ISA transactions最新文献

英文中文

Heuristic dense reward shaping for learning-based map-free navigation of industrial automatic mobile robots 基于学习的工业自动移动机器人无地图导航的启发式密集奖励塑造。

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.2024.10.026

Yizhi Wang, Yongfang Xie, Degang Xu, Jiahui Shi, Shiyu Fang, Weihua Gui

This paper presents a map-free navigation approach for industrial automatic mobile robots (AMRs), designed to ensure computational efficiency, cost-effectiveness, and adaptability. Utilizing deep reinforcement learning (DRL), the system enables real-time decision-making without fixed markers or frequent map updates. The central contribution is the Heuristic Dense Reward Shaping (HDRS), inspired by potential field methods, which integrates domain knowledge to improve learning efficiency and minimize suboptimal actions. To address the simulation-to-reality gap, data augmentation with controlled sensor noise is applied during training, ensuring robustness and generalization for real-world deployment without fine-tuning. Training results underscore HDRS’s superior convergence speed, training stability, and policy learning efficiency compared to baselines. Simulation and real-world evaluations establish HDRS-DRL as a competitive alternative, outperforming traditional approaches, and offering practical applicability in industrial settings.

本文介绍了一种用于工业自动移动机器人（AMR）的无地图导航方法，旨在确保计算效率、成本效益和适应性。该系统利用深度强化学习（DRL），在没有固定标记或频繁更新地图的情况下实现实时决策。该系统的核心贡献是启发式密集奖励塑造（HDRS），其灵感来源于潜在领域方法，它整合了领域知识，以提高学习效率并最大限度地减少次优行动。为了解决模拟与现实之间的差距，在训练过程中使用了受控传感器噪声进行数据增强，从而确保了无需微调即可在现实世界中部署的鲁棒性和通用性。训练结果表明，与基线相比，HDRS 的收敛速度、训练稳定性和策略学习效率都更胜一筹。仿真和实际评估结果表明，HDRS-DRL 是一种具有竞争力的替代方案，其性能优于传统方法，可实际应用于工业环境。

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引用次数: 0

Stability analysis of electromagnetic suspension systems coupled with flexible frames: Modeling, control, analysis and experimentation 与柔性框架耦合的电磁悬挂系统的稳定性分析：建模、控制、分析和实验。

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.2024.11.016

Xiaohao Chen , Yi Cao , Miao Li , Attiq Ur Rehman , Junxiong Hu

The stability of the suspension is a key challenge for the application and promotion of electromagnetic suspension technology, especially when it operates in conjunction with a flexible structure, which significantly increases the system's complexity. This paper abstracts the characteristics of the coupling conditions between an electromagnetic suspension system and a flexible structure and designs and constructs an experimental apparatus that includes an electromagnet and a simulated flexible structure with adjustable stiffness and inertia. Based on the Lyapunov method, the central manifold theorem, and the Poincaré method, the stability of the electromagnetic suspension system and the conditions for Hopf bifurcations are derived. Finally, through reasonable experimental design and data analysis, the correctness of the theoretical analysis conclusions is validated, providing references for the engineering applications of electromagnetic suspension systems.

悬架的稳定性是应用和推广电磁悬架技术的关键挑战，尤其是当电磁悬架与柔性结构一起工作时，系统的复杂性会大大增加。本文概述了电磁悬挂系统与柔性结构之间耦合条件的特点，并设计和构建了一个实验装置，其中包括一个电磁铁和一个具有可调刚度和惯性的模拟柔性结构。基于李亚普诺夫方法、中心流形定理和波恩卡莱方法，推导出电磁悬挂系统的稳定性和霍普夫分岔条件。最后，通过合理的实验设计和数据分析，验证了理论分析结论的正确性，为电磁悬架系统的工程应用提供了参考。

引用次数: 0

Design, dynamic modeling and testing of a novel MR damper for cable-stayed climbing robots under wind loads 用于风载荷下斜拉攀爬机器人的新型 MR 阻尼器的设计、动态建模和测试。

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.2024.10.022

Kaiwei Ma , Fengyu Xu , Yangru Zhou , Laixi Zhang , Guo-Ping Jiang

To increase the adaptability of bridge construction equipment in high-altitude settings, this study examines a magnetorheological (MR) damper designed for cable-stayed climbing robots. Initially, a novel damper incorporating a spring-MR fluid combination and three magnetic circuit units is developed. A robot-cable-wind coupling dynamic model is subsequently formulated via Hamilton’s principle, based on force analysis. The simulation results indicate that the damper’s maximum output force is 204.60 N, with optimal working currents of 0.2 A (Force 4) and 0.4 A (Force 7). To verify the analysis, testing is conducted using an MR damper. The results reveal an average relative error of 4.60% for the actual output damping force. When mounted on the robot, the climbing speed range, average relative error, and maximum relative error are controlled within 0.66 mm/s, 0.78% and 2.5%, respectively. This approach allows for the rapid selection of suitable working currents and markedly enhances the climbing stability of the robot.

为了提高桥梁施工设备在高海拔环境下的适应性，本研究探讨了一种专为斜拉索攀爬机器人设计的磁流变（MR）阻尼器。首先，研究人员开发了一种新型阻尼器，其中包含一个弹簧-磁流变流体组合和三个磁路单元。随后，在受力分析的基础上，通过汉密尔顿原理建立了机器人-缆索-风耦合动态模型。仿真结果表明，阻尼器的最大输出力为 204.60 N，最佳工作电流为 0.2 A（力 4）和 0.4 A（力 7）。为了验证分析结果，使用 MR 阻尼器进行了测试。结果显示，实际输出阻尼力的平均相对误差为 4.60%。安装到机器人上后，爬坡速度范围、平均相对误差和最大相对误差分别控制在 0.66 mm/s、0.78% 和 2.5%以内。这种方法可以快速选择合适的工作电流，并显著提高机器人的爬行稳定性。

引用次数: 0

Adaptive output feedback fault-tolerant control for a class of nonlinear systems based on a sensor fusion mechanism 一类基于传感器融合机制的非线性系统自适应输出反馈容错控制。

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.2024.11.014

Chen Sun , Yan Lin , Qingrui Meng , Lin Li

This paper investigates an output feedback adaptive fault-tolerant tracking control for a class of nonlinear systems with system nonlinearities, sensor failures and external disturbances, in which sensor redundancy is employed to enhance measurement reliability. A sensor fusion mechanism, together with a novel history-based weighted average algorithm is first designed to fuse all sensor outputs. Then, an adaptive controller based on the sensor fusion output, a dynamic gain and a state observer is constructed to handle all the uncertainties caused by system nonlinearities, external disturbances, sensor failures and fusion mechanism. It is shown that by using the proposed scheme, the closed-loop system is stable, the sensor fusion mechanism can eliminate the effects of faulty sensors, and the real tracking error can be driven into a small compact set mainly affected by the fusion error. Experimental results are accomplished to validate the proposed scheme.

研究了一类具有系统非线性、传感器失效和外部干扰的非线性系统的输出反馈自适应容错跟踪控制，利用传感器冗余来提高系统的测量可靠性。首先设计了传感器融合机制和基于历史的加权平均算法来融合所有传感器输出。然后，基于传感器融合输出、动态增益和状态观测器构建自适应控制器，处理由系统非线性、外部干扰、传感器故障和融合机制引起的所有不确定性。仿真结果表明，采用该方案，闭环系统稳定，传感器融合机制能够消除故障传感器的影响，真实跟踪误差可以被驱动成一个主要受融合误差影响的小紧凑集。实验结果验证了该方案的有效性。

引用次数: 0

Fully distributed time-varying formation tracking control for linear multi-agent systems with unknown external disturbances 具有未知外部干扰的线性多智能体系统的全分布时变编队跟踪控制。

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

ISA transactions

Pub Date : 2025-01-01 DOI: 10.1016/j.isatra.2024.11.031

Liya Dou , Kang Wang , Jing Wang , Jinglin Zhou

This work investigates the time-varying formation tracking (TVFT) problem for linear multi-agent systems with a leader of unknown input in the presence of unknown external disturbances on directed graphs. Each agent is subjected to different external disturbances generated by unknown exosystems. To eliminate the unknown external disturbances of each follower, an adaptive disturbance observer and a state observer are constructed first. Then, utilizing the estimated information, a fully distributed TVFT protocol is designed with adaptive coupling parameters such that the global information of the communication topology is not required. By the developed distributed controller, the multi-agent system on a communication topology containing a directed spanning tree can asymptotically track the leader with a desired time-varying formation and simultaneously reject external disturbances in spite of their unknown exosystems. Furthermore, the proposed controller is modified to a continuous one to eliminate the chattering problem. Finally, a simulation example is provided to illustrate the effectiveness of theoretical results.

本文研究了有向图上存在未知外部干扰时，具有未知输入先导的线性多智能体系统的时变编队跟踪问题。每种药剂都受到未知外部系统产生的不同外部干扰。首先构造自适应扰动观测器和状态观测器，消除每个从动器的未知外部干扰。然后，利用估计的信息，设计了具有自适应耦合参数的全分布式TVFT协议，从而不需要通信拓扑的全局信息。通过所开发的分布式控制器，在包含有向生成树的通信拓扑上，多智能体系统可以渐近地跟踪具有期望时变队形的领导者，并同时拒绝外部系统未知的外部干扰。进一步，将所提出的控制器修改为连续控制器，以消除抖振问题。最后，通过仿真实例验证了理论结果的有效性。

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引用次数: 0

Reinforcement learning-based optimal tracking control for uncertain multi-agent systems with uncertain topological networks 不确定拓扑网络下不确定多智能体系统的强化学习最优跟踪控制。

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.2024.11.043

Renyang You, Quan Liu

Recent decades, extensive applications exemplified in intelligent connected vehicles (ICVs) and unmanned aerial vehicles (UAVs) have emerged with the rapidly development of multi-agent systems (MASs). Inspired by these applications, the optimal tracking control problem for uncertain MASs under uncertain topological networks is addressed based on the theory of observer design and reinforcement learning (RL). Thus, an adaptive extended observer based on concurrent learning (CL) technique is designed to simultaneously estimate system states and unknown parameters, where unknown parameters estimated convergence is guaranteed in a relaxed persistence of excitation condition. Moreover, a Luenberger observer is designed to estimate the state of the leader under uncertain topological networks, which acts as the information compensation of the leader. Via the proposed observers, an optimal tracking control algorithm is devised leveraging actor-critic (AC)-neural network (NN), which does not require the state derivative information. Lastly, a numerical simulation is performed to demonstrate the validity of the scheme in question.

近几十年来，随着多智能体系统（MASs）的快速发展，智能网联车辆（ICVs）和无人驾驶飞行器（uav）得到了广泛的应用。受这些应用的启发，基于观测器设计和强化学习（RL）理论，研究了不确定拓扑网络下不确定质量的最优跟踪控制问题。因此，设计了一种基于并发学习（CL）技术的自适应扩展观测器来同时估计系统状态和未知参数，其中未知参数估计在激励条件松弛持续下保证收敛性。此外，设计了Luenberger观测器来估计不确定拓扑网络下领导者的状态，作为领导者的信息补偿。通过提出的观测器，利用actor-critic (AC)-neural network （NN）设计了一种不需要状态导数信息的最优跟踪控制算法。最后，通过数值仿真验证了该方案的有效性。

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引用次数: 0

Fast embedded tube-based MPC with scaled-symmetric ADMM for high-order systems: Application to load transportation tasks with UAVs 用于高阶系统的具有比例对称ADMM的基于快速嵌入式管的MPC：应用于装载运输任务的无人机。

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.2024.11.022

Richard Andrade , Julio E. Normey-Rico , Guilherme V. Raffo

One of the most significant advantages of Model Predictive Control (MPC) is its ability to explicitly incorporate system constraints and actuator specifications. However, a major drawback is the computational cost associated with calculating the optimal control sequence at each sampling time, posing a substantial challenge for real-time implementation in high-order systems with fast dynamics. Additionally, uncertainties are inherently present in dynamic systems, requiring a robust formulation that accounts for these uncertainties. Additionally, uncertainties are inherently present in dynamic systems, requiring a robust formulation that accounts for these uncertainties. The tube-based MPC is one of the robustification formulations that can tackle these challenges. We propose a comprehensive methodology for designing a tube-based MPC framework specifically tailored for high-order Linear Parameter-Varying (LPV) systems with fast dynamics, along with its real-time implementation in embedded systems. Our innovations include the use of zonotopes for the offline computation of reachable sets, significantly reducing computational costs, and the development of new Linear Matrix Inequality (LMI) conditions that ensure the existence of nominal control and state sets. Additionally, we introduce a novel scaled-symmetric ADMM-based optimization algorithm, which diverges from conventional quadratic programming structures and integrates acceleration strategies and normalization techniques for enhanced numerical robustness and rapid convergence. The methodology is validated on a tiltrotor UAV with a suspended load, demonstrating its effectiveness in a trajectory tracking problem. Experimental results using a controller-in-the-loop (CIL) framework with a high-fidelity 3D simulator confirm its suitability for real-time control in practical scenarios.

模型预测控制（MPC）最显著的优势之一是能够明确纳入系统约束条件和执行器规格。然而，它的一个主要缺点是在每次采样时计算最优控制序列所需的计算成本，这对具有快速动态特性的高阶系统的实时实施提出了巨大挑战。此外，动态系统本身就存在不确定性，因此需要一个考虑到这些不确定性的稳健公式。此外，动态系统本身就存在不确定性，因此需要一种稳健的公式来考虑这些不确定性。基于管子的 MPC 是能够应对这些挑战的稳健化公式之一。我们提出了一种综合方法，用于设计基于管道的 MPC 框架，该框架专为具有快速动态特性的高阶线性参数变化 (LPV) 系统量身定制，并可在嵌入式系统中实时实施。我们的创新之处包括使用区角离线计算可达集，大大降低了计算成本，以及开发新的线性矩阵不等式（LMI）条件，确保名义控制集和状态集的存在。此外，我们还介绍了一种基于 ADMM 的新型缩放对称优化算法，该算法与传统的二次编程结构不同，集成了加速策略和归一化技术，以增强数值稳健性和快速收敛性。该方法在带悬挂负载的倾转翼无人机上进行了验证，证明了其在轨迹跟踪问题上的有效性。使用高保真三维模拟器的环中控制器（CIL）框架的实验结果证实了该方法适用于实际场景中的实时控制。

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引用次数: 0

An overhaul cycle performance degradation modeling method for marine gas turbines 船用燃气轮机大修周期性能退化建模方法。

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.2024.11.004

Junqi Luan , Yunpeng Cao , Ran Ao , Xiaoyu Han , Shuying Li

A degradation modeling method of marine gas turbines for the overhaul cycle is proposed to address the problem of insufficient data sets for fault diagnosis and trend prediction algorithm validation. First, a nonlinear model of the marine three-shaft gas turbine gas path was established. The degradation path and component degradation models were subsequently obtained. The distribution of the washing cycle and degradation factors in the overhaul cycle were solved using an optimization algorithm, and degradation data in the washing cycle were obtained. The model's feasibility is validated with a segment of actual degradation data. The change rule of the gas turbine operating data during the overhaul cycle was also obtained. The degradation data of marine gas turbines under different boundary conditions are simulated using the established degradation model. This model provides data sets essential for validating fault diagnosis and trend prediction algorithms. Furthermore, it provides a reference for modeling the degradation of other mechanical equipment.

针对故障诊断和趋势预测算法验证数据集不足的问题，提出了大修周期船用燃气轮机退化建模方法。首先，建立了船用三轴燃气轮机气路的非线性模型。随后获得了退化路径和部件退化模型。利用优化算法求解了大修周期中洗涤周期和降解因子的分布，并获得了洗涤周期中的降解数据。通过一段实际退化数据验证了模型的可行性。同时还获得了燃气轮机在大修周期内运行数据的变化规律。利用建立的降解模型模拟了不同边界条件下船用燃气轮机的降解数据。该模型为验证故障诊断和趋势预测算法提供了重要的数据集。此外，它还为其他机械设备的退化建模提供了参考。

引用次数: 0

Active disturbance rejection control for four-wire inverters in standalone renewable resources-based microgrid — islanded microgrids ADRC-based control 基于可再生资源的独立微电网中四线逆变器的有源干扰抑制控制 - 基于 ADRC 的孤岛微电网控制。

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.2024.11.006

Elhoussin Elbouchikhi , Allal Bouzid El Moubarek , Abdelmajid Abouloifa , Abdelali El Aroudi , Mohamed Benbouzid

This paper presents an active disturbance rejection control (ADRC) approach for three-phase four-legs voltage source inverters (FL-VSIs) in a standalone renewable energy resources (RES)-based islanded microgrid. The key purpose of the proposed approach is to improve the control robustness against load-side disturbances, power supply parameters uncertainties, and faulty operating conditions. Indeed, a notable benefit of ADRC is its ability to operate effectively without the need for precise knowledge of disturbance characteristics or accurate modeling and FL-VSI parameters. As compared with conventional PI controllers, this advanced control strategy allows improving the voltage waveforms quality and conforming to existing power quality standards and metrics while using only output voltage sensors. Extensive simulations on Matlab/Simulink software have been conducted to assess the effectiveness of the proposed approach.

本文针对基于可再生能源（RES）的独立孤岛式微电网中的三相四脚电压源逆变器（FL-VSI）提出了一种主动干扰抑制控制（ADRC）方法。该方法的主要目的是提高控制的鲁棒性，以应对负载侧干扰、电源参数不确定性和故障运行条件。事实上，ADRC 的一个显著优点是无需精确了解扰动特性或精确建模和 FL-VSI 参数即可有效运行。与传统的 PI 控制器相比，这种先进的控制策略可以改善电压波形质量，并符合现有的电能质量标准和指标，同时只需使用输出电压传感器。我们在 Matlab/Simulink 软件上进行了大量仿真，以评估所提议方法的有效性。

引用次数: 0

Hybrid impulsive control for global stabilization of subfully actuated systems 微驱动系统全局稳定的混合脉冲控制。

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.2024.11.034

Qinbo Huang , Jitao Sun , Min Zhao

This paper presents the first study of the global stabilization of subfully actuated systems (sub-FAS) by hybrid impulsive control method. Since sub-FAS contain singular sets, controllers designed by the conventional high-order fully actuated (HOFA) system approach may not be feasible for all initial conditions in the state space. Different from existing studies that constrain initial conditions to achieve substabilization, we devise a hybrid controller via the HOFA system approach and state-dependent impulsive control method, addressing the global stabilization problem without constraints on the initial states. By transforming sub-FAS into hybrid systems through the hybrid controller, we obtain some criteria for global stabilization of the sub-FAS. It is noted that both stabilizing and destabilizing impulses are used to overcome the singular sets in the sub-FAS. Finally, two examples illustrate the proposed approach.

本文首次采用混合脉冲控制方法研究了微驱动系统的全局镇定问题。由于子fas包含奇异集，采用传统的高阶完全驱动（HOFA）系统方法设计的控制器可能不适用于状态空间中的所有初始条件。不同于现有研究通过约束初始条件来实现亚镇定的方法，我们设计了一种基于HOFA系统方法和状态相关脉冲控制方法的混合控制器，解决了不受初始状态约束的全局镇定问题。通过混合控制器将子系统转化为混合系统，得到了子系统全局镇定的若干准则。注意到稳定脉冲和不稳定脉冲都被用来克服子fas中的奇异集。最后，有两个例子说明了所提出的方法。

引用次数: 0

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