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On exact controllability of Itô stochastic systems with input delay. 论带输入延迟的伊托随机系统的精确可控性
ISA transactions Pub Date : 2024-11-07 DOI: 10.1016/j.isatra.2024.10.032
Wenjing Wang, Wei Wang, Juanjuan Xu
{"title":"On exact controllability of Itô stochastic systems with input delay.","authors":"Wenjing Wang, Wei Wang, Juanjuan Xu","doi":"10.1016/j.isatra.2024.10.032","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.10.032","url":null,"abstract":"<p><p>This paper considers the exact controllability of Itô stochastic systems with input delay. In particular, one delay-free controller and one delayed controller are involved in the systems which complicates the study due to the inconsistency of adaptiveness caused by input delay. The main contribution of this paper is to provide the necessary and sufficient Gramian matrix condition and the necessary Rank condition for the exact controllability. The key is to solve the backward stochastic differential equations (BSDEs) with input delay.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142635081","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 hyperparameter optimization-assisted deep learning method towards thermal error modeling of spindles. 用于主轴热误差建模的超参数优化辅助深度学习方法。
ISA transactions Pub Date : 2024-11-06 DOI: 10.1016/j.isatra.2024.11.001
Shicun Ao, Sitong Xiang, Jianguo Yang
{"title":"A hyperparameter optimization-assisted deep learning method towards thermal error modeling of spindles.","authors":"Shicun Ao, Sitong Xiang, Jianguo Yang","doi":"10.1016/j.isatra.2024.11.001","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.001","url":null,"abstract":"<p><p>Spindle thermal errors significantly influence the machining accuracy of machine tools, necessitating precise modeling. While deep learning methods are commonly used for this purpose, their generalization ability and performance largely depend on design of the network structure and the selection of hyperparameters. To address these challenges, this study proposes a neural network model that integrates Bayesian optimization (BO) with dilated convolution neural network (DCNN). Dilated convolutions enhance traditional CNN models by using a dilation rate, which allows the convolutional kernel to cover a larger receptive field without increasing parameter count or computational cost. To prevent local optima during hyperparameter tuning, a Bayesian algorithm based on Gaussian processes (GP) is utilized, which optimizes 9 critical hyperparameters in the DCNN. Experimental results demonstrate that the proposed model achieves over 95 % accuracy in predicting radial thermal errors for both heating and cooling states in the X and Y directions.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142635068","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
Heuristic dense reward shaping for learning-based map-free navigation of industrial automatic mobile robots. 基于学习的工业自动移动机器人无地图导航的启发式密集奖励塑造。
ISA transactions Pub Date : 2024-11-06 DOI: 10.1016/j.isatra.2024.10.026
Yizhi Wang, Yongfang Xie, Degang Xu, Jiahui Shi, Shiyu Fang, Weihua Gui
{"title":"Heuristic dense reward shaping for learning-based map-free navigation of industrial automatic mobile robots.","authors":"Yizhi Wang, Yongfang Xie, Degang Xu, Jiahui Shi, Shiyu Fang, Weihua Gui","doi":"10.1016/j.isatra.2024.10.026","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.10.026","url":null,"abstract":"<p><p>This paper presents a map-free navigation approach for industrial automatic mobile robots (AMRs), designed to ensure computational efficiency, cost-effectiveness, and adaptability. Utilizing deep reinforcement learning (DRL), the system enables real-time decision-making without fixed markers or frequent map updates. The central contribution is the Heuristic Dense Reward Shaping (HDRS), inspired by potential field methods, which integrates domain knowledge to improve learning efficiency and minimize suboptimal actions. To address the simulation-to-reality gap, data augmentation with controlled sensor noise is applied during training, ensuring robustness and generalization for real-world deployment without fine-tuning. Training results underscore HDRS's superior convergence speed, training stability, and policy learning efficiency compared to baselines. Simulation and real-world evaluations establish HDRS-DRL as a competitive alternative, outperforming traditional approaches, and offering practical applicability in industrial settings.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142635080","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 new formal approach to safe response time upper bound evaluation for distributed control systems using dioid algebra. 使用二元代数的分布式控制系统安全响应时间上限评估新形式方法。
ISA transactions Pub Date : 2024-11-05 DOI: 10.1016/j.isatra.2024.10.021
Louis Bal Dit Sollier, Alain Ourghanlian, Saïd Amari
{"title":"A new formal approach to safe response time upper bound evaluation for distributed control systems using dioid algebra.","authors":"Louis Bal Dit Sollier, Alain Ourghanlian, Saïd Amari","doi":"10.1016/j.isatra.2024.10.021","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.10.021","url":null,"abstract":"<p><p>This paper presents an approach to computing a safe upper bound of the response time of Distributed Control System (DCS). From a graphical model of live autonomous Timed Event Graphs (TEGs) with asynchronous links and weights, we draw algebraic representations of the time/event dynamics using the M<sub>in</sub><sup>ax</sup>〚γ,δ〛 dioid. By introducing scalers and two operators for handling batching or multiplying events, we are able to calculate the trajectories and transfer functions. With deterministic and worst-case hypotheses, the worst delays induced by the model is then computed, composing an upper bound for the response time. We validate the method through a numerical application, confronted to experimental measurements. The method is modular, can be automated and is easily used to any DCS modelled with TEGs.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142635069","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
Decoupled robust backstepping tracking control for variable stiffness actuated robot with input saturation. 针对输入饱和的变刚度致动机器人的解耦鲁棒性反步跟踪控制。
ISA transactions Pub Date : 2024-11-04 DOI: 10.1016/j.isatra.2024.10.027
Chen Ji, Zhongqiang Zhang, Guanggui Cheng, Minxiu Kong, Ruifeng Li
{"title":"Decoupled robust backstepping tracking control for variable stiffness actuated robot with input saturation.","authors":"Chen Ji, Zhongqiang Zhang, Guanggui Cheng, Minxiu Kong, Ruifeng Li","doi":"10.1016/j.isatra.2024.10.027","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.10.027","url":null,"abstract":"<p><p>Due to the energy storage and release capability introduced by stiffness adjustment, a variable stiffness actuator is essential to achieve human-like energy efficiency for robots. However, it is not trivial to control the strongly coupled and nonlinear system, especially with highly dynamic stiffness variation. In this work, decoupled and robust command filtered backstepping tracking controllers for position and stiffness are proposed. Furthermore, a disturbance observer is introduced to estimate the lumped disturbances caused by directly decoupled dynamics and unmodeling errors. Since the input control torques can be easily saturated due to limited deformation of elastic elements, anti-windup compensation is introduced into the tracking control laws to reduce its negative influence. Thus, by combining the command filtered backstepping controller, disturbance observers, and anti-windup compensation, the stability proof of the proposed composite controller is provided. The tracking control performance is validated through simulations of multi-DoF variable stiffness actuated robots.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142607766","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
Online estimation method for extreme learning machine with kernels based on the multi-innovation theory and intelligent optimization strategy. 基于多元创新理论和智能优化策略的核极端学习机在线估算方法
ISA transactions Pub Date : 2024-11-04 DOI: 10.1016/j.isatra.2024.10.028
Yanjiao Wang, Yiting Liu, Weidi Li, Muqing Deng, Kaiwei Wang
{"title":"Online estimation method for extreme learning machine with kernels based on the multi-innovation theory and intelligent optimization strategy.","authors":"Yanjiao Wang, Yiting Liu, Weidi Li, Muqing Deng, Kaiwei Wang","doi":"10.1016/j.isatra.2024.10.028","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.10.028","url":null,"abstract":"<p><p>In order to effectively model data online, a learning model must not only have the high adaptability of dynamic data but also keep the low complexity to meet the online computing requirements. In this paper, a novel multi-innovation online sequential extreme learning machine (MIOSELM) and its kernel version called multi-innovation kernel online sequential extreme learning machine (MIKOSELM) are proposed to establish the online estimation models based on p latest samples using the multi-innovation theory. Besides, a modified whale optimization algorithm (MWOA) is introduced to optimize the execution parameters of our algorithms and is capable of automatically searching a proper p as the practical need, which can further improve the adaptability performance of the online learning models. Finally, two different datasets (the UCI dataset and KDD99 dataset) are used to evaluate the superiority of our methods. Experimental results show that the accuracy, F-score, and G-mean of MIKOSELM are 98.25%, 98.11% and 98.63% on WDBC from the UCI dataset, and are 83.61%, 75.96% and 70.97% on the KDD99 dataset respectively. Besides, our MIKOSELM based on MWOA achieves F-score of 94.28% and 76.73% on Musk from the UCI dataset and the KDD99 dataset. These results validate the effectiveness of our proposed methods.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142635083","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 noise cancellation gets a boost: A novel diffusion-based approach in spline adaptive filters. 主动降噪功能得到提升：花键自适应滤波器中基于扩散的新方法
ISA transactions Pub Date : 2024-11-02 DOI: 10.1016/j.isatra.2024.10.015
Tahereh Bahraini, Alireza Naeimi-Sadigh
{"title":"Active noise cancellation gets a boost: A novel diffusion-based approach in spline adaptive filters.","authors":"Tahereh Bahraini, Alireza Naeimi-Sadigh","doi":"10.1016/j.isatra.2024.10.015","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.10.015","url":null,"abstract":"<p><p>This study addresses the challenge of unwanted noise in signal processing, particularly for applications requiring high-fidelity audio like noise-canceling headphones. Current adaptive filters offer some noise reduction but struggle with specific noise profiles. We propose the enhanced adaptive filter and a distributed learning utilizing a novel diffusion-based framework that leverages spline adaptation. This innovative approach integrates a natural logarithm and a special function called the hyperbolic cosine for improved noise cancellation. Our method achieves superior noise reduction and improved signal quality compared to existing techniques. This research demonstrates the effectiveness of the enhanced adaptive filter, making it ideal for applications demanding pristine audio and well-suited for distributed noise cancellation scenarios.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142592047","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
Random Fourier features based nonlinear recurrent kernel normalized LMS algorithm with multiple feedbacks. 基于随机傅立叶特征的非线性递归核归一化 LMS 算法与多重反馈。
ISA transactions Pub Date : 2024-10-31 DOI: 10.1016/j.isatra.2024.10.014
Ji Zhao, Jiaming Liu, Qiang Li, Lingli Tang, Hongbin Zhang
{"title":"Random Fourier features based nonlinear recurrent kernel normalized LMS algorithm with multiple feedbacks.","authors":"Ji Zhao, Jiaming Liu, Qiang Li, Lingli Tang, Hongbin Zhang","doi":"10.1016/j.isatra.2024.10.014","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.10.014","url":null,"abstract":"<p><p>The performance of kernel adaptive filtering algorithms (KAFs) with nonlinear recurrent structures surpasses traditional KAFs, attributed to the nonlinear contribution of feedback. Nevertheless, the existing nonlinear recurrent KAFs primarily focus on a single feedback output, potentially limiting their latent filtering capabilities. In this paper, we introduce a novel alternative, named nonlinear recurrent kernel normalized least-mean-square with multiple feedbacks (NR-KNLMS-MF), which leverages the information from multiple feedback outputs. Additionally, to tackle the computational complexity challenges associated with KAFs, we integrate random Fourier features (RFF) into NR-KNLMS-MF, resulting in an efficient variant called as RFF-NR-KNLMS-MF. Furthermore, we conduct a theoretical analysis of the mean-square convergence for RFF-NR-KNLMS-MF. Simulation results on time-series predictions demonstrate the superiority of our proposed algorithms over other competing alternatives, validating their effectiveness.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142635053","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
Decentralized optimal H∞ fusion estimation for multi-sensor networked systems with two-channel hybrid attacks. 具有双通道混合攻击的多传感器网络系统的分散优化 H∞ 融合估计。
ISA transactions Pub Date : 2024-10-29 DOI: 10.1016/j.isatra.2024.10.025
Lei Zhang, Shuli Sun
{"title":"Decentralized optimal H<sub>∞</sub> fusion estimation for multi-sensor networked systems with two-channel hybrid attacks.","authors":"Lei Zhang, Shuli Sun","doi":"10.1016/j.isatra.2024.10.025","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.10.025","url":null,"abstract":"<p><p>The article aims at the decentralized optimal H<sub>∞</sub> fusion estimation issue for multi-sensor networked systems with insecure network communications, where hybrid attacks consisting of stochastic deception and denial-of-service attacks happen on both the sensor-to-local filter channel and the local filter-to-fusion center channel simultaneously. Some random variables obeying Bernoulli distributions are utilized to depict the hybrid attacks existing in two classes of communication channels in a unified framework. Relying on a novel augmentation method, the fusion estimation error system with globally internal dynamics is obtained. Two sufficient conditions to assure the corresponding H<sub>∞</sub> performance and exponentially mean-square stability of the local and fusion estimation error systems are derived. To reduce the adverse effect of hybrid attacks, the decentralized optimal H<sub>∞</sub> fusion filter with better H<sub>∞</sub> performance index than each local H<sub>∞</sub> filter is presented by linear matrix inequality technique. An actual civil aircraft system demonstrates the algorithms to be valid.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142607764","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
Enhancing disturbance rejection in boost converter for CPL: A controller design approach with partial pole placement and approximate model matching. 增强 CPL 升压转换器的干扰抑制能力：采用部分极点布局和近似模型匹配的控制器设计方法
ISA transactions Pub Date : 2024-10-28 DOI: 10.1016/j.isatra.2024.10.023
Sarva Ruvinigya Somanshu, Md Nishat Anwar, Ramesh Kumar
{"title":"Enhancing disturbance rejection in boost converter for CPL: A controller design approach with partial pole placement and approximate model matching.","authors":"Sarva Ruvinigya Somanshu, Md Nishat Anwar, Ramesh Kumar","doi":"10.1016/j.isatra.2024.10.023","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.10.023","url":null,"abstract":"<p><p>In DC microgrids, the cascade operation of the DC-DC converters leads to a constant power load fed by the boost converter, resulting in unstable behavior in addition to the non-minimum phase dynamics. An enhanced load disturbance rejection control scheme based on partial pole placement and an approximate model matching technique is proposed. This approach is inspired by the well-known direct synthesis method to achieve optimal load disturbance rejection performance. The effectiveness of the proposed control scheme has been validated through hardware implementation, demonstrating its capability in setpoint tracking and load disturbance rejection under variations in load power and input voltage. The robust stability of the suggested scheme has been investigated through the Kharitonov theorem and Monte-Carlo simulation, considering different performance matrices. The suitability of the presented scheme has been established by analyzing the comparative performance of recently reported works. The proposed controller reduces peak overshoot and settling time by ∼50%, handles system uncertainties up to 75%, and outperforms FOPID controllers tuned with particle swarm optimization, queen bee genetic algorithm, and chaos game optimization methods.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142635078","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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