ISA transactions最新文献_第4页

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

An adaptive feature extraction technique via bispectrum-driving graph domain for bearing fault diagnosis. 基于双谱驱动图域的自适应特征提取技术用于轴承故障诊断。

IF 6.5

ISA transactions Pub Date : 2025-09-19 DOI: 10.1016/j.isatra.2025.09.020

Miaorui Yang, Kun Zhang, Haihong Tang, Yonggang Xu, Wenyu Huo

引用次数: 0

Integrated weapon/flight control for armed helicopters based on situation trend assessment via dual heuristic dynamic programming with disturbances. 基于态势趋势评估的带干扰双启发式动态规划武装直升机武器/飞行综合控制。

IF 6.5

ISA transactions Pub Date : 2025-09-18 DOI: 10.1016/j.isatra.2025.08.044

Zeyu Zhou, Yuhui Wang, Qingxian Wu

{"title":"Integrated weapon/flight control for armed helicopters based on situation trend assessment via dual heuristic dynamic programming with disturbances.","authors":"Zeyu Zhou, Yuhui Wang, Qingxian Wu","doi":"10.1016/j.isatra.2025.08.044","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.044","url":null,"abstract":"Aiming to enhance autonomous air combat capabilities for armed helicopters, a novel dynamic integrated weapon/flight control design method is proposed in the presence of disturbances based on a heuristic dynamic programming (HDP) algorithm. Driven by the underactuated, highly coupled, nonlinear characteristics of helicopters, the proposed mathematical model incorporates weapon delivery rotation to achieve precise aiming and reduce controller complexity. To realize dynamic gaming of the target and the helicopter, two critical indexes are introduced: aiming deviation and attack occupation. While general situation assessment focuses on current air combat information, the proposed situation trend assessment integrates both current data and future maneuver trends, influencing the subsequent movements of both the helicopter and the target. Based on this theoretical framework, near-optimal strategies for both the target and the helicopter are derived. Furthermore, for better air combat performance, this paper proposes an optimal control policy for helicopters based on an identification and an HDP algorithm under disturbances. The identification process effectively eliminates training estimation errors, while the HDP algorithm ensures boundedness, monotonicity, convergence, and optimality. Simulation experiments confirm the efficacy and practicality of the proposed control methods in addressing the challenges of integrated weapon/flight control design, demonstrating significant improvements in autonomous air combat performance.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145152346","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 novel multiobjective optimal LQ control strategy for energy harvesting in vehicle suspension systems. 一种新的汽车悬架能量收集多目标最优LQ控制策略。

IF 6.5

ISA transactions Pub Date : 2025-09-18 DOI: 10.1016/j.isatra.2025.09.010

Paul Christian Tesso Woafo, Gianfranco Gagliardi, Alessandro Casavola, Francesco Tedesco

{"title":"A novel multiobjective optimal LQ control strategy for energy harvesting in vehicle suspension systems.","authors":"Paul Christian Tesso Woafo, Gianfranco Gagliardi, Alessandro Casavola, Francesco Tedesco","doi":"10.1016/j.isatra.2025.09.010","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.010","url":null,"abstract":"A novel optimal LQR state-feedback control law is proposed for energy harvesting maximization in regenerative suspension systems where an actively governed electromechanical actuator is used in place of the viscous damper. A special LQR cost function is considered that directly maximizes the electrical power generated by the electromechanical actuator. Other conflicting control objectives, such as ride comfort and road handling, may be considered along with the energy harvesting objective in the proposed control setup, allowing one to directly trade-off among them depending on the application. Specifically, as an example, a condition for trading-off between energy harvesting and ride comfort is added to the optimization problem via forcing a bound on the so called Ride Index. The proposed control law is finally contrasted with the Regenerative damper and MIPC H2 control strategies usually considered in the literature for energy harvesting applications and it is compared in simulative studies via MATLAB/Simulink on a quarter-car model and the CarSim Simulator. In particular, as shown in the results, it is highlighted that the proposed control law yields an increase in harvested energy of 37.3 % and 27.8 % compared to the Regenerative Damper and MIPC H2 strategies, respectively. Beyond its performance benefits, the LQR-based approach offers a streamlined implementation process, requiring only two tuning parameters to meet the Ride Index constraint, significantly fewer than the four parameters needed by MIPC H2, which include one for energy optimization and three for signal filtering. Additionally, the proposed method entails lower computational overhead, making it well-suited for real-time applications.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145180043","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

Switching-type dynamic event-triggered control of vehicle platooning system under multiple cyber attacks. 多重网络攻击下车辆队列系统的切换式动态事件触发控制。

IF 6.5

ISA transactions Pub Date : 2025-09-18 DOI: 10.1016/j.isatra.2025.09.009

Guantong Jiang, Shuxian Lun, Ming Li

{"title":"Switching-type dynamic event-triggered control of vehicle platooning system under multiple cyber attacks.","authors":"Guantong Jiang, Shuxian Lun, Ming Li","doi":"10.1016/j.isatra.2025.09.009","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.009","url":null,"abstract":"The open network environment of vehicular ad-hoc networks (VANETs) provides significant benefits to vehicular systems; however, it simultaneously exposes them to a range of potential malicious cyber threats. This paper researches the vehicle platooning control problem in the context of multiple cyber attack scenarios over VANETs, including deception attacks and denial-of-service (DoS) attacks. First, considering the limited nature of communication resources, this paper proposes a periodic switching-type dynamic event-triggering mechanism (ETM). Unlike conventional ETM approaches, this mechanism intelligently switches between different operational modes through an auxiliary variable that depends on the last successful trigger moment, thereby optimizing resource utilization under DoS attack scenarios. Secondly, a piecewise Lyapunov function is formulated for analyzing the associated state of multiple agents, with sufficient conditions established forth to guarantee the exponential stability of the global tracking error system. Finally, the results of experiments and comparisons illustrate the efficacy and advantages of the proposed method. Furthermore, the practical viability of the control scheme is verified through co-simulations conducted with CarSim and MATLAB/Simulink platforms.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145152380","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

Sliding mode control with power-type barrier function for autonomous aerial refueling based on disturbance observer. 基于扰动观测器的自主空中加油功率型障碍函数滑模控制。

IF 6.5

ISA transactions Pub Date : 2025-09-18 DOI: 10.1016/j.isatra.2025.09.016

Jintao Hu, Yunjie Wu, Shanwei Su

{"title":"Sliding mode control with power-type barrier function for autonomous aerial refueling based on disturbance observer.","authors":"Jintao Hu, Yunjie Wu, Shanwei Su","doi":"10.1016/j.isatra.2025.09.016","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.016","url":null,"abstract":"Abrupt disturbances, such as wind gusts, present significant challenges to precise docking control in autonomous aerial refueling (AAR). To address this, this paper proposes a disturbance-rejection sliding mode control (SMC) strategy based on power-type barrier function for a receiver aircraft with multiple control surfaces. First, an estimator-based disturbance observer is developed to enable feedforward compensation for time-varying disturbances while mitigating chattering in SMC, without requiring prior knowledge of the upper bounds of the disturbances or their derivatives. Second, a single-power barrier function-based SMC (SPBFSMC) is introduced to rapidly compensate for disturbance estimation errors under abrupt disturbances, avoid gain overestimation, and ensure that the sliding mode variables converge to a predefined neighborhood of the origin. Furthermore, a dual-power barrier function-based SMC (DPBFSMC) is developed by combining two SPBFSMC methods with powers greater than and less than one, respectively. This approach achieves a smaller final convergence region regardless of the disturbance estimation error magnitude, thereby improving tracking accuracy. Finally, the stability of the closed-loop system is proved using Lyapunov functions, and the effectiveness of the proposed control strategy is validated through simulations.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145260004","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

Optimal off-line generated ϵ-stealthy attacks under the energy constraint in cyber-physical systems. 网络物理系统能量约束下最优离线生成ϵ-stealthy攻击。

IF 6.5

ISA transactions Pub Date : 2025-09-17 DOI: 10.1016/j.isatra.2025.09.004

Hua-Sheng Shan, Ping Sun, Yi-Gang Li

引用次数: 0

Smart leader-based distributed active anti-disturbance hybrid consensus control for multi-agent systems with self-triggered impulsive control scheme. 基于智能领导的自触发脉冲控制多智能体系统的分布式主动扰动混合共识控制。

IF 6.5

ISA transactions Pub Date : 2025-09-17 DOI: 10.1016/j.isatra.2025.09.008

Wen Qin, Lei Chen, Mouquan Shen

{"title":"Smart leader-based distributed active anti-disturbance hybrid consensus control for multi-agent systems with self-triggered impulsive control scheme.","authors":"Wen Qin, Lei Chen, Mouquan Shen","doi":"10.1016/j.isatra.2025.09.008","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.008","url":null,"abstract":"Multi-agent systems (MAS) face significant challenges in achieving consensus tracking under external disturbances, particularly in leader-follower architectures where adaptability and disturbance rejection are critical. Traditional approaches rely on static leaders, which lack adaptability and disturbance rejection capabilities. To address these limitations, this paper proposes a novel smart leader-follower hybrid control framework. First, a smart leader dynamically adjusts its control law using impulsive neighbor information triggered by a self-triggered function, reducing followers' error system eigenvalues for faster tracking and enhanced cohesion. Second, for each follower, we integrate static/dynamic self-triggered impulsive feedback with feedforward control via a linear extended state observer (LESO), enabling real-time disturbance compensation. This hybrid scheme improves efficiency, robustness, and scalability while lowering communication costs. This approach significantly reduces tracking errors, offers greater flexibility and efficiency, and demonstrates strong disturbance rejection via LESO's rapid error elimination, validated through simulations.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145182458","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