ISA transactions最新文献_第4页

Adaptive recursive terminal sliding mode control with fuzzy optimization for trajectory tracking of Mecanum-wheeled mobile robots. 基于模糊优化的机动轮式移动机器人自适应递归末端滑模控制。

IF 6.5

ISA transactions Pub Date : 2026-09-16 DOI: 10.1016/j.isatra.2026.09.019

Yunjun Zheng, Deliu Cai, Tao Zou, Jinchuan Zheng

引用次数: 0

Certified supervisory recovery and scheduling for automated manufacturing systems under diagnosis delay. 诊断延迟下自动化制造系统的认证监控恢复与调度。

IF 6.5

ISA transactions Pub Date : 2026-09-16 DOI: 10.1016/j.isatra.2026.09.021

Gang Chen, Peng Wei

{"title":"Certified supervisory recovery and scheduling for automated manufacturing systems under diagnosis delay.","authors":"Gang Chen, Peng Wei","doi":"10.1016/j.isatra.2026.09.021","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.021","url":null,"abstract":"Fault-tolerant operation of automated manufacturing systems becomes a coupled supervisory-recovery and scheduling problem when production decisions must be taken before diagnosis has uniquely resolved the failed component. An action that is admissible at the current state can alter which reconfigurations remain reachable after diagnosis, while a locally feasible reconfiguration can lose controllability, nonblockingness, observation consistency, or resource feasibility after plant-wide composition. This paper develops a game-contract-schedule framework for time-weighted discrete-event systems (DESs) that preserves admissibility across these changes in decision representation. A recoverability game first operates on support-hypothesis states and retains pre-diagnosis controls from which every observation-consistent fault hypothesis keeps access to an admissible recovery. Once diagnosis resolves the relevant fault, assume-guarantee contracts instantiate fault-partner options and certify their composition, with concrete recovered-plant verification used when interface abstraction cannot establish the required reflection properties. Event-operation closure then extracts the executable subset of the accepted recovered language, and partial-order scheduling provides optimal or bounded-suboptimal timing solutions within that certified subset. Computational studies isolate the corresponding failure modes, quantify loss of diagnosis-time recoverability and local-to-global incompatibility, and evaluate locality-dependent contract repair and executable-language-constrained scheduling.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149077060","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

Learning state-space models with Kolmogorov-Arnold networks: an autonomous underwater engineering perspective. 学习状态空间模型与Kolmogorov-Arnold网络：一个自主水下工程的观点。

IF 6.5

ISA transactions Pub Date : 2026-09-16 DOI: 10.1016/j.isatra.2026.09.020

Daniele Masti, Alberto Petrucci, Davide Grande, Francesco Basciani, Patrizio Pelliccione

{"title":"Learning state-space models with Kolmogorov-Arnold networks: an autonomous underwater engineering perspective.","authors":"Daniele Masti, Alberto Petrucci, Davide Grande, Francesco Basciani, Patrizio Pelliccione","doi":"10.1016/j.isatra.2026.09.020","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.020","url":null,"abstract":"This paper investigates Kolmogorov-Arnold Networks (KANs) as parametrisations of learned nonlinear state-space models in control-relevant settings. We ask whether replacing standard MLP maps with KAN-based ones yields a useful trade-off between predictive accuracy and deployability-oriented properties such as compactness, smoothness, and post hoc inspectability, with particular focus on underwater robotics. To study this question, we use a common autoencoder-based identification backbone and instantiate two KAN-based identification realisations, comparing their performance with their MLP-parametrised counterparts under the same training pipeline. The evaluation covers maritime robotics benchmarks of increasing difficulty, including autonomous underwater vehicles and a disturbance-driven underwater glider, as well as standard nonlinear system-identification datasets. Across these case studies, KAN-based models remain competitive in predictive performance while often using fewer parameters and, in several settings, supporting symbolic extraction of learned nonlinear features.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149077119","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 state observer for nonlinear systems with time-varying gain and output restrictions. 具有时变增益和输出限制的非线性系统的自适应状态观测器。

IF 6.5

ISA transactions Pub Date : 2026-09-15 DOI: 10.1016/j.isatra.2026.08.033

Iván Hernández, Isaac Chairez, Luis Ibarra

{"title":"Adaptive state observer for nonlinear systems with time-varying gain and output restrictions.","authors":"Iván Hernández, Isaac Chairez, Luis Ibarra","doi":"10.1016/j.isatra.2026.08.033","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.08.033","url":null,"abstract":"This paper proposes a novel adaptive state observer for nonlinear systems with uncertain mathematical models and output restrictions. The main contribution is the development of an observer architecture that does not require an accurate system model for its implementation. Instead, only a nominal reference model (A∗,B∗) defined around the operating conditions of the system is required, while the observer matrices and gain are adaptively adjusted online to compensate for modeling uncertainties and time-varying dynamics. This feature enables state estimation even when the available model differs from the actual system, overcoming a common limitation of conventional model-based observers. The proposed observer preserves a simple affine structure with a Luenberger-like gain while incorporating adaptation mechanisms for both the observer dynamics and the gain. A Lyapunov-based analysis is developed to establish sufficient conditions for boundedness, asymptotic convergence of the estimation error, and stability of the adaptive laws. The effect of output restrictions on the estimation process is also analyzed. The proposed methodology is validated through two complementary case studies. First, a time-varying linear benchmark system is employed to systematically analyze the adaptation capabilities, transient behavior, and robustness of the observer under controlled parameter variations. Second, the observer is implemented on a robotic manipulator, which constitutes a nonlinear system and provides an experimental assessment of the proposed approach. The results show that the proposed observer accurately tracks the system states despite model uncertainties and achieves faster convergence, smaller transient peaks, and greater robustness to measurement noise than a high-gain observer designed using the same reference model. These results confirm the effectiveness and practical applicability of the proposed adaptive observer for nonlinear systems under output restrictions.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149120985","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

Secure control of networked switched systems against directed deception attack: A Stackelberg game with nested bi-objective PSO. 网络交换系统对抗定向欺骗攻击的安全控制：一个嵌套双目标粒子群的Stackelberg博弈。

IF 6.5

ISA transactions Pub Date : 2026-09-14 DOI: 10.1016/j.isatra.2026.09.017

Lili Li, Jianghan Xu, Mengjie Li, Cuili Jin, Wei Yue

{"title":"Secure control of networked switched systems against directed deception attack: A Stackelberg game with nested bi-objective PSO.","authors":"Lili Li, Jianghan Xu, Mengjie Li, Cuili Jin, Wei Yue","doi":"10.1016/j.isatra.2026.09.017","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.017","url":null,"abstract":"This paper addresses the secure control problem of networked switched systems (NSSs) under directed deception attack (DDA). Such attacks are characterized by first determining the deception mode that causes the greatest disruption, followed by jointly optimizing the switching signal tampering rate and state injection. To capture this, a Stackelberg-based hierarchical decision model is established to characterize the interaction between DDA and the secure controller. Novel cost functions are designed to explicitly capture the coupled impact of simultaneous attacks on both the switching signal and the system state. This is achieved by jointly aggregating the costs and rewards associated with both types of attacks, rather than modeling them as separate expense-reward pairs. To simultaneously optimize the strategies of both the attacker and the controller, a nested bi-objective particle swarm optimization (NBOPSO) algorithm is developed, in which the attacker's bi-objective particle swarm optimization (BOPSO) iteratively invokes the controller's particle swarm optimization (PSO) to compute its optimal response. The existence of the equilibrium solutions and the convergence of the NBOPSO algorithm are analytically established. Based on the equilibrium strategies, sufficient conditions are further derived to guarantee the secure stability of the NSSs. Numerical simulations conducted on a mass-varying networked unmanned surface vehicle (USV) demonstrate the efficacy and advantages of the proposed approach.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149009576","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

Reinforcement learning-based fault-tolerant formation-surrounding control for UAVs-AUVs pursuit-evasion games under prescribed performance. 基于强化学习的无人机-无人潜航器追逃博弈容错编队控制。

IF 6.5

ISA transactions Pub Date : 2026-09-12 DOI: 10.1016/j.isatra.2026.08.029

Hang Xiong, Ying Zhang

{"title":"Reinforcement learning-based fault-tolerant formation-surrounding control for UAVs-AUVs pursuit-evasion games under prescribed performance.","authors":"Hang Xiong, Ying Zhang","doi":"10.1016/j.isatra.2026.08.029","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.08.029","url":null,"abstract":"This paper investigates the pursuit-evasion game problem for multiple unmanned aerial vehicles (UAVs) and autonomous underwater vehicles (AUVs) in the presence of actuator faults and performance constraints. The main contribution is the development of a reinforcement learning (RL)-based fault-tolerant formation-surrounding control (FSC) framework for multiagent systems under uncertain and constrained conditions. Firstly, a predefined-time observer (PTO) is designed to estimate lumped disturbances that include actuator faults and external disturbances. Then, a constrained position-loop subsystem for the multi-unmanned systems is constructed using a hyperbolic cotangent function, and the constrained system is further transformed into an unconstrained space via a hyperbolic tangent function. By utilizing the observer and the transformed position dynamics, an RL-based robust formation-surrounding control method is proposed. The efficacy and resilience of the proposed approach are illustrated using numerical simulations and 3D Simscape-based visualization simulations. Simulation results demonstrate that the proposed strategy achieves satisfactory transient performance and centimeter-level tracking accuracy under actuator faults and disturbances, with improved robustness and convergence performance.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149027003","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

Quantization observer-based bipartite fixed-time consensus for nonlinear heterogeneous multiagent systems via event-triggered control. 基于事件触发控制的非线性异构多智能体系统的量化观测器二部定时一致性。

IF 6.5

ISA transactions Pub Date : 2026-09-12 DOI: 10.1016/j.isatra.2026.09.014

Wei Zhang, Yiyue Zhang, Junjian Huang, Hangjun Che

{"title":"Quantization observer-based bipartite fixed-time consensus for nonlinear heterogeneous multiagent systems via event-triggered control.","authors":"Wei Zhang, Yiyue Zhang, Junjian Huang, Hangjun Che","doi":"10.1016/j.isatra.2026.09.014","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.014","url":null,"abstract":"In the study, we address this distributed observer-based bipartite fixed-time consensus problem for nonlinear heterogeneous multi-agent systems (MASs) under an event-triggered mechanism. A fully distributed observer with a quantizer is proposed for different followers to derive distributed estimations of their leader's state and matrices under the signed communication topology. Additionally, there is an adaptive algorithm to solve the regulator equation efficiently, eliminating the need for repetitive computations. Controllers incorporating observers are developed for both state feedback and output feedback scenarios. We also develop an event-triggered mechanism (ETM) that enables intermittent communication while rigorously excluding Zeno behavior. Notably, the convergence time of the observer and global stability depend solely on system parameters rather than initial states. By leveraging fixed-time stability theory and Lyapunov functions, sufficient conditions are derived to guarantee bipartite consensus in finite time. Ultimately, numerical simulations demonstrate that the proposed scheme achieves bipartite fixed-time consensus within approximately 0.4 s under event-triggered communication (0.26 s without ETM), while the average communication saving rate is 44.67%, validating the effectiveness of the theoretical results.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148993296","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

Uncertainty-aware statistical regularization for domain-generalizable bearing fault diagnosis under unseen conditions. 未知条件下可域概化轴承故障诊断的不确定性感知统计正则化。

IF 6.5

ISA transactions Pub Date : 2026-09-12 DOI: 10.1016/j.isatra.2026.09.015

Yongyi Chen, Dan Zhang, Ruqiang Yan

{"title":"Uncertainty-aware statistical regularization for domain-generalizable bearing fault diagnosis under unseen conditions.","authors":"Yongyi Chen, Dan Zhang, Ruqiang Yan","doi":"10.1016/j.isatra.2026.09.015","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.015","url":null,"abstract":"In predictive maintenance for smart manufacturing, intelligent bearing fault diagnosis in industrial field settings faces critical challenges under variable operating conditions. The need for adaptive production scheduling leads to continuous fluctuations in rotational speed, load profiles, and environmental parameters, resulting in dynamic distribution shifts in acquired vibration data. Existing cross-condition fault diagnosis approaches primarily achieve domain generalization through distribution alignment of multi-source condition data. However, the interference of condition-related information can potentially lead to insufficient stability from the aligned features. Moreover, the forced alignment of data distributions under different conditions may lead to the omission of some important fault information. To address these challenges, an uncertainty-aware statistical regularization framework is proposed. First, a new domain alignment mechanism is designed to map the statistical vectors of data from various conditions into a unified distribution, thereby providing a stable basis for fault diagnosis. Second, an uncertainty-aware dynamic domain perturbation mechanism is developed to generate diverse fault features through domain perturbation, allowing for a more comprehensive understanding of the variation patterns of fault features under different conditions. By combining these two strategies, it is possible to fully utilize feature diversity while maintaining feature stability, thereby more accurately identifying faults. Experimental results show that our method outperforms the existing methods on both the ZJUT dataset and the PU dataset.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148993277","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 prescribed-time control for stochastic nonlinear systems over infinite horizon: A dynamic threshold strategy with application to ship maneuvering systems. 无限视界随机非线性系统的自适应规定时间控制：一种动态阈值策略及其在船舶机动系统中的应用。

IF 6.5

ISA transactions Pub Date : 2026-09-12 DOI: 10.1016/j.isatra.2026.09.012

Yixuan Yuan, Liping Xie, Junsheng Zhao, Kanjian Zhang

{"title":"Adaptive prescribed-time control for stochastic nonlinear systems over infinite horizon: A dynamic threshold strategy with application to ship maneuvering systems.","authors":"Yixuan Yuan, Liping Xie, Junsheng Zhao, Kanjian Zhang","doi":"10.1016/j.isatra.2026.09.012","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.012","url":null,"abstract":"This paper studies the prescribed-time tracking control problem with output constraints for stochastic nonlinear systems over an infinite horizon, motivated by ship maneuvering dynamics. The steady-state tracking accuracy of existing methods is uncertain due to unknown system parameters, which may fail to meet high-precision requirements. To address this issue, an adaptive prescribed-time control framework based on a dynamic-threshold mechanism is developed, which extends the time-accuracy regulation idea to output-constrained stochastic nonlinear systems. A time-varying asymmetric barrier Lyapunov function (BLF) is constructed to enforce output constraints. By incorporating a finite-time command filter and neural networks, the proposed approach alleviates the explosion of complexity in backstepping and approximates unknown nonlinearities. Simulation studies based on a ship maneuvering model demonstrate that the closed-loop system is bounded in probability. Moreover, the system output converges to a prescribed precision neighborhood within the specified time while the output constraints are satisfied at all times.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148993245","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

Event-triggered adaptive neural control for stochastic nonlinear systems using a novel follower-type integral barrier Lyapunov function. 基于新颖随动型积分障碍Lyapunov函数的事件触发自适应神经控制。

IF 6.5

ISA transactions Pub Date : 2026-09-10 DOI: 10.1016/j.isatra.2026.09.008

Wei Zhang, Jianfeng Li, Mingjie Dong, Shiping Zuo

{"title":"Event-triggered adaptive neural control for stochastic nonlinear systems using a novel follower-type integral barrier Lyapunov function.","authors":"Wei Zhang, Jianfeng Li, Mingjie Dong, Shiping Zuo","doi":"10.1016/j.isatra.2026.09.008","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.008","url":null,"abstract":"In this paper, the adaptive trajectory tracking control problem for a class of stochastic nonlinear systems is investigated. A novel follower-type integral barrier Lyapunov function (FIBLF) is proposed to construct full-state dynamic constraint boundaries that translate synchronously with the desired trajectory while maintaining a constant bandwidth. Corresponding adaptive neural controllers are designed for both symmetric and asymmetric constraint cases. In addition, a relative-threshold event-triggered mechanism is introduced to reduce redundant control updates and the computational burden. Based on the backstepping design and the online approximation capability of radial basis function neural networks (RBFNNs) for unknown terms, the corresponding control laws and adaptive update laws are constructed. Stability analysis demonstrates that all closed-loop signals are semiglobally uniformly ultimately bounded (SGUUB) in probability. Numerical simulations further validate the effectiveness of the proposed method in terms of trajectory tracking performance, state constraint satisfaction, and a reduction in the control update frequency.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148979213","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