Journal of The Franklin Institute-engineering and Applied Mathematics最新文献_第10页

Self-triggered distributed economic MPC for asynchronous vehicle platoon with communication delays and external disturbances 具有通信延迟和外部干扰的异步车辆排自触发分布式经济MPC

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-23 DOI: 10.1016/j.jfranklin.2025.107803

Maode Yan , Changyang Deng , Lei Zuo , Lingbo Li

{"title":"Self-triggered distributed economic MPC for asynchronous vehicle platoon with communication delays and external disturbances","authors":"Maode Yan , Changyang Deng , Lei Zuo , Lingbo Li","doi":"10.1016/j.jfranklin.2025.107803","DOIUrl":"10.1016/j.jfranklin.2025.107803","url":null,"abstract":"<div><div>This paper investigates the asynchronous vehicle platoon control problems with communication delays and external disturbances, in which fuel economy and communication resources are taken into consideration. To address these challenges, a self-triggered distributed economic model predictive control (SDEMPC) algorithm with a distributed disturbance observer is proposed for the platoon system. First, a distributed disturbance observer is introduced to actively alleviate the negative effects of disturbances. To ensure adherence to physical constraints, a tightened control input constraint is derived from disturbance estimation information. Next, a dual-layer optimization problem with robustness and tracking stability constraints is formulated for the disturbance-compensated platoon system. On this basis, the fuel economy can be improved while achieving the desired platoon formation. Then, an asynchronous self-triggered scheduler with a lengthened sequence strategy is designed to effectively reduce communication frequency and coordinate asynchronous communication with delays between vehicles. Subsequently, the recursive feasibility of the proposed algorithm and the closed-loop stability of the platoon system are strictly analyzed. Finally, numerical simulations are presented to verify the effectiveness of the proposed algorithm.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107803"},"PeriodicalIF":3.7,"publicationDate":"2025-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144481549","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

Learning economic model predictive control via clustering and kernel-based Lipschitz regression 通过聚类和基于核的Lipschitz回归学习经济模型预测控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-21 DOI: 10.1016/j.jfranklin.2025.107787

Weiliang Xiong , Defeng He , Haiping Du

{"title":"Learning economic model predictive control via clustering and kernel-based Lipschitz regression","authors":"Weiliang Xiong , Defeng He , Haiping Du","doi":"10.1016/j.jfranklin.2025.107787","DOIUrl":"10.1016/j.jfranklin.2025.107787","url":null,"abstract":"<div><div>This paper presents a novel learning economic model predictive control scheme for uncertain nonlinear systems subject to input and state constraints and unknown dynamics. We design a fast and accurate Lipschitz regression method using input and output data that combines clustering and kernel regression to learn the unknown dynamics. In each cluster, the parallel convex optimization problems are solved to estimate the kernel weights and reduce the Lipschitz constant of the predictor, hence limiting the error propagation in the prediction horizon. We derive two different bounds of learning errors in deterministic and probabilistic forms and customize a new robust constraint-tightening strategy for the discontinuous predictor. Then, the learning economic model predictive control algorithm is formulated by introducing a stabilized optimization problem to construct a Lyapunov function. Sufficient conditions are derived to ensure the recursive feasibility and input-to-state stability of the closed-loop system. The effectiveness of the proposed algorithm is verified by simulations of a numerical example and a continuously stirred tank reactor.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107787"},"PeriodicalIF":3.7,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144366635","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

Multi-objective data-driven mixed H2/H∞ controller design for uncertain structural systems 不确定结构系统多目标数据驱动混合H2/H∞控制器设计

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-21 DOI: 10.1016/j.jfranklin.2025.107786

Bilal Gormus , Hakan Yazici , Ibrahim Beklan Kucukdemiral

{"title":"Multi-objective data-driven mixed H2/H∞ controller design for uncertain structural systems","authors":"Bilal Gormus , Hakan Yazici , Ibrahim Beklan Kucukdemiral","doi":"10.1016/j.jfranklin.2025.107786","DOIUrl":"10.1016/j.jfranklin.2025.107786","url":null,"abstract":"<div><div>This paper presents a multi-objective, linear matrix inequality-based (LMI-based) data-driven mixed <span><math><mrow><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub><mo>/</mo><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></mrow></math></span> control approach for attenuating norm-bounded disturbances in seismically excited structural systems. The identification-free nature of the data-driven control technique effectively addresses parameter uncertainty issues in structural systems. While the proposed technique does not require knowledge of the system matrices <span><math><mi>A</mi></math></span> and <span><math><msub><mrow><mi>B</mi></mrow><mrow><mi>u</mi></mrow></msub></math></span>, it only necessitates the bounds on states and disturbances for controller design. In the proposed method, the full-block S-procedure is employed to define the norm-bounded uncertain disturbance input, allowing the use of convex-hull relaxation. Moreover, the dilation technique on LMIs enables the use of non-common Lyapunov matrices in <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control problems. As a result, the proposed method provides a solution to the convex optimization problem for multi-objective control with minimal conservatism. The effectiveness of the proposed data-driven controller is evaluated using a four-storey structural system subjected to ground motions from earthquake data collected during the Kobe and Northridge earthquakes. Numerical examples and extensive case studies demonstrate that the proposed method achieves successful active vibration control comparable to model-based approaches and exhibits robustness under different earthquake excitations and system mass variations.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107786"},"PeriodicalIF":3.7,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144563767","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

A novel robust filter for non-stationary systems with stochastic measurement loss probabilities 具有随机测量损失概率的非平稳系统鲁棒滤波器

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-21 DOI: 10.1016/j.jfranklin.2025.107795

Shen Liang , Jian Sun , GuoLiang Xu

{"title":"A novel robust filter for non-stationary systems with stochastic measurement loss probabilities","authors":"Shen Liang , Jian Sun , GuoLiang Xu","doi":"10.1016/j.jfranklin.2025.107795","DOIUrl":"10.1016/j.jfranklin.2025.107795","url":null,"abstract":"<div><div>This paper introduces an innovative variational Bayesian Kalman filtering method to tackle the filtering challenges posed by stochastic measurement losses and heavy-tailed noise in non-stationary linear systems. The non-stationary heavy-tailed noise is represented by a Bernoulli random variable that combines a Gaussian distribution with a heavy-tailed distribution. The Gaussian distribution has a high probability and nominal covariance, while the heavy-tailed distribution has a low probability and a covariance that can adapt to different situations. The Undisclosed nominal covariance is assumed to adhere to the distribution characteristics of the inverse Wishart. To construct a hierarchical Gaussian state space model, the measurement probability function is reshaped into an exponential product form through the utilization of extra Bernoulli random variable. Ultimately, the variational Bayesian technique is utilized to estimate the unknown random variables jointly. Simulation results show that the proposed algorithm has significant improvement in both filtering accuracy and measurement loss probability estimation.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107795"},"PeriodicalIF":3.7,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144501380","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

A variable step size bias-compensated affine projection algorithm with noisy inputs 带噪声输入的变步长偏置补偿仿射投影算法

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-21 DOI: 10.1016/j.jfranklin.2025.107792

Chan Park, Seung Hyun Ryu, PooGyeon Park

引用次数: 0

An application of Generalized Fuzzy Hyperbolic Model for solving fuzzy optimal control problems under granular differentiability 广义模糊双曲模型在求解颗粒可微模糊最优控制问题中的应用

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-21 DOI: 10.1016/j.jfranklin.2025.107783

Aneseh Kazemi, Alireza Nazemi

{"title":"An application of Generalized Fuzzy Hyperbolic Model for solving fuzzy optimal control problems under granular differentiability","authors":"Aneseh Kazemi, Alireza Nazemi","doi":"10.1016/j.jfranklin.2025.107783","DOIUrl":"10.1016/j.jfranklin.2025.107783","url":null,"abstract":"<div><div>The nature of real-world phenomena are often imprecision and vagueness, i.e., there is always a need to take into consideration the uncertainty factors when modeling real-world phenomena. In this paper, a generalized fuzzy hyperbolic model is employed for solving fuzzy optimal control problems, under the granular differentiability concept. Due to the characteristics of fewer identification parameters, GFHM can simplify the complexity of traditional ship fuzzy models. At the first step, we consider the granular Euler–Lagrange conditions for fuzzy variational problems and Pontryagin’s maximum principle for fixed and free final states of fuzzy optimal control problems, based on the ideas of horizontal membership function and granular differentiability via the calculus of variations. The necessary optimality conditions for these problems are derived in the form of two-point boundary value problems. Here, for the first time, generalized fuzzy hyperbolic models are used to approximate the solutions of the related two-point boundary value problems. This fuzzy hyperbolic models uses of the number of sample points as the training dataset, and the Levenberg–Marquardt algorithm is selected as the optimizer. By relying on the ability of the generalized fuzzy hyperbolic models as function approximator, the fuzzy solutions of variables are substituted in the related two-point boundary value problem. The obtained algebraic nonlinear equations system is then reduced into an error function minimization problem. A learning scheme based on the Levenberg–Marquardt algorithm is employed as the optimizer to derive the adjustable parameters of fuzzy solutions. In order to clarify the effectiveness of the studied approach, some numerical results are supplied.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107783"},"PeriodicalIF":3.7,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144470495","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

AnDR-BLIP2: enhanced semantic understanding framework for industrial image anomaly detection and report generation AnDR-BLIP2：用于工业图像异常检测和报告生成的增强语义理解框架

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-21 DOI: 10.1016/j.jfranklin.2025.107816

Ze Gao , Jing Guo , Liming Chen , Kai Wang , Yang Chen , Yongzhen Ke , Shuai Yang

{"title":"AnDR-BLIP2: enhanced semantic understanding framework for industrial image anomaly detection and report generation","authors":"Ze Gao , Jing Guo , Liming Chen , Kai Wang , Yang Chen , Yongzhen Ke , Shuai Yang","doi":"10.1016/j.jfranklin.2025.107816","DOIUrl":"10.1016/j.jfranklin.2025.107816","url":null,"abstract":"<div><div>Nowadays, the rapid development of Large Multimodal Models (LMM) has demonstrated its powerful ability in image understanding. However, when applied to downstream tasks such as industrial anomaly detection, it often lacks competence due to limitations in image parsing ability, pre-training data, and training strategy. Specifically, it struggles with understanding the detailed semantics of abnormal parts of images. As LLM performance continues to improve, the Industrial Image Anomaly Detection Report Generation (IADRG) task may emerge as a new challenge in the future. In this paper, we define the IADRG task as a deeper image understanding task and propose a solution for it. We propose AnDR-BLIP2, a dual-branch multi-modal large model based on the BLIP2 model combined with the SAM visual understanding branch to enhance detailed feature extraction from images. Additionally, we utilize mixed semantic pre-training of general and industrial image data to strengthen the model's ability to understand abnormal content in industrial anomaly detection tasks. Furthermore, our model leverages SAM's pixel-level feature parsing ability to integrate a prompt zero-shot industrial anomaly segmentation method into report generation. Experimental results on Mvtec-AD and VisA datasets demonstrate that our model accurately understands industrial image anomalies and achieves considerable performance in zero-shot anomaly segmentation.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107816"},"PeriodicalIF":3.7,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144481548","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

Digital implementation of the supertwisting controller based on the deadbeat method 基于无差拍法的超捻控制器的数字化实现

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-21 DOI: 10.1016/j.jfranklin.2025.107785

Mohammad Rasool Mojallizadeh

{"title":"Digital implementation of the supertwisting controller based on the deadbeat method","authors":"Mohammad Rasool Mojallizadeh","doi":"10.1016/j.jfranklin.2025.107785","DOIUrl":"10.1016/j.jfranklin.2025.107785","url":null,"abstract":"<div><div>The deadbeat method is developed in this paper to realize a chattering-free implementation of the supertwisting controller while keeping its important properties such as convergence rate, and robustness to uncertainties, disturbances, and measurement noise. The deadbeat implementation leads to a finite-time convergence of the discrete-time supertwisting algorithm without exceeding the control effort compared to the original supertwisting controller in the continuous-time domain. Several properties of the implemented supertwisting controller based on the proposed method are investigated analytically and validated based on numerical experiments including the chattering treatment, convergence rate, disturbance attenuation, and convergence in the presence of parametric uncertainty and measurement noise. The comparison of the developed method to the recently trending implicit discretization indicates a more straightforward realization without requiring to take into account the setvalued terms or solving generalized equations, which may not be possible for all sliding-mode algorithms.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107785"},"PeriodicalIF":3.7,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144366735","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

Model-free sliding mode control for path following in autonomous vehicle 自动驾驶汽车路径跟踪的无模型滑模控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-21 DOI: 10.1016/j.jfranklin.2025.107806

Yunfei Yin , Zhanguo Xu , Yuanlong Wei , Wangyang Jiang , Deyin Yao , Zejiao Dong

{"title":"Model-free sliding mode control for path following in autonomous vehicle","authors":"Yunfei Yin , Zhanguo Xu , Yuanlong Wei , Wangyang Jiang , Deyin Yao , Zejiao Dong","doi":"10.1016/j.jfranklin.2025.107806","DOIUrl":"10.1016/j.jfranklin.2025.107806","url":null,"abstract":"<div><div>This article addresses the challenges of parameter uncertainty and disturbance in the path-following task of autonomous vehicles. Instead of directly converging the path-following errors, a novel desired yaw angle function is introduced to enhance path tracking in underactuated vehicles, thereby simplifying the controller design. It is proven that the path tracking errors diminish to zero as the yaw angle aligns with the desired yaw angle. Based on the system model and control objectives, a composite model-free sliding mode control scheme is proposed. This strategy employs a non-singular terminal sliding mode control law to stabilize the control error. Furthermore, a high-order fast terminal sliding mode observer is incorporated to address system parameter uncertainty and external disturbance, with the estimated values utilized in the proposed controller. With this combination, this approach ensures tracking precision without requiring vehicle parameter knowledge and offers robust application, ultimately realizing model-free control. Meanwhile, the stability of the closed system is proven using Lyapunov theory. Finally, various operating conditions are designed to verify the robustness, and different control methods are compared to highlight the superiority of the proposed control strategy.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107806"},"PeriodicalIF":3.7,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144491564","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

A graph learning approach for kernel-based system identification with manifold regularization 一种基于核的流形正则化系统辨识的图学习方法

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-20 DOI: 10.1016/j.jfranklin.2025.107793

Pietro Boni, Mirko Mazzoleni, Matteo Scandella, Fabio Previdi

引用次数: 0