ISA transactions最新文献_第5页

Adaptive path following control for autonomous surface vehicles towed by a single tugboat with output constraints. 带输出约束的单拖船拖曳自主水面车辆自适应路径跟踪控制。

ISA transactions Pub Date : 2025-04-26 DOI: 10.1016/j.isatra.2025.04.019

Qiang Guo, Xianku Zhang

{"title":"Adaptive path following control for autonomous surface vehicles towed by a single tugboat with output constraints.","authors":"Qiang Guo, Xianku Zhang","doi":"10.1016/j.isatra.2025.04.019","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.04.019","url":null,"abstract":"This paper proposes an adaptive fixed-time path-following control scheme for autonomous tugboats towing vessels, addressing both performance and feasibility constraints. To establish a clear path relationship, the kinematic models of the tugboat and the towed vessel are decoupled, allowing coordinated control through the tugboat's propulsion system and towline dynamics. Building on this foundation, a barrier Lyapunov function combined with an adaptive backstepping approach is employed to design a controller that ensures high navigation accuracy while meeting output constraints. To achieve seamless coordination, a consensus-based dynamic controller is developed, enabling velocity and heading synchronization between the tugboat and the towed vessel. Furthermore, a fixed-time convergence algorithm is incorporated, guaranteeing system stability and error convergence within a predefined time frame. To enhance robustness against nonlinear uncertainties and external disturbances, radial basis neural networks and adaptive robust terms are integrated into the control framework. Finally, simulation results validate the effectiveness of the proposed approach, demonstrating precise path-following performance and reliable error convergence under complex operational conditions.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144015094","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

Zeta converter: Kharitonov polynomials based interval reduced order modeling. Zeta转换器：基于Kharitonov多项式的区间降阶建模。

ISA transactions Pub Date : 2025-04-26 DOI: 10.1016/j.isatra.2025.04.014

V P Meena, V P Singh

引用次数: 0

Bipartite synchronization of competition-cooperation neural networks and its application via truncated sampled-data control. 竞争-合作神经网络的二部同步及其截断采样数据控制应用。

ISA transactions Pub Date : 2025-04-25 DOI: 10.1016/j.isatra.2025.04.018

Xindong Si, Zhen Wang

{"title":"Bipartite synchronization of competition-cooperation neural networks and its application via truncated sampled-data control.","authors":"Xindong Si, Zhen Wang","doi":"10.1016/j.isatra.2025.04.018","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.04.018","url":null,"abstract":"This paper proposes a scheme to reduce coupling strength and achieve bipartite synchronization in competition-cooperation neural networks based on truncated sampled-data control. In this approach, the truncated sampled-data control means that only partial sampling information is used and the rest are discarded. Based on this, this paper proposes the concept of maximum data truncation rate, which quantitatively characterizes the bandwidth savings. A pinning truncated sampled-data controller associated with competition-cooperation interactions is designed, and a tractable error system is constructed using coordinate transformation techniques. Then, aiming at reducing coupling strength, a dual-interval-dependent Lyapunov function is designed according to the characteristics of the control scheme and the network structure. Combining Lyapunov theory with inequality techniques, two sufficient criteria are developed to ensure the bipartite synchronization of competition-cooperation neural networks. Based on these criteria, two algorithms are developed to determine the minimum allowable coupling strength and the maximum allowable data truncation rate, respectively. Two improvements over the previous Lyapunov functions are discussed: reducing the allowable coupling strength and increasing the allowable data truncation rate. Finally, the advantages and effectiveness of the proposed control scheme are demonstrated by an application and numerical examples.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144012169","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

Practical prescribed-time output tracking control of uncertain nonaffine systems with input saturation based on time base generator. 基于时基发生器的输入饱和不确定非仿射系统实用化定时输出跟踪控制。

ISA transactions Pub Date : 2025-04-24 DOI: 10.1016/j.isatra.2025.04.008

Yicong Lin, Chaoyang Dong, Qing Wang

引用次数: 0

An attention-based approach for Koopman modeling and predictive control of nonlinear systems. 基于注意力的非线性系统库普曼建模与预测控制方法。

ISA transactions Pub Date : 2025-04-23 DOI: 10.1016/j.isatra.2025.04.011

Meixi Wang, Xuyang Lou, Baotong Cui, Johan Suykens

{"title":"An attention-based approach for Koopman modeling and predictive control of nonlinear systems.","authors":"Meixi Wang, Xuyang Lou, Baotong Cui, Johan Suykens","doi":"10.1016/j.isatra.2025.04.011","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.04.011","url":null,"abstract":"We develop an innovative attention-based deep learning method for constructing Koopman eigenfunctions, addressing the challenge of accurately modeling nonlinear systems for predictive control. This method is motivated by the need to identify a diffeomorphism that precisely delineates the topological conjugacy between nonlinear dynamics and their linearized counterparts. Leveraging the capabilities and suitability of invertible neural networks, we deploy an architecture equipped with conditional affine coupling layers to approximate this diffeomorphism. A pivotal feature is the integration of an attention mechanism within these layers, enhancing the capture of complex interactions across various layers. Additionally, we propose an alternative strategy, which employs an invertible decoding neural network in conjunction with a frozen decoder, to refine the diffeomorphism approximation further. Utilizing Koopman eigenfunctions and eigenvalues obtained from the learned diffeomorphism, we construct a lifted linear system with an optimized input matrix via multi-step error minimization, which facilitates the predictive control of nonlinear systems through an extended robust linear model predictive control framework. Numerical examples and a physical experiment validate the efficacy of our framework, demonstrating superior prediction performance compared to existing dynamic mode decomposition-based methods.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144048530","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 event-triggered self-adjusting prescribed performance force control of electrohydraulic load simulator. 开关事件触发的电液负载模拟器自调节规定性能力控制。

ISA transactions Pub Date : 2025-04-23 DOI: 10.1016/j.isatra.2025.04.010

Jiafeng Li, Ruihang Ji, Hao Yan, Jiefeng Shan, Zanwei Chen

引用次数: 0

Fault detection and tolerant control with a variable-bandwidth extended state observer for electro-hydraulic servo systems with lumped disturbance and measurement noise. 带有集总扰动和测量噪声的电液伺服系统的变带宽扩展状态观测器故障检测与容错控制。

ISA transactions Pub Date : 2025-04-23 DOI: 10.1016/j.isatra.2025.04.013

Xing Ren, Qing Guo, Tieshan Li, Dan Jiang, Yan Shi

{"title":"Fault detection and tolerant control with a variable-bandwidth extended state observer for electro-hydraulic servo systems with lumped disturbance and measurement noise.","authors":"Xing Ren, Qing Guo, Tieshan Li, Dan Jiang, Yan Shi","doi":"10.1016/j.isatra.2025.04.013","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.04.013","url":null,"abstract":"In this study, a novel fault detection and tolerant control method are presented for electro-hydraulic servo systems (EHSS) with actuator partial loss of effectiveness (LOE) fault. Meanwhile, the parameter uncertainties, external disturbances, and output measurement noise are also considered. Firstly, we construct a new mapping function with a simple and flexible structure, and then design a variable-bandwidth extended state observer (VBESO) based on this function to estimate the states and lumped disturbance of the system. The designed VBESO can not only balance estimation accuracy and noise sensitivity, but also decouple the fault component from the lumped disturbance, thus facilitating fault detection. Subsequently, we design an adaptive law with time-varying gain that can accurately approximate the actuator LOE coefficient, and propose a stable fault detection scheme by combining the designed adaptive law, with the detection results that are less affected by changes in system states. The mutual coordination of the mentioned decoupling, adaptive law, and time-varying gain is a key feature of our method, rarely seen in other works. Furthermore, a fault-tolerant controller with the proposed VBESO and adaptive law is developed, which can guarantee that, even in the presence of the considered adverse obstacles, the hydraulic cylinder maintains high tracking accuracy and the control performance can be promptly recovered after an actuator fault occurs. Finally, the proposed method is validated by simulations and experiments, and it is compared with other controllers in different scenarios.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143995623","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

Acceleration control in a dual-stage inertial stabilization system using embedded-parallel-based repetitive-peak compensation. 基于嵌入式并行重复峰值补偿的双级惯性稳定系统加速度控制。

ISA transactions Pub Date : 2025-04-22 DOI: 10.1016/j.isatra.2025.04.009

Zhiyong Yu, Tianrong Xu, Tao Tang

{"title":"Acceleration control in a dual-stage inertial stabilization system using embedded-parallel-based repetitive-peak compensation.","authors":"Zhiyong Yu, Tianrong Xu, Tao Tang","doi":"10.1016/j.isatra.2025.04.009","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.04.009","url":null,"abstract":"Acceleration control demonstrates high sensitivity to nonlinear vibrations in the inertial stabilized motion, usually serving as the preferred choice for observation systems in applications like space optical communications, enabling precise tracking and pointing. However, the stabilization performance is limited by the inadequate gain at mid- to high-frequencies in conventional acceleration control, as well as other nonlinear factors like flexibility and backlash. In this paper, an embedded-parallel-based stabilization methodology is proposed for an acceleration-based dual-stage inertial system to achieve additional notch shaping of the sensitivity function. The essence of this method involves implementing a repetitive controller with a low waterbed effect, paralleled with a peak compensator at a specific frequency to establish an efficient and rapid compensation structure. Relying exclusively on a repetitive controller proves effective in eliminating uncertain periodic vibrations, acting as a substitute for an infinite number of peak compensators. Incorporating an additional mid- to low-frequency peak compensator, designed based on the priori narrowband vibration spectrum, is considered an auxiliary supplement to the repetitive controller. Crucially, this parallel structure neither destabilizes the system nor imposes significant computational burden. Simulations and experiments were conducted at typical vibration frequencies of 1-4 Hz, and experimental results demonstrated a 35%-48% improvement in acceleration stabilization performance, enhancing the system's capability to reject non-strictly periodic vibrations beyond the control bandwidth.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144056128","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

Free-will arbitrary time optimization for multi-agent systems with time-varying function. 具有时变函数的多智能体系统的自由意志任意时间优化。

ISA transactions Pub Date : 2025-04-19 DOI: 10.1016/j.isatra.2025.04.004

Jia Wu, Wenyan Tang, Wenzhong Lei, Yongfang Xie, Touseef Ali

引用次数: 0

The interpretable health condition monitoring method of gear transmission system embedded in feature cloud-guided hypergraph structure under the extremely small-sample background. 极小样本背景下嵌入特征云引导超图结构的齿轮传动系统可解释健康状态监测方法。

ISA transactions Pub Date : 2025-04-18 DOI: 10.1016/j.isatra.2025.04.017

Sencai Ma, Gang Cheng, Yong Li, Huang An, Chang Liu

{"title":"The interpretable health condition monitoring method of gear transmission system embedded in feature cloud-guided hypergraph structure under the extremely small-sample background.","authors":"Sencai Ma, Gang Cheng, Yong Li, Huang An, Chang Liu","doi":"10.1016/j.isatra.2025.04.017","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.04.017","url":null,"abstract":"Addressing the condition monitoring challenges faced by gearboxes under extremely small-sample conditions, this study proposes an interpretable hypergraph discriminative embedding approach based on feature cloud augmentation. Specifically, a supervised feature learning framework based on hypergraphs is first established in this study, which effectively maps the raw health features of gearboxes into an intuitive and low-dimensional manifold space. This transformation facilitates the extraction of highly discriminative feature representations for various health conditions. Furthermore, to tackle the instability or even failure of subspace solutions during the construction of the low-dimensional manifold space in hypergraphs due to the extremely small-sample challenge, a feature cloud-based augmentation method is innovatively designed in this study. By constructing an augmented feature matrix, this strategy fundamentally alleviates the small sample constraint, thereby ensuring the effectiveness and stability of hypergraph learning. To comprehensively validate the effectiveness of the proposed method, this study conducted extensive tests and verifications on both the fault dataset from a drivetrain diagnostics simulator and practical fault monitoring data from wind turbine gearboxes. The experimental results demonstrate that the method can accurately monitor the health conditions of gearboxes under extremely small-sample conditions, significantly enhancing the reliability and safety of equipment operation.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2025-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144039132","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