ISA transactions最新文献_第8页

Finite-time moving target circumnavigation based on dual sliding-mode estimator using bearing-only measurements. 基于方位测量的双滑模估计的有限时间运动目标环球导航。

IF 6.5

ISA transactions Pub Date : 2025-07-29 DOI: 10.1016/j.isatra.2025.07.043

Yingjing Shi, Rui Li, Ce Yu

引用次数: 0

Two-level variable impedance control for internal/External forces tracking of dual-arm manipulators under uncertainties. 不确定条件下双臂机械臂内外力跟踪的两级变阻抗控制。

IF 6.5

ISA transactions Pub Date : 2025-07-29 DOI: 10.1016/j.isatra.2025.07.047

Yufei Zhou, Zhongcan Li, Jingkai Cui, Yanhui Li, Mingchao Zhu

{"title":"Two-level variable impedance control for internal/External forces tracking of dual-arm manipulators under uncertainties.","authors":"Yufei Zhou, Zhongcan Li, Jingkai Cui, Yanhui Li, Mingchao Zhu","doi":"10.1016/j.isatra.2025.07.047","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.07.047","url":null,"abstract":"Coordinated operation of dual-arm manipulators is essential for enhancing the load capacity and adaptability of robotic systems. However, the precise control of the internal and external forces during the coordinated operation of dual-arm manipulators can pose considerable challenges owing to factors such as force interactions, kinematic constraints, positional inaccuracies, and external disturbances. This study focused on precise force-tracking control for a dual-arm manipulator system in the presence of external disturbances and uncertainties. The proposed approach adopted a two-level adaptive variable impedance control system to regulate the internal and external forces, thereby enhancing the flexibility and compliance of dual-arm manipulators. An object-level hybrid impedance controller was designed to address external disturbances arising from unknown environments by adaptively adjusting the object's trajectory to ensure compliance with the surrounding environment. The internal force was regulated by a manipulator-level force feedback variable impedance controller (FFVIC), where the damping coefficient was adjusted based on feedback force sensor signals. This system could achieve internal force tracking even in the presence of positional errors and uncertain stiffness. Theoretically, the asymptotic stability of the system was demonstrated using the Routh stability criterion, and the boundaries of the adaptive law parameters were established. To validate the effectiveness and superiority of the proposed two-level control scheme, a series of cooperative experiments was conducted using two redundant manipulators. The results unequivocally demonstrate the successful regulation of internal and external forces using the proposed control scheme. According to the experimental results, the force-tracking ability of the FFVIC exceeded that of the traditional impedance controller.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145002275","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

Consensus of flexible Timoshenko manipulators with both disturbance observers and event-triggered distributed estimators. 具有扰动观测器和事件触发分布式估计量的柔性Timoshenko机械手的一致性。

IF 6.5

ISA transactions Pub Date : 2025-07-29 DOI: 10.1016/j.isatra.2025.07.040

Ning Ji, Jinkun Liu

引用次数: 0

Multi-target tracking in clustered sensor networks based on labeled multi-Bernoulli filtering. 基于标记多伯努利滤波的聚类传感器网络多目标跟踪。

IF 6.5

ISA transactions Pub Date : 2025-07-29 DOI: 10.1016/j.isatra.2025.07.042

Yuqin Zhou, Liping Yan, Hui Li, Yuanqing Xia

{"title":"Multi-target tracking in clustered sensor networks based on labeled multi-Bernoulli filtering.","authors":"Yuqin Zhou, Liping Yan, Hui Li, Yuanqing Xia","doi":"10.1016/j.isatra.2025.07.042","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.07.042","url":null,"abstract":"In the multi-target tracking (MTT) problem of sensor networks, inconsistencies in sensor fields of view and target labeling can significantly degrade tracking accuracy. These issues are particularly acute in clustered sensor networks. So, this paper presents an MTT algorithm to address the tracking problem in clustered sensor networks with the aforementioned two issues. Specifically, the algorithm comprises three primary components. In the first part, a multi-sensor measurement hypothesis set is constructed for each cluster head (CH) in the clustered sensor network by utilizing the added measurement labels, multi-sensor measurements, and multi-target prediction information. This set is designed to describe the relationships between the measurement information received by the CH from sensors with inconsistent fields of view. Subsequently, a multi-sensor fusion measurement set is obtained by further integrating the multi-sensor measurement fusion method with the acquired hypothesis set. In the second part, the local MTT process for the CH is proposed by incorporating the obtained multi-sensor fusion measurement set with labeled multi-Bernoulli filter. In the third part, the global MTT process for the clustered sensor network is completed by matching and fusing the tracking results of each CH through a constructed non-feedback fusion mechanism. This mechanism is designed to mitigate the impact of target matching errors in target labeling on tracking accuracy. Experimental simulations demonstrate the effectiveness of the proposed algorithm.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144801349","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 quality prediction model based on dual-layer graph supervised embedding with multi-granularity attention enhancement mechanisms. 基于双层图监督嵌入的多粒度关注增强机制的质量预测模型。

IF 6.5

ISA transactions Pub Date : 2025-07-26 DOI: 10.1016/j.isatra.2025.07.044

Jianing Hou, Tie Li, Kaixiang Peng, Dongjie Hua, Hanwen Zhang

{"title":"A novel quality prediction model based on dual-layer graph supervised embedding with multi-granularity attention enhancement mechanisms.","authors":"Jianing Hou, Tie Li, Kaixiang Peng, Dongjie Hua, Hanwen Zhang","doi":"10.1016/j.isatra.2025.07.044","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.07.044","url":null,"abstract":"Data-driven soft sensing methods are widely used for product quality prediction in large-scale industrial processes. Traditional approaches face significant challenges, such as limited representation of multivariate couplings, difficulties in modeling nonlinear interactions, and slow adaptation to dynamic changes in complex industrial settings. To address these, we propose a manufacturing quality prediction model integrating Dual-layer Graph Supervised Embedding with Multi-Granularity Attention Enhancement Mechanisms (DGS-MA). The model constructs a dual-layer complementary graph structure: the first layer creates an original parameter relationship graph based on feature similarity to capture local static associations, while the second layer uses a label-aware supervised Node2vec algorithm to generate embedding vectors, reconstructing a global quality-driven topology. This forms a dual-view representation of 'original features - embedding vectors'. A multi-granular graph attention enhancement mechanism is introduced, which employs a dual-pathway attention network to aggregate neighborhood information from both original features and supervised embeddings. A cross-layer attention mechanism adaptively fuses the importance of these two feature types, enabling coordinated optimization of local details and global patterns. Additionally, an explicit supervision constraint is incorporated to enhance prediction accuracy and interpretability, embedding supervision signals in both the graph's embedding space and attention mechanism. The method is validated with a real-world production dataset, showing significant improvements in quality prediction under complex conditions.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-07-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144812751","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

Distributed real-time dynamic cooperative optimization with unknown performance function form under resources constraints. 资源约束下未知性能函数形式的分布式实时动态协同优化。

IF 6.5

ISA transactions Pub Date : 2025-07-26 DOI: 10.1016/j.isatra.2025.07.045

Zilun Hu, Chao Ni

引用次数: 0

Additive-state-decomposition-based cascaded linear ADRC for nonlinear uncertain systems with application to PMSM speed regulation. 非线性不确定系统的加性状态分解级联线性自抗扰控制及其在永磁同步电机调速中的应用。

IF 6.5

ISA transactions Pub Date : 2025-07-24 DOI: 10.1016/j.isatra.2025.07.031

Fuxi Jiang, Jie Ye, Siqi Wang, Yuhao Guo, Shanmei Cheng

{"title":"Additive-state-decomposition-based cascaded linear ADRC for nonlinear uncertain systems with application to PMSM speed regulation.","authors":"Fuxi Jiang, Jie Ye, Siqi Wang, Yuhao Guo, Shanmei Cheng","doi":"10.1016/j.isatra.2025.07.031","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.07.031","url":null,"abstract":"This paper investigates the tracking control problem for a class of nonlinear systems subject to time-varying total disturbance and proposes a cascaded linear active disturbance rejection control (CLADRC) approach based on additive state decomposition (ASD). By employing the ASD technique, the original system is equivalently decomposed into a nominal primary system and an uncertain secondary system. The primary system eliminates the estimated total disturbance to achieve precise reference tracking, while the secondary system suppresses the residual disturbance. Both subsystems are governed by state feedback controllers incorporating disturbance estimation and compensation. Compared to the standard linear active disturbance rejection control strategy, the proposed method fully decouples the tracking and robust components of the state feedback controller, enabling independent parameter tuning. Furthermore, by introducing a linear extended state observer for the secondary system, a secondary estimation of the residual disturbance is performed, thereby enhancing the robustness of the overall system. A criterion based on Lyapunov stability theory is provided to ensure that the closed-loop systems remain uniformly ultimately bounded. Finally, simulation and experimental results on permanent magnet synchronous motor (PMSM) speed regulation validate the effectiveness and superiority of the proposed approach.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144769468","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 prescribed performance path following control of autonomous ground vehicles with unknown tire cornering stiffness and actuator saturation. 未知轮胎转向刚度和致动器饱和度的自动驾驶地面车辆自适应预定性能路径跟踪控制。

IF 6.5

ISA transactions Pub Date : 2025-07-23 DOI: 10.1016/j.isatra.2025.07.039

Xin Zhou, Heng Wang, Yuhang Yang, Qing Li

{"title":"Adaptive prescribed performance path following control of autonomous ground vehicles with unknown tire cornering stiffness and actuator saturation.","authors":"Xin Zhou, Heng Wang, Yuhang Yang, Qing Li","doi":"10.1016/j.isatra.2025.07.039","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.07.039","url":null,"abstract":"This paper studies the path-following control of autonomous ground vehicles by introducing a prescribed performance control method. A neural network-based adaptive backstepping controller is proposed to handle the composite uncertainties arising from unknown modeling errors and time-varying cornering stiffness. In particular, a set of monotonic tube functions and an error transformation are introduced to guarantee that the tracking error always satisfies the prescribed transient and steady-state performance in the presence of unknown tire stiffness coefficients and actuator saturation. Compared with traditional prescribed performance methods, the proposed control scheme can quantitatively adjust overshoot, settling time, and steady-state accuracy. Another key merit is the construction of a proportional integral compensation signal to actively attenuate the oscillations of tracking errors and intermediate errors. Meanwhile, a boundary estimation method is proposed to eliminate the requirement for a priori knowledge of unknown tire cornering stiffness in the virtual control coefficient. Finally, the proposed method is verified through simulation examples.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144746645","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

Research on active disturbance rejection control algorithm for pressure pulse fatigue test bench of automotive radiators. 汽车散热器压力脉冲疲劳试验台自抗扰控制算法研究。

IF 6.5

ISA transactions Pub Date : 2025-07-23 DOI: 10.1016/j.isatra.2025.07.038

Hongjun Meng, Chengyu Li, Zijing Liu, Wei Zhang, Peiqi Zhao

引用次数: 0

Recursive-filtering-based microseismic event picking under wireless channel fading and measurement outliers. 基于递归滤波的无线信道衰落和测量异常值下的微地震事件提取。

IF 6.5

ISA transactions Pub Date : 2025-07-23 DOI: 10.1016/j.isatra.2025.07.034

Hongyu Gao, Manrong Zhang, Lindong Yu, Jiahui Li, Jingbo Song

{"title":"Recursive-filtering-based microseismic event picking under wireless channel fading and measurement outliers.","authors":"Hongyu Gao, Manrong Zhang, Lindong Yu, Jiahui Li, Jingbo Song","doi":"10.1016/j.isatra.2025.07.034","DOIUrl":"https://doi.org/10.1016/j.isatra.2025.07.034","url":null,"abstract":"This study focuses on addressing the challenge of recursive state estimation in microseismic event detection affected by wireless channel attenuation and measurement outliers (MOs). Existing methods face difficulties in accurately picking the first arrival event due to the combined effects of signal distortion from wireless channel fading and the inability to distinguish and suppress measurement outliers effectively. To overcome these challenges, the signal model for the microseismic system with wireless transmission channel fading is established in this paper, which reflects real-world engineering scenarios. Subsequently, a recursive filter incorporating a self-adaptive saturation function (SSF) is proposed to mitigate the adverse effects of MOs on arrival time picking accuracy. The filter gain is derived by minimizing the upper bound matrix of the filter error covariance, and a sufficient condition is proposed to ensure that the filtering error is mean-square exponentially bounded. The presented algorithm effectively suppresses the negative impact of MOs and enhances filtering performance in scenarios with wireless channel fading. The experimental results demonstrate the superiority and effectiveness of the developed approach.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":6.5,"publicationDate":"2025-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144755508","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