Journal of The Franklin Institute-engineering and Applied Mathematics最新文献

Decentralized robust secure beamforming for IRS-assisted integrated satellite–terrestrial networks irs辅助综合卫星地面网络的分散鲁棒安全波束形成

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-18 DOI: 10.1016/j.jfranklin.2025.107796

Yifan Feng , Zining Wang , Jian Ouyang , Jinyuan Wang , Min Lin

{"title":"Decentralized robust secure beamforming for IRS-assisted integrated satellite–terrestrial networks","authors":"Yifan Feng , Zining Wang , Jian Ouyang , Jinyuan Wang , Min Lin","doi":"10.1016/j.jfranklin.2025.107796","DOIUrl":"10.1016/j.jfranklin.2025.107796","url":null,"abstract":"<div><div>Integrated satellite–terrestrial networks (ISTNs) are considered a promising framework to provide seamless connectivity for future mobile communication. However, due to the spectrum sharing and heterogeneous architecture, interference management and secrecy transmission have become urgent issues in ISTNs. This paper proposes a decentralized robust beamforming (BF) scheme to enhance the secrecy performance of an intelligent reflecting surface (IRS)-assisted ISTN. In this framework, the satellite and terrestrial networks provide multicast services to satellite users (SUs) and terrestrial users (TUs), respectively, while sharing the same spectrum resources. To further improve communication quality and secrecy performance, an IRS is deployed on an unmanned aerial vehicle (UAV) to assist terrestrial transmissions and mitigate interference. To this end, we formulate an optimization problem to minimize the total transmit power of the ISTN while satisfying the achievable rate constraints of TUs and the achievable secrecy rate constraints of SUs. Given the non-convex nature of the problem and the availability of only imperfect channel state information (CSI), we decompose it into two parallel subproblems by introducing interference-related auxiliary variables. Furthermore, we leverage the triangle inequality and Hölder’s inequality to address channel uncertainty, employ Lagrange duality to iteratively update the auxiliary variables, and develop a decentralized robust algorithm for BF optimization. Finally, simulation results validate that the proposed scheme achieves superior secrecy performance while significantly reducing signaling overhead and computational complexity compared to conventional centralized BF schemes.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107796"},"PeriodicalIF":3.7,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144663549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

New results on predefined-time consensus for nonlinear multi-agent systems under Lipschitz condition: A dynamic-gains-based method 非线性多智能体系统在Lipschitz条件下的预定义时间一致性的新结果：一种基于动态增益的方法

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-17 DOI: 10.1016/j.jfranklin.2025.107894

Jiaqi Xu , Ronghao Wang , Jun Mao , Zhengrong Xiang

引用次数: 0

Event-based distributed cooperative learning control for discrete-time strict-feedback multi-agent systems 离散时间严格反馈多智能体系统基于事件的分布式合作学习控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-17 DOI: 10.1016/j.jfranklin.2025.107901

Weijian Pan , Haotian Shi , Shude He , Shuqi Li , Lixue Wang

{"title":"Event-based distributed cooperative learning control for discrete-time strict-feedback multi-agent systems","authors":"Weijian Pan , Haotian Shi , Shude He , Shuqi Li , Lixue Wang","doi":"10.1016/j.jfranklin.2025.107901","DOIUrl":"10.1016/j.jfranklin.2025.107901","url":null,"abstract":"<div><div>This paper proposes an event-based distributed cooperative learning (EBDCL) control method for a type of discrete-time strict-feedback multi-agent systems. The multi-agent systems have the same nonlinear dynamics, but different tracking control tasks. A new estimate-error-based neural network (NN) update law is designed to avoid the <span><math><mi>n</mi></math></span>-step delay disadvantage of combining the classical tracking-error-based NN update law with event-based communication in previous works. The stability of the system is proved using the Lyapunov stability theorem and error transformation method. Moreover, all the NN weights are proved to converge to small neighborhoods of their ideal values in a limited domain along the union trajectories of all agents, which can be stored as experience knowledge. Hereafter, the experience knowledge is reused to design the experience-based control scheme, which improves the control performance. Finally, simulation results are presented to demonstrate the efficacy of the EBDCL method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107901"},"PeriodicalIF":3.7,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144672350","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive practical finite-time bipartite consensus of nonlinear multi-agent systems with input saturation and non-zero input leader 输入饱和非零前导非线性多智能体系统的自适应实用有限时间二部一致性

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-17 DOI: 10.1016/j.jfranklin.2025.107897

Qiufu Wang, Zhanshan Wang, Tianyuan Jia

{"title":"Adaptive practical finite-time bipartite consensus of nonlinear multi-agent systems with input saturation and non-zero input leader","authors":"Qiufu Wang, Zhanshan Wang, Tianyuan Jia","doi":"10.1016/j.jfranklin.2025.107897","DOIUrl":"10.1016/j.jfranklin.2025.107897","url":null,"abstract":"<div><div>This paper investigates the practical finite-time bipartite consensus (PFBC) for a class of nonlinear multi-agent systems (MASs) with input saturation and non-zero input leader, where the leader’s input is unknown to all followers. Due to the existence of unknown control gain and input saturation in the system, it is impossible to directly compensate through the controller, which poses challenges to the design of control scheme. To deal with this situation, firstly, a smooth function is employed to approximate input saturation. Then, a new compensation function is designed to handle the impact of leader’s input. Afterwards, in order to ensure convergence speed and achieve PFBC, a new adaptive controller with a power exponential term is designed by combining compensation function and sign function. Compared with related works in this field, the scheme proposed in this paper can effectively reduce chattering while ensuring system performance. Finally, The simulation results have verified the effectiveness of the proposed PFBC control strategy.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107897"},"PeriodicalIF":3.7,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144672346","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Cooperative output regulation of multi-agent systems via energy-dependent intermittent event-triggered compensator approach 基于能量依赖的间歇事件触发补偿器的多智能体系统协同输出调节

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-16 DOI: 10.1016/j.jfranklin.2025.107868

Jian Sun , Guangpeng Wang , Jian Yun , Lei Liu , Qihe Shan , Jianxin Zhang

{"title":"Cooperative output regulation of multi-agent systems via energy-dependent intermittent event-triggered compensator approach","authors":"Jian Sun , Guangpeng Wang , Jian Yun , Lei Liu , Qihe Shan , Jianxin Zhang","doi":"10.1016/j.jfranklin.2025.107868","DOIUrl":"10.1016/j.jfranklin.2025.107868","url":null,"abstract":"<div><div>In this paper, we investigate the cooperative output regulation problem by proposing a novel energy-dependent intermittent event-triggered compensator approach. The key aspect of this scheme is the utilization of the current error energy to determine when the agents should execute control protocols. To monitor the error energy, two lines, specifically security line and intermittent line, are constructed in the non-negative real region. Building upon these lines, an innovative intermittent rule is established to dynamically assign the communication period and the non-communication period based on real-time error energy. Based on this energy-dependent intermittent compensator, the distributed event-triggered controller is designed, which ensures that the regulation output converges asymptotically to zero. Compared with the current time-dependent mechanisms, the proposed energy-dependent intermittent event-triggered compensator mechanism can flexibly adapt to various situations according to the application needs, under which the multi-agent systems can tolerate more non-communication period and reduce the communication frequency. Finally, numerical simulations were performed to verify our results.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107868"},"PeriodicalIF":3.7,"publicationDate":"2025-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144665470","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Finite-time robust trajectory tracking control for robotic manipulator under actuator nonlinearities and parametric uncertainties 执行器非线性和参数不确定条件下的机械臂有限时间鲁棒轨迹跟踪控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-14 DOI: 10.1016/j.jfranklin.2025.107891

Umair Javaid , Michael Basin , Salman Ijaz , Muhammad Niaz Khan , Alison Garza-Alonso

{"title":"Finite-time robust trajectory tracking control for robotic manipulator under actuator nonlinearities and parametric uncertainties","authors":"Umair Javaid , Michael Basin , Salman Ijaz , Muhammad Niaz Khan , Alison Garza-Alonso","doi":"10.1016/j.jfranklin.2025.107891","DOIUrl":"10.1016/j.jfranklin.2025.107891","url":null,"abstract":"<div><div>This paper studies effective trajectory tracking control of a robotic manipulator in the presence of dead zones in the input actuator and uncertainties in the system. Initially, we model the actuator dead zone as an unknown dynamic uncertainty and combine it with external disturbances and system uncertainties. Subsequently, we introduce a third-order sliding mode observer (TOSMO) to discern the system perturbations. Using the estimates provided by the TOSMO, we design a new finite-time (FT) convergent integral sliding mode controller. A key feature of the proposed control structure is the reduction of control input chattering despite the presence of input nonlinearity. Furthermore, we explicitly compute the convergence regions of both the observer and controller in terms of design parameters. In addition, we establish the FT convergence of the system states, state errors, and observer estimation errors through Lyapunov stability analysis and derive the explicit expression for convergence time. Finally, comprehensive comparative simulations and results showcase the efficacy of the proposed control scheme for trajectory tracking control of robotic manipulators.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107891"},"PeriodicalIF":3.7,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144663577","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Prescribed-time fault-tolerant control of a spacecraft with time-varying moments of inertia and input constraint 具有时变惯性矩和输入约束的航天器定时容错控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-14 DOI: 10.1016/j.jfranklin.2025.107872

Mostafa Ezabadi, Seyyed Ali Emami, Seid H. Pourtakdoust, Nima Assadian

{"title":"Prescribed-time fault-tolerant control of a spacecraft with time-varying moments of inertia and input constraint","authors":"Mostafa Ezabadi, Seyyed Ali Emami, Seid H. Pourtakdoust, Nima Assadian","doi":"10.1016/j.jfranklin.2025.107872","DOIUrl":"10.1016/j.jfranklin.2025.107872","url":null,"abstract":"<div><div>This paper presents a prescribed-time attitude control framework for spacecraft with a deployable panel, addressing key challenges such as input saturation, actuator faults, and time-varying inertia. Unlike conventional approaches that require precise knowledge of inertial dynamics, the proposed method relies only on known upper bounds of the inertia matrix and panel deployment rate, enabling robust performance in the presence of parametric uncertainty. The control strategy is built upon a command-filtered backstepping architecture, which eliminates the explosion of terms commonly encountered in traditional backstepping by approximating virtual control derivatives through first-order filter with time-varying gains. To compensate for the approximation errors introduced by the filters, auxiliary variables are incorporated into the controller. Furthermore, a compensation term inspired by the modified tracking error concept is embedded into these auxiliary variables to decouple the control input from the effects of actuator faults and input saturation. This structure improves fault tolerance and ensures stable performance even under constrained actuation. The prescribed-time stability of the closed-loop system is rigorously established using Lyapunov-based analysis. Simulation results confirm that the proposed controller drives tracking errors to zero within the user-defined time, even in the presence of time-varying moments of inertia, input saturation, and multiple faults. Sensitivity analyses reveal fundamental trade-offs between convergence time and actuator limitations, and demonstrate the controller’s robustness across a wide range of initial conditions. Comparative evaluations show that the proposed method outperforms existing strategies in tracking accuracy, fault resilience, and robustness under concurrent disturbances and constraints.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107872"},"PeriodicalIF":3.7,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144672347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Asynchronous SMC for discrete fuzzy networked semi-Markov jump systems with cyber attacks 具有网络攻击的离散模糊网络半马尔可夫跳变系统的异步SMC

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-14 DOI: 10.1016/j.jfranklin.2025.107896

Jiyang Wang , Runkun Li , Wenhai Qi , Jinde Cao , Jun Cheng

{"title":"Asynchronous SMC for discrete fuzzy networked semi-Markov jump systems with cyber attacks","authors":"Jiyang Wang , Runkun Li , Wenhai Qi , Jinde Cao , Jun Cheng","doi":"10.1016/j.jfranklin.2025.107896","DOIUrl":"10.1016/j.jfranklin.2025.107896","url":null,"abstract":"<div><div>The observer-based asynchronous sliding mode control (SMC) strategy is proposed for network-based discrete nonlinear semi-Markov jump systems in complex environments with mode mismatch phenomenon between the system and the controller. Due to the uncertain parameters in the networked systems, the interval type-2 fuzzy model is adopted to describe the nonlinear object. In the complex network environment, the communication links are affected by many factors, in which packet loss, signal quantization, and cyber-attacks are considered simultaneously. Affected by unreliable communication links, it is difficult to obtain the actual state information completely, where the observe-based control strategy is adopted. According to the semi-Markov kernel, interval type-2 fuzzy, and ST-dependent Lyapunov function, sufficient conditions are established so that the related system is <span><math><mi>σ</mi></math></span>-error mean-square stable. Furthermore, an observer-based asynchronous SMC mechanism is established to ensure the reachability of the sliding region. Ultimately, the tunnel diode circuit model is presented to confirm the effectiveness of the proposed method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107896"},"PeriodicalIF":3.7,"publicationDate":"2025-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144663572","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Stability and stabilization of discrete-time time-varying systems with unbounded delays 具有无界时滞的离散时变系统的稳定性与镇定

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-13 DOI: 10.1016/j.jfranklin.2025.107890

Yige Guo , Fei Wang , Yihan Guo , Xiang Xu

引用次数: 0

Constructing barriers for arbitrary velocity players in mutual attack-defense games 在互攻互防游戏中为任意速度玩家构建障碍

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-13 DOI: 10.1016/j.jfranklin.2025.107889

Jingwen Xu , Qiyong He , Min Meng , Xiuxian Li

{"title":"Constructing barriers for arbitrary velocity players in mutual attack-defense games","authors":"Jingwen Xu , Qiyong He , Min Meng , Xiuxian Li","doi":"10.1016/j.jfranklin.2025.107889","DOIUrl":"10.1016/j.jfranklin.2025.107889","url":null,"abstract":"<div><div>In this paper, a novel two-player mutual attack-defense game is proposed and addressed where each player protects its own static target and performs both intrusion and defense tasks without distinguishing between their respective roles. In particular, each player has its own territory, meaning that each player has a capture advantage in its own territory, independent of velocity. The game can be solved by dividing it into active and passive goals. To address the positive goals, a method of combining barriers is proposed, where geometric methods are employed to construct barriers for arbitrary velocity conditions. And the time advantage needs to be further validated for passive goals. Through the combinatorial barriers, the entire state space is partitioned into different subspaces, corresponding to various terminal sets. The successive analysis builds upon this foundation by numerically analyzing each subspace, which yields detailed results on strategies for both players in the proposed novel game scenario. Finally, the simulation validates the effectiveness of the proposed strategies.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107889"},"PeriodicalIF":3.7,"publicationDate":"2025-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144663684","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0