ISA transactions最新文献_第9页

Optimized distributed formation control using identifier-critic-actor reinforcement learning for a class of stochastic nonlinear multi-agent systems. 针对一类随机非线性多代理系统，利用识别器-批评者-代理强化学习优化分布式编队控制。

ISA transactions Pub Date : 2024-12-01 Epub Date: 2024-10-11 DOI: 10.1016/j.isatra.2024.10.004

Guoxing Wen, Ben Niu

{"title":"Optimized distributed formation control using identifier-critic-actor reinforcement learning for a class of stochastic nonlinear multi-agent systems.","authors":"Guoxing Wen, Ben Niu","doi":"10.1016/j.isatra.2024.10.004","DOIUrl":"10.1016/j.isatra.2024.10.004","url":null,"abstract":"This article is to propose an adaptive reinforcement learning (RL)-based optimized distributed formation control for the unknown stochastic nonlinear single-integrator dynamic multi-agent system (MAS). For solving the issue of unknown dynamic, an adaptive identifier neural network (NN) is developed to determine the stochastic MAS under expectation sense. And then, for deriving the optimized formation control, the RL is putted into effect via constructing a pair of critic and actor NNs. With regard of the traditional RL optimal controls, their algorithm exists the inherent complexity, because their adaptive RL algorithm are derived from negative gradient of the square of Hamilton-Jacobi-Bellman (HJB) equation. As a result, these methods are difficultly extended to stochastic dynamical systems. However, since this adaptive RL laws are derived from a simple positive function rather than the square of HJB equation, it can make optimal control with simple algorithm. Therefore, this optimized formation scheme can be smoothly performed to the stochastic MAS. Finally, according to theorem proof and computer simulation, the optimized method can realize the required control objective.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":"1-10"},"PeriodicalIF":0.0,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142549818","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

Cascade control method for hydraulic secondary regulation drive system based on adaptive robust control.

ISA transactions Pub Date : 2024-11-30 DOI: 10.1016/j.isatra.2024.11.041

Xiaochao Liu, Zhenyu Wang, Zhongyi Qiu, Zongxia Jiao, Xinghua Chen, Rui Nie

{"title":"Cascade control method for hydraulic secondary regulation drive system based on adaptive robust control.","authors":"Xiaochao Liu, Zhenyu Wang, Zhongyi Qiu, Zongxia Jiao, Xinghua Chen, Rui Nie","doi":"10.1016/j.isatra.2024.11.041","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.041","url":null,"abstract":"The hydraulic secondary regulation drive system employs a hydraulic servo motor to achieve precise position tracking and zero throttling loss, but it faces challenges such as high inertia, low damping, and high system order, leading to suboptimal control accuracy. Traditional adaptive robust control methods struggle with the control challenges of such high-order systems. This paper introduces a cascaded control approach based on adaptive robust control to address these issues. A fifth-order model is developed to account for significant load inertia, dividing the system into inner and outer control loops. The outer loop applies adaptive robust control to handle uncertainties and load disturbances for accurate rotational position control, while the inner loop uses swashplate disturbance compensation robust control to manage torque disturbances and achieve precise displacement control. A cascaded Lyapunov function is designed to address the coupling effects between the errors of the inner and outer loop controllers, ensuring stability across both subsystems. Experimental results show that the proposed method's position tracking accuracy exceeds that of cascade dual-PID control methods by 50% to 80% and traditional adaptive robust control methods by 30% to 40% under sinusoidal frequency commands of 0.1 Hz and 0.25 Hz.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142788008","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

Barrier function-based prescribed performance trajectory tracking control of wheelchair upper-limb exoskeleton robot under actuator fault and external disturbance: Experimental verification.

ISA transactions Pub Date : 2024-11-30 DOI: 10.1016/j.isatra.2024.11.052

Huan-Chung Li, Omid Mofid, Saleh Mobayen, Khalid A Alattas, Telung Pan, Hung-Wen Chiu

{"title":"Barrier function-based prescribed performance trajectory tracking control of wheelchair upper-limb exoskeleton robot under actuator fault and external disturbance: Experimental verification.","authors":"Huan-Chung Li, Omid Mofid, Saleh Mobayen, Khalid A Alattas, Telung Pan, Hung-Wen Chiu","doi":"10.1016/j.isatra.2024.11.052","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.052","url":null,"abstract":"This paper presents an innovative control strategy for the trajectory tracking of wheelchair upper-limb exoskeleton robots, integrating sliding mode control with a barrier function-based prescribed performance approach to handle actuator faults and external disturbances. The dynamic model of the exoskeleton robot is first extended to account for these uncertainties. The control design is then divided into two phases. In the first phase, the sliding mode control technique is applied to ensure robust trajectory tracking by defining the tracking error between the robot's states and desired trajectories. A sliding surface is constructed based on this error, and to further enhance tracking performance, a prescribed performance control scheme is incorporated, which ensures fast error convergence and improves transient behavior. In the second phase, an advanced barrier function technique is introduced to mitigate the impact of actuator faults and disturbances, enhancing the overall robustness of the system. Stability and tracking accuracy are rigorously verified through Lyapunov theory, ensuring the system's resilience to uncertainties. The combined approach not only guarantees rapid error convergence but also prevents performance degradation due to excessive control action, maintaining system stability. Finally, the effectiveness of the proposed method is demonstrated through extensive simulations and hardware-in-loop experiments, highlighting its practical applicability for real-world exoskeleton systems.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142808878","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 optimal control design with the feed-forward compensator for high-speed train.

ISA transactions Pub Date : 2024-11-29 DOI: 10.1016/j.isatra.2024.11.042

Wenjing Xi, Jilie Zhang, Zhanhua Chang, Yingchun Wang

{"title":"Distributed optimal control design with the feed-forward compensator for high-speed train.","authors":"Wenjing Xi, Jilie Zhang, Zhanhua Chang, Yingchun Wang","doi":"10.1016/j.isatra.2024.11.042","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.042","url":null,"abstract":"The distributed optimal design of high-speed train movement is systematically investigated in this article. A distributed optimal control law is proposed, addressing the train consist of cars coupled by spring buffers, and is affected by aerodynamic drag and rolling resistance. A new distributed controller is proposed to decouple the train model by fully removing the in-train force, which greatly simplifies the complexity of calculation. Then the pending problem is redescribed to the control of cars with different mass. Grounded on the Lyapunov stability theory and optimal control theory, distributed optimal control law is proposed in line with guaranteed cost function, which enables faster updates of the real-time status of each car and adaptive vehicle mass. It ensures consistency in the tracking process of each car of the train, and further reduces the in-train force among cars. To eliminate the speed overshoot which results from the influence of acceleration change during train operation, we weigh in with the feed-forward compensator to assure the train's good acceleration performance. Ultimately, numerical simulations results are obtained to demonstrate convincingly the significance of our proposed control law.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142820392","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

Reinforcement learning-based optimal tracking control for uncertain multi-agent systems with uncertain topological networks.

ISA transactions Pub Date : 2024-11-29 DOI: 10.1016/j.isatra.2024.11.043

Renyang You, Quan Liu

{"title":"Reinforcement learning-based optimal tracking control for uncertain multi-agent systems with uncertain topological networks.","authors":"Renyang You, Quan Liu","doi":"10.1016/j.isatra.2024.11.043","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.043","url":null,"abstract":"Recent decades, extensive applications exemplified in intelligent connected vehicles (ICVs) and unmanned aerial vehicles (UAVs) have emerged with the rapidly development of multi-agent systems (MASs). Inspired by these applications, the optimal tracking control problem for uncertain MASs under uncertain topological networks is addressed based on the theory of observer design and reinforcement learning (RL). Thus, an adaptive extended observer based on concurrent learning (CL) technique is designed to simultaneously estimate system states and unknown parameters, where unknown parameters estimated convergence is guaranteed in a relaxed persistence of excitation condition. Moreover, a Luenberger observer is designed to estimate the state of the leader under uncertain topological networks, which acts as the information compensation of the leader. Via the proposed observers, an optimal tracking control algorithm is devised leveraging actor-critic (AC)-neural network (NN), which does not require the state derivative information. Lastly, a numerical simulation is performed to demonstrate the validity of the scheme in question.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142788116","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

Smooth and safe stop: Fixed-time fault tolerant control for heavy legged robot with active identification on tolerance capability.

ISA transactions Pub Date : 2024-11-29 DOI: 10.1016/j.isatra.2024.11.047

Shaoxun Liu, Shiyu Zhou, Lei Shi, Hui Jing, Zhihua Niu, Rongrong Wang

{"title":"Smooth and safe stop: Fixed-time fault tolerant control for heavy legged robot with active identification on tolerance capability.","authors":"Shaoxun Liu, Shiyu Zhou, Lei Shi, Hui Jing, Zhihua Niu, Rongrong Wang","doi":"10.1016/j.isatra.2024.11.047","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.047","url":null,"abstract":"Heavy-legged robots (HLRs), integral to optimizing efficiency in manufacturing and transportation, rely on advanced active servo fault diagnosis and fault-tolerant control (FTC) mechanisms. This study presents an FTC framework with active fault status identification, fault tolerance capability assessment, and model uncertainty handling. A key contribution is the introduction of an active servo fault state estimator (ASFSE), which enables real-time monitoring of servo status by comparing residual differences between servo and controller outputs. The system's tolerance capability interval (TCI) is tied to the servo state, with the dual-line particle filters (DPF) algorithm predicting when the HLR exceeds the TCI under faults. Subsequently, a target trajectory modifier (TTM) and fixed-time backstepping controller (FTBC) are proposed. The TTM promptly adjusts the trajectory when the HLR surpasses the TCI, while the FTBC ensures fixed-time convergence based on the predicted failure time for precise trajectory tracking. As the HLR approaches its fault tolerance limits, the TTM and FTBC ensure a smooth stop, thus mitigating equipment damage caused by servo faults. Mathematical stability proof and simulation validations confirm the effectiveness of the FTC framework.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142823020","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

The fast bearing diagnosis based on adaptive GSR of fault feature amplification in scale-transformed fractional oscillator.

ISA transactions Pub Date : 2024-11-29 DOI: 10.1016/j.isatra.2024.11.044

Kehan Chen, Ruoqi Zhang, Lin Meng, Xingyuan Zheng, Kun Wang, Huiqi Wang

{"title":"The fast bearing diagnosis based on adaptive GSR of fault feature amplification in scale-transformed fractional oscillator.","authors":"Kehan Chen, Ruoqi Zhang, Lin Meng, Xingyuan Zheng, Kun Wang, Huiqi Wang","doi":"10.1016/j.isatra.2024.11.044","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.044","url":null,"abstract":"From the noise-assisted perspective of stochastic resonance (SR), fractional system has been adopted to enhance the diagnostic performance of mechanical faults by utilizing the previous state information in mechanical degradation process, but the computation is extremely time-consuming. To address this challenge, we develop a fast diagnosis method leveraging the mechanism of generalized SR (GSR)-based active energy conversion in fluctuating-damping fractional oscillator (FDFO). Through the analysis of system stationary response, we propose a theoretical index known as fault feature amplification (FFA), which effectively replaces the time-consuming numerical solution in multi-parameter optimization, leading to a remarkable reduction in the time complexity of the adaptive diagnosis algorithm. This improvement brings about significant benefits, notably simplifying the diagnosis flow. Based on the results of performance evaluation in diagnosing simulated bearing signals, the proposed method exhibits a comprehensive superiority in identifying ability and diagnosis efficiency. Finally, this method has been further validated in experimental diagnosis, especially for some challenging cases, providing strong support for engineering applications, particularly in the fast diagnosis of complex operating environments.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142782163","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

An adaptive neural network approach for resilient leader-following consensus control of multi-agent systems under cyber-attacks.

ISA transactions Pub Date : 2024-11-29 DOI: 10.1016/j.isatra.2024.11.046

Muhammad Mamoon, Ghulam Mustafa, Naeem Iqbal, Muhammad Rehan, Ijaz Ahmed, Muhammad Khalid

{"title":"An adaptive neural network approach for resilient leader-following consensus control of multi-agent systems under cyber-attacks.","authors":"Muhammad Mamoon, Ghulam Mustafa, Naeem Iqbal, Muhammad Rehan, Ijaz Ahmed, Muhammad Khalid","doi":"10.1016/j.isatra.2024.11.046","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.046","url":null,"abstract":"This paper addresses the dynamic neural networks (DNNs) based resilient leader-following consensus control of multi-agent systems (MASs) under unidentified false data injection (FDI) attacks. We have examined generic linear leader-following agents in the context of stochastic FDI attacks on the network topology. When information is sent from one agent to another, it is altered as a result of the attacks. In this study, we have introduced a new method to identify FDI attacks using DNNs. The DNNs adapt by adjusting their weights based on system errors, allowing them to approximate the nonlinear dynamics of these attacks using a state translation method for the receiving agent, as we do not have any estimate or the information of the states of the sending agent. The attacks considered in this study are network attacks, which are easier to initiate but harder to counter compared to the traditional input-output attacks. The unknown FDI attacks are estimated with the help of DNNs, which allow the evaluation and isolation of large amplitude attack signals. Unlike previous methods, this approach handles probabilistic stochastic FDI attacks and negates attack estimations from the system dynamics, enhancing the controller resilience. Additionally, the paper extends resilient consensus control to the output feedback methodology, providing a feasible consensus method for MASs under stochastic FDI attacks. Simple design constraints for the consensus control are introduced, and the approach is validated through simulations with six unmanned ground vehicles (UGVs).","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142792682","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

Fully distributed time-varying formation tracking control for linear multi-agent systems with unknown external disturbances.

ISA transactions Pub Date : 2024-11-28 DOI: 10.1016/j.isatra.2024.11.031

Liya Dou, Kang Wang, Jing Wang, Jinglin Zhou

{"title":"Fully distributed time-varying formation tracking control for linear multi-agent systems with unknown external disturbances.","authors":"Liya Dou, Kang Wang, Jing Wang, Jinglin Zhou","doi":"10.1016/j.isatra.2024.11.031","DOIUrl":"https://doi.org/10.1016/j.isatra.2024.11.031","url":null,"abstract":"This work investigates the time-varying formation tracking (TVFT) problem for linear multi-agent systems with a leader of unknown input in the presence of unknown external disturbances on directed graphs. Each agent is subjected to different external disturbances generated by unknown exosystems. To eliminate the unknown external disturbances of each follower, an adaptive disturbance observer and a state observer are constructed first. Then, utilizing the estimated information, a fully distributed TVFT protocol is designed with adaptive coupling parameters such that the global information of the communication topology is not required. By the developed distributed controller, the multi-agent system on a communication topology containing a directed spanning tree can asymptotically track the leader with a desired time-varying formation and simultaneously reject external disturbances in spite of their unknown exosystems. Furthermore, the proposed controller is modified to a continuous one to eliminate the chattering problem. Finally, a simulation example is provided to illustrate the effectiveness of theoretical results.","PeriodicalId":94059,"journal":{"name":"ISA transactions","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142775326","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

Null space-based behavioral control applied to a formation of two quadrotors transporting a cable suspended load.

ISA transactions Pub Date : 2024-11-28 DOI: 10.1016/j.isatra.2024.11.036

Mauro Sérgio Mafra Moreira, Daniel Khéde Dourado Villa, Mário Sarcinelli-Filho

引用次数: 0