Pub Date : 2025-03-01DOI: 10.1016/j.isatra.2024.12.031
Liuliu Zhang , Peng Wang , Changchun Hua
This paper focuses on the problem of event-triggered output feedback control for low-order stochastic nonlinear time-delay systems with stochastic inverse dynamics. Before proceeding, it is necessary to address several technical obstacles. Firstly, the strategy of varying the supply rate is paired with stochastic-input-to-state-stable (SISS) to address immeasurable stochastic inverse dynamics. Secondly, a novel reduced-order observer with a set of constant gains is designed. In addition, an event-triggered output feedback controller is developed and a new analytical approach is applied to show that the Zeno behavior does not happen. With the aid of the Lyapunov stability theory, it is proved that the closed-loop system is globally asymptotically stable in probability. Finally, a simulation example is presented to illustrate the effectiveness of the proposed event-triggered control scheme.
{"title":"Event-triggered output feedback control for low-order stochastic nonlinear time-delay systems with stochastic inverse dynamics","authors":"Liuliu Zhang , Peng Wang , Changchun Hua","doi":"10.1016/j.isatra.2024.12.031","DOIUrl":"10.1016/j.isatra.2024.12.031","url":null,"abstract":"<div><div>This paper focuses on the problem of event-triggered output feedback control for low-order stochastic nonlinear time-delay systems with stochastic inverse dynamics. Before proceeding, it is necessary to address several technical obstacles. Firstly, the strategy of varying the supply rate is paired with stochastic-input-to-state-stable (SISS) to address immeasurable stochastic inverse dynamics. Secondly, a novel reduced-order observer with a set of constant gains is designed. In addition, an event-triggered output feedback controller is developed and a new analytical approach is applied to show that the Zeno behavior does not happen. With the aid of the Lyapunov stability theory, it is proved that the closed-loop system is globally asymptotically stable in probability. Finally, a simulation example is presented to illustrate the effectiveness of the proposed event-triggered control scheme.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 11-20"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143506662","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-01DOI: 10.1016/j.isatra.2024.12.049
Guolian Hou, Tianhao Zhang, Ting Huang
Improving the flexible and deep peak shaving capability of supercritical (SC) unit under full operating conditions to adapt a larger-scale renewable energy integrated into the power grid is the main choice of novel power system. However, it is particularly challenging to establish an accurate SC unit model under large-scale variable loads and deep peak shaving. To this end, a data-driven modeling strategy combining Transformer-Extra Long (Transformer-XL) and quantum chaotic nutcracker optimization algorithm is proposed. Firstly, three models of the SC unit under once-through/recirculation/shut-down are built via analyzing its mechanism of the operation process, respectively. Secondly, the superior performance of Transformer-XL in obtaining global feature information is employed to effectively solve the problem of high information dependence caused by the strong coupling and nonlinearity of SC unit. Then, the improved quantum chaotic nutcracker optimization algorithm with higher search accuracy is proposed to obtain the optimal parameters of Transformer-XL based on the logistic chaotic mapping and quantum thinking. Feature information dependencies and optimal parameter settings are fully considered in the proposed modeling scheme, which results in an accurate model of SC unit under full operating conditions. Finally, various simulations and comparisons are conducted based on the on-site data of 600 MW SC unit to demonstrate the superiority of the proposed data-driven modeling strategy. According to the improved Transformer-XL, the mean square errors of the proposed SC unit model under once-through/recirculation/shut-down modes are less than 2.500E-03, which verifies the high accuracy of the model. Consequently, the developed model is suitable for application in the controller designing and the operating efficiency and flexibility improvement of SC unit.
提高超临界机组在全工况下的柔性和深度调峰能力，适应可再生能源大规模并网发电是新型电力系统的主要选择。然而，在大尺度变负荷和深度调峰条件下，如何建立准确的SC单元模型是一个特别具有挑战性的问题。为此，提出了一种结合Transformer-Extra Long （Transformer-XL）和量子混沌胡桃夹子优化算法的数据驱动建模策略。首先，通过对SC机组运行过程机理的分析，分别建立了一直通/再循环/停机三种工况下的SC机组模型。其次，利用Transformer-XL在获取全局特征信息方面的优越性能，有效解决了SC单元的强耦合和非线性所带来的高度信息依赖问题。然后，基于logistic混沌映射和量子思维，提出了一种搜索精度更高的改进量子混沌胡桃夹子优化算法，以获得Transformer-XL的最优参数。该建模方案充分考虑了特征信息依赖关系和最优参数设置，得到了全工况下SC单元的精确模型。最后，基于600 MW SC机组的现场数据进行了各种仿真和比较，验证了所提出的数据驱动建模策略的优越性。通过改进后的变压器- xl，所建立的SC单元模型在直通/再循环/关断模式下的均方误差小于2.500E-03，验证了模型的较高精度。因此，所建立的模型适用于控制器的设计和提高机组的运行效率和灵活性。
{"title":"Data-driven modeling of 600 MW supercritical unit under full operating conditions based on Transformer-XL","authors":"Guolian Hou, Tianhao Zhang, Ting Huang","doi":"10.1016/j.isatra.2024.12.049","DOIUrl":"10.1016/j.isatra.2024.12.049","url":null,"abstract":"<div><div>Improving the flexible and deep peak shaving capability of supercritical (SC) unit under full operating conditions to adapt a larger-scale renewable energy integrated into the power grid is the main choice of novel power system. However, it is particularly challenging to establish an accurate SC unit model under large-scale variable loads and deep peak shaving. To this end, a data-driven modeling strategy combining Transformer-Extra Long (Transformer-XL) and quantum chaotic nutcracker optimization algorithm is proposed. Firstly, three models of the SC unit under once-through/recirculation/shut-down are built via analyzing its mechanism of the operation process, respectively. Secondly, the superior performance of Transformer-XL in obtaining global feature information is employed to effectively solve the problem of high information dependence caused by the strong coupling and nonlinearity of SC unit. Then, the improved quantum chaotic nutcracker optimization algorithm with higher search accuracy is proposed to obtain the optimal parameters of Transformer-XL based on the logistic chaotic mapping and quantum thinking. Feature information dependencies and optimal parameter settings are fully considered in the proposed modeling scheme, which results in an accurate model of SC unit under full operating conditions. Finally, various simulations and comparisons are conducted based on the on-site data of 600 MW SC unit to demonstrate the superiority of the proposed data-driven modeling strategy. According to the improved Transformer-XL, the mean square errors of the proposed SC unit model under once-through/recirculation/shut-down modes are less than 2.500E-03, which verifies the high accuracy of the model. Consequently, the developed model is suitable for application in the controller designing and the operating efficiency and flexibility improvement of SC unit.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 141-166"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142967663","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-01DOI: 10.1016/j.isatra.2025.01.017
Xiaoyan Hu , Guilin Wen , Hanfeng Yin
Approximation-free control effectively addresses uncertainty and disturbances without relying on approximation techniques such as fuzzy logic systems (FLS) and neural networks (NNs). However, singularity problems—where signals exceed preset boundaries under dynamic operating conditions—remain a challenge. This paper proposes an improved approximation-free control (I-AFC) method for the multi-agent system, which introduces a novel singularity compensator, providing a low-complexity design with exceptional adaptability while reducing the risk of singularity issues under changing working conditions (random initial values, system parameter variations, and changes in topology graph and followers’ dynamics). Furthermore, theoretical analysis guides parameter selection by demonstrating the method’s favorable convergence rate and appropriate control gain. Simulation results validate the approach.
{"title":"Improved approximation-free control for the leader–follower tracking of the multi-agent systems with disturbance and unknown nonlinearity","authors":"Xiaoyan Hu , Guilin Wen , Hanfeng Yin","doi":"10.1016/j.isatra.2025.01.017","DOIUrl":"10.1016/j.isatra.2025.01.017","url":null,"abstract":"<div><div>Approximation-free control effectively addresses uncertainty and disturbances without relying on approximation techniques such as fuzzy logic systems (FLS) and neural networks (NNs). However, singularity problems—where signals exceed preset boundaries under dynamic operating conditions—remain a challenge. This paper proposes an improved approximation-free control (I-AFC) method for the multi-agent system, which introduces a novel singularity compensator, providing a low-complexity design with exceptional adaptability while reducing the risk of singularity issues under changing working conditions (random initial values, system parameter variations, and changes in topology graph and followers’ dynamics). Furthermore, theoretical analysis guides parameter selection by demonstrating the method’s favorable convergence rate and appropriate control gain. Simulation results validate the approach.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 110-121"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143026130","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
As global interest grows in renewable energy sources, the impact of combined Electric Vehicle (EV) and PhotoVoltaic (PV) penetration on the power grid stability requires renewed attention, to incorporate new technologies to maintain the power quality under operational constraints. Energy-saving techniques such as Conservation Voltage Reduction (CVR) allow the power utilities to transmit voltage at a lower operation limit, increasing the generation margin to absorb the peak load demands. Increased reverse PV penetration results in grid overvoltage while EV charging absorbs the reactive power causing grid instability. Both overvoltage and loss of reactive power in the grid can be reduced by using CVR and reactive power injection techniques. A power electronic secondary var controller (SVC) can dynamically inject reactive power into selected grid buses. This work compares the voltage stability of an IEEE 33 bus system operating with and without CVR. The simulation studies analyzed the effects of EV penetration level, and PV hosting capacity with SVC compensation paired with and without conservation voltage reduction technique. The analysis results demonstrate that tandem usage of CVR and SVC maintains the grid voltage under operational limits, meets load and EV demand, and increases power efficiency and PV penetration.
{"title":"EV and PV penetration impact on grid with conservative voltage regulation and reactive voltage compensation","authors":"Navinesshani Permal , Farrukh Nagi , Marayati Marsadek , Agileswari K. Ramasamy , Navaamsini Boopalan , Ganesh Kumar A.L. Balakrishna","doi":"10.1016/j.isatra.2025.01.004","DOIUrl":"10.1016/j.isatra.2025.01.004","url":null,"abstract":"<div><div>As global interest grows in renewable energy sources, the impact of combined <strong>E</strong>lectric <strong>V</strong>ehicle (EV) and <strong>P</strong>hoto<strong>V</strong>oltaic (PV) penetration on the power grid stability requires renewed attention, to incorporate new technologies to maintain the power quality under operational constraints. Energy-saving techniques such as <strong>C</strong>onservation <strong>V</strong>oltage <strong>R</strong>eduction (CVR) allow the power utilities to transmit voltage at a lower operation limit, increasing the generation margin to absorb the peak load demands. Increased reverse PV penetration results in grid overvoltage while EV charging absorbs the reactive power causing grid instability. Both overvoltage and loss of reactive power in the grid can be reduced by using CVR and reactive power injection techniques. A power electronic secondary var controller (SVC) can dynamically inject reactive power into selected grid buses. This work compares the voltage stability of an IEEE 33 bus system operating with and without CVR. The simulation studies analyzed the effects of EV penetration level, and PV hosting capacity with SVC compensation paired with and without conservation voltage reduction technique. The analysis results demonstrate that tandem usage of CVR and SVC maintains the grid voltage under operational limits, meets load and EV demand, and increases power efficiency and PV penetration.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 477-487"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143030508","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper introduces a fully distributed model-free adaptive control (MFAC) approach for consensus tracking in multi-agent systems (MASs) with compact form data linearization (CFDL). Unlike prior methods that require agents to know the full communication graph, our approach allows each agent to configure its controller using only local information from its neighbors, achieving a fully distributed control. Therefore, our method easily supports scenarios where agents dynamically join or leave MAS. Additionally, our approach does not require a strongly connected communication graph and consensus can be achieved as long as the graph includes a spanning tree with the leader as the root. Simulations demonstrate that this method converges faster to the desired trajectory compared to previous MFAC-based methods.
{"title":"Fully distributed data-driven model-free adaptive control for consensus tracking in multi-agent systems","authors":"Sayed Shahab Aldin Sahafi, Malihe Maghfoori Farsangi","doi":"10.1016/j.isatra.2025.01.027","DOIUrl":"10.1016/j.isatra.2025.01.027","url":null,"abstract":"<div><div>This paper introduces a fully distributed model-free adaptive control (MFAC) approach for consensus tracking in multi-agent systems (MASs) with compact form data linearization (CFDL). Unlike prior methods that require agents to know the full communication graph, our approach allows each agent to configure its controller using only local information from its neighbors, achieving a fully distributed control. Therefore, our method easily supports scenarios where agents dynamically join or leave MAS. Additionally, our approach does not require a strongly connected communication graph and consensus can be achieved as long as the graph includes a spanning tree with the leader as the root. Simulations demonstrate that this method converges faster to the desired trajectory compared to previous MFAC-based methods.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 122-129"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143043498","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-01DOI: 10.1016/j.isatra.2024.12.048
Van-Truong Nguyen , Dai-Nhan Duong , Duc-Hung Pham , Van-Tam Ngo , Le Anh Tuan
This paper proposes an innovative approach to address the challenges of dynamic balance and external disturbances in ballbot systems, overcoming the limitations of conventional Proportional Integral Derivative (PID) controllers and their variants in handling highly nonlinear dynamics and external forces. Traditional PID controllers and their variants often have difficulty adapting to complex, real-time dynamic systems, leading to performance degradation under varying conditions. A nonlinear PID controller-based Takagi–Sugeno–Kang 3D Cerebellar Model Articulation Controller (TSK3DCMAC) is introduced to overcome these shortcomings. The proposed controller is developed utilizing a combination of nonlinear PID control, TSK3DCMAC, and the Balancing Composite Motion Optimization (BCMO) algorithm. The TSK3DCMAC is iteratively trained during the ballbot's motion to ensure the system balance in a very steady and seamless manner. Furthermore, the BCMO algorithm is utilized to obtain the optimal gains for precisely modeling the system. The stability of NPID-TSK3DCMAC law is analyzed using the Lyapunov technique. The simulation and experimental results highlight the effectiveness of the NPID-TSK3DCMAC controller. Without external force, it reduces the mean squared error (MSE) by 45.84 % and 99.87 % and the mean absolute error (MAE) by 25.68 % and 63.91 % compared to the PID and NPID controllers, respectively. With external force, it further surpasses the NPID controller by 64.94 % in MSE and 17.67 % in MAE, demonstrating its robustness and precision under varying conditions. Simulation and experiment results reveal that the proposed approach has robustness and effectively regulates the motion of the ballbot system despite external disturbances. This indicates a promising solution for applications requiring precise/agile motion control and stability under varying external conditions.
{"title":"Optimal nonlinear PID TSK3DCMAC controller based on balancing composite motion optimization for ballbot with external forces","authors":"Van-Truong Nguyen , Dai-Nhan Duong , Duc-Hung Pham , Van-Tam Ngo , Le Anh Tuan","doi":"10.1016/j.isatra.2024.12.048","DOIUrl":"10.1016/j.isatra.2024.12.048","url":null,"abstract":"<div><div>This paper proposes an innovative approach to address the challenges of dynamic balance and external disturbances in ballbot systems, overcoming the limitations of conventional Proportional Integral Derivative (PID) controllers and their variants in handling highly nonlinear dynamics and external forces. Traditional PID controllers and their variants often have difficulty adapting to complex, real-time dynamic systems, leading to performance degradation under varying conditions. A nonlinear PID controller-based Takagi–Sugeno–Kang 3D Cerebellar Model Articulation Controller (TSK3DCMAC) is introduced to overcome these shortcomings. The proposed controller is developed utilizing a combination of nonlinear PID control, TSK3DCMAC, and the Balancing Composite Motion Optimization (BCMO) algorithm. The TSK3DCMAC is iteratively trained during the ballbot's motion to ensure the system balance in a very steady and seamless manner. Furthermore, the BCMO algorithm is utilized to obtain the optimal gains for precisely modeling the system. The stability of NPID-TSK3DCMAC law is analyzed using the Lyapunov technique. The simulation and experimental results highlight the effectiveness of the NPID-TSK3DCMAC controller. Without external force, it reduces the mean squared error (MSE) by 45.84 % and 99.87 % and the mean absolute error (MAE) by 25.68 % and 63.91 % compared to the PID and NPID controllers, respectively. With external force, it further surpasses the NPID controller by 64.94 % in MSE and 17.67 % in MAE, demonstrating its robustness and precision under varying conditions. Simulation and experiment results reveal that the proposed approach has robustness and effectively regulates the motion of the ballbot system despite external disturbances. This indicates a promising solution for applications requiring precise/agile motion control and stability under varying external conditions.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 654-673"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143043791","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-01DOI: 10.1016/j.isatra.2025.01.035
Wenjie Si , Xunde Dong , Feifei Yang
This article studies the implementation of practical fixed-time control in stochastic nonlinear systems, implementing event-triggered communication between the controller and the actuator. Firstly, to accomplish the problem of uniform tracking error performance constraints, the improved performance function is investigated, which is combined with the asymmetric barrier Lyapunov function to achieve fast convergence speed and steady state accuracy. Secondly, the practical fixed-time stability is applied in the stochastic nonlinear closed-loop system, which fuses fixed-time command filtering and improved filtering error compensation mechanisms to avoid computational explosion issue. Furthermore, in order to relieve the communication load on the controller and actuator, adjustable trigger thresholds are designed, based on which dynamic event triggering mechanisms are presented for stochastic nonlinear systems. Additionally, the uncertain system behavior is estimated using RBF neuro-networks and the designed controller avoids the singularity problem. Finally, the proposed controller verifies that the system error converges to zero in a fixed time under the Lyapunov stability theory, and that the system output is within the preset boundaries, realizing boundedness of all signals. The superiority of the control method is further demonstrated by three simulation studies including two practical examples.
{"title":"Uniform-performance-constrained fixed-time neuro-control for stochastic nonlinear systems under dynamic event triggering","authors":"Wenjie Si , Xunde Dong , Feifei Yang","doi":"10.1016/j.isatra.2025.01.035","DOIUrl":"10.1016/j.isatra.2025.01.035","url":null,"abstract":"<div><div>This article studies the implementation of practical fixed-time control in stochastic nonlinear systems, implementing event-triggered communication between the controller and the actuator. Firstly, to accomplish the problem of uniform tracking error performance constraints, the improved performance function is investigated, which is combined with the asymmetric barrier Lyapunov function to achieve fast convergence speed and steady state accuracy. Secondly, the practical fixed-time stability is applied in the stochastic nonlinear closed-loop system, which fuses fixed-time command filtering and improved filtering error compensation mechanisms to avoid computational explosion issue. Furthermore, in order to relieve the communication load on the controller and actuator, adjustable trigger thresholds are designed, based on which dynamic event triggering mechanisms are presented for stochastic nonlinear systems. Additionally, the uncertain system behavior is estimated using RBF neuro-networks and the designed controller avoids the singularity problem. Finally, the proposed controller verifies that the system error converges to zero in a fixed time under the Lyapunov stability theory, and that the system output is within the preset boundaries, realizing boundedness of all signals. The superiority of the control method is further demonstrated by three simulation studies including two practical examples.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 73-86"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143076672","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-01DOI: 10.1016/j.isatra.2025.01.030
Carlos R. de Cos , José Ángel Acosta
In this paper, we propose an adaptive nonlinear strategy for the motion and force control of manipulators with flexible joints. Our approach provides force control when in contact and robust motion control in its absence, all without the need for a control switch. This self-tuning behaviour for mixed contact/non-contact scenarios results from a unified formulation of force and motion control, with an integral transpose-based inverse kinematics core and adaptive update laws to cope with the manipulator flexibility and the contact stiffnesses. The global boundedness of all signals and the asymptotic stability of this controller are guaranteed via Lyapunov analysis. Finally, we validate its applicability experimentally by using low-cost hardware in a realistic mixed-contact scenario, demonstrating low computational demand.
{"title":"Unified force and motion adaptive-integral control of flexible robot manipulators","authors":"Carlos R. de Cos , José Ángel Acosta","doi":"10.1016/j.isatra.2025.01.030","DOIUrl":"10.1016/j.isatra.2025.01.030","url":null,"abstract":"<div><div>In this paper, we propose an adaptive nonlinear strategy for the motion and force control of manipulators with flexible joints. Our approach provides force control when in contact and robust motion control in its absence, all without the need for a control switch. This self-tuning behaviour for mixed contact/non-contact scenarios results from a unified formulation of force and motion control, with an integral transpose-based inverse kinematics core and adaptive update laws to cope with the manipulator flexibility and the contact stiffnesses. The global boundedness of all signals and the asymptotic stability of this controller are guaranteed via Lyapunov analysis. Finally, we validate its applicability experimentally by using low-cost hardware in a realistic mixed-contact scenario, demonstrating low computational demand.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 586-593"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143371466","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-01DOI: 10.1016/j.isatra.2025.01.007
Samane Memarzade, Mohammad Haddad Zarif, Alireza Alfi
Recent biomedical engineering developments have empowered prosthetic devices to evolve from purely mechanical devices to more sophisticated controlled devices, allowing amputees to perform advanced locomotion modes such as passing stairs and walking on sloped surfaces. However, the strongly coupled nonlinear system dynamics make it difficult for the lower-limb prosthesis (LLP) to adapt to complex tasks and isolate the vibrations and acceleration from the residual limb soft tissue. In this regard, realizing the potential of active LLPs to increase user mobility and efficiency requires reliable, stable, and intuitive control strategies to provide a comfortable gait quality. In this study, a fractional-order dynamic terminal sliding mode controller (FDTSMC) is proposed to effectively isolate the residual limb soft tissue from the vibrations and acceleration arising from the pylon and foot. The proposed sliding surfaces guarantee the fast finite-time system states’ convergence, and the chattering is remarkably alleviated. Furthermore, since from the practical viewpoint, the actuators are non-ideal and are affected by dead-zone and hysteresis that degrade the LLP’s performance, an observer is augmented with the control system to estimate the lumped uncertainties and compensate for the effects of model nonlinear dynamics and disturbances. The closed-loop system stability is ensured in terms of Lyapunov concept. Comparative performance investigations in ideal and non-ideal situations are carried out, and the proposed control scheme’s favorable gait shock absorption performance over observer-based conventional SMC and dynamic SMC approaches is revealed.
{"title":"Observer-based fractional-order dynamic terminal sliding mode control of active shock absorbing prostheses for lower limb amputees","authors":"Samane Memarzade, Mohammad Haddad Zarif, Alireza Alfi","doi":"10.1016/j.isatra.2025.01.007","DOIUrl":"10.1016/j.isatra.2025.01.007","url":null,"abstract":"<div><div>Recent biomedical engineering developments have empowered prosthetic devices to evolve from purely mechanical devices to more sophisticated controlled devices, allowing amputees to perform advanced locomotion modes such as passing stairs and walking on sloped surfaces. However, the strongly coupled nonlinear system dynamics make it difficult for the lower-limb prosthesis (LLP) to adapt to complex tasks and isolate the vibrations and acceleration from the residual limb soft tissue. In this regard, realizing the potential of active LLPs to increase user mobility and efficiency requires reliable, stable, and intuitive control strategies to provide a comfortable gait quality. In this study, a fractional-order dynamic terminal sliding mode controller (FDTSMC) is proposed to effectively isolate the residual limb soft tissue from the vibrations and acceleration arising from the pylon and foot. The proposed sliding surfaces guarantee the fast finite-time system states’ convergence, and the chattering is remarkably alleviated. Furthermore, since from the practical viewpoint, the actuators are non-ideal and are affected by dead-zone and hysteresis that degrade the LLP’s performance, an observer is augmented with the control system to estimate the lumped uncertainties and compensate for the effects of model nonlinear dynamics and disturbances. The closed-loop system stability is ensured in terms of Lyapunov concept. Comparative performance investigations in ideal and non-ideal situations are carried out, and the proposed control scheme’s favorable gait shock absorption performance over observer-based conventional SMC and dynamic SMC approaches is revealed.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"158 ","pages":"Pages 217-226"},"PeriodicalIF":6.3,"publicationDate":"2025-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143416439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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