Pub Date : 2025-01-01DOI: 10.1016/j.isatra.2024.11.040
Fangyuan Li , Jialing Ning , Hui Liu , Yubo Zhang , Yanhong Liu
Many applications of multi-agent systems have to execute some tasks in certain formations, while not all nodes have access to localization technologies such as GPS. This paper investigates the problem of formation control for multi-agent systems in three-dimensional space relying on distances between nodes and positions of anchor nodes. The position information of all nodes is represented using generalized spatial barycentric coordinates, and the condition that the formation shape can be uniquely represented by the barycentric coordinates is given. Then, based on this representation method, a distributed spatial formation algorithm is proposed to guide all agents from their initial positions towards the desired ones. Finally, simulation studies have been presented to validate the effectiveness and correctness of the proposed algorithm and design conditions.
{"title":"Spatial barycentric coordinates based distributed formation control for multi-agent systems","authors":"Fangyuan Li , Jialing Ning , Hui Liu , Yubo Zhang , Yanhong Liu","doi":"10.1016/j.isatra.2024.11.040","DOIUrl":"10.1016/j.isatra.2024.11.040","url":null,"abstract":"<div><div>Many applications of multi-agent systems have to execute some tasks in certain formations, while not all nodes have access to localization technologies such as GPS. This paper investigates the problem of formation control for multi-agent systems in three-dimensional space relying on distances between nodes and positions of anchor nodes. The position information of all nodes is represented using generalized spatial barycentric coordinates, and the condition that the formation shape can be uniquely represented by the barycentric coordinates is given. Then, based on this representation method, a distributed spatial formation algorithm is proposed to guide all agents from their initial positions towards the desired ones. Finally, simulation studies have been presented to validate the effectiveness and correctness of the proposed algorithm and design conditions.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"156 ","pages":"Pages 333-343"},"PeriodicalIF":6.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142823021","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 : 2025-01-01DOI: 10.1016/j.isatra.2024.10.032
Wenjing Wang, Wei Wang, Juanjuan Xu
This paper considers the exact controllability of Itô stochastic systems with input delay. In particular, one delay-free controller and one delayed controller are involved in the systems which complicates the study due to the inconsistency of adaptiveness caused by input delay. The main contribution of this paper is to provide the necessary and sufficient Gramian matrix condition and the necessary Rank condition for the exact controllability. The key is to solve the backward stochastic differential equations (BSDEs) with input delay.
{"title":"On exact controllability of Itô stochastic systems with input delay","authors":"Wenjing Wang, Wei Wang, Juanjuan Xu","doi":"10.1016/j.isatra.2024.10.032","DOIUrl":"10.1016/j.isatra.2024.10.032","url":null,"abstract":"<div><div>This paper considers the exact controllability of Itô stochastic systems with input delay. In particular, one delay-free controller and one delayed controller are involved in the systems which complicates the study due to the inconsistency of adaptiveness caused by input delay. The main contribution of this paper is to provide the necessary and sufficient Gramian matrix condition and the necessary Rank condition for the exact controllability. The key is to solve the backward stochastic differential equations (BSDEs) with input delay.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"156 ","pages":"Pages 282-289"},"PeriodicalIF":6.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142635081","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 : 2025-01-01DOI: 10.1016/j.isatra.2024.11.020
Xiwen Guo , Ao Tan , Qunjing Wang , Guoli Li , Yuming Sun , Qiyong Yang
In response to the issues of low tracking accuracy and poor robustness in the trajectory tracking control of a permanent magnet spherical motor (PMSpM), an active disturbance rejection control (ADRC) scheme combining neural networks is put forward in this research. The unknown total disturbance is approximated by employing a radial basis function (RBF) neural network, with weights updated by an adaptive law and compensated for through the nonlinear feedback loop. This approach addresses the problem of performance degradation of the extended state observer under severe total disturbance, thereby ensuring accurate tracking of the PMSpM. Comparative simulations are accomplished to evaluate the performance of the RBF-ADRC scheme in enhancing disturbance rejection capability and robustness. Experimental results from the planar circular motion experiment on the PMSpM test platform validate the application value of the scheme.
{"title":"Active disturbance rejection control with adaptive RBF neural network for a permanent magnet spherical motor","authors":"Xiwen Guo , Ao Tan , Qunjing Wang , Guoli Li , Yuming Sun , Qiyong Yang","doi":"10.1016/j.isatra.2024.11.020","DOIUrl":"10.1016/j.isatra.2024.11.020","url":null,"abstract":"<div><div>In response to the issues of low tracking accuracy and poor robustness in the trajectory tracking control of a permanent magnet spherical motor (PMSpM), an active disturbance rejection control (ADRC) scheme combining neural networks is put forward in this research. The unknown total disturbance is approximated by employing a radial basis function (RBF) neural network, with weights updated by an adaptive law and compensated for through the nonlinear feedback loop. This approach addresses the problem of performance degradation of the extended state observer under severe total disturbance, thereby ensuring accurate tracking of the PMSpM. Comparative simulations are accomplished to evaluate the performance of the RBF-ADRC scheme in enhancing disturbance rejection capability and robustness. Experimental results from the planar circular motion experiment on the PMSpM test platform validate the application value of the scheme.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"156 ","pages":"Pages 678-688"},"PeriodicalIF":6.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142693955","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 : 2025-01-01DOI: 10.1016/j.isatra.2024.11.021
Wei Liao , Ming Tang , Yu Zhang , Taotao Liang
In this paper, we improve the dynamic programming based reachable set computation method by replacing the constant size grid in the original method with a variable size grid. With this improvement, the computational time consumption can be significantly reduced while maintaining the accuracy. The proposed method represents the reachable set as a sublevel set of a discount cost-to-go function, which is generated by dynamic programming. In order to compute the discount cost-to-go function quickly and accurately, the proposed method consists of three steps: (1) Rough computation. This step uses a coarse grid to obtain an interpolation function that is close to the real discount cost-to-go function; (2) Upsampling. This step is for generating a fine grid; (3) Fine tuning. This step generates an interpolation function that exactly approximates the real discount cost-to-go function. This paper theoretically proves the correctness of the proposed method and verifies its effectiveness by some examples.
{"title":"A high-speed method for computing reachable sets based on variable-size grid","authors":"Wei Liao , Ming Tang , Yu Zhang , Taotao Liang","doi":"10.1016/j.isatra.2024.11.021","DOIUrl":"10.1016/j.isatra.2024.11.021","url":null,"abstract":"<div><div>In this paper, we improve the dynamic programming based reachable set computation method by replacing the constant size grid in the original method with a variable size grid. With this improvement, the computational time consumption can be significantly reduced while maintaining the accuracy. The proposed method represents the reachable set as a sublevel set of a discount cost-to-go function, which is generated by dynamic programming. In order to compute the discount cost-to-go function quickly and accurately, the proposed method consists of three steps: (1) Rough computation. This step uses a coarse grid to obtain an interpolation function that is close to the real discount cost-to-go function; (2) Upsampling. This step is for generating a fine grid; (3) Fine tuning. This step generates an interpolation function that exactly approximates the real discount cost-to-go function. This paper theoretically proves the correctness of the proposed method and verifies its effectiveness by some examples.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"156 ","pages":"Pages 423-433"},"PeriodicalIF":6.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142735429","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 : 2025-01-01DOI: 10.1016/j.isatra.2024.11.018
J.M. Manzano , L. Orihuela , E. Pacheco , M. Pereira
This study estimates agricultural soil variables using a non-parametric machine learning technique based on Lipschitz interpolation. This method is adapted for the first time to learn spatio-temporal dynamics, accounting for two-dimensional spatial and one temporal coordinate inputs separately. The estimator is validated on real agricultural data, addressing challenges like measurement noise and quantization. The experimental setup, including an edge layer with measurement devices and a cloud layer for data storage and processing, is detailed. Despite its simplicity, the method presents a compelling alternative to Gaussian processes and neural networks.
{"title":"Data-driven spatio-temporal estimation of soil moisture and temperature based on Lipschitz interpolation","authors":"J.M. Manzano , L. Orihuela , E. Pacheco , M. Pereira","doi":"10.1016/j.isatra.2024.11.018","DOIUrl":"10.1016/j.isatra.2024.11.018","url":null,"abstract":"<div><div>This study estimates agricultural soil variables using a non-parametric machine learning technique based on Lipschitz interpolation. This method is adapted for the first time to learn spatio-temporal dynamics, accounting for two-dimensional spatial and one temporal coordinate inputs separately. The estimator is validated on real agricultural data, addressing challenges like measurement noise and quantization. The experimental setup, including an edge layer with measurement devices and a cloud layer for data storage and processing, is detailed. Despite its simplicity, the method presents a compelling alternative to Gaussian processes and neural networks.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"156 ","pages":"Pages 535-550"},"PeriodicalIF":6.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142782185","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 : 2025-01-01DOI: 10.1016/j.isatra.2024.11.035
Wu Wang, Zhihang Du, Dongfang Li, Jie Huang
This paper proposes a leader–follower control method for multiple snake robot formation. Based on the simplified snake robot model, this work improves the traditional Serpenoid gait mode to a time-varying frequency form. Combined with the line-of-sight (LOS) method, a snake robot trajectory tracking controller is designed to enable the leader to track the desired trajectory at the ideal velocity. Then, the leader–follower following error system of a snake robot formation is established. In this framework, the follower can maintain a preset geometric position relationship with the leader to ensure the fast convergence of the formation location. Lyapunov’s theory proves the stability of a snake robot formation error. Simulation and experimental results show that this strategy has the advantages of faster convergence speed and higher tracking accuracy than other current methods.
{"title":"Leader–follower method-based formation control for snake robots","authors":"Wu Wang, Zhihang Du, Dongfang Li, Jie Huang","doi":"10.1016/j.isatra.2024.11.035","DOIUrl":"10.1016/j.isatra.2024.11.035","url":null,"abstract":"<div><div>This paper proposes a leader–follower control method for multiple snake robot formation. Based on the simplified snake robot model, this work improves the traditional Serpenoid gait mode to a time-varying frequency form. Combined with the line-of-sight (LOS) method, a snake robot trajectory tracking controller is designed to enable the leader to track the desired trajectory at the ideal velocity. Then, the leader–follower following error system of a snake robot formation is established. In this framework, the follower can maintain a preset geometric position relationship with the leader to ensure the fast convergence of the formation location. Lyapunov’s theory proves the stability of a snake robot formation error. Simulation and experimental results show that this strategy has the advantages of faster convergence speed and higher tracking accuracy than other current methods.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"156 ","pages":"Pages 609-619"},"PeriodicalIF":6.3,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142808884","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 : 2024-12-01DOI: 10.1016/j.isatra.2024.09.014
Minggui Mo, Jiarong Wu, Weilin Wu
To reduce the cross-regulation and improve the dynamic response performance of a single-inductor double-output Boost converter, an adaptive backstepping sliding mode control (ABSMC) strategy is proposed in this paper. The nonlinear mathematical model of the converter is established, an output function satisfying the exact feedback linearization (EFL) is constructed based on the inverse system theory, and the linearization and decoupling of the model are implemented. Meanwhile, the problem of EFL heavily relying on an exact model is solved by combining backstepping control with sliding mode control. Furthermore, an adaptive reaching law is proposed to adjust the gain of the switching function, and the chattering phenomenon of sliding mode control is reduced. The stability of the system is proven according to the Lyapunov stability theorem. Finally, compared with the existing control methods, both the simulation results and experimental results verify the effectiveness and superiority of the proposed ABSMC strategy.
{"title":"Adaptive backstepping sliding mode control for single-inductor double-output boost converter","authors":"Minggui Mo, Jiarong Wu, Weilin Wu","doi":"10.1016/j.isatra.2024.09.014","DOIUrl":"10.1016/j.isatra.2024.09.014","url":null,"abstract":"<div><div>To reduce the cross-regulation and improve the dynamic response performance of a single-inductor double-output Boost converter, an adaptive backstepping sliding mode control (ABSMC) strategy is proposed in this paper. The nonlinear mathematical model of the converter is established, an output function satisfying the exact feedback linearization (EFL) is constructed based on the inverse system theory, and the linearization and decoupling of the model are implemented. Meanwhile, the problem of EFL heavily relying on an exact model is solved by combining backstepping control with sliding mode control. Furthermore, an adaptive reaching law is proposed to adjust the gain of the switching function, and the chattering phenomenon of sliding mode control is reduced. The stability of the system is proven according to the Lyapunov stability theorem. Finally, compared with the existing control methods, both the simulation results and experimental results verify the effectiveness and superiority of the proposed ABSMC strategy.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"155 ","pages":"Pages 454-462"},"PeriodicalIF":6.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142304801","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 : 2024-12-01DOI: 10.1016/j.isatra.2024.09.010
Hong Jiang , Guangren Duan , Mingzhe Hou
In this paper, a feedback controller based on the extended state observer is proposed for fully actuated systems. First, a generalized proportional–integral observer is designed to estimate states and disturbances simultaneously. Using the linear parameter varying approach and the convexity principle, a linear matrix inequality condition is given to obtain the observer gains. Second, on the basis of the full-actuation property and the estimated states, a feedback controller, utilizing estimated disturbances to compensate for system disturbances, is designed to make all the states of the closed-loop system uniformly ultimately bounded. In addition, if disturbances are constant or slow time-varying, the observation errors and the states of closed-loop system are all exponentially convergent. Two illustrations are provided to show the validity and practicality of the proposed approach. Simulation results show that the estimated disturbances can follow the true values with relatively small errors, so compensating the system disturbances with estimated values can effectively reduce the ultimate bounds of states of the closed-loop system.
{"title":"Generalized proportional–integral extended state observer-based controller design for fully actuated systems","authors":"Hong Jiang , Guangren Duan , Mingzhe Hou","doi":"10.1016/j.isatra.2024.09.010","DOIUrl":"10.1016/j.isatra.2024.09.010","url":null,"abstract":"<div><div>In this paper, a feedback controller based on the extended state observer is proposed for fully actuated systems. First, a generalized proportional–integral observer is designed to estimate states and disturbances simultaneously. Using the linear parameter varying approach and the convexity principle, a linear matrix inequality condition is given to obtain the observer gains. Second, on the basis of the full-actuation property and the estimated states, a feedback controller, utilizing estimated disturbances to compensate for system disturbances, is designed to make all the states of the closed-loop system uniformly ultimately bounded. In addition, if disturbances are constant or slow time-varying, the observation errors and the states of closed-loop system are all exponentially convergent. Two illustrations are provided to show the validity and practicality of the proposed approach. Simulation results show that the estimated disturbances can follow the true values with relatively small errors, so compensating the system disturbances with estimated values can effectively reduce the ultimate bounds of states of the closed-loop system.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"155 ","pages":"Pages 137-147"},"PeriodicalIF":6.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142304823","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}
Recent studies have shown that electrical systems in wind power conversion are subject to a 67 % failure rate, and conventional three-phase generators are considered to be the most sensitive to these faults. Induction generator current harmonics are a major source of torque ripples causing acoustic noise and vibrations. These ripples can progressively increase under faulty operating conditions. In six-phase machines, there is appearance of high harmonic currents in the air gap as space harmonics. Power electronic converters are also subject to faults, the most common being Short-Circuit (SC) and Open-Circuit (OC) faults. SC faults cause large peaks in the line currents, which trigger the protection devices, resulting in a complete shutdown of the production system. OC faults, on the other hand, cause imbalances in the phases, but the system remains in operation.
Direct Torque Control (DTC) based on Space Vector Modulation (SVM) at constant switching frequency is an effective solution to tackle induction generator current harmonics. This paper proposes a DTC combined with a Proportional Integral Fuzzy Logic Controller (PIFLC) optimized by Particle Swarm Optimization (PSO) in order to overcome the problems of torque ripples. Furthermore, using Vector Space Decomposition (VSD) and the Modified Space Vector Pulse Width Modulation (MSVPWM) strategy, a significant reduction of harmonics in the air-gap can be achieved.
Simulations were carried out under MATLAB/Simulink, and the results obtained demonstrate the superiority of the proposed DTC-PIFLC-PSO controller in terms of robustness against wind speed variations and under faulty switch conditions in the power converter of the Dual Star Induction Generator (DSIG) generator. In addition, a comparative study with the classical PI controller is presented to show the effectiveness of the DTC-PIFLC-PSO controller against faults with a significant reduction in the Total Harmonic Distortion (THD) during both faulty and non-faulty conditions.
{"title":"Direct torque control of a dual star induction generator based on a modified space vector PWM under fault conditions","authors":"Karim Belalia , Abdelkader Mostefa , Houari Merabet Boulouiha , Azeddine Draou , Mouloud Denai","doi":"10.1016/j.isatra.2024.10.012","DOIUrl":"10.1016/j.isatra.2024.10.012","url":null,"abstract":"<div><div>Recent studies have shown that electrical systems in wind power conversion are subject to a 67 % failure rate, and conventional three-phase generators are considered to be the most sensitive to these faults. Induction generator current harmonics are a major source of torque ripples causing acoustic noise and vibrations. These ripples can progressively increase under faulty operating conditions. In six-phase machines, there is appearance of high harmonic currents in the air gap as space harmonics. Power electronic converters are also subject to faults, the most common being Short-Circuit (SC) and Open-Circuit (OC) faults. SC faults cause large peaks in the line currents, which trigger the protection devices, resulting in a complete shutdown of the production system. OC faults, on the other hand, cause imbalances in the phases, but the system remains in operation.</div><div>Direct Torque Control (DTC) based on Space Vector Modulation (SVM) at constant switching frequency is an effective solution to tackle induction generator current harmonics. This paper proposes a DTC combined with a Proportional Integral Fuzzy Logic Controller (PIFLC) optimized by Particle Swarm Optimization (PSO) in order to overcome the problems of torque ripples. Furthermore, using Vector Space Decomposition (VSD) and the Modified Space Vector Pulse Width Modulation (MSVPWM) strategy, a significant reduction of harmonics in the air-gap can be achieved.</div><div>Simulations were carried out under MATLAB/Simulink, and the results obtained demonstrate the superiority of the proposed DTC-PIFLC-PSO controller in terms of robustness against wind speed variations and under faulty switch conditions in the power converter of the Dual Star Induction Generator <strong>(</strong>DSIG) generator. In addition, a comparative study with the classical PI controller is presented to show the effectiveness of the DTC-PIFLC-PSO controller against faults with a significant reduction in the Total Harmonic Distortion (THD) during both faulty and non-faulty conditions.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"155 ","pages":"Pages 237-260"},"PeriodicalIF":6.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142559860","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 : 2024-12-01DOI: 10.1016/j.isatra.2024.09.018
Dehua Zhang, Yuchen Wang, Lei Meng, Jiayuan Yan, Chunbin Qin
Safe fault tolerant control is one of the key technologies to improve the reliability of dynamic complex nonlinear systems with limited inputs, which is hard to solve and definitely a great challenge to tackle. Thus the paper presents a novel safety-optimal FTC (Fault Tolerant Control) approach for a category of completely unknown nonlinear systems incorporating actuator fault and asymmetric constrained-input, which can guarantee the system’s operation within a safe range while showcasing optimal performance. Firstly, a CBF (Control Barrier Function) is incorporated into the cost function to penalize unsafe behaviors, and then we translate the intractable safety-optimal FTC problem into a differential ZSG (Zero-Sum Game) problem by defining the control input and the actuator fault as two opposing sides. Secondly, a neural-network-based identifier is employed to reconstruct system dynamics using system data, and the resolution of handling asymmetric constrained-input with the introduced non-quadratic cost function is achieved through the design of an adaptive critic scheme, aiming to reduce computational expenses accordingly. Finally, through the theoretical stability analysis, it is demonstrated that all signals in the closed-loop system are consistently UUB (Uniformly Ultimately Bounded). Furthermore, the proposed method’s effectiveness is also verified in the simulation experiments conducted on a model of a single-link robotic arm system with actuator failure. The result shows that the algorithm can fulfill the safety-optimal demand of fault tolerant control in fault system with asymmetric constrained-input.
{"title":"Adaptive critic design for safety-optimal FTC of unknown nonlinear systems with asymmetric constrained-input","authors":"Dehua Zhang, Yuchen Wang, Lei Meng, Jiayuan Yan, Chunbin Qin","doi":"10.1016/j.isatra.2024.09.018","DOIUrl":"10.1016/j.isatra.2024.09.018","url":null,"abstract":"<div><div>Safe fault tolerant control is one of the key technologies to improve the reliability of dynamic complex nonlinear systems with limited inputs, which is hard to solve and definitely a great challenge to tackle. Thus the paper presents a novel safety-optimal FTC (Fault Tolerant Control) approach for a category of completely unknown nonlinear systems incorporating actuator fault and asymmetric constrained-input, which can guarantee the system’s operation within a safe range while showcasing optimal performance. Firstly, a CBF (Control Barrier Function) is incorporated into the cost function to penalize unsafe behaviors, and then we translate the intractable safety-optimal FTC problem into a differential ZSG (Zero-Sum Game) problem by defining the control input and the actuator fault as two opposing sides. Secondly, a neural-network-based identifier is employed to reconstruct system dynamics using system data, and the resolution of handling asymmetric constrained-input with the introduced non-quadratic cost function is achieved through the design of an adaptive critic scheme, aiming to reduce computational expenses accordingly. Finally, through the theoretical stability analysis, it is demonstrated that all signals in the closed-loop system are consistently UUB (Uniformly Ultimately Bounded). Furthermore, the proposed method’s effectiveness is also verified in the simulation experiments conducted on a model of a single-link robotic arm system with actuator failure. The result shows that the algorithm can fulfill the safety-optimal demand of fault tolerant control in fault system with asymmetric constrained-input.</div></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":"155 ","pages":"Pages 309-318"},"PeriodicalIF":6.3,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142304802","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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