTSMO is introduced to reduce the significant chattering that typically occurs in traditional sliding mode observers (SMO). This control scheme can help the state variable converge to an equilibrium state from any initial condition and minimize chattering. Second, we implement a PLL estimation scheme to replace the conventional arc-tangent estimation method. This method avoids the triggering of high-frequency oscillations, thereby improving the estimation precision and robustness of the control system. In addition, we discuss the stability of the proposed GFTSMO using the Lyapunov function. Simulation and tests on a motor platform demonstrate that the proposed position sensorless algorithm can track speed rapidly and accurately without overshooting. The proposed sensorless control can ensure the control stability of PMIWMs and can be applied in other occasions where installing motor sensors is challenging.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143560474","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

Nonlinear acceleration disturbance observer to reject transient peak disturbances for an inertial stabilization-tracking platform.

ISA transactions Pub Date : 2025-03-01 DOI: 10.1016/j.isatra.2025.02.024

Qihui Bian, Qingqing Miao, Zhiyong Yu, Tao Tang, Haotong Ma

{"title":"Nonlinear acceleration disturbance observer to reject transient peak disturbances for an inertial stabilization-tracking platform.","authors":"Qihui Bian, Qingqing Miao, Zhiyong Yu, Tao Tang, Haotong Ma","doi":"10.1016/j.isatra.2025.02.024","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.02.024","url":null,"abstract":"A high-bandwidth nonlinear acceleration disturbance observer (NOADOB) is proposed to reject transient peak disturbances mainly arising from velocity commutation of an inertial stabilization-tracking platform (ISTP). The approach is essentially based on extracting acceleration peak signals and applying a saturation function. The observer structure employs acceleration measurements and combines velocity loop input and control quantity to acquire peak signals. Differing from the general disturbance observer, the extraction of acceleration peaks is used to quickly capture the change in error and effectively reduce the impact of signal noise for the observer implementation. To trade off the observer bandwidth and the system stability, a partial compensatory scheme of limiting the filter output with a nonlinear saturation function is adopted. The relationship between the saturation threshold and the filter bandwidth is analyzed for optimal balance. It is theoretically and experimentally proved the effectiveness of NOADOB in attenuating error peaks. Moreover, the proposal accelerates the dynamic response to peak disturbances, breaks through the constraint of accurate modeling, and improves disturbance rejection performance.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143545340","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 self-triggered distributed filtering over sensor networks with partially unknown probabilities.

ISA transactions Pub Date : 2025-02-28 DOI: 10.1016/j.isatra.2025.02.006

Zhongqi Li, Fengzeng Zhu, Ancai Zhang, Xiao Liang

引用次数: 0

Distributed collaborative control to pose tracking for six-DOF parallel mechanism under multi-cylinder communication.

ISA transactions Pub Date : 2025-02-28 DOI: 10.1016/j.isatra.2025.02.015

Zhifan Jiang, Zhihua Chen, Kang Xu, Lei Shi

引用次数: 0

Application of a multi-dimensional synchronous feature mode decomposition for machinery fault diagnosis.

ISA transactions Pub Date : 2025-02-28 DOI: 10.1016/j.isatra.2025.02.029

Huifang Shi, Yonghao Miao, Xun Wang, Jiaxin Xie

{"title":"Application of a multi-dimensional synchronous feature mode decomposition for machinery fault diagnosis.","authors":"Huifang Shi, Yonghao Miao, Xun Wang, Jiaxin Xie","doi":"10.1016/j.isatra.2025.02.029","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.02.029","url":null,"abstract":"Fault diagnosis in complex industrial systems often encounters significant challenges, including high noise levels, stochastic interference and coupled multi-fault features, especially for multi-channel signal processing. To address these issues, this study proposes multi-dimensional synchronous feature mode decomposition (MSFMD) method, a novel approach that combines multi-channel signal synergy with advanced decomposition and feature extraction techniques. The MSFMD method operates through a systematic framework comprising three key steps: custom-designed spectral segmentation strategy based on order statistic filter, synchronized decomposition of multi-channel signals with spectral alignment constraint, adaptive mode screening based on time-frequency correlation coefficients and envelope spectral kurtosis. Tailored for the channel signal, initial filter banks are decided. Then, the same fault-feature-oriented modes keep the spectral alignment constraint across channels, capturing inter-channel correlations while reducing noise and redundant modes. The adaptive screening strategy selectively retains fault-relevant modes, significantly improving the robustness and interpretability of the extracted features. MSFMD is able to effectively amplify weak fault features, handle complex multi-fault conditions, and improve computational efficiency under high-noise environments. Compared to traditional methods such as feature mode decomposition (FMD) and multivariable variational mode decomposition (MVMD), MSFMD demonstrates superior performance, such as susceptibility to noise, redundancy, and inefficiency in multi-fault scenarios. Validation through complex fault experiments confirms MSFMD's capability to provide accurate and reliable diagnostics.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143574942","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 finite-time input-to-state stability via impulsive hybrid control for uncertain dynamical systems with disturbances.

ISA transactions Pub Date : 2025-02-26 DOI: 10.1016/j.isatra.2025.02.021

Bin Liu, Meng-Ge Li, Ya-Dan Shi, Dong-Nan Liu

{"title":"Robust finite-time input-to-state stability via impulsive hybrid control for uncertain dynamical systems with disturbances.","authors":"Bin Liu, Meng-Ge Li, Ya-Dan Shi, Dong-Nan Liu","doi":"10.1016/j.isatra.2025.02.021","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.02.021","url":null,"abstract":"This paper studies the robust finite-time input-to-state stability (R-FT-ISS) including robust finite-time stability (R-FTS) via impulsive hybrid control (IHC) for uncertain dynamical systems (UDS) with disturbances. The notions of robust GKL-stability, R-FT-ISS, and R-FTS are proposed. Time-based IHC (T-IHC) and state-based IHC (S-IHC) are proposed, respectively. And based on the Hamilton-Jacobi inequalities of Lyapunov-like functions, less restrictive R-FT-ISS and R-FTS criteria are established for UDS under IHC (including T-IHC and S-IHC). And the event-triggered S-IHC schemes for R-FT-ISS and R-FTS are designed. Correspondingly, the estimates of settling time for R-FT-ISS and R-FTS are also obtained, respectively. Theoretical results and numerical simulations show that both T-IHC and S-IHC can achieve not only R-FT-ISS but also R-FTS for unstable systems with structural disturbances and external disturbances. Therefore, IHC (including T-IHC and S-IHC) can eliminate the impact on stability from disturbances and thus both T-IHC and S-IHC are anti-disturbance and robust, which improves the stabilization only to ISS (not to asymptotic stability) in the presence of disturbance in the literature. It is also shown that R-FT-ISS and R-FTS can be achieved by pure impulsive control, which improves the FTS results of impulsive systems in the literature. Moreover, compared with T-IHC, S-IHC has less number of impulses and lower cost than T-IHC while T-IHC has smaller settling time.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143538265","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 discrete-time clustered distributed algorithm for solving linear equations under denial-of-service attacks.

ISA transactions Pub Date : 2025-02-26 DOI: 10.1016/j.isatra.2025.02.023

Bo Wang, Chen Chen, Jinghao Li

引用次数: 0

Safety prescribed performance control of virtually-coupled trains with multifold kinematic targets and switching constraints.

ISA transactions Pub Date : 2025-02-26 DOI: 10.1016/j.isatra.2025.02.019

Wenxiao Si, Shigen Gao

{"title":"Safety prescribed performance control of virtually-coupled trains with multifold kinematic targets and switching constraints.","authors":"Wenxiao Si, Shigen Gao","doi":"10.1016/j.isatra.2025.02.019","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.02.019","url":null,"abstract":"Virtual coupling (VC), aimed at achieving closer tracking distances and facilitating flexible train formations, has become an efficacious trend for alleviating the increasing demand for transportation capacity as the continuous advancement of urbanization. This paper investigates safety prescribed performance control (SPPC) for VC trains with multifold kinematic targets and switching constraints (SCs). In comparison to traditional continuous PPC methods, SPPC strategy incorporating discontinuous characteristics is designed to ensure that position and speed errors of VC train formation remain within the maximum overshoot limit within a finite time after the mutation of tracking target. It is achieved by separating the analysis of continuous intervals and discontinuous impulsive points, which ensures the stable properties of the closed-loop system through utilizing the Lyapunov method and strict mathematical justification. To ensure the safe train operation, multiple kinematic targets are considered throughout the entire process, from un-formation to final cooperative VC formation. To avoid the occurrence of unstable switching before the completion of the formation, the monitor output for the mode partition is made subject to the joint effect of position and speed targets. By imposing a minimum dwell time constraint, the train's real-time running state does not switch frequently within a single mode, which eliminates the Zeno phenomenon. Finally, based on implementing several scenarios for multi-train VC formation adhering to SCs, and incorporating the sample data sourced from the high-speed G1 train traversing from Beijing South Railway Station (BSRS) to Jinan West Railway Station (JWRS), the effectiveness of mode partition and the theoretical results in train operations are verified in numerical simulations.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143538266","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

Active disturbance rejection control with adaptive input gain using dynamic inversion approach.

ISA transactions Pub Date : 2025-02-25 DOI: 10.1016/j.isatra.2025.02.018

Radosław Patelski, Dariusz Pazderski

引用次数: 0