ISA transactions最新文献

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Adaptive bipartite time-varying formation tracking control for heterogeneous multi-agent systems with DoS attacks 具有DoS攻击的异构多智能体系统的自适应二部时变编队跟踪控制。

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.2024.12.028

Chengmei Tang , Lianghao Ji , Shasha Yang , Xing Guo

Denial-of-service (DoS) attacks and antagonistic interactions may exist in complex networks, which will destroy cooperative communication between agents and thus cannot realize collaborative tasks. Therefore, this paper studies time-varying formation tracking (TVFT) of heterogeneous multi-agent systems (HMASs) with DoS attacks and cooperative-antagonistic interactions. It aims to ensure system communication connectivity and allow followers to achieve distributed secure bipartite TVFT. To enable followers to successfully obtain unknown state of the leader, this paper designs a composite adaptive dynamic event-triggered (DET) bipartite compensator. Compared with existing compensators, it can resist DoS attacks; obtain information of a non-autonomous leader; increase the event triggering interval; and be independent of global information of signed digraph. Based on proposed compensator, a new distributed formation controller is designed for achieving TVFT. The results show that sufficient conditions for realizing secure bipartite TVFT of HMASs under DoS attacks and feasibility conditions for realizing time-varying formations are obtained. Meanwhile, simulations are performed to test validity of the compensator and controller.

复杂网络中可能存在DoS （Denial-of-service，拒绝服务）攻击和对抗交互，破坏agent之间的协作通信，无法实现协同任务。因此，本文研究了具有DoS攻击和合作-对抗相互作用的异构多智能体系统（HMASs）的时变编队跟踪问题。它旨在保证系统通信的连通性，并允许追随者实现分布式安全的二部TVFT。为了使follower能够顺利获得leader的未知状态，设计了一种复合自适应动态事件触发（DET）二部补偿器。与现有补偿器相比，该补偿器能够抵抗DoS攻击；获取非自治领导者的信息；增加事件触发间隔；并且不依赖于有向图的全局信息。基于所提出的补偿器，设计了一种新的分布式编队控制器来实现TVFT。结果表明，得到了在DoS攻击下实现HMASs安全二部TVFT的充分条件和实现时变编队的可行性条件。同时，通过仿真验证了补偿器和控制器的有效性。

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引用次数: 0

A hyperparameter optimization-assisted deep learning method towards thermal error modeling of spindles 用于主轴热误差建模的超参数优化辅助深度学习方法。

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

ISA transactions

Pub Date : 2025-01-01 DOI: 10.1016/j.isatra.2024.11.001

Shicun Ao , Sitong Xiang , Jianguo Yang

Spindle thermal errors significantly influence the machining accuracy of machine tools, necessitating precise modeling. While deep learning methods are commonly used for this purpose, their generalization ability and performance largely depend on design of the network structure and the selection of hyperparameters. To address these challenges, this study proposes a neural network model that integrates Bayesian optimization (BO) with dilated convolution neural network (DCNN). Dilated convolutions enhance traditional CNN models by using a dilation rate, which allows the convolutional kernel to cover a larger receptive field without increasing parameter count or computational cost. To prevent local optima during hyperparameter tuning, a Bayesian algorithm based on Gaussian processes (GP) is utilized, which optimizes 9 critical hyperparameters in the DCNN. Experimental results demonstrate that the proposed model achieves over 95 % accuracy in predicting radial thermal errors for both heating and cooling states in the X and Y directions.

主轴热误差会严重影响机床的加工精度，因此必须进行精确建模。虽然深度学习方法通常用于此目的，但其泛化能力和性能在很大程度上取决于网络结构的设计和超参数的选择。为了应对这些挑战，本研究提出了一种将贝叶斯优化（BO）与扩张卷积神经网络（DCNN）相结合的神经网络模型。扩张卷积通过使用扩张率来增强传统的 CNN 模型，从而在不增加参数数量或计算成本的情况下让卷积核覆盖更大的感受野。为了防止超参数调整过程中出现局部最优，我们采用了基于高斯过程（GP）的贝叶斯算法，该算法优化了 DCNN 中的 9 个关键超参数。实验结果表明，所提出的模型在预测 X 和 Y 方向上加热和冷却状态的径向热误差时，准确率超过 95%。

引用次数: 0

Analysis of proportional-resonant damping factors in the parallel operation of UPSs ups并联运行中比例谐振阻尼因数分析。

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

ISA transactions

Pub Date : 2025-01-01 DOI: 10.1016/j.isatra.2024.11.028

Guilherme Keiel, Jeferson Vieira Flores, Luís Fernando Alves Pereira

Accurate load-sharing and circulating current mitigation is a particular problem in parallel-connected inverters without intercommunication. This paper analyzes how using multiple-resonant controllers in the voltage regulation loop impacts the parallel operation of uninterruptible power supplies (UPSs) with droop control. It is shown how adding damping factors of all modes of the resonant controller reduces the circulating current between the UPSs, also improving the power-sharing closed-loop stability and performance. Moreover, the proper choice of these damping coefficients can replicate the effects of adding virtual resistance loops to the droop controller structure. An analysis of such coefficients on the stability margins of the voltage regulation system is carried out and the methodology is validated by experimental results considering the parallelism of two 3.5 kVA UPSs with parametric differences in their

L C

filters.

准确的负载分担和循环电流缓解是无通信并联逆变器的一个特殊问题。本文分析了在稳压回路中使用多个谐振控制器对带下垂控制的不间断电源并联运行的影响。结果表明，在谐振控制器的所有模式中加入阻尼因子可以减小ups之间的循环电流，从而提高功率共享闭环的稳定性和性能。此外，适当选择这些阻尼系数可以复制在下垂控制器结构中添加虚拟电阻回路的效果。分析了这些系数对稳压系统稳定裕度的影响，并通过实验结果验证了该方法，该方法考虑了两个3.5 kVA ups的LC滤波器参数差异的并行性。

引用次数: 0

Event-triggered fault-tolerant tracking control for multiagent systems under actuator/sensor faults 执行器/传感器故障下多智能体系统的事件触发容错跟踪控制。

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

ISA transactions

Pub Date : 2025-01-01 DOI: 10.1016/j.isatra.2024.11.012

Zhengyu Ye, Ziquan Yu, Bin Jiang, Yuehua Cheng

Sensor faults can contaminate system measurements such that reliable estimation cannot be achieved and further cause abnormalities in multiagent systems (MASs). Addressing this problem, this study develops an event-triggered fault-tolerant tracking control (FTTC) protocol. The descriptor approach is first used to construct extended states and eliminate sensor faults from the measurement equation. A sliding-mode observer is then tailored based on the transformed system to realize state estimation and fault diagnosis (FD) simultaneously. Subsequently, an event-triggered distributed estimator is developed to isolate the uncertainty’s influence and reduce communication overhead while estimating the leader’s state. By incorporating the estimator and observer outputs, an FTTC protocol is developed to ensure stability under actuator/sensor faults. Finally, the investigated FTTC method is validated with a numerical simulation of multiple quadrotors.

传感器故障可能会污染系统测量结果，从而无法实现可靠的估计，并进一步导致多智能体系统（MASs）的异常。针对这一问题，本研究开发了一种事件触发容错跟踪控制（FTTC）协议。首先利用描述子方法构造扩展状态，并从测量方程中消除传感器故障。然后根据变换后的系统定制滑模观测器，同时实现状态估计和故障诊断。随后，开发了一种事件触发分布式估计器，以隔离不确定性的影响，减少在估计领导者状态时的通信开销。通过结合估计器和观测器输出，开发了FTTC协议，以确保执行器/传感器故障下的稳定性。最后，通过多四旋翼的数值仿真验证了所研究的FTTC方法。

引用次数: 0

Tracking control for two-wheeled mobile robots via event-triggered mechanism 基于事件触发机制的两轮移动机器人跟踪控制。

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

ISA transactions

Pub Date : 2025-01-01 DOI: 10.1016/j.isatra.2024.11.032

Chao Wang , Peng Shi , Imre Rudas

In this paper, we investigate the event-based tracking control for two-wheeled mobile robots using a sliding mode control strategy. To address the conflict between the singularity problem and finite-time performance, a new nonsingular terminal sliding mode controller enabling mobile robots to achieve the tracking goal through a wireless network is developed. Further, redesign the controller using sampling information, in which an event condition is introduced to determine the sampling sequence, and the event-triggered controller avoids the high gain situation through the proposed sliding variables. The Zeno phenomenon for event condition is excluded by proofing the existence of minimal positive interevent execution time. Finally, an experiment has been implemented on a remote computer transmitting control signals to a mobile robot, demonstrating the effectiveness and applicability of the designed controller.

本文采用滑模控制策略研究了基于事件的两轮移动机器人跟踪控制。为解决奇异性问题与有限时间性能之间的冲突，设计了一种新的非奇异终端滑模控制器，使移动机器人能够通过无线网络实现跟踪目标。进一步，利用采样信息对控制器进行了重新设计，引入事件条件来确定采样序列，事件触发控制器通过所提出的滑动变量避免了高增益的情况。通过证明存在最小正的事件间执行时间，排除了事件条件的芝诺现象。最后，在远程计算机上对移动机器人进行了控制信号传输实验，验证了所设计控制器的有效性和适用性。

引用次数: 0

Cascade control method for hydraulic secondary regulation drive system based on adaptive robust control 基于自适应鲁棒控制的液压二次调节驱动系统串级控制方法。

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

ISA transactions

Pub Date : 2025-01-01 DOI: 10.1016/j.isatra.2024.11.041

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

The hydraulic secondary regulation drive system employs a hydraulic servo motor to achieve precise position tracking and zero throttling loss, but it faces challenges such as high inertia, low damping, and high system order, leading to suboptimal control accuracy. Traditional adaptive robust control methods struggle with the control challenges of such high-order systems. This paper introduces a cascaded control approach based on adaptive robust control to address these issues. A fifth-order model is developed to account for significant load inertia, dividing the system into inner and outer control loops. The outer loop applies adaptive robust control to handle uncertainties and load disturbances for accurate rotational position control, while the inner loop uses swashplate disturbance compensation robust control to manage torque disturbances and achieve precise displacement control. A cascaded Lyapunov function is designed to address the coupling effects between the errors of the inner and outer loop controllers, ensuring stability across both subsystems. Experimental results show that the proposed method’s position tracking accuracy exceeds that of cascade dual-PID control methods by 50% to 80% and traditional adaptive robust control methods by 30% to 40% under sinusoidal frequency commands of 0.1 Hz and 0.25 Hz.

液压二次调节驱动系统采用液压伺服电机实现精确的位置跟踪和零节流损失，但存在惯性大、阻尼小、系统阶数高等问题，导致控制精度达不到最优。传统的自适应鲁棒控制方法难以应对此类高阶系统的控制挑战。本文提出了一种基于自适应鲁棒控制的级联控制方法来解决这些问题。建立了一个五阶模型来考虑显著的负载惯性，将系统划分为内部和外部控制回路。外环采用自适应鲁棒控制来处理不确定性和负载扰动，实现精确的旋转位置控制；内环采用斜盘扰动补偿鲁棒控制来管理转矩扰动，实现精确的位移控制。级联Lyapunov函数用于解决内外环控制器误差之间的耦合效应，确保两个子系统的稳定性。实验结果表明，在0.1 Hz和0.25 Hz的正弦频率命令下，该方法的位置跟踪精度比串级双pid控制方法高50% ~ 80%，比传统自适应鲁棒控制方法高30% ~ 40%。

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引用次数: 0

Distributed minimum error entropy with fiducial points Kalman filter for state tracking 基于点卡尔曼滤波的最小误差熵分布状态跟踪。

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

ISA transactions

Pub Date : 2025-01-01 DOI: 10.1016/j.isatra.2024.11.027

Haiquan Zhao , Boyu Tian

With the growing size of the system, this distributed Kalman filter (DKF) is widely used in multi-sensor networks. However, it is difficult for DKF to accurately estimate state values in non-Gaussian noise environments. In this paper, a regression equation is first constructed to contain all sensor node information. Then, by bringing the minimum error entropy with fiducial points (MEEF) standard into the process of information fusion, a robust algorithm named centralized MEEF KF (CMEEF-KF) is presented, which is robust to non-Gaussian noise and unusual data. Furthermore, to overcome the communication burden of CMEEF-KF in sensor networks, the distributed MEEF-KF (DMEEF-KF) is developed, which construct a framework of consensus average method for node information fusion. Specifically, each sensor only exchanges the key information with its neighborhoods. In addition, in order to make the algorithm able to cope with the nonlinear state estimation problem, the distributed MEEF extended Kalman filter is also proposed. Eventually, the effectiveness of the suggested algorithms is demonstrated by land vehicle navigation and power system tracking state estimation using a 10-node sensor network.

随着系统规模的不断扩大，分布式卡尔曼滤波器（DKF）在多传感器网络中得到了广泛的应用。然而，在非高斯噪声环境下，DKF难以准确估计状态值。本文首先构造一个包含所有传感器节点信息的回归方程。然后，将带基点的最小误差熵（MEEF）标准引入信息融合过程，提出了一种对非高斯噪声和异常数据具有鲁棒性的集中式MEEF KF算法（cmef -KF）。此外，为了克服CMEEF-KF在传感器网络中的通信负担，开发了分布式MEEF-KF (DMEEF-KF)，构建了节点信息融合的共识平均方法框架。具体来说，每个传感器只与其邻域交换关键信息。此外，为了使算法能够处理非线性状态估计问题，还提出了分布式MEEF扩展卡尔曼滤波器。最后，通过陆地车辆导航和基于10节点传感器网络的电力系统跟踪状态估计验证了所提算法的有效性。

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引用次数: 0

Distributed optimal control design with the feed-forward compensator for high-speed train 高速列车前馈补偿分布式最优控制设计。

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

ISA transactions

Pub Date : 2025-01-01 DOI: 10.1016/j.isatra.2024.11.042

Wenjing Xi , Jilie Zhang , Zhanhua Chang , Yingchun Wang

The distributed optimal design of high-speed train movement is systematically investigated in this article. A distributed optimal control law is proposed, addressing the train consist of cars coupled by spring buffers, and is affected by aerodynamic drag and rolling resistance. A new distributed controller is proposed to decouple the train model by fully removing the in-train force, which greatly simplifies the complexity of calculation. Then the pending problem is redescribed to the control of cars with different mass. Grounded on the Lyapunov stability theory and optimal control theory, distributed optimal control law is proposed in line with guaranteed cost function, which enables faster updates of the real-time status of each car and adaptive vehicle mass. It ensures consistency in the tracking process of each car of the train, and further reduces the in-train force among cars. To eliminate the speed overshoot which results from the influence of acceleration change during train operation, we weigh in with the feed-forward compensator to assure the train’s good acceleration performance. Ultimately, numerical simulations results are obtained to demonstrate convincingly the significance of our proposed control law.

本文系统地研究了高速列车运动的分布式优化设计。针对列车由弹簧缓冲器耦合的车厢组成，并受到空气阻力和滚动阻力的影响，提出了分布式优化控制法则。提出了一种新的分布式控制器，通过完全消除列车内力来解耦列车模型，从而大大简化了计算的复杂性。然后，将悬而未决的问题重新描述为不同质量车辆的控制问题。以李雅普诺夫稳定性理论和最优控制理论为基础，提出了符合保证代价函数的分布式最优控制法则，从而能更快地更新每节车厢的实时状态和自适应车辆质量。它确保了列车每节车厢跟踪过程的一致性，并进一步降低了车厢间的内力。为了消除列车运行过程中受加速度变化影响而产生的速度过冲，我们采用了前馈补偿器，以确保列车具有良好的加速性能。最终，数值模拟结果令人信服地证明了我们提出的控制法则的重要性。

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引用次数: 0

Decentralized optimal H∞ fusion estimation for multi-sensor networked systems with two-channel hybrid attacks 具有双通道混合攻击的多传感器网络系统的分散优化 H∞ 融合估计。

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

ISA transactions

Pub Date : 2025-01-01 DOI: 10.1016/j.isatra.2024.10.025

Lei Zhang, Shuli Sun

The article aims at the decentralized optimal

H_{\infty}

fusion estimation issue for multi-sensor networked systems with insecure network communications, where hybrid attacks consisting of stochastic deception and denial-of-service attacks happen on both the sensor-to-local filter channel and the local filter-to-fusion center channel simultaneously. Some random variables obeying Bernoulli distributions are utilized to depict the hybrid attacks existing in two classes of communication channels in a unified framework. Relying on a novel augmentation method, the fusion estimation error system with globally internal dynamics is obtained. Two sufficient conditions to assure the corresponding

H_{\infty}

performance and exponentially mean-square stability of the local and fusion estimation error systems are derived. To reduce the adverse effect of hybrid attacks, the decentralized optimal

H_{\infty}

fusion filter with better

H_{\infty}

performance index than each local

H_{\infty}

filter is presented by linear matrix inequality technique. An actual civil aircraft system demonstrates the algorithms to be valid.

文章针对网络通信不安全的多传感器网络系统的分散优化H∞融合估计问题，在这种情况下，由随机欺骗和拒绝服务攻击组成的混合攻击同时发生在传感器到本地滤波器信道和本地滤波器到融合中心信道上。本文利用一些服从伯努利分布的随机变量，在一个统一的框架内描述了存在于两类通信信道中的混合攻击。依靠一种新颖的增强方法，得到了具有全局内部动力学的融合估计误差系统。推导出两个充分条件，以确保本地和融合估计误差系统具有相应的 H∞ 性能和指数均方稳定性。为减少混合攻击的不利影响，利用线性矩阵不等式技术提出了分散最优 H∞ 融合滤波器，其 H∞ 性能指标优于各局部 H∞ 滤波器。一个实际的民用飞机系统证明了算法的有效性。

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引用次数: 0

Adaptive quantized finite-time fault-tolerant control for uncertain multi-input multi-output systems and its application 不确定多输入多输出系统的自适应量化有限时间容错控制及其应用。

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

ISA transactions

Pub Date : 2025-01-01 DOI: 10.1016/j.isatra.2024.10.018

Yue Sun , Ming Chen , Yu-Lin Gai , Huan-Qing Wang , Kai-Xiang Peng , Li-Bing Wu

The article proposes a novel state-feedback control method for a multiple-input multiple-output (MIMO) nonlinear system with actuator faults and input quantization. The innovation of the design approach lies in the utilization of fuzzy logic systems (FLSs) to approximate the uncertain intermediate virtual control laws, thereby achieving a simplified virtual control design form. Additionally, finite-time control is employed to enhance the system’s response speed. Different from the existing literatures, the adaptive control scheme of partial loss fault gain is integrated with input quantization, which completes the unknown gain estimation and avoids the assumption condition of unknown control gain. The theoretical analysis combined with Lyapunov stability analysis shows that the tracking error can converge regardless of whether the system experiences a fault, while the closed-loop signal remains stably bounded for a finite time. Finally, the simulation results of the quadrotor unmanned aerial vehicle (UAV) attitude system indicate that this control scheme is effective.

文章针对存在执行器故障和输入量化的多输入多输出（MIMO）非线性系统提出了一种新型状态反馈控制方法。该设计方法的创新之处在于利用模糊逻辑系统（FLS）来逼近不确定的中间虚拟控制律，从而实现简化的虚拟控制设计形式。此外，还采用了有限时间控制来提高系统的响应速度。与现有文献不同的是，部分损失故障增益自适应控制方案与输入量化相结合，完成了未知增益估计，避免了未知控制增益的假设条件。理论分析结合 Lyapunov 稳定性分析表明，无论系统是否发生故障，跟踪误差都能收敛，同时闭环信号在有限时间内保持稳定约束。最后，四旋翼无人飞行器（UAV）姿态系统的仿真结果表明，该控制方案是有效的。

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