ISA transactions最新文献

{"title":"Robust nonlinear predefined-time cooperative line-of-sight guidance law for active defense in three-body confrontation.","authors":"Qiang Qi, Chi Peng, Hanwen Zhang, Xiangwei Bu, Jianjun Ma","doi":"10.1016/j.isatra.2025.01.039","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.01.039","url":null,"abstract":"<p><p>Conventional active guidance laws can achieve asymptotic or finite-time convergence of the line-of-sight (LOS) angle error. However, the convergence time is relatively conservative. In this article, we propose predefined-time (PT) sliding-mode (SM) convergence active defense guidance laws. Firstly, the proposed guidance law is designed based on a nonlinear LOS guidance framework, eliminating the assumption of small flight-path angles. Then, robust PT control theory is employed to achieve PT convergence of the SM surface. Moreover, two levels of cooperation between the target and the defender are introduced to enhance guidance performance. To minimize maximum overload, static optimization is incorporated in two-way cooperation by a performance index. The obtained guidance law does not require an observer or time-to-go estimation as compared to previous work. Additionally, our method can be applied not only in planar plane but also extended directly to three-dimensional geometry. Finally, we validate the effectiveness of our proposed strategies through comparative simulations.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143434468","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}

{"title":"Soft sensor modeling using deep learning with maximum relevance and minimum redundancy for quality prediction of industrial processes.","authors":"Huaiping Jin, Xin Dong, Bin Qian, Bin Wang, Biao Yang, Xiangguang Chen","doi":"10.1016/j.isatra.2025.02.010","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.02.010","url":null,"abstract":"<p><p>Deep learning techniques such as autoencoder (AE) and stacked autoencoders (SAE) have gained growing popularity in soft sensor applications. However, they often encounter several disadvantages, such as poor correlations between the extracted hidden features and the quality variable, inevitable information loss resulting from the layer-wise feature extraction, and information redundancy between the hidden features. Thus, a maximal relevance and minimal redundancy-based representation learning (MRMRRL) is proposed for quality prediction of industrial processes. MRMRRL obtains significant performance enhancement by combining the merits from three channels. First, the relevance between the input and output variable is taken into account for enabling quality-relevant feature extraction. Second, kernel principal component analysis (KPCA) is performed on the feature space of AE hidden layer for achieving redundancy reduction of hidden features. Third, inputs with high quality relevance are fed to the extension layer nodes for enabling information compensation. The experimental results show that, compared with the baseline SAE, the performance of MRMRRL is improved by about 37 % and 38 % for two application examples, respectively. Significant performance enhancement of MRMRRL can be also obtained compared to several state-of-the-art deep learning soft sensors. These results demonstrate the effectiveness and superiority of the proposed MRMRRL approach in extracting quality-related hidden features while ensuring automatic elimination of hidden feature redundancy and maintaining structure simplicity.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143442671","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}

{"title":"Modified inverted pendulum on a cart system with four-bar mechanism.","authors":"Sinan Basaran","doi":"10.1016/j.isatra.2025.02.014","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.02.014","url":null,"abstract":"<p><p>In this study, the inverted pendulum on cart system, classic problem of control theory has been modified and an experimental control design has been proposed to maintain balance of a four-bar mechanism instead of a traditional pendulum rod system. Both the inverted pendulum on cart system and the four-bar mechanism are commonly used systems that have been the subject of many control theory problems. Therefore, the combination of these two widely studied systems, which is the focus of this research paper, could very well be integrated for various practical problems such as Segway transportation systems, robotic applications, and rocket guidance systems. With this motivation the modified system has been designated as the \"four-bar on a cart system\", and dynamic equations of motion have been obtained using the Lagrange method. Furthermore, the performance of the system has been validated through an established experimental setup, and the experimental results for a Lyapunov type backstepping controller are presented. The utilization of a four-bar mechanism instead of a pendulum rod has led to greater challenges in the derivation of the motion of equation due to the additional link position variables in the system. However, despite the modifications on the system, the total degrees of freedom remain unchanged, and the system continues to exhibit dynamic behavior similar to inverted pendulum on cart system. For the completeness of the proposed topic, the inverted pendulum on cart system was initially investigated in this study, and its experimental results were presented. Subsequently, the focus shifted to the four-bar on a cart system.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143442054","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}

{"title":"Minimum maximum regularized multiscale convolutional neural network and its application in intelligent fault diagnosis of rotary machines.","authors":"Yaochun Wu, Shaohua Du, Guijun Wu, Xiaobo Guo, Jie Wu, Rongzheng Zhao, Chi Ma","doi":"10.1016/j.isatra.2025.01.044","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.01.044","url":null,"abstract":"<p><p>Convolutional neural networks (CNN) have achieved significant advancements in intelligent fault diagnosis of rotary machines. However, the limitations of using a single scale convolution kernel in convolutional layer and the exclusive focus on classification accuracy by the cross-entropy loss function during model training result in suboptimal diagnostic performance and generalization ability of CNNs in environments with strong background noise and imbalanced data. To address these challenges, a fault recognition method for rotary machines utilizing a minimum maximum regularized multiscale CNN (MMRMCNN) is proposed. A multiscale feature extraction module is devised, which uses convolutional layers with diverse scale kernels to capture multiscale features form input data. Additionally, a minimum maximum regularized objective function is introduced to augment the original cross-entropy loss function. This modification enables the model to consider not only recognition accuracy but also the compactness within classes and separation between classes of learning features during network training. The proposed approach effectively narrows the intra class margin of device health status features while widening the inter class margin, thereby mitigating the impact of noise and data imbalance on the mapping of health status relationship. Performance evaluation of the MMRMCNN is conducted using a measured dataset, the PU bearing dataset, and a rotor dataset. We found that the fault recognition accuracy of the proposed method exceeds 97.79 %, and the accuracy of fault recognition under noisy background and unbalanced data conditions is also above 94.81 % and 94.72 %, respectively. This demonstrate the superior fault recognition capabilities of the proposed method in scenarios characterized by strong background noise and data imbalance. Overall, the results attest to the exceptional performances of the developed MMRMCNN in fault recognition under challenging conditions, underscoring its potential in advancing the field of in Telligent fault diagnosis for rotary machines.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143416466","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}

{"title":"External torque estimation based P+Damping control for bilateral teleoperation systems.","authors":"Baorui Jing, Jing Na, Hao Duan, Yantian Li, Xian Wang, Yingbo Huang, Guang Li","doi":"10.1016/j.isatra.2025.01.049","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.01.049","url":null,"abstract":"<p><p>This paper presents a P+Damping control with gravity compensation for bilateral teleoperation systems, where the effects of time delays can be effectively addressed, and the motion synchronization and the transparency can be guaranteed. To further eliminate the direct measurement of human and environmental torques to save sensor installation space and reduce the hardware cost, a constructive unknown torque estimator is also proposed by tailoring the idea of unknown system dynamics estimator (USDE). This torque estimator with low-pass filter operations eliminates the requirement of joint acceleration and has only one tuning parameter, while it enables accurate estimation of external torques of both the local and remote manipulators. Nevertheless, this USDE-based torque estimator can be incorporated into the P+Damping control to simultaneously enhance transparency during the contact motion and ensure the synchronization of both position and velocity. Rigorous theoretical analyses are carried out to prove the stability and the claimed performances. Finally, the effectiveness of the proposed methods is demonstrated through simulation and experimental results.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143416348","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}

{"title":"Anti-disturbance control of permanent magnet eddy-current coupler speed control system based on disturbance interval observer.","authors":"Li-Song Sun, Da-Zhi Wang, Tai-Lai Tong, Si-Han Wang","doi":"10.1016/j.isatra.2025.01.043","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.01.043","url":null,"abstract":"<p><p>For the permanent magnet eddy-current coupler speed control system with external disturbances, consideration is given to achieving anti-disturbance objectives through disturbance compensation. Utilizing partial information of disturbance dynamics, it is convenient to design a disturbance interval observer (DIO), generating upper and lower bounds covering each element of the external disturbances, where the positive system theory ensures non-negativity of errors. Then, based on the DIO, disturbance reconstruction is performed for feedforward compensation, while feedback control is employed for tracking and stabilization, eliminating control chattering generated by the sliding mode. The controller is presented in a parameterized form to obtain the designed closed-loop system, allowing for easy handling of additional performance requirements. Finally, numerical simulations validate the superiority and benefit of the estimation and control scheme.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143416346","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}

{"title":"Stability of connected vehicle systems over analog fading networks.","authors":"Zhiping Shen, Yonggui Liu, Zeming Li, Yilin Wu","doi":"10.1016/j.isatra.2025.01.050","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.01.050","url":null,"abstract":"<p><p>The influence of inter-vehicular communication on platoon control performance is studied by modeling the communication channel as an analog fading channel. First, the conditions for achieving platoon mean square stability (MSS) are derived for three cases: undirected information flow (UIF) topology with identical fading channels, balanced directed information flow (BDIF) topology with identical fading channels, and general information flow topology with non-identical fading channels. Second, in order to mitigate the impact of fading channels on platoon MSS, some feasible controllers are proposed for each one of the three cases by solving the corresponding modified Riccati inequalities (MRIs). Finally, simulations are conducted to compare three different fading channels (Nakagami channel, Rician channel and Rayleigh channel), and the results verify the superiority and effectiveness of the provided control methods in ensuring the platoon MSS. Both theoretical analysis and simulation results demonstrate that the influence of fading channels on platoon MSS is determined by the statistics of fading channels, and the designed controllers can suppress the impact of fading channels on the stability of vehicle platoon.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143451221","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}

{"title":"Virtual torque control combining with modal decoupling research for hydraulic-driven lower limb exoskeleton robot.","authors":"Jinsong Zhao, Huidong Hou, Xianwei Niu, Yi Liu, Lin Xia, Lianjie Men, Zhiyong Ma","doi":"10.1016/j.isatra.2025.01.047","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.01.047","url":null,"abstract":"<p><p>The hydraulic-driven lower limb exoskeleton robot (HDLLER) can provide excellent assistance during human walking. However, complex torque coupling disturbances exist between each joint, negatively impacting the precise torque tracking of each joint channel of the robot. To address the coupling force disturbances between HDLLER joints and the human-robot interactions, this paper proposes a virtual torque control (VTC) strategy based on modal decoupling. Specifically, a human-robot coupled dynamic model of the HDLLER considering human motion disturbances is first established. Then, based on vibration theory, a modal space decoupling approach is proposed to transform the system's mass and stiffness matrices into diagonal matrices, creating two independent control channels. Furthermore, a VTC strategy is introduced to compensate for disturbances caused by human motion and the residual terms after modal decoupling, thereby enhancing the HDLLER's performance. Finally, to handle parameter variations during modal decoupling and inaccuracies in model identification, the H_∞ theory is introduced to optimize the proposed VTC, effectively reducing the control strategy's dependence on model accuracy and improving system robustness. The effectiveness of the proposed method is verified through a series of comparative experiments.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143442705","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}

{"title":"A novel zonotopic Kalman filter-based actuator fault detection for time delay systems.","authors":"Yu-Qing Ma, Zi-Yun Wang, Yan Wang, Ju H Park, Zhi-Cheng Ji","doi":"10.1016/j.isatra.2025.01.037","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.01.037","url":null,"abstract":"<p><p>This paper addresses the problems of state estimation and actuator fault diagnosis in linear discrete time delay systems with actuator faults, and a zonotopic Kalman filter-based actuator fault detection (Z-KF-AFD) algorithm is proposed. First, the relationship between faults and states is calculated by approximating small-range noise. Next, by wrapping non-zero initial states with delays and zero initial faults within a zonotopic set, the zonotopic Kalman filter (ZKF) is iteratively derived to establish the association between current and delayed data. The optimal observer estimator gain for the optimal ZKF is then designed by minimizing the size of the zonotopic set. Subsequently, the fault zonotopic set, which links the state at the current time to the delayed state, is separated. Fault detection is achieved by determining whether zero lies within the bounds of the estimated fault zonotope. Finally, the feasibility of the proposed algorithm is validated through fault diagnosis examples involving a numerical system and a bidirectional DC-DC converter system.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143384049","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}

{"title":"Sideslip-roll composite turn control for a tailless aerial vehicle with flexible performance constraints.","authors":"Wang Yingyang, Zhang Peng, Su Maoyu, Li Yuejuan","doi":"10.1016/j.isatra.2025.02.001","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.02.001","url":null,"abstract":"<p><p>Considering flight safety and ride comfort, aircraft are usually not allowed to sideslip. However, compared to manned aircraft, unmanned aircraft can improve combat performance by appropriately reducing the safety factor. For example, a small sideslip of the aircraft may be utilized to reduce the roll angle to lower the radar cross-section. According to the requirements of ultra-low altitude penetration and inspired by the frequent drifting of cars participating in snow rallies when turning, we investigate the feasibility of sideslip-roll composite turn control for a tailless aerial vehicle (TAV) with high-precision trajectory tracking. Firstly, the TAV's non-affine and affine models for controller-oriented design are developed for the translational and rotational subsystems respectively. Secondly, a flexible funnel control method with a new error transformation function is proposed to obtain good transient and steady-state performance. Thirdly, a sideslip-roll composite turn control strategy is proposed to improve maneuverability based on the flight-path angle rate allocation method. Finally, A nonlinear dynamic inverse (NDI) controller is constructed for the TAV attitude loop. Simulation results show that the designed control method is strongly robust and can achieve the difficult ultra-low altitude penetration task.</p>","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143400972","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}