ISA transactions最新文献_第8页

Data-driven security control for unknown nonlinear MASs with hybrid faults: A hierarchical control approach. 未知非线性质量混合故障的数据驱动安全控制：一种层次控制方法。

IF 6.5

ISA transactions Pub Date : 2025-08-25 DOI: 10.1016/j.isatra.2025.08.036

Yuyang Zhao, Dawei Gong, Jiaoyuan Chen, Shijie Song, Minglei Zhu

{"title":"Data-driven security control for unknown nonlinear MASs with hybrid faults: A hierarchical control approach.","authors":"Yuyang Zhao, Dawei Gong, Jiaoyuan Chen, Shijie Song, Minglei Zhu","doi":"10.1016/j.isatra.2025.08.036","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.036","url":null,"abstract":"In this paper, a novel hierarchical data-driven consensus control strategy is developed for unknown nonlinear multi-agent systems (MASs) subject to hybrid faults. Unlike conventional model-free adaptive control (MFAC) methods that rely on consensus errors, the proposed approach introduces a hierarchical framework that structurally decouples the control process, thereby enhancing robustness and scalability. First, a fully distributed observer is employed to estimate the leader's dynamics based solely on locally available real-time input-output measurements, without relying on any prior knowledge of the system model. Then, a distributed MFAC-based controller is designed and embedded with an online actuator fault estimation mechanism to handle unknown faults in real time. This hierarchical design enables each agent to operate independently, reduces inter-agent interference, and streamlines the adjustment of controller parameters. Moreover, theoretical analysis ensures that all estimation and tracking errors remain uniformly bounded under hybrid fault conditions. Finally, simulation studies on two numerical MAS examples and multi-manipulator platforms demonstrate the effectiveness and practical applicability 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":"145056582","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

Event-triggered dynamic landing control of cooperative USV-UAV plant with the compensation mechanism for rolling kinematics. 具有滚动运动学补偿机制的USV-UAV协同装置事件触发动态着陆控制。

IF 6.5

ISA transactions Pub Date : 2025-08-23 DOI: 10.1016/j.isatra.2025.08.033

Guoqing Zhang, Guipeng Yao, Jiqiang Li, Zezhou Guo

{"title":"Event-triggered dynamic landing control of cooperative USV-UAV plant with the compensation mechanism for rolling kinematics.","authors":"Guoqing Zhang, Guipeng Yao, Jiqiang Li, Zezhou Guo","doi":"10.1016/j.isatra.2025.08.033","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.033","url":null,"abstract":"In this paper, an event-triggered fuzzy control algorithm is proposed for the unmanned surface vessel (USV) and unmanned aerial vehicle (UAV) cooperative plant to achieve the high-precision landing mission. In the guidance module, an L1 virtual ship-L1 virtual aerial vehicle (L1VS-L1VA) guidance principle is developed to generate the reasonable reference signals for the USV-UAV plant under the landing mission. The proposed guidance principle incorporates a rolling kinematic compensation mechanism based on the 4-degree-of-freedom model of USV, specifically designed to counteract wave-induced rolling disturbances during UAV landing operations on unstable marine platforms. Combined with the guidance module, a dynamic multi-port event-triggered mechanism (MPET) is designed utilizing system output errors to reduce unnecessary resource usage. A synchronized roll-triggering threshold is set to integrate the roll attitude of the USV-UAV plant at the final landing segment, ensuring the balance between data transmission stability and rolling-compensated landing accuracy in engineering practice. The algorithm's stability is proven using the Lyapunov stability theory, and its effectiveness is validated through simulation experiments.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145008674","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

Ridge-based general synchrosqueezing transform for flexible thin-wall bearing fault diagnosis. 基于脊的柔性薄壁轴承通用同步压缩变换故障诊断。

IF 6.5

ISA transactions Pub Date : 2025-08-23 DOI: 10.1016/j.isatra.2025.08.040

Yanjiang Yu, Xuezhi Zhao

引用次数: 0

Aerodynamic parameter identification method based on physics-informed radial basis function-deep neural networks. 基于物理信息径向基函数-深度神经网络的气动参数识别方法。

IF 6.5

ISA transactions Pub Date : 2025-08-22 DOI: 10.1016/j.isatra.2025.08.039

Jungu Chen, Junhui Liu, Jiayuan Shan, Jianan Wang

引用次数: 0

Prescribed-time control weak disturbance decoupling problems for strict-feedback-like systems with unknown control coefficients, disturbances and zero dynamics. 具有未知控制系数、扰动和零动态的严格类反馈系统的规定时间控制弱扰动解耦问题。

IF 6.5

ISA transactions Pub Date : 2025-08-22 DOI: 10.1016/j.isatra.2025.08.026

Na Wang, Xiaoping Liu, Yajing Zhao, Xinpeng Guo, Cungen Liu, Huanqing Wang

{"title":"Prescribed-time control weak disturbance decoupling problems for strict-feedback-like systems with unknown control coefficients, disturbances and zero dynamics.","authors":"Na Wang, Xiaoping Liu, Yajing Zhao, Xinpeng Guo, Cungen Liu, Huanqing Wang","doi":"10.1016/j.isatra.2025.08.026","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.026","url":null,"abstract":"In many applications, such as manipulators for an assembly line, a prescribed-time controller is required to complete a task at prescribed-time and to continue operating for long time. However, the existing prescribed-time controllers are not well designed for long time operation because prescribed-time adjustment functions used in controllers are not well-defined in some publications and are not differentiable in others. In addition, disturbance decoupling has not been addressed for prescribed-time control. Therefore, the main objective of the paper is to design an adaptive controller so that the impact of disturbances is attenuated for scenarios with disturbances, while at the same time, the system output error is bounded at prescribed-time by positive constant which can be made arbitrarily small and the bounded stability of states can be ensured for situations without disturbances. To this end, the existing prescribed-time adjustment functions are smoothed by using linear combination of exponential functions so that they are sufficiently differentiable for infinite-time, a new weighted norm is defined, and an adaptive prescribed-time almost disturbance decoupling controller is constructed for uncertain strict-feedback-like nonlinear systems with zero dynamics, disturbances and unknown virtual control coefficients. Unboundedness of high-order derivatives of virtual and actual control signals caused by nondifferentiability of the existing prescribed-time adjustment functions is overcome by the proposed sufficiently differentiable prescribed-time adjustment function. Comparative simulation results show that the proposed controller performs better than the existing controllers before and after prescribed-time and is effective for disturbance attenuation.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144983510","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

Event-triggered optimal control for modular reconfigurable manipulators with input constraints based on model predictive control. 基于模型预测控制的输入约束模块化可重构机械臂事件触发最优控制。

IF 6.5

ISA transactions Pub Date : 2025-08-22 DOI: 10.1016/j.isatra.2025.08.041

Fan Zhou, Yifan Zhang, Tianhao Ma

{"title":"Event-triggered optimal control for modular reconfigurable manipulators with input constraints based on model predictive control.","authors":"Fan Zhou, Yifan Zhang, Tianhao Ma","doi":"10.1016/j.isatra.2025.08.041","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.041","url":null,"abstract":"This paper proposes an event-triggered optimal control method for modular reconfigurable manipulators(MRMs) based on model predictive control(MPC). By using a decentralized optimization method based on MPC, the optimal control problem of MRMs is transformed into independent optimization tasks for each module, while a global MPC optimization framework is utilized to coordinate the modules, ultimately optimizing the overall performance of the entire system. In order to avoid the safety hazards caused by excessive torque, hyperbolic tangent function is added to constrain the input torque. Considering the inaccuracies in the modeling process, adaptive dynamic programming (ADP) is introduced into MPC to improve the robustness of the system. A critical neural network (NN) is designed to solve the Hamilton-Jacobi-Bellman (HJB) equation, yielding the system's optimal solution. Lyapunov theory is used to prove that the trajectory tracking error is uniformly ultimately bounded (UUB). Finally, the comparative experimental results demonstrate that the proposed method achieves significant improvements in reducing tracking error, minimizing resource consumption, and enhancing constrained torque capability.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145002256","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 fast non-singular adaptive super-twisting sliding mode control based on radial basis function neural network approximation for robot joint module. 基于径向基函数神经网络逼近的机器人关节模块改进快速非奇异自适应超扭滑模控制。

IF 6.5

ISA transactions Pub Date : 2025-08-22 DOI: 10.1016/j.isatra.2025.08.037

Xiao Lin, Junyang Li, Yankui Song, Chengguo Liu, Tianyou Yang

{"title":"Improved fast non-singular adaptive super-twisting sliding mode control based on radial basis function neural network approximation for robot joint module.","authors":"Xiao Lin, Junyang Li, Yankui Song, Chengguo Liu, Tianyou Yang","doi":"10.1016/j.isatra.2025.08.037","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.037","url":null,"abstract":"This study proposes an improved fast non-singular adaptive super-twisting control scheme based on neural network to address the precise control issues of robot joint modules. Firstly, to facilitate the application of advanced control algorithms, a second-order state-space model of the joint module considering nonlinear friction and stiffness is established using the Lagrangian energy equation method. Then, an improved fast non-singular terminal sliding surface is proposed to avoid singularity and accelerate convergence. Subsequently, an equivalent control law compensator using a radial basis function neural network is designed to counteract the impact of uncertain model factors, thereby ensuring the system states closely follow the sliding surface. Furthermore, an adaptive switching control law is designed that does not require precise disturbance information, enhancing its practicality for engineering applications. Finally, simulation and experimental results under two different reference trajectories and in the presence of external disturbances demonstrate the superior trajectory tracking capability and disturbance rejection performance of the proposed control scheme.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144984147","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

Disturbance rejection event-triggered robust nonlinear model predictive control for underactuated unmanned surface vehicle against DoS attacks without velocity measurements. 无速度测量的欠驱动无人水面车辆抗扰事件触发鲁棒非线性模型预测控制。

IF 6.5

ISA transactions Pub Date : 2025-08-21 DOI: 10.1016/j.isatra.2025.08.031

Na Feng, Defeng Wu, Hongliang Yu, Zheng You, Wanli Tu

引用次数: 0

Cooperative game robust coordination control for distributed electric vehicle under sharply turning roads. 分布式电动汽车急转弯路面下的合作博弈鲁棒协调控制。

IF 6.5

ISA transactions Pub Date : 2025-08-21 DOI: 10.1016/j.isatra.2025.08.032

Wei Li, Chunyan Wang, Wanzhong Zhao, Linfeng Lv, Jiabing Gao

{"title":"Cooperative game robust coordination control for distributed electric vehicle under sharply turning roads.","authors":"Wei Li, Chunyan Wang, Wanzhong Zhao, Linfeng Lv, Jiabing Gao","doi":"10.1016/j.isatra.2025.08.032","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.032","url":null,"abstract":"As key technologies for distributed electric vehicle (DEV), four-wheel steering (4WS) and four-wheel independent drive (4WID) can effectively enhance the path-tracking accuracy and lateral stability. However, when under a sharply turning road, tire nonlinearity and longitudinal-lateral coupling effects are significantly exacerbated, leading to increased complexity in dynamic modeling. Meanwhile, control objective conflicts between 4WS and 4WID, as well as disturbances including time-varying speed, may reduce lateral stability during precise path-tracking. To address these challenges, we propose a cooperative game robust coordination controller (CGRCC) based on Takagi-Sugeno (T-S) fuzzy. First, a vehicle-road discrete error model considering tire nonlinearity and longitudinal-lateral coupling effects is established based on T-S fuzzy, which precisely captures the dynamic characteristics of individual tires and enhances DEV modeling accuracy. Second, a cooperative game coordination controller is designed based on the dynamic interaction between 4WS and 4WID, achieving multi-actuator collaborative optimization to harmonize the objective coupling conflicts between precise path-tracking and lateral stability. Finally, a fuzzy Lyapunov-based H∞ disturbance suppressor is developed to mitigate the impact of the disturbances, including time-varying vehicle speed, on system performance. The experimental results show that under large curvature double line changes, CGRCC reduces the path-tracking error by 33.3 %, 48.1 % and 60.3 %, and the lateral speed error by 15.5 %, 16.3 % and 24.6 %, respectively, compared with the comparison controllers, demonstrating the efficacy and preeminence of CGRCC under sharply turning roads.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144984163","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

Approximation-free finite-time control for uncertain active suspensions with unknown time-varying input delays. 具有未知时变输入延迟的不确定主动悬架的无逼近有限时间控制。

IF 6.5

ISA transactions Pub Date : 2025-08-21 DOI: 10.1016/j.isatra.2025.08.024

Wenbo Wang, Shuang Liu, Dingxuan Zhao, Cong Zhang

{"title":"Approximation-free finite-time control for uncertain active suspensions with unknown time-varying input delays.","authors":"Wenbo Wang, Shuang Liu, Dingxuan Zhao, Cong Zhang","doi":"10.1016/j.isatra.2025.08.024","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.08.024","url":null,"abstract":"This article investigates a new approximation-free finite-time control method for active suspension systems (ASSs) to address uncertain nonlinearities and unknown time-varying input delays (UTIDs), while enhancing suspension performance. First, to improve the transient performance of ASSs, a unique finite-time prescribed performance function (FPPF) is designed to ensure that the suspension motion converges to a predetermined range within a finite time. Then, a novel compensator is developed to resolve the impact of unknown input delays in the closed-loop system. Finally, an approximation-free finite-time control method is presented for uncertain ASSs using the FPPF and the compensator. In this method, neural networks and fuzzy logic systems are not required to handle system uncertainties, and finite-time prescribed performance convergence of suspension motion can be achieved even in the presence of UTIDs. To exhibit the usefulness of the proposed method, a combined dynamic simulator is built using MATLAB and Simpack, a professional vehicle simulation software. Simulation results are presented to validate the effectiveness of the proposed method and show improved suspension performance.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-08-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144984183","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