ISA transactions最新文献_第5页

Contract-based design for robust networked control systems in industrial automation. 基于契约的工业自动化鲁棒网络控制系统设计。

IF 6.5

ISA transactions Pub Date : 2025-09-16 DOI: 10.1016/j.isatra.2025.09.011

Friederike Bruns, Jörg Walter, Andreas Rauh

{"title":"Contract-based design for robust networked control systems in industrial automation.","authors":"Friederike Bruns, Jörg Walter, Andreas Rauh","doi":"10.1016/j.isatra.2025.09.011","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.011","url":null,"abstract":"Ensuring real-time constraints for industrial distributed control systems remains challenging, particularly for models such as IEC 61499 that prioritise functionality and device mapping over network communication and formal timing guarantees. This can lead to performance degradation and safety hazards. Our approach formally enhances the definition of the logical messages and introduces a systematic methodology for mapping a message to physical channels that represent the communication protocol. Thereby, this work enables precise timing verification and deterministic execution. Our approach enforces controlled message transmission and synchronisation through the utilised communication protocol and contract-based design to determine a feasible communication schedule. Using virtual integration testing, we verify network communication timing across three refinement steps, demonstrating scalable contract reuse and addressing challenges for timing constraints in the case of closed-loop control. Key contributions of this work are (1) a formal definition of messages, (2) a systematic mapping strategy to ensure deterministic communication, (3) enhanced synchronisation mechanisms, (4) explicit scheduling enforcement, and (5) a case study demonstrating how the proposed modelling approach enables verification of distributed systems. By integrating timing verification at design time, our approach mitigates the impact of non-determinism and communication delays, reduces redesign efforts, and improves the reliability of industrial distributed control systems while ensuring compliance with strict timing constraints in industrial automation.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145139319","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

Stability analysis and applications of time-delay systems subject to delayed impulses. 时滞脉冲作用下时滞系统的稳定性分析及应用。

IF 6.5

ISA transactions Pub Date : 2025-09-16 DOI: 10.1016/j.isatra.2025.09.012

Xiaoying Chen, Liujuan Chen, Junyan Xu, Bangxin Jiang

引用次数: 0

Game-based multi-objective evolution of robust controllers. 基于博弈的鲁棒控制器多目标演化。

IF 6.5

ISA transactions Pub Date : 2025-09-13 DOI: 10.1016/j.isatra.2025.09.006

Adham Salih, Erella Eisenstadt Matalon

引用次数: 0

A novel adaptive soft sensing framework for label delay in industrial data streams. 一种新的工业数据流标签延迟自适应软检测框架。

IF 6.5

ISA transactions Pub Date : 2025-09-10 DOI: 10.1016/j.isatra.2025.09.007

Lei Chen, Guomin Wu, Haoyan Dong, Kuangrong Hao

引用次数: 0

Nonsingular predefined-time sliding mode trajectory tracking control for uncertain manipulator with predefined-time extended state observer. 带扩展状态观测器的不确定机械臂非奇异时间滑模轨迹跟踪控制。

IF 6.5

ISA transactions Pub Date : 2025-09-10 DOI: 10.1016/j.isatra.2025.08.055

Jun Nie, Lujiao Dong, Qiaoqiao Sun, Chao Zhang, Chaoyang Zhang

{"title":"Nonsingular predefined-time sliding mode trajectory tracking control for uncertain manipulator with predefined-time extended state observer.","authors":"Jun Nie, Lujiao Dong, Qiaoqiao Sun, Chao Zhang, Chaoyang Zhang","doi":"10.1016/j.isatra.2025.08.055","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.055","url":null,"abstract":"In this study, a global predefined-time-embedded two-layer sliding mode control strategy is established for the manipulator under the model uncertainties, exterior disturbances, unknown velocity measurements, and actuator saturation, enabling global trajectory tracking within the predefined time. Initially, a predefined-time extended state observer (PTESO) is devised in view of the first layer sliding mode manifold to observe the unknown velocity information and composite disturbance resulting from model uncertainty and exterior interference. Through the first layer sliding mode manifold, the auxiliary control policy is put forward to address the bounded total perturbations and guarantee the stability of the PTESO. Subsequently, a nonlinear predefined-time sliding mode control (PTSMC) methodology is presented, introducing the second layer sliding mode surface that integrates a piecewise nonlinear function concerning the joint position tracking error, thereby alleviating the singularity issue associated with PTSMC. Furthermore, a predefined-time anti-saturation compensator (PTASC) is implemented to address actuator saturation issue. By dynamically adjusting the output of the controller, the PTASC effectively mitigates the adverse effects of actuator saturation, thereby preserving robust tracking performance and stability. Consequently, employing predefined-time stability theory in combination with the Lyapunov method, the comprehensive stability verification and predefined-time convergence of the closed-loop system are undertaken. Simulation outcomes substantiate that the devised control scheme attains remarkable effectiveness and practicality.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145077022","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

Wafer composite defect recognition framework based on residual dynamic perception network with asymmetric multi-label loss. 基于非对称多标签损失残差动态感知网络的晶圆复合缺陷识别框架。

IF 6.5

ISA transactions Pub Date : 2025-09-10 DOI: 10.1016/j.isatra.2025.09.005

Jiale Liu, Huan Wang

{"title":"Wafer composite defect recognition framework based on residual dynamic perception network with asymmetric multi-label loss.","authors":"Jiale Liu, Huan Wang","doi":"10.1016/j.isatra.2025.09.005","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.005","url":null,"abstract":"Advancements in semiconductor manufacturing require greater accuracy in wafer pattern recognition (DPR) to improve production yield. While current studies focus mainly on single-type defects, defects are more predominately mixed-patterned in actual industrial production scenarios. Moreover, the inherent noise in wafer maps, the inter-class similarity and intra-class discrepancy in defect categories further complicated DPR. To sidestep the difficulties, this paper proposes a novel deep-learning-based approach, namely the Residual Dynamic Perception Network (RDP-Net), for automating DPR. Its core innovation is the Dynamic Perception Mechanism (DPM), which adaptively fuses information from multiple convolutional kernels, layers, channels, and resolutions. DPM leverages cross-channel and pixelated perception generators to facilitate local-to-global feature extraction and fusion, effectively discarding irrelevant information that could lead to misinterpretation. Meanwhile, the Asymmetric Multi-Label Loss (ASL) is introduced, which helps balance the probability of positive and negative samples and mitigate the impact of incorrect labels. By combining the advantages of both methods, our RDP-Net reaches 99.13 % accuracy on the MixedWM38 dataset, outperforming current state-of-the-art DPR methods. In addition, visualized experiments clearly demonstrate the feature learning mechanism of DPM, showing significant interpretability. Further discussions covering the effect of different loss functions, the robustness to noise and mislabeling, the impact of inter-class similarity and intra-class discrepancy, as well as the required computation time, are also provided to demonstrate the feasibility of our proposed method.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145093086","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 adaptive fault-tolerant cooperative control for fixed-wing UAVs with actuator faults and input constraints. 带有执行器故障和输入约束的固定翼无人机分布式自适应容错协同控制。

IF 6.5

ISA transactions Pub Date : 2025-09-08 DOI: 10.1016/j.isatra.2025.08.049

Minrui Fu, Ziquan Yu, Youmin Zhang

{"title":"Distributed adaptive fault-tolerant cooperative control for fixed-wing UAVs with actuator faults and input constraints.","authors":"Minrui Fu, Ziquan Yu, Youmin Zhang","doi":"10.1016/j.isatra.2025.08.049","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.049","url":null,"abstract":"This paper proposes a distributed fault-tolerant cooperative control framework for multiple fixed-wing UAVs (FUAVs), grounded on a complete six-degrees-of-freedom (6-DOF) nonlinear dynamic model. The architecture integrates position and attitude control, explicitly accounting for actuator faults and multiple input constraints. In the outer loop, an adaptive proportional-derivative (PD) controller is implemented, with its gains optimized online via a model predictive control (MPC) strategy to handle time-varying constraints. The inner loop incorporates a fixed-time extended state observer (ESO) to estimate uncertainties and actuator degradation, combined with an online optimization mechanism to enforce actuator limits and enhance fault resilience. Uniform ultimate boundedness of tracking errors is formally guaranteed through Lyapunov analysis. Hardware-in-the-loop (HIL) simulations on a Pixhawk 6C autopilot, along with comparative studies against representative control strategies, demonstrate the proposed scheme's real-time feasibility and strong robustness under actuator faults and multiple input constraints.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145058850","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

Game theory based vision impedance control for human-robot interaction. 基于博弈论的人机交互视觉阻抗控制。

IF 6.5

ISA transactions Pub Date : 2025-09-08 DOI: 10.1016/j.isatra.2025.09.003

Chengyi Wan, Xia Liu, Hai Yang

{"title":"Game theory based vision impedance control for human-robot interaction.","authors":"Chengyi Wan, Xia Liu, Hai Yang","doi":"10.1016/j.isatra.2025.09.003","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.003","url":null,"abstract":"To address the influence of multiple forces on the accuracy of position tracking in human-robot interaction systems, this paper proposes a vision impedance control method based on game theory. With the end-effector position obtained by vision feedback and the adaptive impedance law, the human-robot interaction force can be estimated. The position error is then converted into a constraint force to ensure the output position remains within a specified limit. The preset control force, human-robot interaction force, and constraint force are regarded as participants and a multi-party cooperative differential game algorithm is developed to derive the optimal impedance controller for the end-effector. The convergence of the position error is proved using Lyapunov functions. The performance of proposed method is validated through simulations and experiments. The proposed method can flexibly adjust the proportions of various complex forces on the end-effector during the human-robot interaction. During the interaction phase under multiple complex forces, the mean squared error of the end-effector position with the proposed method is merely 7.7 % and 6.0 % of those obtained with the sensorless force estimation-based control and the repetitive impedance learning-based control, respectively. Meanwhile, it can reduce the computation complexity of conventional vision methods and improve the tracking accuracy within the constraints.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145056574","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

Hybrid modeling and compensation register control for the speed-up phase of roll-to-roll (R2R) gravure printing presses. 凹版印刷机加速阶段的混合建模与补偿套筒控制。

IF 6.5

ISA transactions Pub Date : 2025-09-06 DOI: 10.1016/j.isatra.2025.08.046

Zhihua Chen, Lihui Shan, Tao Zhang

{"title":"Hybrid modeling and compensation register control for the speed-up phase of roll-to-roll (R2R) gravure printing presses.","authors":"Zhihua Chen, Lihui Shan, Tao Zhang","doi":"10.1016/j.isatra.2025.08.046","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.046","url":null,"abstract":"This study presents a hybrid dynamic model for roll-to-roll manufacturing during the acceleration phase, integrating a first-order inertia framework to quantify unknown tension fluctuations caused by acceleration transients. Based on this model, we introduce a novel hybrid compensation-based adaptive control (HCBAC) strategy. The strategy incorporates a hybrid compensation mechanism to offset registration errors arising from tension fluctuations and the registration control terms of other units. An adaptive sliding mode control algorithm is also developed to enhance the registration control performance of the compensation mechanism. Experiments demonstrate the effectiveness and superiority of the HCBAC method. The HCBAC approach effectively reduces registration errors during the acceleration phase, achieving a precision of ±8×10-5 m. It shows reductions in registration errors of 39 %, 55 %, and 47 % when compared to model-based feed-forward proportional-derivative control, dynamic matrix control, and decoupling matrix-based learning control, respectively. Additionally, the acceleration-tension inertia framework in the HCBAC strategy employs a first-order formula that requires identifying only two parameters, facilitating its industrial implementation compared to existing control methods.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145056529","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

Cooperative active disturbance rejection motion control of multi-manipulator based on mechanical-electrical-hydraulic joint simulation. 基于机电液关节仿真的多机械臂协同自抗扰运动控制。

IF 6.5

ISA transactions Pub Date : 2025-09-06 DOI: 10.1016/j.isatra.2025.09.001

Yuming Cui, Mgari Kuda Keith, Jiajun Pu, Menghao Cui, Huifu Ji, Ningning Hu

{"title":"Cooperative active disturbance rejection motion control of multi-manipulator based on mechanical-electrical-hydraulic joint simulation.","authors":"Yuming Cui, Mgari Kuda Keith, Jiajun Pu, Menghao Cui, Huifu Ji, Ningning Hu","doi":"10.1016/j.isatra.2025.09.001","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.09.001","url":null,"abstract":"Multi-arm rock drilling robots frequently encounter challenges in extreme environments, such as tunnels, where they are subjected to high-frequency impact loads, multi-degree-of-freedom motion coupling, and large-range motion control vibrations. First, we propose a collision-free path planning method that combines an improved genetic algorithm (IGA) and an improved artificial potential field method. This method is based on the kinematic model of the rock drilling robot. This method plans a collision-free path for the coordinated drilling operation of multiple drilling arms by optimizing the shortest moving distance of the drilling arm ends. Active disturbance rejection motion control is designed to enable precise and stable control of multi-DOF, heavy-duty robotic arms. A mechanical-electrical-hydraulic joint simulation model of the multi-arm cooperative motion control system of the rock drilling robot has been developed. The simulation and experimental results demonstrate that the angle and displacement errors of each joint are constrained to within 1.5 %, with maximum positioning errors of 9.56 mm and 7.32 mm at the extremity of the drilling arm. These results verify the feasibility and effectiveness of the proposed method and system and improve the construction efficiency and automation level of multi-arm rock drilling robots for tunnel rock drilling.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145034434","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