ISA transactions最新文献_第3页

Adaptive fault tolerant compensation control for unmanned autonomous helicopter with multi-constrained conditions. 多约束条件下无人自主直升机的自适应容错补偿控制。

IF 6.5

ISA transactions Pub Date : 2025-09-25 DOI: 10.1016/j.isatra.2025.09.019

Kun Yan, Jinze Zhao, Jiayong Fang, Peng Zhang, Bo Cheng, Xiaoning Yu

引用次数: 0

Event-triggered control for distributed time-varying optimization. 分布式时变优化的事件触发控制。

IF 6.5

ISA transactions Pub Date : 2025-09-25 DOI: 10.1016/j.isatra.2025.09.025

Haojin Li, Xiaodong Cheng, Peter van Heijster, Sitian Qin

引用次数: 0

Torque and current pulsation suppression method based on harmonic compensation for PMSM drive system under fluctuating DC-link voltage. 基于谐波补偿的直流电压波动下永磁同步电机驱动系统转矩电流脉动抑制方法。

IF 6.5

ISA transactions Pub Date : 2025-09-25 DOI: 10.1016/j.isatra.2025.08.048

Junwen Mu, Xinglai Ge, Chunxu Lin, Yun Zuo, Abebe Teklu Woldegiorgis

{"title":"Torque and current pulsation suppression method based on harmonic compensation for PMSM drive system under fluctuating DC-link voltage.","authors":"Junwen Mu, Xinglai Ge, Chunxu Lin, Yun Zuo, Abebe Teklu Woldegiorgis","doi":"10.1016/j.isatra.2025.08.048","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.048","url":null,"abstract":"For a single-phase rectifier, due to its operating characteristics, the DC-link voltage contains a second-order fluctuating component generated by fluctuating input power, which causes severe torque and current pulsations (TACP) in the motor. The hardware solution of adding an LC resonant filter is simple, but it does not meet the design goal of lightweight. An alternative solution to eliminate the TACP of the motor is using a suppression algorithm. However, it is difficult to obtain satisfactory suppression performance with conventional frequency compensation methods. To address this, a TACP suppression (TACPS) method based on harmonic compensation is proposed. Specifically, the specific harmonics are designed to inject into the stator voltage, thereby enabling to effectively suppress TACP while maintaining satisfactory performance. Moreover, with the assistance of the linear time-invariant (LTI) model, the stability and dynamic performance of the system with the proposed TACPS method are analyzed. Finally, extensive experimental tests are conducted to verify the effectiveness of the proposed TACPS method.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145294838","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

Feedback-based optimization of feed-forward neural network for the modeling of complex nonlinear dynamical systems using novel APSOBP algorithm. 基于反馈优化的前馈神经网络在复杂非线性动力系统建模中的应用。

IF 6.5

ISA transactions Pub Date : 2025-09-25 DOI: 10.1016/j.isatra.2025.09.013

Shobana R, Rajesh Kumar, Bhavnesh Jaint

{"title":"Feedback-based optimization of feed-forward neural network for the modeling of complex nonlinear dynamical systems using novel APSOBP algorithm.","authors":"Shobana R, Rajesh Kumar, Bhavnesh Jaint","doi":"10.1016/j.isatra.2025.09.013","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.013","url":null,"abstract":"This work proposes a novel hybrid Adaptive Particle Swarm Optimization-Back-propagation algorithm for training feed-forward neural networks to identify nonlinear dynamical systems. The approach begins by using Particle Swarm Optimization to optimize the network weights, followed by back propagation to fine-tune the optimized weights, thereby improving the overall solution quality. To prevent early convergence, Particle Swarm Optimization parameters such as inertia weight and other hyperparameters are dynamically adjusted based on a performance index, which is calculated as the difference between the fitness value of the global best solution across consecutive iterations. Convergence analysis using Lyapunov stability theory is also conducted to ensure the proposed algorithm converges to a stable solution. The proposed hybrid approach is evaluated on three benchmark nonlinear problems to validate its effectiveness. Experimental results demonstrate that the hybrid algorithm outperforms traditional Particle Swarm Optimization and back-propagation algorithms in terms of convergence, accuracy, and robustness.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145246010","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

Distributed secondary control for discrete-time multirate microgrids with multiple description encoding strategies. 具有多种描述编码策略的离散时间多速率微电网分布式二次控制。

IF 6.5

ISA transactions Pub Date : 2025-09-25 DOI: 10.1016/j.isatra.2025.09.029

Yangkai Chen, Derui Ding, Lei Sun

{"title":"Distributed secondary control for discrete-time multirate microgrids with multiple description encoding strategies.","authors":"Yangkai Chen, Derui Ding, Lei Sun","doi":"10.1016/j.isatra.2025.09.029","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.029","url":null,"abstract":"Microgrids (MGs) provide crucial solutions for integrating renewable energy resources. In such networked control scenarios, codec strategies are essential for reliable data transmission. In light of the multi-rate characteristic of control updating and sensor sampling, this paper focuses on distributed secondary control for discrete-time MGs by using a multiple description encoding scheme (MDES). First, a linear single-rate model of distributed generators is established via feedback linearization and lifting techniques. Then, a distributed secondary voltage controller is constructed under MDESs by using decoded neighbor information with zero-order compensation. Under the framework of Lyapunov stability, a sufficient condition dependent on channel parameters is derived, guaranteeing the voltage restoration performance in the mean-square sense. Furthermore, an engineering-friendly design scheme of the desired control gain matrix is proposed by the graph feature and singular value decomposition. Finally, the feasibility of the proposed control scheme is validated through several simulation examples under a modified IEEE 37-bus islanded MG system.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145208656","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

Feedback linearizing control for moving-base line-of-sight tracking systems via adaptive spherical target estimation. 基于自适应球面目标估计的动基视距跟踪系统反馈线性化控制。

IF 6.5

ISA transactions Pub Date : 2025-09-25 DOI: 10.1016/j.isatra.2025.09.024

Bohan Wu, Haobo Jia, Songlin Chen, Yang Liu, Wangpeng Song

{"title":"Feedback linearizing control for moving-base line-of-sight tracking systems via adaptive spherical target estimation.","authors":"Bohan Wu, Haobo Jia, Songlin Chen, Yang Liu, Wangpeng Song","doi":"10.1016/j.isatra.2025.09.024","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.024","url":null,"abstract":"This paper investigates the maneuvering target tracking problem for moving-base line-of-sight (LOS) tracking systems under conditions of unknown observation noise. First, we establish a comprehensive system model that simultaneously considers the LOS pointing model and the gimbal dynamics model in the LOS tracking system. Then, an advanced tracking error feedback control system based on feedback linearization principles is designed, effectively transforming target maneuvers and unmatched base disturbances into matched disturbances that are directly compensated through a disturbance observer, achieving superior control performance compared to a traditional gyroscope-feedback-based system. Furthermore, the time derivative of tracking error obtained by conventional command estimation methods is vulnerable to the deleterious impact of base motion. To overcome this limitation, we propose a spherical target estimation (STE) approach, which estimates the target's motion on a spherical surface in the world frame. This eliminates the coupling effect of base motion in the time derivative of tracking error and does not require target distance or gimbal attitude sensors. In addition, to tackle the changes in the properties of measurement noise caused by target detection and camera characteristics, a variational Bayesian Kalman adaptive filter (VB-AKF) is introduced. This method effectively reduces target motion estimation errors caused by measurement noise variance mismatch, thereby enhancing tracking performance. Simulation results in the Webots robotic simulator demonstrate the superior performance of the proposed methods.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145294793","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

Aging-free estimationless sliding mode control for IPMSM in transportation system. 交通系统IPMSM无老化估计滑模控制。

IF 6.5

ISA transactions Pub Date : 2025-09-24 DOI: 10.1016/j.isatra.2025.09.018

ShiCai Yin, Xiang Li, Jinqiu Gao, Yaofei Han

引用次数: 0

Static output feedback pole placement via parameter-dependent Ackermann and Greville matrix formulae. 静态输出反馈极点放置通过参数依赖Ackermann和Greville矩阵公式。

IF 6.5

ISA transactions Pub Date : 2025-09-24 DOI: 10.1016/j.isatra.2025.09.017

Abdulrahman H Bajodah, Hassen Mibar

{"title":"Static output feedback pole placement via parameter-dependent Ackermann and Greville matrix formulae.","authors":"Abdulrahman H Bajodah, Hassen Mibar","doi":"10.1016/j.isatra.2025.09.017","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.017","url":null,"abstract":"The paper generalizes Ackermann's pole placement methodology to static output feedback pole placement (SOFPP) for general MIMO continuous LTI systems. The main tool used is Moore-Penrose generalized inversion of Kalman controllability matrix, which replaces square inversion that is performed in the original Ackermann's formulation for single input controllable systems. Additionally, affine and partially explicit parameterization of the accompanying nonempty controllability matrix nullspace is utilized to characterize solution non uniqueness of the MIMO SOFPP control problem and to solve for SOFPP feedback control gains. The proposed nullspace parameterization is inspired by the vector Greville formula for general solutions of linear algebraic equations, and it extends the formula to solve parameter-dependent (PD) linear matrix equations. The redundant nullspace parameterizing variables in the PD matrix Greville formula are constrained such that the closed loop system matrix satisfies its characteristic equation. Necessary and sufficient conditions for SOFPP solution existence are derived for general (possibly uncontrollable) continuous LTI systems, regardless of dimensionalities and ranks of system triplet and controllability matrices, and regardless of spectral multiplicities of the open loop system matrix and the sought closed loop system matrix. If an SOFPP control problem is solvable then all its control matrix gain solutions are synthesized partially explicitly via affine parameterization in terms of the constrained nullspace parameterizing variables. Five examples are provided to illustrate the proposed SOFPP control system analysis and design methodology.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145228652","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

Three-dimensional guidance law with precise control of attack time and constraints on attack angle. 具有精确控制攻击时间和攻击角度约束的三维制导律。

IF 6.5

ISA transactions Pub Date : 2025-09-23 DOI: 10.1016/j.isatra.2025.09.028

Zhanpeng Gao, Wenjun Yi, Jian Huang, Jun Liu

{"title":"Three-dimensional guidance law with precise control of attack time and constraints on attack angle.","authors":"Zhanpeng Gao, Wenjun Yi, Jian Huang, Jun Liu","doi":"10.1016/j.isatra.2025.09.028","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.028","url":null,"abstract":"To achieve strikes against maneuvering targets within a specified time window and complete the coordinated strike task in the case of communication disruption, this paper adopts the Fractional Power Extended State Observer (FPESO) to estimate the target's acceleration. In order to adapt to the dynamic changes of the system in complex environments, a nonlinear term is introduced into the traditional PID Sliding Mode Control (PIDSMC), along with an adjustable parameter a, resulting in the design of a new nonlinear PID sliding surface (NPIDSMC). This paper proposes the FPESO-NPIDSMC guidance law. Simulation results show that the FPESO-NPIDSMC guidance law can achieve strikes against maneuvering targets with the expected attack time and attack angle. In the simulations, FPESO can quickly and accurately estimate the enemy's acceleration, thereby reducing the impact of uncertainties on the guidance system. Monte Carlo simulations further validate the superiority of this guidance law in complex combat environments. Under precise attack time and attack angle constraints, the FPESO-NPIDSMC guidance law proposed in this paper can transform the tracking and interception of maneuvering targets into predictive guidance for striking a stationary point, based on accurate ballistic prediction and enemy position estimation. This reduces the need for expensive active and semi-active seekers, thus lowering interception costs. At the same time, by setting specific attack times for multiple missiles, coordinated strikes can be achieved without the need for communication signal transmission, which enhances the robustness of cooperative attacks.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145208649","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

Gentleflow: A time-synchronized optimization approach for online trajectory generation with gentle torque control for manipulators. 柔流：一个时间同步优化方法在线轨迹生成与柔转矩控制的机械手。

IF 6.5

ISA transactions Pub Date : 2025-09-20 DOI: 10.1016/j.isatra.2025.09.014

Shize Zhao, Tianjiao Zheng, Chengzhi Wang, Zongwei Zhang, Hongzhe Jin, Yanhe Zhu, Jie Zhao

{"title":"Gentleflow: A time-synchronized optimization approach for online trajectory generation with gentle torque control for manipulators.","authors":"Shize Zhao, Tianjiao Zheng, Chengzhi Wang, Zongwei Zhang, Hongzhe Jin, Yanhe Zhu, Jie Zhao","doi":"10.1016/j.isatra.2025.09.014","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.014","url":null,"abstract":"This paper proposes Gentleflow, a time-synchronized online trajectory generation (OTG) method for smooth torque control in multi-joint manipulators. The proposed method generates synchronized joint trajectories while satisfying velocity, acceleration, and jerk constraints. It can start from arbitrary initial states and efficiently guide the system toward the desired target state. Unlike traditional methods, Gentleflow not only explicitly incorporates jerk constraints into the synchronization process, but also proactively tightens the allowable jerk bounds below the original constraint values, in order to suppress torque rate variations and achieve smoother trajectory transitions. This refined jerk treatment significantly contributes to smoother motion profiles and improved compliance. Extensive experimental validation was conducted on a 6-DOF industrial robot to demonstrate the effectiveness of Gentleflow and the importance of jointly minimizing jerk and optimizing motor torque for time-synchronized multi-joint motion. The experiments included abrupt target-switching motions, multi-stage sequential assembly tasks, and repetitive long-distance movements. Performance was compared with Ruckig and the minimum-acceleration-peak synchronization method. Real-world end-effector vibration measurements show that Gentleflow substantially reduces vibrations during high-speed motions, resulting in smoother, more compliant, and repeatable trajectories, providing strong evidence of its practical advantages for complex robotic tasks.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145152404","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