ISA transactions最新文献_第5页

Distributed secure estimation for interconnected systems against eavesdropping under energy harvesting constrained encryption. 能量收集约束加密下互联系统防窃听的分布式安全估计。

ISA transactions Pub Date : 2025-05-19 DOI: 10.1016/j.isatra.2025.04.033

Shuqi Chen, Daniel W C Ho, Zhongyao Hu

引用次数: 0

Inverse reinforcement learning for discrete-time linear systems based on inverse optimal control. 基于逆最优控制的离散线性系统逆强化学习。

ISA transactions Pub Date : 2025-05-19 DOI: 10.1016/j.isatra.2025.04.027

Jiashun Huang, Dengguo Xu, Yahui Li, Xiang Zhang, Jingling Zhao

{"title":"Inverse reinforcement learning for discrete-time linear systems based on inverse optimal control.","authors":"Jiashun Huang, Dengguo Xu, Yahui Li, Xiang Zhang, Jingling Zhao","doi":"10.1016/j.isatra.2025.04.027","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.04.027","url":null,"abstract":"This paper mainly deals with inverse reinforcement learning (IRL) for discrete-time linear time-invariant systems. Based on input and state measurement data from expert agent, several algorithms are proposed to reconstruct cost function in optimal control problem. The algorithms mainly consist of three steps, namely updating control gain via algebraic Riccati equation (ARE), gradient descent to correct cost matrix, and updating weight matrix based on inverse optimal control (IOC). First, by reformulating gain formula of optimal control in the learner system, we present a model-based IRL algorithm. When the system model is fully known, the cost function can be iteratively computed. Then, we develop a partially model-free IRL framework for reconstructing the cost function by introducing auxiliary control inputs and decomposing the algorithm into outer and inner loop. Therefore, in the case where the input matrix is unknown, weight matrix in the cost function is reconstructed. Moreover, the convergence of the algorithms and the stability of corresponding closed-loop system have been demonstrated. Finally, simulations verify the effectiveness of the proposed IRL algorithms.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144133326","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

Fixed-time path following control for automated ground vehicle subject to prescribed performance and lateral tire force constraint. 在规定性能和轮胎侧向力约束下的自动地面车辆定时路径跟踪控制。

ISA transactions Pub Date : 2025-05-17 DOI: 10.1016/j.isatra.2025.05.017

Zhongnan Wang, Zhongchao Liang

{"title":"Fixed-time path following control for automated ground vehicle subject to prescribed performance and lateral tire force constraint.","authors":"Zhongnan Wang, Zhongchao Liang","doi":"10.1016/j.isatra.2025.05.017","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.05.017","url":null,"abstract":"Large initial errors in prescribed performance control (PPC) methods are prone to generating the excessive inputs. In the context of path-following control for Automated Ground Vehicles (AGVs), such excessive inputs result in large steering angles, which can induce significant tire sideslip angles. Under these conditions, the tires may enter the nonlinear working region, generating uncontrolled lateral tire forces and potentially compromising vehicle stability. To address this issue, this paper proposes a path-following control protocol for AGVs that integrates the prescribed performance constraints with lateral tire force limitations. Specifically, the protocol constrains the lateral force of the front tires by saturating their sideslip angles, ensuring they remain within linear and safe operational thresholds to enhance vehicle stability. Furthermore, unknown parameters of tire dynamics, such as the front tires' cornering stiffness and the norm of the unknown weights in the Radial Basis Function Neural Network (RBFNN) for the rear tires, are estimated using adaptive laws. These enhancements enable the proposed protocol to achieve path-following control objectives while mitigating vehicle instabilities caused by excessive inputs. Finally, the effectiveness of the proposed controller is validated through Hardware-in-the-Loop (HiL) tests, in which enhanced path-following performance and improved vehicle stability are demonstrated.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144133212","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 sliding mode control with deep recurrent neural network for cooperative robotic system in automated fiber placement. 基于深度递归神经网络的协同机器人自动铺布系统的分布式自适应滑模控制。

ISA transactions Pub Date : 2025-05-17 DOI: 10.1016/j.isatra.2025.05.021

Ningyu Zhu, Wen-Fang Xie

{"title":"Distributed adaptive sliding mode control with deep recurrent neural network for cooperative robotic system in automated fiber placement.","authors":"Ningyu Zhu, Wen-Fang Xie","doi":"10.1016/j.isatra.2025.05.021","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.05.021","url":null,"abstract":"In this article, a distributed control strategy using an adaptive sliding mode controller (ASMC) is proposed for a 13-degree-of-freedom (13-DOF) cooperative robotic system in the field of automated fiber placement (AFP). A distributed control structure with event-triggered mechanism is developed to guarantee the desired cooperation performance and reduce the communication burden. To address dynamic uncertainties and external disturbances, an adaptive sliding mode control approach is designed for the robots. A deep recurrent neural network (DRNN) is incorporated into the ASMC to estimate lumped system uncertainties. The DRNN features a feedforward structure through three hidden layers and a feedback loop connecting the output layer to the input layer. This architecture demonstrates superior online learning capability and dynamic adaptability compared to shallow feedforward neural networks. To ensure the stability of the controller, the adaptation laws of the neural network parameters are formulated through Lyapunov theorem. The feasibility and advantages of the distributed DRNN-based adaptive sliding mode control strategy have been validated by simulation and experimental results.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144176275","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

Sensor fault detection and isolation based on nonlinear adaptive observers: A new approach for dealing with false alarms under partial faults. 基于非线性自适应观测器的传感器故障检测与隔离：局部故障下虚警处理的新方法。

ISA transactions Pub Date : 2025-05-17 DOI: 10.1016/j.isatra.2025.04.034

R F Escobar-Jiménez, V M Salinas-Cortés, L F De Olarte-Delgado, G Besançon, L Torres

{"title":"Sensor fault detection and isolation based on nonlinear adaptive observers: A new approach for dealing with false alarms under partial faults.","authors":"R F Escobar-Jiménez, V M Salinas-Cortés, L F De Olarte-Delgado, G Besançon, L Torres","doi":"10.1016/j.isatra.2025.04.034","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.04.034","url":null,"abstract":"This paper introduces a fault detection and isolation (FDI) system to diagnose faults in the sensors of an internal combustion engine (ICE). The FDI system relies on two nonlinear adaptive observers (NAOs) to execute analytical redundancy between the actual measurements and estimations. Two mathematical structures are proposed for developing the NAOs, which are used to construct a bank of observers. Such a bank produces estimations of the ratio between experimental and theoretical air-fuel ratios (lambda λ), temperature, and pressure, which are continuously compared with the sensors' measurements, ensuring an uninterrupted diagnosis of the ICE sensors, even in case of total or partial fault. A threshold mechanism is incorporated into the FDI system, which is based on the variance analysis of residuals and the Euclidean norm of a sliding window vector to reduce false alarms during the partial faults diagnosis. The results of numerical tests with experimental data demonstrate the system's ability to accurately detect multiple and simultaneous sensor faults while preventing false alarms.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144121669","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

Self-triggered load frequency control using T-S fuzzy ADP method for unknown power systems. 未知电力系统的T-S模糊ADP自触发负荷频率控制。

ISA transactions Pub Date : 2025-05-16 DOI: 10.1016/j.isatra.2025.05.018

Zhongyang Ming, Huaguang Zhang, Jiayue Sun

{"title":"Self-triggered load frequency control using T-S fuzzy ADP method for unknown power systems.","authors":"Zhongyang Ming, Huaguang Zhang, Jiayue Sun","doi":"10.1016/j.isatra.2025.05.018","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.05.018","url":null,"abstract":"Frequency oscillations in interconnected power systems result from the inherent randomness of renewable energy production and fluctuating power load demands. Load frequency control (LFC) has thus emerged as a primary challenge for maintaining power system stability and security due to the synchronization requirements of the entire power grid. This paper proposes a novel approach for LFC in multi-area power systems using a self-triggered control-based adaptive dynamic programming (ADP) framework integrated with fuzzy logic systems (FLSs). First, an H∞ distributed controller is developed based on the multi-agent system (MAS) model to mitigate the effects of parameter uncertainties and load disturbances. Additionally, with the increased deployment of phase measurement units and smart meters, real-time system measurements are expected to rise significantly. This trend underscores the importance of event-triggered control (ETC) in optimizing the use of communication resources. However, general-purpose devices often lack the dedicated hardware necessary to verify triggering rules. To address this limitation, we propose a novel self-triggered control (STC) mechanism. This STC calculates the control law based on the current state to determine the next state measurement, thereby eliminating the need for continuous plant monitoring. Simulation results on a multi-area system demonstrate that the proposed adaptive approach performs effectively in frequency regulation under conditions of load disturbance and parameter uncertainty.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144164358","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

CNN based precise nonlinear tracking control for a nano unmanned helicopter: Theory and implementation. 基于CNN的纳米无人直升机精确非线性跟踪控制：理论与实现。

ISA transactions Pub Date : 2025-05-15 DOI: 10.1016/j.isatra.2025.05.020

Xun Gu, Bin Xian, Mohan Liu, Aochen Ma

{"title":"CNN based precise nonlinear tracking control for a nano unmanned helicopter: Theory and implementation.","authors":"Xun Gu, Bin Xian, Mohan Liu, Aochen Ma","doi":"10.1016/j.isatra.2025.05.020","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.05.020","url":null,"abstract":"This paper proposes a deep convolutional neural network (CNN)-based geometric integral control strategy for a nano unmanned helicopter, which weighs less than 70 g and has a fuselage length of less than 0.25 m. Compared to existing nonlinear controllers, the proposed method offers significant advantages in terms of feasibility, easy tuning of parameters, and data requirements. The deep CNN-based system identification effectively captures the complex dynamics of the nano helicopter, enabling accurate modeling and compensation for uncertainties. The geometric integral control strategy enhances the system's robustness against unknown external disturbances, and ensures stable and precise flight performance. The feasibility of the proposed method is demonstrated through real-time flight experiments, which show strong robustness and accurate trajectory tracking performance. Additionally, the tuning process is simplified due to the adaption nature of the deep learning-based approach, reducing the need for extensive parameter adjustments. The data requirements are also minimized, as the deep CNN can be trained with a relatively small dataset, making the method more practical for real-world applications. The results indicate that the proposed method outperforms traditional control strategies, particularly in terms of handling modeling uncertainties and external disturbances.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144113139","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 extended state observer design for strict-feedback nonlinear leader system. 严格反馈非线性先导系统的分布扩展状态观测器设计。

ISA transactions Pub Date : 2025-05-14 DOI: 10.1016/j.isatra.2025.05.015

Jixing Lv, Changhong Wang, Yonggui Kao

{"title":"Distributed extended state observer design for strict-feedback nonlinear leader system.","authors":"Jixing Lv, Changhong Wang, Yonggui Kao","doi":"10.1016/j.isatra.2025.05.015","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.05.015","url":null,"abstract":"Knowing the leader's state and dynamics is crucial for leader-following control. This article addresses the distributed state/uncertainty estimation problem for a strict-feedback nonlinear leader system under directed communication topologies. The leader is characterized by Hölder-growing nonlinearities and matched uncertainty. A prescribed-time distributed estimation scheme composed of two distributed extended state observers (DESOs) is proposed. Each follower (observer node) receives only one-dimensional output estimates from its neighbors and at most one-dimensional output from the leader system, effectively reducing the communication load. First, a prescribed-time DESO (PTDESO) is proposed so that each follower can reconstruct the leader's state and uncertainty at a time tightly prescribed by a single parameter, uniform to the initial conditions. Then, a high-gain DESO (HGDESO) is constructed, which achieves asymptotic convergence and maintains the observation errors in a small neighborhood of the origin after the prescribed time. Sufficient conditions for guaranteeing the convergence of the two DESOs are established. Ultimately, practical examples involving multiple manipulators and marine surface vehicles are provided to demonstrate the effectiveness of the proposed observers.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144121668","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 event-triggered dissipative filtering for interval type-2 fuzzy semi-Markov jump systems with quantization and sensor failures. 具有量化和传感器故障的区间型2模糊半马尔可夫跳变系统的自适应事件触发耗散滤波。

ISA transactions Pub Date : 2025-05-14 DOI: 10.1016/j.isatra.2025.05.007

Ramasamy Kavikumar, Oh-Min Kwon, Yue Hu, Rathinasamy Sakthivel

{"title":"Adaptive event-triggered dissipative filtering for interval type-2 fuzzy semi-Markov jump systems with quantization and sensor failures.","authors":"Ramasamy Kavikumar, Oh-Min Kwon, Yue Hu, Rathinasamy Sakthivel","doi":"10.1016/j.isatra.2025.05.007","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.05.007","url":null,"abstract":"In this work, the problem of affine parameter-based dissipative filtering is studied for interval type-2 fuzzy semi-Markov jump systems with consideration of quantization and sensor failures. In order to conserve the network resources, an adaptive event-triggered approach with network transmission delay is established between the sensor and filter for the decision to release sampled-data. By employing an affine parameter-based membership function, the conservativeness of the filtering model has been relaxed. In contrast to recent results, this approach effectively reduces the communication burden and enhances flexibility in managing sensor failures and disturbances. With the help of the Lyapunov stability theory, a new type of dissipative filtering approach is developed by constructing an asymmetric Lyapunov-Krasovskii functional and using recent integral inequalities in the main results. In particular, the stochastic stabilization criteria are obtained to achieve the weighting matrix and filtering parameters simultaneously by using the linear matrix inequality approach. Two numerical examples, including a tunnel diode circuit, are given to illustrate the merits of the developed approach.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144082913","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 event-triggered tracking control for strict-feedback nonlinear ODE cascaded n+1 coupled hyperbolic PDE systems. 严格反馈非线性ODE级联n+1耦合双曲PDE系统的自适应事件触发跟踪控制。

ISA transactions Pub Date : 2025-05-14 DOI: 10.1016/j.isatra.2025.05.019

Yu Xiao, Xiaodong Xu, Biao Luo, Chunhua Yang, Weihua Gui

{"title":"Adaptive event-triggered tracking control for strict-feedback nonlinear ODE cascaded n+1 coupled hyperbolic PDE systems.","authors":"Yu Xiao, Xiaodong Xu, Biao Luo, Chunhua Yang, Weihua Gui","doi":"10.1016/j.isatra.2025.05.019","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.05.019","url":null,"abstract":"This paper considers the adaptive event-triggered tracking control for n+1 coupled hyperbolic partial differential equation (PDE) cascaded with an uncertain nonlinear ordinary differential equation (ODE) in strict-feedback form. Such an ODE-PDE system arises in many applications such as crane systems with heavy rope and payload. Essentially different from the systems in most of the related literatures, we mainly consider that: (1) the event-triggered tracking control for the cascaded system rather than time-triggered stabilization control, (2) the control input only appears at one end of the ODE rather than directly at the boundary point of the PDE system, (3) the ODE possesses high-order nonlinear and uncertain dynamics rather than linear and deterministic ones. Due to the cascaded system structure and the presence of uncertainty and nonlinearity in the ODE, the input-to-state stable property which is important for the event-triggered control (ETC) is difficult to check. Additionally, how to solve the boundary event-triggered tracking problem for the system remains an open question so far. To this end, by combining the geometric design method, infinite- and finite-dimensional backstepping techniques, an adaptive tracking controller is first constructed. Further, a dynamic event-triggered mechanism is proposed to reduce the actuation frequency. Theoretical proof is rigorously given to show the asymptotic convergence of the tracking error of the PDE controlled output, and the existence of a minimal dwell-time. Finally, a numerical simulation consisting of a crane system in an experimental setting is presented to show the effectiveness of the proposed control scheme.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144121923","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