ISA transactions最新文献_第7页

Dynamic surface-based distributed practical predefined-time cooperative control for flight formation of a novel small tandem-rotor wheeled UAV. 一种新型小型串联旋翼轮式无人机飞行编队基于动态表面的分布式实用预定义时间协同控制。

IF 6.5

ISA transactions Pub Date : 2025-09-03 DOI: 10.1016/j.isatra.2025.08.053

Xiaolu Li, Changqing Wang, Yong Guo, Aijun Li

{"title":"Dynamic surface-based distributed practical predefined-time cooperative control for flight formation of a novel small tandem-rotor wheeled UAV.","authors":"Xiaolu Li, Changqing Wang, Yong Guo, Aijun Li","doi":"10.1016/j.isatra.2025.08.053","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.053","url":null,"abstract":"A novel practical predefined-time sliding mode control strategy is proposed for the flight formation of a small tandem-rotor wheeled UAV (TRW-UAV) with unknown upper bound external disturbances and uncertainties in this paper. Firstly, a new predefined-time sliding mode surface is proposed to guide all errors of the position and velocity loops to converge to the origin in a predefined-time. Furthermore, a dynamic surface control approach is utilized to circumvent the higher-order differentiation when controlling the actuator loop. Secondly, a predefined-time adaptive law is designed for estimating external disturbances and uncertainties during the controller design process to construct a distributed practical predefined-time formation cooperative control strategy. Thirdly, a novel practical predefined-time criterion is utilized to rigorously demonstrate the stability of the proposed control strategy. Finally, the simulation results indicate that the proposed control strategy can deliver the practical predefined-time control when there are external disturbances and model uncertainties, and with higher convergence accuracies compared to some of the existing methods.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145031666","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 distributed time-varying neurodynamic algorithm for multi-UAV collaborative target tracking problem in maritime search and rescue. 海上搜救中多无人机协同目标跟踪的分布式时变神经动力学算法。

IF 6.5

ISA transactions Pub Date : 2025-09-03 DOI: 10.1016/j.isatra.2025.08.050

Lingxi Zhang, Xing He, Junzhi Yu, Shiying Sun, Hongjun Yang

{"title":"A distributed time-varying neurodynamic algorithm for multi-UAV collaborative target tracking problem in maritime search and rescue.","authors":"Lingxi Zhang, Xing He, Junzhi Yu, Shiying Sun, Hongjun Yang","doi":"10.1016/j.isatra.2025.08.050","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.050","url":null,"abstract":"This work investigates the problem of collaborative target tracking by multiple unmanned aerial vehicles (UAVs) in maritime search and rescue. A class of time-varying (TV) convex optimization problems with inequality constraints is presented. In contrast to existing studies that address UAV-based maritime search and rescue under fixed wind speed conditions, this study also explores collaborative target tracking by UAVs under varying wind speed conditions. A distributed TV neurodynamic algorithm is designed using the prediction-correction method and sliding mode control technique. By constructing suitable Lyapunov functions, the proposed algorithm, whose fixed-time convergence property is theoretically proven, exhibits a convergence time independent of the initial state. In the context of multi-UAV collaborative target tracking experiments, the target's three-dimensional trajectory equations were established for three distinct cases, each incorporating sine and cosine functions along the x and y axes. The experiments demonstrate that the tracking efficiency of the multi-UAV system is unaffected by the TV target trajectory.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145034477","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

Suspension gravity offloading system with event-triggered ESO-based robust MPC. 带有事件触发的基于eso的稳健MPC的悬挂重力卸载系统。

IF 6.5

ISA transactions Pub Date : 2025-09-02 DOI: 10.1016/j.isatra.2025.08.051

Huixing Yan, Hongqian Lu, Yefeng Yang, Tao Huang, Yanming Fu

{"title":"Suspension gravity offloading system with event-triggered ESO-based robust MPC.","authors":"Huixing Yan, Hongqian Lu, Yefeng Yang, Tao Huang, Yanming Fu","doi":"10.1016/j.isatra.2025.08.051","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.051","url":null,"abstract":"For space missions such as extraterrestrial sample collection, robotic rover exploration, and astronaut landings, the complex terrain and diverse gravitational environments make ground-based micro-low-gravity experimental systems essential for testing and validating spacecraft performance as well as supporting astronaut training. The suspended gravity unloading (SGO) system is a key device commonly used to simulate micro-low-gravity environments. However, the SGO system faces challenges due to model uncertainty and external disturbances, which limit improvements in control accuracy. To effectively address these issues, this paper proposes an adaptive extended state observer (ESO)-based dynamic event-triggered robust model predictive control (MPC) strategy for SGO system control. Firstly, the adaptive ESO effectively estimates the system's unmodeled dynamics and external disturbances. By integrating ESO-derived observations with the nominal model, an improved predictive model is developed. Secondly, the dynamic event-triggered (ET) mechanism significantly alleviates the computational burden of MPC. Finally, comparative numerical simulations and experimental validations are conducted to verify the effectiveness and superiority of the proposed control framework.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145031612","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

General event-triggered dynamic output feedback control for complex networks subject to cyber attacks. 受网络攻击的复杂网络的通用事件触发动态输出反馈控制。

IF 6.5

ISA transactions Pub Date : 2025-09-01 DOI: 10.1016/j.isatra.2025.08.028

Lin Zhou, Yuechao Ma

引用次数: 0

Robust tracking control of uncertain autoloaders by implicit Lyapunov method and scleronomic Lagrangian mechanics-informed neural network. 不确定自动装弹机的隐式李雅普诺夫方法和僵硬拉格朗日力学信息神经网络鲁棒跟踪控制。

IF 6.5

ISA transactions Pub Date : 2025-09-01 DOI: 10.1016/j.isatra.2025.08.025

Hao Zheng, Yufei Guo, Zhaohui Wang, Zhigang Wang, Zhiqiang Hao

{"title":"Robust tracking control of uncertain autoloaders by implicit Lyapunov method and scleronomic Lagrangian mechanics-informed neural network.","authors":"Hao Zheng, Yufei Guo, Zhaohui Wang, Zhigang Wang, Zhiqiang Hao","doi":"10.1016/j.isatra.2025.08.025","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.025","url":null,"abstract":"The autoloader is a key subsystem in modern main battle tanks, mainly responsible for ammunition transfer, loading, and resupply. However, it often suffers from uncertainties induced by base oscillations, leading to potential instability. While various control strategies have been proposed, most rely on prior knowledge of such oscillations. Additionally, model inaccuracies further challenge precise trajectory tracking. To address these issues, this paper proposes a novel trajectory tracking control strategy based on the computed torque method (CTM). A scleronomic Lagrangian mechanics-informed neural network is developed to approximate the inverse dynamics required by CTM. An implicit Lyapunov-based stabilizer is then designed to handle uncertainties from base oscillations. Furthermore, Lyapunov theory is used to prove the asymptotic stability of the closed-loop system. Several simulations and hardware experiments are conducted to demonstrate the effectiveness and robustness of the proposed control strategy, as well as its superiority over conventional approaches.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145006996","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 reliable UAV tracking system with online re-detection network. 具有在线再检测网络的可靠无人机跟踪系统。

IF 6.5

ISA transactions Pub Date : 2025-08-30 DOI: 10.1016/j.isatra.2025.08.045

Xin Lu, Yulong Duan, Fusheng Li

{"title":"A reliable UAV tracking system with online re-detection network.","authors":"Xin Lu, Yulong Duan, Fusheng Li","doi":"10.1016/j.isatra.2025.08.045","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.045","url":null,"abstract":"Failures in long-term tracking have been frequently reported, posing significant challenges for the practical implementation of UAV tracking systems. Previous research has often employed a metric based on the current tracking state to assess reliability, coupled with a time-consuming re-detection network designed to recover the lost target. However, this approach lacks sufficient robustness and flexibility when dealing with unknown factors present in complex tracking scenarios. To address this issue, we propose a reliable UAV tracking system that incorporates a temporal consistency deviation index and an online re-detection network. The former takes into account the temporal consistency of consecutive frames and estimates tracking uncertainty using the confidence deviation caused by interference factors. The latter applies a series of linear transformations, inspired by Ghost operations, to reduce computational load and expedite inference. Additionally, a channel-spatial attention module is integrated into the re-detection component to enhance the extraction of valuable feature information. Results from the long-term dataset UAV20L demonstrate that the proposed algorithm outperforms the baseline trackers, particularly in scenarios involving full occlusion and viewpoint change situations. Furthermore, a physically constructed UAV tracking system is utilized to validate the effectiveness and real-time performance of the algorithm in handling occlusion events. Our code is released at https://anonymous.4open.science/r/Tracking-Redetection-F06F.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145002259","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

Fractional-order adaptive fuzzy decentralized tracking control for steer-by-wire system. 线控转向系统分数阶自适应模糊分散跟踪控制。

IF 6.5

ISA transactions Pub Date : 2025-08-28 DOI: 10.1016/j.isatra.2025.08.043

Wei Li, Chunyan Wang, Wanzhong Zhao, Zhongkai Luan, Linfeng Lv

{"title":"Fractional-order adaptive fuzzy decentralized tracking control for steer-by-wire system.","authors":"Wei Li, Chunyan Wang, Wanzhong Zhao, Zhongkai Luan, Linfeng Lv","doi":"10.1016/j.isatra.2025.08.043","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.043","url":null,"abstract":"The steer-by-wire (SbW) system, as the core component of vehicle steering, needs to track the front wheel angle accurately. To mitigate the angle tracking accuracy degradation caused by D-Q axes coupling, time-varying motor electrical parameters, and load disturbance, a fractional-order adaptive fuzzy decentralized tracking control (FAFDTC) strategy is proposed in this paper. First, considering time-varying motor parameters, D-Q axes coupling, and fractional-order characteristics of components, a fractional-order SbW interconnected system is constructed to enhance its ability to characterize nonlinearities, time-varying dynamics, and system coupling. Subsequently, considering time-varying parameters, D-Q axes coupling, and disturbances that include load changes, second-order paradigm squared-value adaptive FLSs with auxiliary functions are designed to estimate nonlinear functions and compensate for approximation errors and external disturbances. Finally, a fractional-order command-filtered adaptive backstepping controller integrating the adaptive parameters of FLSs and auxiliary functions is proposed to ensure front wheel angle tracking accuracy and robustness. Experiment results demonstrate that the proposed FAFDTC reduces the front wheel angle tracking error by 48.58 % and 59.78 % compared to the comparison controllers, verifying the effectiveness and superiority of the proposed controller.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145031688","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

Design of a modified model predictive control and composite control strategy for hydraulic turbine regulation system. 水轮机调节系统的修正模型预测控制和复合控制策略设计。

IF 6.5

ISA transactions Pub Date : 2025-08-26 DOI: 10.1016/j.isatra.2025.08.047

Zhiheng Chen, Zhihuan Chen

{"title":"Design of a modified model predictive control and composite control strategy for hydraulic turbine regulation system.","authors":"Zhiheng Chen, Zhihuan Chen","doi":"10.1016/j.isatra.2025.08.047","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.047","url":null,"abstract":"As a critical component in hydropower systems, the Hydraulic Turbine Regulation System (HTRS) exhibits strong coupling characteristics that impose substantial challenges on control system design, necessitating the development of high-performance control strategies. To address the complex control requirements, this paper proposes an improved T-S fuzzy modeling method based on the Luenberger observer theory. It constructs a system model that combines high accuracy and simplicity. An enhanced MPC controller is designed to leverage the advantages of Model Predictive Control (MPC) in handling multivariable systems. Through receding horizon optimization, the MPC controller effectively mitigates system uncertainties and achieves high-precision trajectory tracking. Furthermore, a composite control framework integrating MPC and optimal adaptive fuzzy fractional-order PID (AFFOPID) is proposed by combining the properties of AFFOPID in robust control. The developed MPC-AFFOPID controller incorporates a dynamic compensation mechanism that synergistically combines the strengths of both strategies. This enables effective coordination of HTRS dynamic performance and operational constraints under varying conditions, overcoming the adaptability limitations of conventional single control strategies in complex scenarios. Simulation results show that the improved T-S fuzzy model significantly enhances modeling accuracy and parameter identification, reducing RMSE by up to 97 %. Compared to single control strategies, the proposed MPC-AFFOPID approach improves performance and response speed, cutting rise time by up to 85 % and boosting metrics by up to 80 %, confirming its effectiveness and engineering potential.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145016926","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

Output feedback stabilization of networked switched nonlinear systems with continuous-time observers and inter-sample output predictors. 具有连续时间观测器和样本间输出预测器的网络切换非线性系统的输出反馈镇定。

IF 6.5

ISA transactions Pub Date : 2025-08-25 DOI: 10.1016/j.isatra.2025.08.034

Jiani Cheng, Jingxin Huang, Xiangze Lin

{"title":"Output feedback stabilization of networked switched nonlinear systems with continuous-time observers and inter-sample output predictors.","authors":"Jiani Cheng, Jingxin Huang, Xiangze Lin","doi":"10.1016/j.isatra.2025.08.034","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.034","url":null,"abstract":"This paper addresses the output stabilization problem for a class of networked switched nonlinear planar systems with continuous-time observers and inter-sample output predictors. The output is sampled at instants determined by two mechanisms, a static event-triggered sampling mechanism and a dynamic one, respectively. Then, combined with the predicted output provided by the inter-sample output predictors, switched continuous-time observers are deliberately developed to estimate the unmeasurable states. Thus, the switched state feedback control strategy can be implemented to make the closed-loop resultant switched systems achieve globally ultimate boundedness under the static event-triggered sampling mechanism and globally asymptotic stability under the dynamic one. The approach proposed in this paper is an emulation method in a hybrid framework. The innovation in technology lies in employing switched continuous-time observers combined with appropriate switched inter-sample output predictors that can not only keep the design of the nonlinear observers in continuous time but also take advantage of the discrete nature of sampling. Simulation results are presented to verify the effectiveness of the proposed method.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144984144","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 new soft sensing method based on serial-parallel GRU with self-attention mechanism for complex multi-unit industrial processes. 基于自关注机制的串并联GRU的复杂多单元工业过程软测量新方法。

IF 6.5

ISA transactions Pub Date : 2025-08-25 DOI: 10.1016/j.isatra.2025.08.042

Kaixiang Peng, Guanyao Wang, Tie Li, Qichun Zhang, Jie Dong

{"title":"A new soft sensing method based on serial-parallel GRU with self-attention mechanism for complex multi-unit industrial processes.","authors":"Kaixiang Peng, Guanyao Wang, Tie Li, Qichun Zhang, Jie Dong","doi":"10.1016/j.isatra.2025.08.042","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.042","url":null,"abstract":"With the deep digital transformation of traditional manufacturing industry and the continuous automation level improvement of production lines, it is more important to predict the Key Performance Indicators (KPIs) of processes in a timely and accurate manner. The traditional laboratory destructive test method for obtaining KPIs consumes a large amount of time and incurs high costs, which not only fails to provide timely and effective guidance for production processes but also results in significant losses for manufacturing enterprises. To address these issues, an online prediction soft sensor model for KPIs based on a serial-parallel gated recurrent unit with self-attention mechanism (SPGRU-SA) soft sensor model is proposed. This model achieves accurate online prediction of KPIs by considering both the dynamic features of multi-unit processes and the static features of process setups. First, a serial-parallel gated recurrent unit model is designed to extract multi-unit dynamic features. Second, based on the self-attention mechanism, the attention weights of static features and dynamic features are calculated, which can reflect the correlation of the performance indicators. Then, the fully connected layers output the result. Finally, the comparative experimental results based on the hot rolling strip mill process and the Tennessee Eastman process show that SPGRU-SA can accurately predict the KPIs of complex multi-unit industrial processes.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145008647","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