ISA transactions最新文献_第5页

A deep reinforcement learning-based distributed adaptive fixed-time fault-tolerant control for DC microgrids against actuator faults. 基于深度强化学习的直流微电网执行器故障分布式自适应定时容错控制。

IF 6.5

ISA transactions Pub Date : 2026-09-10 DOI: 10.1016/j.isatra.2026.09.004

Hua Han, Shujin Chen, Jia Liu, Wenjing Xiong, Guangze Shi, Yao Sun, Mei Su

{"title":"A deep reinforcement learning-based distributed adaptive fixed-time fault-tolerant control for DC microgrids against actuator faults.","authors":"Hua Han, Shujin Chen, Jia Liu, Wenjing Xiong, Guangze Shi, Yao Sun, Mei Su","doi":"10.1016/j.isatra.2026.09.004","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.004","url":null,"abstract":"With the deep integration of renewable energy and DC loads, DC microgrids have become critical components of modern power systems. The widespread application of software-intensive controllers and power electronic devices has enhanced system flexibility but has also notably increased the risks of cyber-attacks and actuator faults. Such risks may compromise system stability and, in severe cases, cause damage to critical equipment, resulting in substantial economic losses. To address these issues, this paper proposes a distributed adaptive fault-tolerant control strategy based on fixed-time consensus and deep reinforcement learning (DRL), aiming to enhance the operational reliability of DC microgrids under actuator fault conditions. Firstly, the actuator fault effects are mapped to corruptions of control signals, which are adaptively compensated by voltage and current secondary control. Then, current sharing and voltage recovery mechanism under actuator faults is proposed based on fixed-time consensus and DRL algorithms. Besides, the fixed-time stability of the proposed control strategy is rigorously proven through the Lyapunov function. Simulation and control-hardware-in-the-loop (CHIL) experiments demonstrate that the proposed strategy exhibits excellent fault-tolerant capability and robustness under various actuator faults, load changes and communication interruptions.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149139984","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

Improved linear active disturbance rejection control for mitigating subsynchronous control interaction in DFIG systems. 改进线性自抗扰控制以减轻DFIG系统的次同步控制相互作用。

IF 6.5

ISA transactions Pub Date : 2026-09-10 DOI: 10.1016/j.isatra.2026.09.016

Shengyu Chen, Guidong Zhang, Samson S Yu, Yun Zhang

{"title":"Improved linear active disturbance rejection control for mitigating subsynchronous control interaction in DFIG systems.","authors":"Shengyu Chen, Guidong Zhang, Samson S Yu, Yun Zhang","doi":"10.1016/j.isatra.2026.09.016","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.016","url":null,"abstract":"Series-compensated transmission networks can induce subsynchronous control interaction (SSCI) in doubly fed induction generator (DFIG) wind farms due to interactions between converter control dynamics and series capacitors. These interactions can amplify subsynchronous oscillations and threaten system stability. To mitigate this issue, this paper proposes an improved linear active disturbance rejection control (I-LADRC) strategy for the rotor-side converter inner current loop. The proposed I-LADRC reconstructs the error-feedback law of conventional LADRC (C-LADRC) by incorporating integral action while retaining active disturbance estimation and compensation, thereby providing partial structural separation between the tracking dynamics and observer-bandwidth tuning. Frequency-domain and small-signal stability analyses demonstrate that the proposed method provides improved SSCI damping and disturbance suppression compared with PI and C-LADRC. Based on these characteristics, a constrained Pareto-based parameter-design procedure is developed, in which full-system stability is enforced while SSCI-band disturbance attenuation is balanced against high-frequency measurement-noise transmission. Hardware-in-the-loop (HIL) experiments validate the theoretical findings and confirm the effectiveness and practical applicability of the proposed controller for SSCI mitigation in DFIG-based wind energy systems.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148984121","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 autonomous bicycle based on control moment gyro technology. 一种基于力矩陀螺控制技术的自主自行车。

IF 6.5

ISA transactions Pub Date : 2026-09-09 DOI: 10.1016/j.isatra.2026.09.005

Jun Zhong, Xia Lu, Honghui Lan

引用次数: 0

Event-triggered optimal hybrid control for switched nonlinear multiagent systems with unknown dynamics and disturbances. 具有未知动态和扰动的切换非线性多智能体系统的事件触发最优混合控制。

IF 6.5

ISA transactions Pub Date : 2026-09-09 DOI: 10.1016/j.isatra.2026.09.002

Qiancheng Wang, Zhengrong Xiang

{"title":"Event-triggered optimal hybrid control for switched nonlinear multiagent systems with unknown dynamics and disturbances.","authors":"Qiancheng Wang, Zhengrong Xiang","doi":"10.1016/j.isatra.2026.09.002","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.002","url":null,"abstract":"This paper investigates the event-triggered optimal hybrid control problem for switched nonlinear multiagent systems (SNMASs) with unknown dynamics and external disturbances, where both the optimal consensus control policy and the optimal switching policy are designed. By casting the control problem as a switched multiplayer zero-sum game, the associated optimality conditions are characterized by a switched Hamilton-Jacobi-Isaacs equation. An event-triggered adaptive dynamic programming (ETADP) scheme is then designed to approximate its solution online, while a filter-based identifier is developed to estimate the unknown nonlinearities of agents. To reduce communication and computational burdens, an event-triggered mechanism (ETM) is introduced. Under this mechanism, each agent updates its continuous control input and selects its active subsystem in a distributed manner at each triggering instant. Rigorous analysis establishes the uniform ultimate boundedness of the closed-loop errors and proves the exclusion of Zeno behavior. The simulation results further demonstrate the effectiveness and efficiency of the proposed control framework.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148972738","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

Mitigating exposure bias for reliable ANN-based control: The enhanced scheduled sampling framework. 减轻基于人工神经网络的可靠控制的暴露偏差：增强的定时采样框架。

IF 6.5

ISA transactions Pub Date : 2026-09-09 DOI: 10.1016/j.isatra.2026.09.013

Pau Comas, Antoni Morell, Jose Lopez Vicario, Ramon Vilanova

{"title":"Mitigating exposure bias for reliable ANN-based control: The enhanced scheduled sampling framework.","authors":"Pau Comas, Antoni Morell, Jose Lopez Vicario, Ramon Vilanova","doi":"10.1016/j.isatra.2026.09.013","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.013","url":null,"abstract":"The design of Artificial Neural Networks (ANNs) as controllers for industrial processes offers significant potential but is often hindered by the challenge of exposure bias. Classic training methods, such as Batch Learning (BL), can suffer from it when trained controllers are deployed in closed-loop systems. This paper introduces the Enhanced Scheduled Sampling (ESS) framework, a novel and comprehensive training methodology designed to mitigate these limitations and produce reliable ANN-based controllers. Based on the Scheduled Sampling curriculum learning strategy, the ESS framework integrates an online simulation environment with key enhancements such as Weighted ANN Actuations to blend controller outputs, a sequence-based control error term and a controlled dynamic learning rate adjustment strategy. The framework is validated against the baseline learning approach on a conventional PID control scenario acting on First-Order Plus Dead-Time processes as well as on a non-linear Continuous Stirred-Tank Reactor exhibiting second-order dynamics. The PID benchmark provides an industrially relevant reference, enabling the proposed ANN-based controller to be compared with the established standard for process-level feedback control. The results demonstrate that controllers trained with ESS consistently outperform their BL counterparts in both control performance and robustness to parametric variations and training initialisation. By effectively mitigating exposure bias, the ESS framework represents a significant step towards developing dependable, high-performance ANN controllers ready for real-world industrial deployment or to advance research in transfer learning for control. The open-source implementation is shared to encourage further research.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148984266","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

Novel integrated adaptive bipartite consensus control with intermittent updating and communication. 一种具有间歇更新和通信的集成自适应二部共识控制。

IF 6.5

ISA transactions Pub Date : 2026-09-08 DOI: 10.1016/j.isatra.2026.09.009

Jian-Qiao Wang, Yan Wang

引用次数: 0

PhysGuided-PPO: Physics-guided proximal policy optimization for energy-dissipative soft grasping. 物理引导的能量耗散软抓取近端策略优化。

IF 6.5

ISA transactions Pub Date : 2026-09-08 DOI: 10.1016/j.isatra.2026.09.006

Siyun Yang, You Zhong, Yuehang Liu, Miao Xue, Yin Zhang, Wei Pu

引用次数: 0

Tube-based robust model predictive control for robot manipulators with integral sliding mode residual error bounds. 具有积分滑模残差界的机器人机械臂管鲁棒模型预测控制。

IF 6.5

ISA transactions Pub Date : 2026-09-08 DOI: 10.1016/j.isatra.2026.09.010

Jiawei Sun, Chao Peng, Jianxiao Zou, Chuan Xie, Qi Zhou

{"title":"Tube-based robust model predictive control for robot manipulators with integral sliding mode residual error bounds.","authors":"Jiawei Sun, Chao Peng, Jianxiao Zou, Chuan Xie, Qi Zhou","doi":"10.1016/j.isatra.2026.09.010","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.010","url":null,"abstract":"To address the problem of safe trajectory tracking for robotic manipulators subject to model uncertainties, external disturbances, and constraints on both states and torques, this paper proposes a robust tube-based model predictive control (TMPC) method that accounts for residual errors within the integral sliding mode boundary layer. The method employs inverse dynamics feedback linearization to transform the manipulator dynamics into a linear double-integrator system with matched disturbances, combining an outer-loop TMPC with an inner-loop integral sliding mode compensator to achieve constrained trajectory tracking and disturbance rejection. To account for the nonzero residual error induced by the saturation function introduced to mitigate chattering in practical sliding mode control, this paper establishes an explicit mapping between the boundary layer thickness and the residual error tube using Lyapunov analysis, and derives analytical expressions for the outer envelopes of the error tube components. Furthermore, based on the derived error bounds, the state and actual torque constraints are robustly tightened to formulate a nominal optimization problem that satisfies the original constraints. By designing a terminal feedback law, a terminal cost, and an ellipsoidal terminal set, the recursive feasibility, closed-loop constraint satisfaction, and practical stability of the actual system are proven. Experimental results on a 6-DOF robotic manipulator demonstrate that the proposed method effectively compensates for uncertainties and handles sliding mode boundary layer residual errors, achieving high-precision robust trajectory tracking while ensuring adherence to state and torque constraints.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148957651","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

Predefined-time robust three-dimensional formation control of underactuated autonomous underwater vehicles under input saturations. 输入饱和条件下欠驱动自主水下航行器的预定义时间鲁棒三维编队控制。

IF 6.5

ISA transactions Pub Date : 2026-09-07 DOI: 10.1016/j.isatra.2026.09.007

Jingyao Wang, Zhe Feng, Jian Li, Jialu Du

{"title":"Predefined-time robust three-dimensional formation control of underactuated autonomous underwater vehicles under input saturations.","authors":"Jingyao Wang, Zhe Feng, Jian Li, Jialu Du","doi":"10.1016/j.isatra.2026.09.007","DOIUrl":"https://doi.org/10.1016/j.isatra.2026.09.007","url":null,"abstract":"In this paper, a predefined-time (PT) robust three-dimensional (3-D) formation control scheme is proposed for underactuated autonomous underwater vehicles (AUVs) subject to input saturations, uncertain dynamics and unknown time-varying ocean environment disturbances. Based on the idea of PT control, a new predefined-time stability criterion (PTSC) is created, whose Lyapunov inequality involves only one fractional power term by means of a piecewise constant function. Using the created PTSC, a novel predefined-time integral sliding mode disturbance observer (PTISMDO) is designed to estimate the compound disturbances lumped by the uncertain dynamics and the unknown environment disturbances, whose estimation errors are ensured to converge to zero within a predefined settling time (ST). A prescribed performance function that reaches its terminal value at a specified time is then introduced to constrain the formation errors, and an error mapping transforms the constrained errors into equivalent unconstrained variables. An auxiliary dynamic system (ADS) is constructed to address the input saturations. Incorporating the PTISMDO and the ADS into the dynamic inversion control method, a PT robust 3-D formation control law is proposed for each follower AUV to maintain a desired relative position with the leader, while ensuring that the formation errors reach and stay inside the prescribed tolerance error bands within a predefined ST such that all AUVs can move in a desired 3-D formation pattern. Simulation results and comparisons validate the effectiveness and superiority of the proposed formation control scheme.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2026-09-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148984380","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 robust decoupling controller for fractional-order multivariable systems with dynamic quantization. 具有动态量化的分数阶多变量系统鲁棒解耦控制器。

IF 6.5

ISA transactions Pub Date : 2026-09-03 DOI: 10.1016/j.isatra.2026.08.032

Mohammad Zahed Abolhasani, Ali Akbarzadeh Kalat

引用次数: 0