ISA transactions最新文献

MIMO ultra-local model-based adaptive enhanced model-free control using extremum-seeking for coupled mechatronic systems 耦合机电系统基于MIMO超局部模型的自适应增强无模型极值寻优控制。

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.050

Dingxin He , Haoping Wang , Yang Tian , Michel Fliess

Multiple degree-of-freedom (DOF) mechatronic systems, such as robots and robotic arms, play a crucial role in modern life and production. However, due to strong coupling, uncertain dynamics, and external disturbance, accurately modeling these systems is challenging, making traditional model-based control methods impractical. To address this, this paper proposes an extremum-seeking-based adaptive enhanced model-free control for multi-input multi-output (MIMO) mechatronic systems to realize robust trajectory tracking. Unlike previous model-free control methods that decouple and reorganize the MIMO system into several single-input single-output ultra-local models, this paper develops a MIMO ultra-local model with a non-diagonal gain matrix

α

to approximate the system dynamics within an ultra-short time window. Time-delay estimation (TDE), Proportional–Derivative (PD) control law and accuracy compensation compose an TDE-based enhanced intelligent PD control that ensures the closed-loop stability. Furthermore, an extremum-seeking (ES) technique is designed to optimize the gain matrix

α

to enhance control performance. The main contributions of this paper are the development of a model-free control framework based on the MIMO ultra-local model and the successful application of ES to optimize the non-diagonal gain matrix

α

. Stability analysis of the closed-loop system is conducted using Lyapunov theorem. Finally, numerical simulations on a 2-DOF robotic manipulator and co-simulation results on a 3-DOF PUMA 560 robotic manipulator validate the effectiveness and superiority of the proposed methods.

多自由度机电系统，如机器人和机械臂，在现代生活和生产中起着至关重要的作用。然而，由于强耦合、不确定动力学和外部干扰，对这些系统进行精确建模是具有挑战性的，这使得传统的基于模型的控制方法不切实际。针对这一问题，本文提出了一种基于极值寻优的多输入多输出（MIMO）机电系统自适应增强无模型控制方法，以实现多输入多输出系统的鲁棒轨迹跟踪。不同于以往的无模型控制方法将MIMO系统解耦重组为多个单输入单输出的超局部模型，本文提出了一种具有非对角增益矩阵α的MIMO超局部模型来逼近超短时间窗内的系统动力学。时延估计（TDE）、比例导数（PD）控制律和精度补偿构成了基于TDE的增强型智能PD控制，保证了闭环的稳定性。在此基础上，设计了一种极值搜索（ES）技术来优化增益矩阵α，以提高控制性能。本文的主要贡献是开发了基于MIMO超局部模型的无模型控制框架，并成功应用ES对非对角增益矩阵α进行了优化。利用李亚普诺夫定理对闭环系统进行了稳定性分析。最后，对一个2自由度机械臂进行数值仿真，并对一个3自由度PUMA 560机械臂进行联合仿真，验证了所提方法的有效性和优越性。

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引用次数: 0

A flexible protocol of finite-time consensus for second-order multi-agent systems with pinning control 具有固定控制的二阶多智能体系统的一种灵活的有限时间一致性协议。

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.055

Ziwei Zhang , Xiuxia Yin , Songlin Hu

In this paper, we consider the finite-time consensus problem for second-order multi-agent systems with pinning control. Unlike the existing finite-time consensus algorithms for second-order multi-agent systems in which all agents’ velocities and positions are assumed to have common communication weights and nonlinear couplings, we allow communication weights, nonlinear couplings and the feedback gains to be inconsistent for each agent’s velocity and position. A flexible continuous protocol is designed to solve the finite-time consensus problem. Based on the Lyapunov functional approach and finite-time stability analysis, it is proved that this model not only achieves finite-time consensus for every agent but also estimates the settling time depending on initial data without assuming that

α_{2} = \frac{2 α_{1}}{1 + α_{1}}

. Moreover, some simulation examples are given to verify the effectiveness of the theoretical results.

研究了一类具有钉住控制的二阶多智能体系统的有限时间一致性问题。现有的二阶多智能体系统有限时间共识算法假设所有智能体的速度和位置具有共同的通信权值和非线性耦合，而我们允许每个智能体的速度和位置的通信权值、非线性耦合和反馈增益不一致。为了解决有限时间共识问题，设计了一种灵活的连续协议。基于Lyapunov泛函方法和有限时间稳定性分析，证明了该模型在不假设α2=2α11+α1的情况下，不仅对每个agent达到了有限时间一致性，而且根据初始数据估计了沉降时间。最后通过仿真算例验证了理论结果的有效性。

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引用次数: 0

Variable-coupled distributed resource allocations for multi-agent system with limited admissible interaction 有限允许交互的多智能体系统变量耦合分布式资源分配。

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.057

Linhua Luan, Sitian Qin

Variable-coupled distributed resource allocations (VCDRAs) involve optimizing resource distribution among interconnected entities, reflecting the complex correlation in practical systems. Based on the consensus technology, this paper proposes a novel distributed optimization algorithm to address the VCDRA in scenarios where agents are confronted with admissible interaction ranges and external disturbances. Admissible interaction refers to agents only transmitting information within a specified range due to limited communication capabilities or resource availability. The proposed distributed optimization algorithm improves existing interaction mechanisms, reducing computational demands and unifying the communication schemes of the multi-agent system, thereby avoiding additional information exchange. Theoretically, it is proven that the algorithm can get the optimal solution of VCDRA with an exponential rate. Compared to existing algorithms for suppressing external disturbances, the robustness of the proposed distributed optimization algorithm no longer relies on the upper bound of external disturbances, allowing it to remain effective even in the presence of unbounded disturbances. Finally, smart grids and wireless communications applications demonstrate the convergence and robustness of the developed distributed optimization algorithm, further proving its superiority in practical applications.

可变耦合分布式资源分配（VCDRA）涉及优化互联实体之间的资源分配，反映了实际系统中复杂的相关性。本文以共识技术为基础，提出了一种新型分布式优化算法，以解决代理面临可允许交互范围和外部干扰时的 VCDRA 问题。可允许的交互是指由于通信能力或资源可用性有限，代理只能在指定范围内传输信息。所提出的分布式优化算法改进了现有的交互机制，降低了计算需求，统一了多代理系统的通信方案，从而避免了额外的信息交换。理论证明，该算法能以指数级的速度获得 VCDRA 的最优解。与现有的抑制外部干扰的算法相比，所提出的分布式优化算法的鲁棒性不再依赖于外部干扰的上界，即使在无界干扰的情况下也能保持有效。最后，智能电网和无线通信应用证明了所开发的分布式优化算法的收敛性和鲁棒性，进一步证明了其在实际应用中的优越性。

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引用次数: 0

A zero-shot attribute-embedded model with a feature difference mapping sigmoid function for compound fault diagnosis of rotating machinery 基于特征差分映射s型函数的零射属性嵌入模型用于旋转机械复合故障诊断。

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.12.026

Lv Wang , Dingliang Chen , Yongfang Mao , Yi Qin

The detection of machinery compound faults has always been a great challenge. Most of the current compound fault diagnosis methods require a large number of compound fault data to participate in training. However, in actual engineering, it is impractical to collect abundant fault samples, especially compound fault samples. To address the issue of lacking the compound fault data for training, this paper proposes a zero-shot attribute-embedded model for compound fault diagnosis (ZSAECFD). This model only uses the data of various single faults for training, but the trained model is able to diagnose the unseen compound faults. Using the data of single faults, the attribute prototypes for single and compound faults of bearings and gearbox are first constructed. By calculating the Euclidean distances between attributes and attribute prototypes, the compound fault types can be distinguished. Moreover, considering that the traditional sigmoid has the limited ability to map the difference of features in multi-label classification tasks, we propose a new activation function, feature difference mapping sigmoid (F-sigmoid). It can effectively amplify the differences between features, which is helpful for improving the accuracy of attribute recognition. It is also proven that F-sigmoid can effectively alleviate the problem of gradient vanishing compared to sigmoid. The performance of the proposed ZSAECFD is validated through the compound fault diagnosis experiments on bearings and gearboxes. Without using the compound fault data for training, the diagnostic accuracy of bearing faults reaches 81.82 %, and the diagnostic accuracy of gear faults is up to 88.17 %. The experimental results show that the proposed model can effectively diagnose the unseen compound faults, and has advantages over the classical and advanced zero-shot learning methods.

机械复合故障的检测一直是一个巨大的挑战。目前的复合故障诊断方法大多需要大量的复合故障数据参与训练。然而，在实际工程中，收集大量的故障样本，特别是复合故障样本是不现实的。针对复合故障数据缺乏训练的问题，提出了一种零射击属性嵌入复合故障诊断模型（ZSAECFD）。该模型仅使用各种单一故障的数据进行训练，但训练后的模型能够诊断出未见的复合故障。利用单故障数据，首先构建了轴承和齿轮箱单故障和复合故障的属性原型；通过计算属性和属性原型之间的欧氏距离，可以区分复合故障类型。此外，考虑到传统的sigmoid在多标签分类任务中映射特征差异的能力有限，我们提出了一种新的激活函数特征差异映射sigmoid （F-sigmoid）。它可以有效地放大特征之间的差异，有助于提高属性识别的准确率。并证明了f -s型曲线相对于s型曲线能有效地缓解梯度消失的问题。通过轴承和齿轮箱的复合故障诊断实验，验证了该方法的性能。在不使用复合故障数据进行训练的情况下，轴承故障的诊断准确率达到81.82 %，齿轮故障的诊断准确率高达88.17 %。实验结果表明，该模型能够有效地诊断出未见的复合故障，与经典的零次学习方法和先进的零次学习方法相比具有优势。

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引用次数: 0

Extended state observer-based adaptive dynamic surface prescribed performance control for electro-hydraulic actuators with uncertainties 基于扩展状态观测器的不确定电液执行器自适应动态表面规定性能控制。

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.12.009

Qian-Kun Liang , Yan Cai , Jin-Chun Song , Bing-Long Wang

For Electro-Hydraulic Actuators (EHA) with parametric uncertainties and mismatched and matched disturbances, most existing robust adaptive control strategies can achieve only uniformly ultimately bounded tracking errors. An Extended-State-Observer (ESO) based asymptotic control scheme is proposed by incorporating the prescribed performance control into the backstepping framework to ensure satisfied tracking performance and anti-disturbance ability of EHA systems. A novel ESO is designed to acquire an asymptotic estimation without prior bounds of the mismatched disturbance and its derivatives. Dynamic surface control with an adaptive adjustment mechanism is utilized to avoid the “complexity explosion” and guarantee the asymptotic stability of the closed-loop system. The efficacy of the proposed strategy is validated through simulation and experiments.

对于具有参数不确定性和失匹配与匹配扰动的电液执行器，大多数现有的鲁棒自适应控制策略只能实现一致的最终有界跟踪误差。提出了一种基于扩展状态观测器（ESO）的渐近控制方案，将规定的性能控制纳入退步框架，以保证EHA系统具有满意的跟踪性能和抗干扰能力。设计了一种新的ESO算法来获得失配扰动及其导数的无先验界渐近估计。采用带自适应调节机构的动态曲面控制，避免了“复杂度爆炸”，保证了闭环系统的渐近稳定性。通过仿真和实验验证了该策略的有效性。

引用次数: 0

Relaxed event-triggered tracking control of positive T–S fuzzy systems via a membership function method 基于隶属函数法的正T-S模糊系统松弛事件触发跟踪控制。

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.060

Zhiyong Bao, Xiaomiao Li

In this paper, the sampled-data-based event-triggered tracking control for the positive nonlinear system is discussed. The event-triggered mechanism naturally causes a mismatch between the membership functions of the system model and the fuzzy controller. Meanwhile, the positive constraint and tracking behavior increase the complexity of system analysis and bring conservative analysis results. How to achieve positive and event-triggered tracking control while ensuring good tracking performance has become challenging. To address the challenge, firstly, the positive T–S fuzzy model is established to characterize the positive tracking nonlinearsystem. Subsequently, a novel Lyapunov–Krasovskii functional is constructed, which takes into account the tracking errors and transmission delays induced by the event-triggered mechanism. Furthermore, the piecewise linear membership functions (PLMFs) are used to relax the conservativeness of analysis results. Then, to ensure the system positivity and obtain the approximation errors of PLMFs, an outer constraint is proposed to handle the mismatched membership functions caused by the sampled-data-based event-triggered mechanism. Finally, the proposed approaches are demonstrated to achieve good tracking performance while reducing communication resources through a numerical example and a two-linked tank practical example.

本文讨论了正非线性系统的基于采样数据的事件触发跟踪控制。事件触发机制自然会导致系统模型的隶属函数与模糊控制器的隶属函数不匹配。同时，正约束和跟踪行为增加了系统分析的复杂性，使分析结果趋于保守。如何在保证良好的跟踪性能的同时实现积极的和事件触发的跟踪控制已成为一个挑战。为了解决这一挑战，首先建立了正T-S模糊模型来表征正跟踪非线性系统。随后，构造了一种新的Lyapunov-Krasovskii泛函，该泛函考虑了由事件触发机制引起的跟踪误差和传输延迟。此外，利用分段线性隶属函数（PLMFs）放宽了分析结果的保守性。然后，为了保证系统的正性并获得PLMFs的近似误差，提出了一种外部约束来处理基于采样数据的事件触发机制导致的不匹配的隶属函数。最后，通过数值算例和双链坦克实例验证了所提方法在减少通信资源的同时获得了良好的跟踪性能。

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引用次数: 0

Separable synchronous auxiliary model adaptive momentum estimation strategy for a time-varying system with colored noise from on-line measurements 在线测量有色噪声时变系统的可分离同步辅助模型自适应动量估计策略。

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.048

Yanshuai Zhao, Yan Ji

The primary focus of this article is to explore parameter estimation for time-varying systems affected by colored noise. Based on the attributes of the time-varying system with colored noise under investigation, the original system is separated and two different subsystems are reconstructed. To address the influence of the hidden variables in the system and the time-varying noise signal, we introduce auxiliary models into the reconstructed systems to achieve the separation and synchronization estimation of the time-varying parameters within the system. With the aim of achieving high-precision performance in estimating the time-varying parameters, a separable synchronous auxiliary model adaptive momentum algorithm is presented by introducing bias correction to the momentum and gradient square term and online parameter estimation is implemented. The proposed algorithm is used for estimating the time-varying output error moving average model to verify the performance. The results of simulation experiments illustrate the efficacy of the proposed method for estimating the time-varying system with colored noise. Additionally, the proposed algorithm is extended to a kind of direct current (DC) motor modeling parameter identification problem and shows good tracking performance.

本文主要探讨受彩色噪声影响的时变系统的参数估计。根据所研究的带有彩色噪声的时变系统的属性，将原始系统分离出来，重建两个不同的子系统。针对系统中隐藏变量和时变噪声信号的影响，我们在重构系统中引入了辅助模型，以实现系统内部时变参数的分离和同步估计。为了实现时变参数估计的高精度性能，我们提出了一种可分离同步辅助模型自适应动量算法，通过对动量和梯度平方项引入偏差修正，实现了在线参数估计。提出的算法被用于估计时变输出误差移动平均模型，以验证其性能。模拟实验结果表明，所提出的方法能有效地估计具有彩色噪声的时变系统。此外，提出的算法还扩展到了一种直流（DC）电机建模参数识别问题，并显示出良好的跟踪性能。

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引用次数: 0

Estimation of induction motor equivalent circuit parameters and losses from transient measurement 通过瞬态测量估算感应电机等效电路参数和损耗。

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.12.012

Diptarshi Bhowmick , Suparna Kar Chowdhury

Due to robustness and low-cost, Induction motors are among the most commonly utilized types of motors in industrial applications. The operation and efficiency of any induction motor can be predicted with reasonable accuracy by solving its equivalent circuit. However, the equivalent circuit parameters may differ from the measured one with aging and when the operating conditions varies. So, it would be advantageous, if the motor parameters can be estimated by a simple and cost-effective method under running condition. Within this research, the circuit model parameters, motor losses, applied load torque and rotor inertia of a 3-phase induction motor at various loads have been estimated applying Particle Swarm Optimization (PSO) technique, from the measured transient current and supply voltage. Using the estimated quantities, various performance indicators were assessed. The predicted operational metrics were evaluated against the corresponding recorded experimental values. The comparison revealed negligible errors, establishing the reliability of the proposed method. In practical applications, the developed algorithm seems promising for predicting:

(a)
The control parameters associated with power electronic drives driving the induction motor.
(b)
The proposed parameter estimation technique, with appropriate modifications, could significantly contribute in the domain of fault classification for induction motors.
(c)
With the help of thermal models, this research work is capable of developing a temperature based predictive condition monitoring scheme for induction motors.
(d)
It has the potential to revolutionize the approach to motor monitoring, potentially enhancing operational efficiency, reliability, and lifespan.

由于稳健性和低成本，感应电机是工业应用中最常用的电机类型之一。通过求解感应电动机的等效电路，可以合理准确地预测其运行和效率。但是，随着老化和工作条件的变化，等效电路参数可能与实测值有所不同。因此，如果能在运行状态下用一种简单、经济的方法估计电机参数，将是有利的。在本研究中，利用粒子群优化（PSO）技术，从测量的暂态电流和电源电压出发，估计了三相异步电动机在不同负载下的电路模型参数、电机损耗、外加负载转矩和转子惯量。利用估计的数量，评估了各种性能指标。根据相应的实验记录值对预测的操作指标进行评估。通过比较发现误差可以忽略不计，从而证明了所提方法的可靠性。在实际应用中，该算法具有较好的预测效果。

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引用次数: 0

Synchronization of complex dynamical networks with saturated delayed impulsive control 饱和延迟脉冲控制下复杂动态网络的同步。

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.058

Zhilong He , Chuandong Li , Linfei Nie

This paper considers the local exponential synchronization problem for a type of complex dynamical networks (CDNs) with both system delay and coupled delay using saturated delayed impulsive control. Based on the methods of average impulsive interval (AII), average impulsive delay (AID) and average impulsive estimation (AIE), a Razumikhin-type inequality with hybrid delayed impulses (which include delayed impulses and delay-free impulses) is derived. This inequality includes pure delayed impulsive inequalities. By utilizing the constructed inequality and the Lyapunov stability theory, the saturation nonlinearities are treated as the convex hulls, and sufficient synchronization criteria for local exponential synchronization of CDNs are presented in the framework of linear matrix inequalities (LMIs). Moreover, to enlarge the estimation of region of attraction (ROA) and the design of impulsive control gain, a convex optimization problem based on LMIs is formulated. Finally, a numerical example demonstrates the effectiveness of the obtained results.

本文利用饱和延迟脉冲控制研究一类既有系统延迟又有耦合延迟的复杂动态网络的局部指数同步问题。基于平均脉冲间隔（AII）、平均脉冲延迟（AID）和平均脉冲估计（AIE）方法，导出了一个混合延迟脉冲（包括延迟脉冲和无延迟脉冲）的razumikhin型不等式。这个不等式包括纯延迟脉冲不等式。利用所构造的不等式和Lyapunov稳定性理论，将饱和非线性视为凸包，在线性矩阵不等式（lmi）的框架下给出了CDNs局部指数同步的充分的同步准则。此外，为了扩大吸引区（ROA）的估计和脉冲控制增益的设计，构造了一个基于lmi的凸优化问题。最后，通过数值算例验证了所得结果的有效性。

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 基于障碍函数的轮椅上肢外骨骼机器人在执行器故障和外部干扰下的预定性能轨迹跟踪控制：实验验证。

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2025-02-01 DOI: 10.1016/j.isatra.2024.11.052

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

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.

本文提出了一种创新的轮椅上肢外骨骼机器人轨迹跟踪控制策略，将滑模控制与基于障碍函数的规定性能方法相结合，以处理执行器故障和外部干扰。首先对外骨骼机器人的动力学模型进行了扩展，以考虑这些不确定性。然后将控制设计分为两个阶段。在第一阶段，通过定义机器人状态与期望轨迹之间的跟踪误差，采用滑模控制技术保证机器人轨迹的鲁棒跟踪。在此基础上构造了一个滑动面，为进一步提高跟踪性能，引入了规定的性能控制方案，保证了误差快速收敛，改善了暂态行为。在第二阶段，引入了一种先进的屏障函数技术来减轻执行器故障和干扰的影响，提高系统的整体鲁棒性。通过李亚普诺夫理论严格验证了系统的稳定性和跟踪精度，保证了系统对不确定性的适应能力。这种组合方法既保证了误差的快速收敛，又避免了由于控制作用过大而导致的性能下降，保持了系统的稳定性。最后，通过广泛的仿真和硬件在环实验证明了所提出方法的有效性，突出了其在实际外骨骼系统中的实用性。

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引用次数: 0