ISA transactions最新文献_第6页

Optimized actuator-fault-tolerant control using reinforcement learning for attitude dynamic system of quadrotor unmanned aerial vehicle 基于强化学习的四旋翼无人机姿态动态系统执行器容错优化控制。

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2026-02-01 DOI: 10.1016/j.isatra.2026.01.011

Guoxing Wen , Guanlong Li , Lingyu Zhang , Lu Zhang , Lixia Liu

This study proposes a fault-tolerant optimized backstepping (OB) control for the attitude system having actuator failure of quadrotor unmanned aerial vehicle (QUAV). The design principle of OB technology is to perform reinforcement learning (RL) in every backstepping subsystem, so that the entire backstepping control can attain optimization performance. However, owing to the complication and intricateness of OB control algorithm, it will make the QUAV attitude control tenderly happen system failures when executing the long-time running and high-intensity works. For devising the OB attitude control to have the fault-tolerate capability, the RL is integrated with an adaptive estimation of the proportion term of unknown efficiency factor and bias signal of fault actuator model. So as to achieve the integration smooth, the RL training laws of critic and actor networks are deduced in accordance with gradient descent method of a simple positive function that is equivalent to Hamilton-Jacobi-Bellman (HJB) equation, so that it can significantly reduce the complexity of RL algorithm. Finally, effectiveness of this attitude control scheme is demonstrated through Lyapunov stability proof and simulation example.

针对四旋翼无人机（QUAV）姿态系统出现致动器故障的情况，提出了一种容错优化反步控制方法。OB技术的设计原则是在每个反演子系统中进行强化学习（RL），使整个反演控制达到最优性能。然而，由于OB控制算法的复杂性和复杂性，在执行长时间运行和高强度工作时，会使无人机姿态控制容易发生系统故障。为了设计具有容错能力的OB姿态控制，将RL与未知效率因子比例项和故障执行器模型偏置信号的自适应估计相结合。为了达到积分平滑，根据等价于Hamilton-Jacobi-Bellman （HJB）方程的简单正函数的梯度下降法推导出评论家和演员网络的RL训练规律，从而显著降低了RL算法的复杂度。最后，通过李雅普诺夫稳定性证明和仿真实例验证了该姿态控制方案的有效性。

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引用次数: 0

Flexibility enhancement for thermal power unit coupled with energy storage device by real-time decomposition and improved EADRC 利用实时分解和改进的EADRC增强火电机组与储能装置耦合的灵活性。

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2026-02-01 DOI: 10.1016/j.isatra.2025.12.050

Lingling Ye, Guolian Hou

To enhance the peak shaving flexibility of the thermal power unit (TPU) in the context of renewable energy grid connection, this article designs a flexible collaborative power generation scheme that combines TPU with vanadium redox flow batteries (VRFB) for coordinated operation. Firstly, a real-time decomposition technique for automatic generation control instruction combining improved complete ensemble empirical mode decomposition with adaptive noise, permutation entropy, and transformer network is developed to address the issue of delayed response on the boiler side. The designed real-time decomposition technology provides real-time instruction for fast tracking control of the system. Secondly, considering the complex disturbances and unmodeled dynamics in the TPU-VRFBs coupled system, an error-based active disturbance rejection control strategy with second-order disturbance compensation is proposed. By introducing two-dimensional state variables to precisely reconstruct the total disturbance of the system, the response speed and accuracy can be effectively improved. The simulation results show that under two typical cases, compared with traditional PID control (relying only on TPU), the proposed strategy reduces ITAE on the electric power channel by at least 57.1 %, verifying its superior dynamic performance and robustness.

为增强可再生能源并网环境下火电机组调峰灵活性，设计了火电机组与钒氧化还原液流电池协同运行的柔性协同发电方案。首先，针对锅炉侧的延迟响应问题，提出了一种将改进的完全集合经验模态分解与自适应噪声、排列熵和变压器网络相结合的自动发电控制指令实时分解技术。所设计的实时分解技术为系统的快速跟踪控制提供了实时指导。其次，针对tpu - vrfb耦合系统中复杂的扰动和未建模的动力学特性，提出了一种基于误差的二阶扰动补偿自抗扰控制策略。通过引入二维状态变量精确重构系统的总扰动，可以有效地提高响应速度和精度。仿真结果表明，在两种典型情况下，与传统PID控制（仅依赖于TPU）相比，所提策略在电力通道上的ITAE降低了至少57.1% %，验证了其优越的动态性能和鲁棒性。

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引用次数: 0

Secure load frequency control for power systems under round-robin protocol: A quantized MPC strategy 轮询协议下电力系统安全负荷频率控制：一种量化MPC策略。

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2026-02-01 DOI: 10.1016/j.isatra.2025.12.054

Guobao Liu, Changyu Zhang, Feng Li, Shi Li, Xiaofeng Liu

In modern power systems, ensuring frequency stabilization remains a critical challenge in the face of fluctuations, communication constraints, and malicious cyber-attacks. This paper addresses the problem of secure load frequency control (LFC) in interconnected multi-area systems, particularly under deception attacks and limited communication. In order to address the communication constraints while enhancing frequency regulation performance, a demand-response-participatory LFC framework under round-robin (RR) protocol is proposed. A model predictive control (MPC) strategy is employed in conjunction with dynamic quantization of signals, while considering the impact of the deception attack during signal transmission. Furthermore, the mixed

H_{2} / H_{\infty}

performance indices are adopted in the resilient controller design to ensure both robustness and performance of the system. The resulting non-convex optimization problem is then reformulated into a feasible problem via cone complementary linearization and linear matrix inequality techniques. A simulation study of a two-area power system shows that the proposed method can control the frequency fluctuation within

\pm 0.005 H z

within

10 s

under a sustained deception attack.

在现代电力系统中，面对波动、通信限制和恶意网络攻击，确保频率稳定仍然是一个关键挑战。本文研究了多区域互联系统在欺骗攻击和通信受限情况下的安全负载频率控制问题。为了在提高频率调节性能的同时解决通信约束问题，提出了一种基于轮询（RR）协议的需求-响应-参与式LFC框架。在考虑信号传输过程中欺骗攻击影响的基础上，结合信号的动态量化，采用模型预测控制策略。在弹性控制器设计中采用H2/H∞混合性能指标，保证了系统的鲁棒性和性能。然后通过锥互补线性化和线性矩阵不等式技术将得到的非凸优化问题重新表述为可行问题。对两区电力系统的仿真研究表明，在持续欺骗攻击下，该方法能在10s内将频率波动控制在±0.005Hz以内。

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引用次数: 0

Fully distributed output formation-containment control of heterogeneous multi-agent systems via adaptive observer approach 基于自适应观测器的异构多智能体系统全分布式输出控制。

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2026-02-01 DOI: 10.1016/j.isatra.2026.01.012

Xiaojie Sun , Jie Zhang , Yu Hou , Jian-An Wang , Da-Wei Ding

For heterogeneous linear multi-agent systems (MASs) in which not all followers have access to the information of multiple leaders, this paper studies the distributed output formation-containment problem. By converting the research question into the cooperative output regulation problem, a fully distributed control framework via a fully adaptive observer approach is developed. Since a part of the followers cannot directly access the states of leaders, a new observer is designed for reconstructing the system matrices and state information. Specifically, by introducing adaptive gains in place of fixed coupling coefficients in the observer design, the global topological information is no longer needed. Moreover, the conventional regulator equations cannot be directly applied for controller synthesis due to the time-varying estimated system matrices of the leaders. To overcome this challenge, the adaptive regulator equations are developed to dynamically compute the controller gains. Subsequently, both state and output feedback control strategies are presented to achieve the desired output formation-containment control objective. The validation of the proposed method is performed in the simulation results with practical and comparative examples.

对于并非所有follower都能获得多个leader信息的异构线性多智能体系统（MASs），研究了分布式输出约束问题。通过将研究问题转化为协同输出调节问题，建立了基于全自适应观测器方法的全分布式控制框架。由于部分follower不能直接访问leader的状态，设计了一个新的观测器来重构系统矩阵和状态信息。具体来说，通过在观测器设计中引入自适应增益来代替固定的耦合系数，不再需要全局拓扑信息。此外，由于前导系统估计矩阵时变，传统的调节器方程不能直接应用于控制器综合。为了克服这一挑战，开发了自适应调节器方程来动态计算控制器增益。在此基础上，提出了状态反馈控制策略和输出反馈控制策略，以实现期望的输出编队控制目标。通过实际算例和对比算例的仿真验证了所提方法的有效性。

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引用次数: 0

Distributed fixed/predefined-time optimization for multi-agent systems: new exponential-function-based algorithms 多智能体系统的分布式固定/预定义时间优化：基于指数函数的新算法。

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2026-02-01 DOI: 10.1016/j.isatra.2026.01.013

Luke Li, Qintao Gan, Ruihong Li, Qiaokun Kang, Yuanlong Liu

Distributed convex optimization with time-varying or time-invariant cost functions remains one of the central challenges in multi-agent systems (MASs). Achieving efficient distributed optimization within a fixed/predefined-time continues to face difficulties such as restrictive assumptions and high computational complexity. This paper proposes innovative distributed optimization frameworks to address the aforementioned limitations. For time-invariant optimization problems, an estimator-based two-stage distributed protocol is introduced, which achieves both inter-agent consensus and convergence to the global optimum within a fixed/predefined-time. Notably, this protocol only requires strong convexity of the global cost function, thereby relaxing the constraints on local functions. For time-varying scenarios, an enhanced zero-gradient-sum (ZGS) framework is developed by integrating a zeroing neural network (ZNN) with sliding mode control. This framework not only eliminates dependence on initial conditions but also implicitly computes the Hessian inverse through ZNN dynamics, effectively avoiding the O(

n^{3}

) computational burden associated with explicit matrix inversion. Numerical simulations validate the superior convergence speed and broad applicability of our method, attesting to its great potential for distributed optimization.

时变或定常代价函数的分布凸优化是多智能体系统（MASs）的核心挑战之一。在固定/预定义的时间内实现高效的分布式优化仍然面临诸如限制性假设和高计算复杂性等困难。本文提出了创新的分布式优化框架来解决上述限制。针对时不变优化问题，引入了一种基于估计量的两阶段分布式优化协议，该协议既能实现智能体间的一致，又能在固定/预定义的时间内收敛到全局最优。值得注意的是，该协议只要求全局代价函数具有强凸性，从而放松了对局部函数的约束。针对时变情况，将调零神经网络（ZNN）与滑模控制相结合，提出了一种改进型零梯度和框架。该框架不仅消除了对初始条件的依赖，而且通过ZNN动力学隐式计算Hessian逆，有效避免了显式矩阵反演带来的O（n3）计算负担。数值仿真结果表明，该方法具有较快的收敛速度和广泛的适用性，证明了该方法在分布式优化中的巨大潜力。

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引用次数: 0

Distributed fixed-time fault-tolerant tracking and containment of second-order multi-agent systems 二阶多智能体系统的分布式固定时间容错跟踪与约束。

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2026-01-01 DOI: 10.1016/j.isatra.2025.11.018

Chongyang Chen , Yanling Li , Song Zhu , Yiyan Han

This article addresses the fixed-time fault-tolerant consensus problem for second-order multi-agent systems under actuator faults and directed topologies. A novel sliding-mode control framework is proposed, integrating fixed-time observers to estimate actuator faults and distributed protocols to achieve tracking and containment objectives. Particularly, the key innovations include a singularity-free sliding manifold with prescribed-time convergence and a unified control design applicable to both single- and multi-leader scenarios. Numerical examples are carried out to validate the theoretical results.

本文研究了执行器故障和有向拓扑下二阶多智能体系统的定时容错一致性问题。提出了一种新的滑模控制框架，集成了固定时间观测器来估计执行器故障和分布式协议来实现跟踪和遏制目标。特别是，关键的创新包括具有规定时间收敛性的无奇点滑动歧管和适用于单导联和多导联场景的统一控制设计。数值算例验证了理论结果。

引用次数: 0

Mitigating nonlinear torque oscillations in pneumatic systems with adaptive RBFNN compensated gain-adaptive ADRC 利用自适应RBFNN补偿增益自适应自适应自抗扰控制器缓解气动系统的非线性转矩振荡。

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2026-01-01 DOI: 10.1016/j.isatra.2025.11.023

Zilong Wu , Zichao Chen , Linyong Bai , Zhiyong Yang

Pneumatic rotary actuators are widely employed in industrial and aerospace applications due to their high power density and cleanliness. However, the strong nonlinearities arising from air compressibility and model uncertainties cause overshoot and oscillations, severely impacting control accuracy. Despite the proven effectiveness of active disturbance rejection control (ADRC) in handling nonlinear systems, two critical limitations hinder its application in pneumatic servos: first, the bandwidth constraints of the extended state observer (ESO) result in inaccurate estimation of time-varying nonlinearities; second, the numerous parameters of ADRC pose significant challenges for tuning. To address these issues, a gain-adaptive active disturbance rejection control strategy based on an adaptive radial basis function neural network compensation (RBFGAADRC) is presented, which improves upon ADRC in two key aspects. First, to overcome ESO limitations, an adaptive radial basis function neural network is employed to replace the ESO, leveraging its superior approximation capability to achieve more accurate estimation and compensation of nonlinearities. Second, to simplify parameter tuning, a gain-adaptive iterative strategy is introduced to dynamically adjust the parameters of the nonlinear error feedback controller, significantly simplifying the tuning process. Experimental results demonstrate that RBFGAADRC achieves a steady-state error of 0.062 Nm without overshoot and a maximum tracking error of 0.35 Nm without oscillations in sinusoidal torque trajectory tracking at 0.5 Hz. These results validate the effectiveness of the proposed method in improving the control performance of pneumatic servo systems.

气动旋转执行器由于其高功率密度和清洁度而广泛应用于工业和航空航天应用。然而，由于空气可压缩性和模型不确定性引起的强非线性会导致超调和振荡，严重影响控制精度。尽管自抗扰控制（ADRC）在处理非线性系统方面已被证明是有效的，但两个关键限制阻碍了其在气动伺服系统中的应用：首先，扩展状态观测器（ESO）的带宽约束导致时变非线性估计不准确；其次，自抗扰控制器的众多参数给整定带来了巨大的挑战。针对这些问题，提出了一种基于自适应径向基函数神经网络补偿（RBFGAADRC）的增益自适应自抗扰控制策略，该策略在两个关键方面对自抗扰控制进行了改进。首先，为了克服ESO的局限性，采用自适应径向基函数神经网络代替ESO，利用其优越的逼近能力实现更精确的非线性估计和补偿；其次，为了简化参数整定，引入增益自适应迭代策略对非线性误差反馈控制器的参数进行动态调整，大大简化了整定过程。实验结果表明，在0.5 Hz频率下，RBFGAADRC的稳态误差为0.062 Nm，无超调，最大跟踪误差为0.35 Nm，无振荡。这些结果验证了该方法在改善气动伺服系统控制性能方面的有效性。

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引用次数: 0

Dynamical analysis and adaptive prescribed-performance backstepping control of two electrostatically coupled MEMS resonators with optimization 基于优化的两个静电耦合MEMS谐振器的动态分析与自适应反步控制。

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2026-01-01 DOI: 10.1016/j.isatra.2025.11.038

Yeqing Shan , Guangying Lv , Fengyun Li

This paper investigates the dynamical analysis and adaptive prescribed-performance backstepping control for the coupled MEMS resonators with nonlinear dynamics. The dynamical model of such resonators is established considering the mutual interactions. Then, we examine and reveal the inherent chaotic behaviors that noticeably influence the system sensitivity, using time histories, phase diagrams, bifurcation diagrams, and Lyapunov exponents. In the subsequent controller design, we introduce a type-2 fuzzy wavelet neural network (T2FWNN) to estimate the uncertainties in the system. In backstepping, a speed function and prescribed performance functions are employed to reconstruct the error signals thereby achieving accelerated convergence and the high-precision control. Meanwhile, an accelerated tracking differentiator (ATD) with the speed function is design to address the intrinsic problem of ‘complexity explosion’ of traditional backstepping. Moreover, the particle swarm optimization (PSO) is integrated to tune the control parameters and to minimize the cost function. Besides, we prove that all signals of the closed-loop system are ultimately bounded through stability analysis. Finally, simulation results verify that all control targets such as chaos suppression, accelerated convergence, prescribed performance and optimization are all achieved. Compared with existing methods, the proposed control scheme exhibits superior performance in terms of both accuracy and convergence speed, achieving RMS control errors of 0.0016, 0.1126, 0.012, and 0.1126 respectively.

本文研究了具有非线性动力学特性的耦合MEMS谐振器的动力学分析和自适应规定性能反步控制。建立了考虑相互作用的谐振腔动力学模型。然后，我们使用时间历史、相图、分岔图和李亚普诺夫指数来检查和揭示明显影响系统灵敏度的固有混沌行为。在随后的控制器设计中，我们引入了一种2型模糊小波神经网络（T2FWNN）来估计系统中的不确定性。在反步中，采用速度函数和规定的性能函数对误差信号进行重构，从而实现加速收敛和高精度控制。同时，设计了一种带速度函数的加速跟踪微分器（ATD），以解决传统退步算法固有的“复杂性爆炸”问题。在此基础上，结合粒子群算法对控制参数进行优化，使代价函数最小化。此外，通过稳定性分析证明了闭环系统的所有信号最终都是有界的。最后，仿真结果验证了混沌抑制、加速收敛、规定性能和优化等控制目标的实现。与现有方法相比，所提控制方案在精度和收敛速度方面均表现出优越的性能，均方根控制误差分别为0.0016、0.1126、0.012和0.1126。

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引用次数: 0

A novel stability analysis method of switched systems with unstable modes based on PDT switching sequence list 一种基于PDT切换序列表的不稳定模式切换系统稳定性分析方法。

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2026-01-01 DOI: 10.1016/j.isatra.2025.11.029

Wanchen Wang, Jie Lian, Peilin Jia

This paper investigates the stability problem of switched systems with unstable modes under persistent dwell time (PDT) constraint. A novel PDT switching sequence list concept is presented to fully describe all possible PDT-constrained switching sequences. Based on this list, a relevant switched system is introduced, whose stability is equivalent to the original switched system. By constructing PDT sequence-dependent and inner-varying Lyapunov functions, two types of equivalent stability conditions are established, which effectively circumvent the complex process of subsystem parameter adjustments. Finally, two numerical simulations show the effectiveness of the proposed method.

研究了具有不稳定模式的切换系统在持续停留时间约束下的稳定性问题。提出了一种新的PDT交换序列列表概念，以充分描述所有可能的PDT约束交换序列。在此基础上，介绍了相应的交换系统，其稳定性与原交换系统相当。通过构造PDT序列相关和内变Lyapunov函数，建立了两类等效稳定条件，有效地规避了子系统参数调整的复杂过程。最后，通过两个数值仿真验证了该方法的有效性。

引用次数: 0

Neuroadaptive fault-tolerant tracking control of fractional-order nonaffine nonlinear systems with output constraints and input nonlinearity 具有输出约束和输入非线性的分数阶非仿射非线性系统的神经自适应容错跟踪控制。

IF 6.5 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions

Pub Date : 2026-01-01 DOI: 10.1016/j.isatra.2025.11.048

Fa Chen , Lu Chen , Huiyuan Li , Jian-an Fang

In this article, a fault-tolerant adaptive tracking control issue is investigated for nonaffine fractional-order nonlinear systems (FONSs) with prescribed-time interval output constraints (PTIOCs), nonlinear input and actuator fault. The PTIOCs mean that the output constraints begin sometime after system operation and have a prescribed-time duration. It should be emphasized that both the start moment and the end moment of the constraints can be determined by the user. Using the improved dependent-constrained-error function and prescribed-time scaling function, as well as with the help of a barrier function, the PTIOCs issue is transformed into verifying the boundedness of the barrier function. Moreover, an adaptive fault-tolerant control algorithm is developed to mitigate the effects of actuator faults in FONSs while accommodating multiple constraints and nonlinear inputs without requiring structural changes to the controller. The validity of the proposed scheme is then substantiated by simulations.

研究了具有规定时间间隔输出约束（PTIOCs）、非线性输入和执行器故障的非仿射分数阶非线性系统的容错自适应跟踪控制问题。PTIOCs意味着输出约束在系统运行后的某个时间开始，并且具有规定的持续时间。需要强调的是，约束的开始力矩和结束力矩都可以由用户决定。利用改进的依赖约束误差函数和规定时间尺度函数，并借助势垒函数，将PTIOCs问题转化为验证势垒函数的有界性。此外，开发了一种自适应容错控制算法，以减轻fss中执行器故障的影响，同时在不需要改变控制器结构的情况下适应多个约束和非线性输入。通过仿真验证了该方案的有效性。

引用次数: 0