Pub Date : 2024-08-01DOI: 10.1016/j.isatra.2024.05.054
In this study, the problem of non-overshooting tracking control (NOTC) for a class of strict-feedback systems with prescribed finite-time (FT) is studied. In order to obtain a simple closed-loop system (CLS), we first propose a criterion lemma for prescribed FT stable control. A prescribed FT controller is designed by using backstepping and the proposed criterion lemma. According to the CLS, many conditions of NOTC are analyzed. Compared with the related results, the NOTC conditions obtained in this paper are relatively extensive, which reduces conservatism. The algorithm makes the system overshoot zero, so this result increases the accuracy. The final simulation results show that this algorithm is effective.
{"title":"Non-overshooting tracking control for nonlinear systems with prescribed finite-time","authors":"","doi":"10.1016/j.isatra.2024.05.054","DOIUrl":"10.1016/j.isatra.2024.05.054","url":null,"abstract":"<div><p>In this study, the problem of non-overshooting tracking control (NOTC) for a class of strict-feedback systems with prescribed finite-time (FT) is studied. In order to obtain a simple closed-loop system (CLS), we first propose a criterion lemma for prescribed FT stable control. A prescribed FT controller is designed by using backstepping and the proposed criterion lemma. According to the CLS, many conditions of NOTC are analyzed. Compared with the related results, the NOTC conditions obtained in this paper are relatively extensive, which reduces conservatism. The algorithm makes the system overshoot zero, so this result increases the accuracy. The final simulation results show that this algorithm is effective.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141332750","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 : 2024-08-01DOI: 10.1016/j.isatra.2024.05.031
The formation tracking of the leader–follower multi-agent systems (MASs) under switching topologies is investigated. The considered system is exposed to both the mismatched and matched disturbances in the dynamics of the leader and followers, which places higher requirements for the robustness of the control protocol. In the presence of disturbances and leader’s unknown control input, an innovative distributed observer embedded with robust terms is designed firstly to estimate leader’s states in finite time. Taking account of the switching topologies, a novel analysis scheme that divides the convergence process into two stages is proposed to establish the finite-time (FT) convergence of estimation errors. Then, by virtue of a constructed auxiliary variable, a FT controller with an event-triggered mechanism is put forward, in which multiple robust feedback terms are designed wisely to suppress the mismatched and matched disturbances effectively. As a result, the FT formation tracking can be achieved with saved resources, despite perturbed environments and switching topologies. Simulation examples are presented to confirm the effectiveness of the proposed algorithm.
本文研究了切换拓扑结构下领导者-跟随者多代理系统(MAS)的编队跟踪问题。所考虑的系统在领导者和跟随者的动态过程中都会受到不匹配和匹配的干扰,这就对控制协议的鲁棒性提出了更高的要求。在存在扰动和领导者未知控制输入的情况下,首先设计了一种嵌入鲁棒项的创新型分布式观测器,用于在有限时间内估计领导者的状态。考虑到开关拓扑结构,提出了一种将收敛过程分为两个阶段的新型分析方案,以确定估计误差的有限时间(FT)收敛性。然后,利用构建的辅助变量,提出了一种具有事件触发机制的 FT 控制器,其中合理设计了多个鲁棒反馈项,以有效抑制不匹配和匹配干扰。因此,尽管存在扰动环境和开关拓扑结构,仍能在节省资源的情况下实现 FT 编队跟踪。仿真实例证实了所提算法的有效性。
{"title":"Event-triggered finite-time formation tracking of multi-agent systems with mismatched disturbances under switching topologies","authors":"","doi":"10.1016/j.isatra.2024.05.031","DOIUrl":"10.1016/j.isatra.2024.05.031","url":null,"abstract":"<div><p>The formation tracking of the leader–follower multi-agent systems (MASs) under switching topologies is investigated. The considered system is exposed to both the mismatched and matched disturbances in the dynamics of the leader and followers, which places higher requirements for the robustness of the control protocol. In the presence of disturbances and leader’s unknown control input, an innovative distributed observer embedded with robust terms is designed firstly to estimate leader’s states in finite time. Taking account of the switching topologies, a novel analysis scheme that divides the convergence process into two stages is proposed to establish the finite-time (FT) convergence of estimation errors. Then, by virtue of a constructed auxiliary variable, a FT controller with an event-triggered mechanism is put forward, in which multiple robust feedback terms are designed wisely to suppress the mismatched and matched disturbances effectively. As a result, the FT formation tracking can be achieved with saved resources, despite perturbed environments and switching topologies. Simulation examples are presented to confirm the effectiveness of the proposed algorithm.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141130746","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 : 2024-08-01DOI: 10.1016/j.isatra.2024.05.035
The existence of dynamic outliers poses a significant challenge to the Kalman filter (KF). In addressing this challenge, this paper presents an innovative solution: Firstly, by analyzing a period of measurement information to more accurately identify state and measurement dynamic outliers, the system’s capacity to adapt to dynamic changes is significantly improved. Next, noise is modeled as a Gaussian-Student’s t mixture distribution (GSTM), with mixed model parameters inferred using the variational Bayesian (VB) method based on measurement information, cleverly integrated into the Moving Horizon Estimation (MHE) framework, thus enhancing the flexibility and accuracy of the noise model. Lastly, the optimal window size was identified through simulation experiment analysis to further increase the estimation accuracy. Simulation results demonstrate that the proposed filter exhibits stronger robustness in resisting dynamic outliers compared to existing filters.
动态离群值的存在给卡尔曼滤波器(KF)带来了巨大挑战。针对这一挑战,本文提出了一种创新的解决方案:首先,通过分析一段时间的测量信息来更准确地识别状态和测量动态异常值,从而显著提高系统适应动态变化的能力。其次,将噪声建模为高斯-学生 t 混合分布 (GSTM),利用基于测量信息的变异贝叶斯 (VB) 方法推断混合模型参数,并巧妙地集成到移动地平线估计 (MHE) 框架中,从而提高了噪声模型的灵活性和准确性。最后,通过仿真实验分析确定了最佳窗口大小,进一步提高了估计精度。仿真结果表明,与现有的滤波器相比,所提出的滤波器在抵御动态异常值方面表现出更强的鲁棒性。
{"title":"A novel dynamic outlier-robust Kalman filter with Moving Horizon Estimation","authors":"","doi":"10.1016/j.isatra.2024.05.035","DOIUrl":"10.1016/j.isatra.2024.05.035","url":null,"abstract":"<div><p>The existence of dynamic outliers poses a significant challenge to the Kalman filter (KF). In addressing this challenge, this paper presents an innovative solution: Firstly, by analyzing a period of measurement information to more accurately identify state and measurement dynamic outliers, the system’s capacity to adapt to dynamic changes is significantly improved. Next, noise is modeled as a Gaussian-Student’s t mixture distribution (GSTM), with mixed model parameters inferred using the variational Bayesian (VB) method based on measurement information, cleverly integrated into the Moving Horizon Estimation (MHE) framework, thus enhancing the flexibility and accuracy of the noise model. Lastly, the optimal window size was identified through simulation experiment analysis to further increase the estimation accuracy. Simulation results demonstrate that the proposed filter exhibits stronger robustness in resisting dynamic outliers compared to existing filters.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141132072","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 : 2024-08-01DOI: 10.1016/j.isatra.2024.05.048
This paper addressed the robust distributed fixed-time cooperative hunting problem of multiple quadrotors subject to disturbances in obstacles environment. To handle the underactuated issue inherent in quadrotor dynamics, an inner–outer (attitude-position) loop cascade control configuration is proposed to achieve the cooperative flight control of quadrotors. For position subsystem, as the information of target cannot be accessible to all quadrotors, a distributed fixed-time observer is devised to estimate the target’s information. To improve the system’s robustness, a fixed-time extended state observer is designed to reject disturbances actively. Based on two observers, the sliding mode position encirclement control protocol with repulsive force is presented to avoid obstacles and encircle the target within a fixed time. For attitude subsystem, a sliding mode attitude tracking control protocol is proposed such that tracking errors can converge to zero even under disturbances. The stability analysis is performed to show the stabilization of the whole closed-loop system with fixed-time convergence. Finally, two sets of comparison simulation are provided to show the superiority of the developed control strategy.
{"title":"Robust distributed fixed-time cooperative hunting control for multi-quadrotor with obstacles avoidance","authors":"","doi":"10.1016/j.isatra.2024.05.048","DOIUrl":"10.1016/j.isatra.2024.05.048","url":null,"abstract":"<div><p>This paper addressed the robust distributed fixed-time cooperative hunting problem of multiple quadrotors subject to disturbances in obstacles environment. To handle the underactuated issue inherent in quadrotor dynamics, an inner–outer (attitude-position) loop cascade control configuration is proposed to achieve the cooperative flight control of quadrotors. For position subsystem, as the information of target cannot be accessible to all quadrotors, a distributed fixed-time observer is devised to estimate the target’s information. To improve the system’s robustness, a fixed-time extended state observer is designed to reject disturbances actively. Based on two observers, the sliding mode position encirclement control protocol with repulsive force is presented to avoid obstacles and encircle the target within a fixed time. For attitude subsystem, a sliding mode attitude tracking control protocol is proposed such that tracking errors can converge to zero even under disturbances. The stability analysis is performed to show the stabilization of the whole closed-loop system with fixed-time convergence. Finally, two sets of comparison simulation are provided to show the superiority of the developed control strategy.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141294083","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 : 2024-08-01DOI: 10.1016/j.isatra.2024.05.049
This paper proposes an observer-based hierarchical distributed model predictive control (MPC) strategy for ensuring speed consistency in multi-linear motor traction systems. First, a communication topology is considered to ensure information exchange. Secondly, the control architecture of each agent is divided into upper layers and lower layers. The upper layer utilizes a distributed MPC method to track the leader’s speed. The lower layer uses a decentralized MPC method to track the command signals sent by its upper layer controller. In addition, to eliminate the negative impact of disturbance, a nonlinear disturbance observer is designed. We then prove the asymptotic stability of the entire system by properly designing the Lyapunov equation. Finally, the feasibility of the proposed strategy is verified based on several simulations.
{"title":"Observer-based hierarchical distributed model predictive control for multi-linear motor traction systems","authors":"","doi":"10.1016/j.isatra.2024.05.049","DOIUrl":"10.1016/j.isatra.2024.05.049","url":null,"abstract":"<div><p>This paper proposes an observer-based hierarchical distributed model predictive control (MPC) strategy for ensuring speed consistency in multi-linear motor traction systems. First, a communication topology is considered to ensure information exchange. Secondly, the control architecture of each agent is divided into upper layers and lower layers. The upper layer utilizes a distributed MPC method to track the leader’s speed. The lower layer uses a decentralized MPC method to track the command signals sent by its upper layer controller. In addition, to eliminate the negative impact of disturbance, a nonlinear disturbance observer is designed. We then prove the asymptotic stability of the entire system by properly designing the Lyapunov equation. Finally, the feasibility of the proposed strategy is verified based on several simulations.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141328245","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 : 2024-08-01DOI: 10.1016/j.isatra.2024.06.003
This work explores the polynomial fuzzy stabilization for positive systems. The traditional quadratic Lyapunov function and basic stability analysis may not be favourable for stability investigation due to the absence of the positivity property and membership functions. Therefore, a fuzzy co-positive polynomial Lyapunov–Krasovskii (FCPL) function which considers the positivity is proposed firstly through an imperfect premise matching (IPM) approach. Secondly, the symbol transfer technique which takes into account fuzzy membership knowledge relaxes the stability conditions. The number of symbols is reduced by two constraints: (1) the last and next moments of the membership functions of the FCPL function; (2) membership functions of the fuzzy model and the controller. Finally, the polynomial fuzzy controller with symbols is obtained. Two examples are implemented to verify the proposed methods.
{"title":"Membership-dependent polynomial fuzzy control of a positive discrete time system: A symbol transfer technique","authors":"","doi":"10.1016/j.isatra.2024.06.003","DOIUrl":"10.1016/j.isatra.2024.06.003","url":null,"abstract":"<div><p>This work explores the polynomial fuzzy stabilization for positive systems. The traditional quadratic Lyapunov function and basic stability analysis may not be favourable for stability investigation due to the absence of the positivity property and membership functions. Therefore, a fuzzy co-positive polynomial Lyapunov–Krasovskii (FCPL) function which considers the positivity is proposed firstly through an imperfect premise matching (IPM) approach. Secondly, the symbol transfer technique which takes into account fuzzy membership knowledge relaxes the stability conditions. The number of symbols is reduced by two constraints: (1) the last and next moments of the membership functions of the FCPL function; (2) membership functions of the fuzzy model and the controller. Finally, the polynomial fuzzy controller with symbols is obtained. Two examples are implemented to verify the proposed methods.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141392508","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 : 2024-08-01DOI: 10.1016/j.isatra.2024.05.030
In this article, a quality of service (QoS) dependent variable sampling dynamic event-triggered control method is designed for a cyber–physical system (CPS) with delays and packets dropout to cope with non-ideal network environments, maintain the desired control performance and improve the communication efficiency. To achieve the variable period sampling, a sampler is designed based on the QoS of the wireless network by using the delta operator discretization method. Then, a variable period sampling scheme for the delta operator system converted from the CPS is designed. Furthermore, a dynamic event-triggered mechanism (DETM) is proposed using the variable period sampling signal, which can reduce event triggered data calculations and increase event triggered intervals. By utilizing the average dwell time (ADT) approach, sufficient conditions contains the explicit variable sampling period are derived for the derived switched CPS. Finally, the effectiveness of the designed method is verified by numerical examples.
{"title":"Dynamic event-triggered control for CPSs under QoS-based variable sampling approach","authors":"","doi":"10.1016/j.isatra.2024.05.030","DOIUrl":"10.1016/j.isatra.2024.05.030","url":null,"abstract":"<div><p>In this article, a quality of service (QoS) dependent variable sampling dynamic event-triggered control method is designed for a cyber–physical system (CPS) with delays and packets dropout to cope with non-ideal network environments, maintain the desired control performance and improve the communication efficiency. To achieve the variable period sampling, a sampler is designed based on the QoS of the wireless network by using the delta operator discretization method. Then, a variable period sampling scheme for the delta operator system converted from the CPS is designed. Furthermore, a dynamic event-triggered mechanism (DETM) is proposed using the variable period sampling signal, which can reduce event triggered data calculations and increase event triggered intervals. By utilizing the average dwell time (ADT) approach, sufficient conditions contains the explicit variable sampling period are derived for the derived switched CPS. Finally, the effectiveness of the designed method is verified by numerical examples.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141142680","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 : 2024-08-01DOI: 10.1016/j.isatra.2024.05.050
This paper proposes a novel adaptive variable power sliding mode observer-based model predictive control (AVPSMO-MPC) method for the trajectory tracking of a Mecanum-wheeled mobile robot (MWMR) with external disturbances and model uncertainties. First, in the absence of disturbances and uncertainties, a model predictive controller that considers various physical constraints is designed based on the nominal dynamics model of the MWMR, which can transform the tracking problem into a constrained quadratic programming (QP) problem to solve the optimal control inputs online. Subsequently, to improve the anti-jamming ability of the MWMR, an AVPSMO is designed as a feedforward compensation controller to suppress the effects of external disturbances and model uncertainties during the actual motion of the MWMR, and the stability of the AVPSMO is proved via Lyapunov theory. The proposed AVPSMO-MPC method can achieve precise tracking control while ensuring that the constraints of MWMR are not violated in the presence of disturbances and uncertainties. Finally, comparative simulation cases are presented to demonstrate the effectiveness and robustness of the proposed method.
{"title":"Sliding mode observer-based model predictive tracking control for Mecanum-wheeled mobile robot","authors":"","doi":"10.1016/j.isatra.2024.05.050","DOIUrl":"10.1016/j.isatra.2024.05.050","url":null,"abstract":"<div><p>This paper proposes a novel adaptive variable power sliding mode observer-based model predictive control (AVPSMO-MPC) method for the trajectory tracking of a Mecanum-wheeled mobile robot (MWMR) with external disturbances and model uncertainties. First, in the absence of disturbances and uncertainties, a model predictive controller that considers various physical constraints is designed based on the nominal dynamics model of the MWMR, which can transform the tracking problem into a constrained quadratic programming (QP) problem to solve the optimal control inputs online. Subsequently, to improve the anti-jamming ability of the MWMR, an AVPSMO is designed as a feedforward compensation controller to suppress the effects of external disturbances and model uncertainties during the actual motion of the MWMR, and the stability of the AVPSMO is proved via Lyapunov theory. The proposed AVPSMO-MPC method can achieve precise tracking control while ensuring that the constraints of MWMR are not violated in the presence of disturbances and uncertainties. Finally, comparative simulation cases are presented to demonstrate the effectiveness and robustness of the proposed method.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141281586","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 : 2024-08-01DOI: 10.1016/j.isatra.2024.05.051
The periodical impulses caused by localized defects of components are the vital characteristic information for fault detection and diagnosis of rotating machines. In recent years, multitudinous spectrum analysis-based signal processing methods have been developed and authenticated as the powerful tools for excavating fault-related repetitive transients from the measured complex signals. Nonetheless, in practice, their applications can be severely confined by the constraints of limited system signal availability and incomplete information extraction under intricate noise interferences. To tackle the aforementioned issues, this paper proposes a periodic-modulation-oriented noise resistant correlation (PMONRC) method for target period detection and fault diagnosis of rotating machinery. Firstly, the envelope of raw signal is obtained via a novel sequential procedure of signal element-wise squaring, spectral Gini index-guided adaptive low-pass filtering, and signal element-wise square root computation, to highlight the modulated wave component that is more likely to be related to the potential fault-induced periods. Subsequently, a series of sub-signals, which can encode the fault-related repetitive information and enhance noise resistance, are constructed utilizing the envelope signal. Based upon the envelope signal and the obtained sub-signals, a weighted envelope noise resistant correlation function can be derived with the assistance of the L-moment ratio-based indicator and Sigmoid transformation. Finally, the specific fault type of the rotating machinery can be identified and affirmed accordingly. The proposed PMONRC method, which is nonparametric and completely adaptive to the signal being processed itself, overcomes the deficiencies of spectral analysis-based approaches, and is applicable for the engineering circumstances of system signal limitation and low signal-to-noise ratio (SNR), possessing immense practical merit. Both simulation analyses and experimental validations profoundly demonstrate that the proposed method is superior to other existing state-of-the-art time-domain correlation methods. Moreover, as an attempt as well as exemplar to apply this method, the PMONRC-based incipient fault diagnostic results of rolling bearing data from the well-known experimental platform PRONOSTIA are presented and discussed as well, to further elucidate the effectiveness and practical engineering significance of the proposed method.
{"title":"A periodic-modulation-oriented noise resistant correlation method for industrial fault diagnostics of rotating machinery under the circumstances of limited system signal availability","authors":"","doi":"10.1016/j.isatra.2024.05.051","DOIUrl":"10.1016/j.isatra.2024.05.051","url":null,"abstract":"<div><p>The periodical impulses caused by localized defects of components are the vital characteristic information for fault detection and diagnosis of rotating machines. In recent years, multitudinous spectrum analysis-based signal processing methods have been developed and authenticated as the powerful tools for excavating fault-related repetitive transients from the measured complex signals. Nonetheless, in practice, their applications can be severely confined by the constraints of limited system signal availability and incomplete information extraction under intricate noise interferences. To tackle the aforementioned issues, this paper proposes a periodic-modulation-oriented noise resistant correlation (PMONRC) method for target period detection and fault diagnosis of rotating machinery. Firstly, the envelope of raw signal is obtained via a novel sequential procedure of signal element-wise squaring, spectral Gini index-guided adaptive low-pass filtering, and signal element-wise square root computation, to highlight the modulated wave component that is more likely to be related to the potential fault-induced periods. Subsequently, a series of sub-signals, which can encode the fault-related repetitive information and enhance noise resistance, are constructed utilizing the envelope signal. Based upon the envelope signal and the obtained sub-signals, a weighted envelope noise resistant correlation function can be derived with the assistance of the L-moment ratio-based indicator and Sigmoid transformation. Finally, the specific fault type of the rotating machinery can be identified and affirmed accordingly. The proposed PMONRC method, which is nonparametric and completely adaptive to the signal being processed itself, overcomes the deficiencies of spectral analysis-based approaches, and is applicable for the engineering circumstances of system signal limitation and low signal-to-noise ratio (SNR), possessing immense practical merit. Both simulation analyses and experimental validations profoundly demonstrate that the proposed method is superior to other existing state-of-the-art time-domain correlation methods. Moreover, as an attempt as well as exemplar to apply this method, the PMONRC-based incipient fault diagnostic results of rolling bearing data from the well-known experimental platform PRONOSTIA are presented and discussed as well, to further elucidate the effectiveness and practical engineering significance of the proposed method.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141294081","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 : 2024-08-01DOI: 10.1016/j.isatra.2024.05.041
This paper introduces a novel resource-efficient control structure for remote path-following control of autonomous vehicles based on a comprehensive combination of Kalman filtering, non-uniform dual-rate sampling, periodic event-triggered communication, and prediction-based and packet-based control techniques. An essential component of the control solution is a non-uniform dual-rate extended Kalman filter (NUDREKF), which includes an h-step ahead prediction stage. The prediction error of the NUDREKF is ensured to be exponentially mean-square bounded. The algorithmic implementation of the filter is straightforward and triggered by periodic event conditions. The main goal of the approach is to achieve efficient usage of resources in a wireless networked control system (WNCS), while maintaining satisfactory path-following behavior for the vehicle (a holonomic Mecanum-wheeled robot). The proposal is additionally capable of coping with typical drawbacks of WNCS such as time-varying delays, and packet dropouts and disorder. A Simscape Multibody simulation application reveals reductions of up to 93% in resource usage compared to a nominal time-triggered control solution. The simulation results are experimentally validated in the holonomic Mecanum-wheeled robotic platform.
本文基于卡尔曼滤波、非均匀双速率采样、周期性事件触发通信以及基于预测和基于数据包的控制技术的综合组合,为自动驾驶车辆的远程路径跟踪控制介绍了一种新型的资源节约型控制结构。控制解决方案的一个重要组成部分是非均匀双速率扩展卡尔曼滤波器(NUDREKF),其中包括一个 h 步超前预测阶段。NUDREKF 的预测误差确保为指数均方差。滤波器的算法实现简单明了,由周期性事件条件触发。该方法的主要目标是在无线网络控制系统(WNCS)中实现资源的高效利用,同时保持车辆(一种全工程学麦康纳轮式机器人)令人满意的路径跟踪行为。此外,该提案还能应对无线网络控制系统的典型缺点,如时变延迟、丢包和无序。Simscape 多体仿真应用显示,与标称的时间触发控制解决方案相比,该方案最多可减少 93% 的资源使用。仿真结果在符合整体工程学的 Mecanum 轮式机器人平台上得到了实验验证。
{"title":"Remote path-following control for a holonomic Mecanum-wheeled robot in a resource-efficient networked control system","authors":"","doi":"10.1016/j.isatra.2024.05.041","DOIUrl":"10.1016/j.isatra.2024.05.041","url":null,"abstract":"<div><p>This paper introduces a novel resource-efficient control structure for remote path-following control of autonomous vehicles based on a comprehensive combination of Kalman filtering, non-uniform dual-rate sampling, periodic event-triggered communication, and prediction-based and packet-based control techniques. An essential component of the control solution is a non-uniform dual-rate extended Kalman filter (NUDREKF), which includes an h-step ahead prediction stage. The prediction error of the NUDREKF is ensured to be exponentially mean-square bounded. The algorithmic implementation of the filter is straightforward and triggered by periodic event conditions. The main goal of the approach is to achieve efficient usage of resources in a wireless networked control system (WNCS), while maintaining satisfactory path-following behavior for the vehicle (a holonomic Mecanum-wheeled robot). The proposal is additionally capable of coping with typical drawbacks of WNCS such as time-varying delays, and packet dropouts and disorder. A Simscape Multibody simulation application reveals reductions of up to 93% in resource usage compared to a nominal time-triggered control solution. The simulation results are experimentally validated in the holonomic Mecanum-wheeled robotic platform.</p></div>","PeriodicalId":14660,"journal":{"name":"ISA transactions","volume":null,"pages":null},"PeriodicalIF":6.3,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S001905782400243X/pdfft?md5=56690d28ec6668476670def6daee72ca&pid=1-s2.0-S001905782400243X-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141249161","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}