ISA transactions最新文献_第8页

Adaptive critic design for safety-optimal FTC of unknown nonlinear systems with asymmetric constrained-input. 为具有非对称约束输入的未知非线性系统的安全最优 FTC 设计自适应批判器。

ISA transactions Pub Date : 2024-09-19 DOI: 10.1016/j.isatra.2024.09.018

Dehua Zhang, Yuchen Wang, Lei Meng, Jiayuan Yan, Chunbin Qin

{"title":"Adaptive critic design for safety-optimal FTC of unknown nonlinear systems with asymmetric constrained-input.","authors":"Dehua Zhang, Yuchen Wang, Lei Meng, Jiayuan Yan, Chunbin Qin","doi":"10.1016/j.isatra.2024.09.018","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.09.018","url":null,"abstract":"Safe fault tolerant control is one of the key technologies to improve the reliability of dynamic complex nonlinear systems with limited inputs, which is hard to solve and definitely a great challenge to tackle. Thus the paper presents a novel safety-optimal FTC (Fault Tolerant Control) approach for a category of completely unknown nonlinear systems incorporating actuator fault and asymmetric constrained-input, which can guarantee the system's operation within a safe range while showcasing optimal performance. Firstly, a CBF (Control Barrier Function) is incorporated into the cost function to penalize unsafe behaviors, and then we translate the intractable safety-optimal FTC problem into a differential ZSG (Zero-Sum Game) problem by defining the control input and the actuator fault as two opposing sides. Secondly, a neural-network-based identifier is employed to reconstruct system dynamics using system data, and the resolution of handling asymmetric constrained-input with the introduced non-quadratic cost function is achieved through the design of an adaptive critic scheme, aiming to reduce computational expenses accordingly. Finally, through the theoretical stability analysis, it is demonstrated that all signals in the closed-loop system are consistently UUB (Uniformly Ultimately Bounded). Furthermore, the proposed method's effectiveness is also verified in the simulation experiments conducted on a model of a single-link robotic arm system with actuator failure. The result shows that the algorithm can fulfill the safety-optimal demand of fault tolerant control in fault system with asymmetric constrained-input.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":"1-10"},"PeriodicalIF":0.0,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142304802","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 impedance control for docking robot via Stewart parallel mechanism. 通过斯图尔特并联机构实现对接机器人的自适应阻抗控制。

ISA transactions Pub Date : 2024-09-17 DOI: 10.1016/j.isatra.2024.09.008

Zhihua Chen, Gan Zhan, Zhifan Jiang, Wencai Zhang, Zhibo Rao, Hua Wang, Jiehao Li

{"title":"Adaptive impedance control for docking robot via Stewart parallel mechanism.","authors":"Zhihua Chen, Gan Zhan, Zhifan Jiang, Wencai Zhang, Zhibo Rao, Hua Wang, Jiehao Li","doi":"10.1016/j.isatra.2024.09.008","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.09.008","url":null,"abstract":"This paper provides an adaptive impedance control strategy about docking robot, a locking mechanism scheme based on the Stewart platform developing for the problem of excessive collision contact force caused by external environmental interference during autonomous docking tasks of ground unmanned vehicles. First, the docking robot system was introduced, and an inverse kinematics model of the docking robot was constructed. Next, to solve the problem of excessive collision contact force during docking, we have designed an adaptive impedance control algorithm, which includes a steady-state error model of contact force, an adaptive compensation controller design, and system stability analysis, thus achieving active compliance control. Finally, some simulations and experiments were conducted on the docking robot. Compared with traditional impedance control, adaptive impedance control reduces docking collision contact force and achieves compliant control. In the future, the experimental results provide a new docking approach for autonomous docking of unmanned vehicles, and also serve as a reference for the development of intelligent vehicles.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":"1-12"},"PeriodicalIF":0.0,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142378739","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

Generalized interacting multiple model Kalman filtering algorithm for maneuvering target tracking under non-Gaussian noises. 用于非高斯噪声下机动目标跟踪的广义交互多模型卡尔曼滤波算法。

ISA transactions Pub Date : 2024-09-16 DOI: 10.1016/j.isatra.2024.09.015

Jie Wang, Jiacheng He, Bei Peng, Gang Wang

引用次数: 0

Finite-time hybrid impulsive formation tracking control of multi-agent systems via aperiodic intermittent communication. 通过非周期性间歇通信实现多代理系统的有限时间混合脉冲编队跟踪控制

ISA transactions Pub Date : 2024-09-16 DOI: 10.1016/j.isatra.2024.09.012

Zhanlue Liang, Xinzhi Liu

引用次数: 0

Task-space tracking for networked heterogeneous robotic systems via adaptive neural fixed-time control. 通过自适应神经定时控制实现联网异构机器人系统的任务空间跟踪

ISA transactions Pub Date : 2024-09-14 DOI: 10.1016/j.isatra.2024.09.017

Ren-Jie Gu, Tao Han, Bo Xiao, Xi-Sheng Zhan, Huaicheng Yan

{"title":"Task-space tracking for networked heterogeneous robotic systems via adaptive neural fixed-time control.","authors":"Ren-Jie Gu, Tao Han, Bo Xiao, Xi-Sheng Zhan, Huaicheng Yan","doi":"10.1016/j.isatra.2024.09.017","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.09.017","url":null,"abstract":"The task-space distributed adaptive neural network (NN) fixed-time tracking problem is studied for networked heterogeneous robotic systems (NHRSs). In order to address this complex problem, we propose a NN-based fixed-time hierarchical control approach that transforms the problem into two sub-problems: a distributed fixed-time estimation problem and a local fixed-time tracking problem, respectively. Specifically, distributed estimators are constructed so that each follower can acquire the dynamic leader's state in a fixed time. Then, the neural networks (NNs) are employed to approximate the compounded uncertainty consisting of the unknown dynamics of robotic systems and the boundary of the compounded disturbance. More importantly, to guarantee that the tracking errors can converge into a small neighborhood of equilibrium in a fixed time independent of the initial state, the adaptive neural fixed-time local tracking controller is proposed. Another merit of the proposed controller is that the approximation errors are addressed in a novel way, eliminating the need for prior precise knowledge of uncertainties and improving the robustness and convergence speed of unknown robotic systems. Finally, the experimental results demonstrate the effectiveness and advantages of the proposed control method.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":"1-9"},"PeriodicalIF":0.0,"publicationDate":"2024-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142367987","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

Numerical harmonic modelling of low wattage LED lamps based on parameter estimation algorithms. 基于参数估计算法的低功率 LED 灯数值谐波建模。

ISA transactions Pub Date : 2024-09-13 DOI: 10.1016/j.isatra.2024.09.016

Hasan A Abdulmajeed Salbi, Fahad Al-Amyal, Kiss Péter

{"title":"Numerical harmonic modelling of low wattage LED lamps based on parameter estimation algorithms.","authors":"Hasan A Abdulmajeed Salbi, Fahad Al-Amyal, Kiss Péter","doi":"10.1016/j.isatra.2024.09.016","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.09.016","url":null,"abstract":"This paper presents a numerical harmonic modeling approach for 18 low-wattage Light-Emitting Diode (LED) lamps. The proposed methodology utilizes meta-heuristic algorithms, namely Multi-Stage Ant Colony Optimization (MSACO) and Harris Hawk Optimization (HHO), to estimate optimal parameters for the equivalent circuits. Additionally, the study examines eight different configurations of Electromagnetic Interference (EMI) Filter circuits, including their respective parameters, which function as front-end circuits for the Full Bridge Rectifier (FBR) of the LED drivers. Through extensive investigations, the primary objective is to establish generalized and accurate models for various EMI filter circuits that can be universally applied, with validation through comparison against experimental results. Under both MSACO and HHO, the lowest average total error ranges were observed in the LC-Filter and CL-Filter configurations, with errors ranging from 21.302 % and 22.769 %, respectively. On the other hand, the L-Filter and R-only configurations exhibited the highest average total error ranges, with errors of 42.376 % and 44.648 %, respectively. Notably, this paper introduces a non-intrusive, non-invasive method for estimating optimal parameters based solely on measurements obtained from the input terminals of the LED lamps.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142335224","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

Optimized fast non-singular integral terminal sliding mode control of immune response and HCMV infection of renal transplant recipient. 肾移植受者免疫反应和 HCMV 感染的优化快速非矢量积分终端滑动模式控制

ISA transactions Pub Date : 2024-09-13 DOI: 10.1016/j.isatra.2024.09.009

Nimra Nazeer, Iftikhar Ahmad, Isra Nazir, Shahzad Ahmed

{"title":"Optimized fast non-singular integral terminal sliding mode control of immune response and HCMV infection of renal transplant recipient.","authors":"Nimra Nazeer, Iftikhar Ahmad, Isra Nazir, Shahzad Ahmed","doi":"10.1016/j.isatra.2024.09.009","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.09.009","url":null,"abstract":"Kidneys are the most commonly transplanted organs, and renal transplant is the best treatment for patients with advanced stages of renal disease. Immunosuppressive drugs are used after renal transplant to prevent the body from rejecting the transplanted kidney and ensure its proper kidney functioning. However, suppression of the immune system increases the risk of viral infections and other complications. Therefore, careful monitoring and management of immunosuppressive and antiviral drugs are essential for the success of the transplants. This article presents a hybrid fast non-singular integral terminal sliding mode control technique to adjust the efficacies of these drugs in renal transplant recipients, ensuring successful transplants and preventing viral infections. The proposed strategy tracks system trajectories to reference values and adjusts the treatment plan accordingly. The Lyapunov stability theorem is used to prove the asymptotic stability of the closed-loop system. Several simulation studies are conducted in MATLAB/Simulink environment to evaluate the performance of the proposed control technique in maintaining a balance between over-suppression and under-suppression. Genetic Algorithm is used to optimize the gain values to further improve the performance of the proposed control technique. Its performance is compared with two other variants of terminal sliding mode controllers to demonstrate its effectiveness against them.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142304825","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 backstepping sliding mode control for single-inductor double-output boost converter. 单电感双输出升压转换器的自适应反步进滑模控制。

ISA transactions Pub Date : 2024-09-12 DOI: 10.1016/j.isatra.2024.09.014

Minggui Mo, Jiarong Wu, Weilin Wu

引用次数: 0

Acceleration waveform reproduction control of hypergravity centrifugal shaking table based on data driven iterative learning control and two-degree-of-freedom control. 基于数据驱动迭代学习控制和两自由度控制的超重力离心振动台加速度波形再现控制。

ISA transactions Pub Date : 2024-09-11 DOI: 10.1016/j.isatra.2024.09.013

Zhu Yang, Haibo Xie

引用次数: 0

Generalized proportional-integral extended state observer-based controller design for fully actuated systems. 基于广义比例积分扩展状态观测器的全驱动系统控制器设计

ISA transactions Pub Date : 2024-09-10 DOI: 10.1016/j.isatra.2024.09.010

Hong Jiang, Guangren Duan, Mingzhe Hou

{"title":"Generalized proportional-integral extended state observer-based controller design for fully actuated systems.","authors":"Hong Jiang, Guangren Duan, Mingzhe Hou","doi":"10.1016/j.isatra.2024.09.010","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.09.010","url":null,"abstract":"In this paper, a feedback controller based on the extended state observer is proposed for fully actuated systems. First, a generalized proportional-integral observer is designed to estimate states and disturbances simultaneously. Using the linear parameter varying approach and the convexity principle, a linear matrix inequality condition is given to obtain the observer gains. Second, on the basis of the full-actuation property and the estimated states, a feedback controller, utilizing estimated disturbances to compensate for system disturbances, is designed to make all the states of the closed-loop system uniformly ultimately bounded. In addition, if disturbances are constant or slow time-varying, the observation errors and the states of closed-loop system are all exponentially convergent. Two illustrations are provided to show the validity and practicality of the proposed approach. Simulation results show that the estimated disturbances can follow the true values with relatively small errors, so compensating the system disturbances with estimated values can effectively reduce the ultimate bounds of states of the closed-loop system.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":"1-11"},"PeriodicalIF":0.0,"publicationDate":"2024-09-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142304823","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