{"title":"Distributed adaptive event-triggered finite-time fault-tolerant containment control for multi-UAVs with input constraints and actuator failures","authors":"","doi":"10.1016/j.jfranklin.2024.107308","DOIUrl":"10.1016/j.jfranklin.2024.107308","url":null,"abstract":"<div><div>This article investigates the distributed adaptive finite-time containment control problem for multi-UAVs with input constraints, actuator failures, communication limitations, and external disturbances. First, a new smoothing function is used to smooth the asymmetric input constraint signals so that the input constraint and actuator fault control problem can be transformed into a variable gain control problem. Subsequently, a new Nussbaum function is proposed to solve the variable gain control problem. A new adaptive event-triggered strategy is designed to solve the communication limitation problem, and the trigger threshold has the characteristic of adaptive adjustment that can be dynamically decreased. In response to external disturbances, an adaptive law is designed to estimate and compensate for the boundaries of disturbances. It follows from the analysis based on Lyapunov theory that under the proposed controller, the followers will converge to the convex envelope formed by the leaders in a finite time, and Zeno-free is achieved. Simulation results are provided to verify the effectiveness of the developed adaptive event-triggered finite-time fault-tolerant containment control laws.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420761","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}
{"title":"Extended state observer-based finite-time trajectory tracking control for wheeled mobile robots under FDI attacks","authors":"","doi":"10.1016/j.jfranklin.2024.107304","DOIUrl":"10.1016/j.jfranklin.2024.107304","url":null,"abstract":"<div><div>The trajectory tracking control of wheeled mobile robots (WMRs) under False Data Injection (FDI) attacks is investigated in this paper. First, to mitigate the impact of FDI attacks, a finite-time extended state observer (FTESO) is constructed. The error dynamic of the tracking control system is then split up into two subsystems via the cascaded control approach, and a one-to-one finite-time control law is designed for both subsystems. Second, a new stability condition is proposed to ensure that the tracking error system is finite-time globally uniform ultimate bounded (GUUB) and the tracking error can converge into a compact set. Finally, it is validated that the proposed control method is effective through simulation studies.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420760","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}
{"title":"A zonotope-based fault detection method for switched systems with parameter uncertainties and multiple time delays","authors":"","doi":"10.1016/j.jfranklin.2024.107305","DOIUrl":"10.1016/j.jfranklin.2024.107305","url":null,"abstract":"<div><div>This paper studies fault detection for discrete-time switched systems with parameter uncertainties and time delays. First, a state augmentation method is presented to decouple the effect of time delays. Then, a novel residual generator structure based on priori state estimation is introduced, and the adaptive thresholds for residual evaluation are computed via zonotope techniques. Meanwhile, peak-to-peak performance and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mo>−</mo></mrow></msub></math></span> performance are adopted to design the residual generator, ensuring both uncertainty robustness and fault sensitivity. Finally, numerical simulation results are provided to demonstrate the effectiveness and superiority of the proposed method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420762","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}
{"title":"MIMO Super-Twisting Controller using a passivity-based design","authors":"","doi":"10.1016/j.jfranklin.2024.107296","DOIUrl":"10.1016/j.jfranklin.2024.107296","url":null,"abstract":"<div><div>A novel MIMO Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a time and state-varying but unknown left matrix factor. Sufficient conditions for stability with full-matrix control gains are established, in contrast to the usual scalar gains. For this a smooth Lyapunov function, based on a passivity interpretation, is used. Moreover, continuous and homogeneous approximations of the classical discontinuous Super-Twisting algorithm are obtained, using a unified analysis method. Moreover, the proposed Super-Twisting algorithm is of the discontinuous type, in contrast to the usual unitary type.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420823","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Consensus formation control of wheeled mobile robots with mixed disturbances under input constraints","authors":"","doi":"10.1016/j.jfranklin.2024.107300","DOIUrl":"10.1016/j.jfranklin.2024.107300","url":null,"abstract":"<div><div>This paper addresses the problem of distributed consensus-based formation control for wheeled mobile robots (WMRs) under the influence of mixed disturbances, including both random noise and non-random disturbances. A consensus formation auxiliary subsystem is constructed based on the leader’s position estimated by the distributed estimator. A formation tracking subsystem for each robot is constructed based on the trajectory tracking error method. The above two subsystems are constructed into an extended formation modeling system. Further, a distributed model predictive control (DMPC) is designed to control this system without disturbance, and the controller is solved by means of a general-purpose neural network. A combination of Kalman filter (KF) and extended state observer (ESO) is intended to reduce the effect of both non-random disturbances and random noise, hence increasing the controller’s resilience to disturbances. Moreover, a composite control law is designed to ensure the controller’s effectiveness. Finally, simulation results demonstrate that the proposed control strategy is well-suited to addressing the problem, as it not only achieves accurate formation control but also effectively regulates the robot’s physical constraints while suppressing both non-random disturbances and random noise.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420818","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}
{"title":"Fuzzy adaptive fixed-time control for output-constrained uncertain nonstrict-feedback time-delay systems","authors":"","doi":"10.1016/j.jfranklin.2024.107302","DOIUrl":"10.1016/j.jfranklin.2024.107302","url":null,"abstract":"<div><div>This paper deals with the problem of fuzzy adaptive fixed-time control for a class of uncertain nonlinear nonstrict feedback systems with time delays and output constraints. The negative effects of time delays on system performance and stability are overcome by introducing a new Barrier Lyapunov–Krasovskii (BLK) function and an innovative inequality. In addition, the singularity problem that arises in the process of deriving the control and adaptive laws, is solved by the proposed BLK function. The controller is designed in the backstepping framework which ensures that the system output does not violate predefined constraints. The proposed controller needs less information from the system and therefore has less implementation complexity than previous references, which leads to a more straightforward implementation. A fuzzy system approximation is utilized to overcome the uncertainties of the model. It is guaranteed that all closed-loop system signals converge to small neighborhoods around zero in a fixed time. Finally, an example is presented to verify that the proposed method achieves the control objectives.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420681","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}
{"title":"Face recognition method based on fusion of improved MobileFaceNet and adaptive Gamma algorithm","authors":"","doi":"10.1016/j.jfranklin.2024.107306","DOIUrl":"10.1016/j.jfranklin.2024.107306","url":null,"abstract":"<div><div>MobileFaceNet face recognition algorithm is a relatively mainstream face recognition algorithm at present. Its advantages of small memory and fast running speed make it widely used in embedded devices. Due to the limited face image acquisition capability of embedded devices, the accuracy of face recognition is often reduced due to uneven illumination and poor exposure quality. In order to solve this problem, a face recognition algorithm based on the fusion of MobileFaceNet and adaptive Gamma algorithm is proposed. The application of the algorithm proposed in this paper in image preprocessing is as follows. Firstly, adaptive Gamma correction is used to improve the brightness of the face image. Then, the edge of the face image is enhanced by the Laplace operator. Finally, a linear weighted fusion was performed between the Gamma corrected image and the enhanced edge image to obtain the pre-processed face image. At the same time, we have improved the traditional MobileFaceNet network. The feature extraction network MobileFaceNet has been improved by adding a Stylebased Recall Module (SRM) attention mechanism to its bottom neck layer, utilizing the mean and standard deviation of input features to improve the ability to capture global information and enhance more important feature information. Finally, the proposed method was verified on the LFW and Agedb face test set. The experimental results show that the adaptive Gamma algorithm proposed in this paper and the improvement of MobileFaceNet can achieve a face recognition accuracy of 99.27 % on LFW dataset and 90.18 % on Agedb dataset while only increasing the model size by 0.4 M and the processing speed for each image is enhanced by 4 ms. which can effectively improve the accuracy of face recognition and better application prospects on embedded devices. The method presented in this article has certain practical significance.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420817","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}
{"title":"Two improved generalized extended stochastic gradient algorithms for CARARMA systems","authors":"","doi":"10.1016/j.jfranklin.2024.107295","DOIUrl":"10.1016/j.jfranklin.2024.107295","url":null,"abstract":"<div><div>The paper innovatively proposes two improved generalized extended stochastic gradient (GESG) algorithms for the controlled autoregressive autoregressive moving average (CARARMA) system with autoregressive moving average (ARMA) model noise. Firstly, we propose a latest estimation based weighted generalized extended stochastic gradient (LE-WGESG) algorithm, which introduces multiple momentary corrections in the traditional parameter estimation process. By carefully adjusting the weighting coefficients of the correction quantities at different moments, the algorithm has a rapid and greater efficient convergence property. More importantly, utilizing the theory of moving data window, this paper also proposes a multi-innovation based latest estimated weighted generalized extended stochastic gradient (MI-LE-WGESG) algorithm, which can better capture the interactions among multiple correction terms and further improve the predictive ability of the model.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420683","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}
{"title":"Spatial–Temporal Similarity Fusion Graph Adversarial Convolutional Networks for traffic flow forecasting","authors":"","doi":"10.1016/j.jfranklin.2024.107299","DOIUrl":"10.1016/j.jfranklin.2024.107299","url":null,"abstract":"<div><div>Traffic flow forecasting is integral to the advancement of intelligent transportation systems and the development of smart cities. This paper introduces a novel model, the Spatial–Temporal Similarity Fusion Graphs Adversarial Convolutional Networks (STSF-GACN), which leverages advanced data preprocessing techniques to enhance the predictive accuracy and efficiency of traffic flow forecasting.</div><div>The innovation of our approach lies in the meticulous construction of the spatial–temporal similarity matrix through the precise calculation of temporal and spatial similarities. This matrix forms the backbone of our model, serving as the generator in the integrated Generative Adversarial Network (GAN) architecture. The Spatial–Temporal Similarity Fusion Adaptive Graph Convolutional Network, developed as part of our GAN’s generator, utilizes cutting-edge techniques such as the Wasserstein distance and Dynamic Time Warping to optimize the adaptive adjacency matrix, enabling the model to capture latent spatial–temporal correlations with unprecedented depth and precision.</div><div>The discriminator of the GAN further refines the model by evaluating the accuracy of the traffic predictions, ensuring that the generative model produces results that are not only accurate but also robust against varying traffic conditions. This cohesive integration of GAN into the model architecture allows for a significant improvement in prediction accuracy and convergence speed, moving beyond traditional forecasting methods.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420682","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}
{"title":"A Lyapunov–Razumikhin control strategy for stochastic nonlinear delayed systems with polynomial conditions","authors":"","doi":"10.1016/j.jfranklin.2024.107288","DOIUrl":"10.1016/j.jfranklin.2024.107288","url":null,"abstract":"<div><div>Numerous control schemes for stochastic systems involving time-varying delays need a strict slow time-delay condition, which does hold for some practical models. Also, some stochastic systems will have different structures as working conditions change. In this article, we will investigate the control of stochastic systems which contain time-varying delays and polynomial conditions. By providing the dynamic-gain based homogeneous domination approach, and selecting a new Lyapunov–Razumikhin (L–R) function, a universal dynamic controller for systems with different growing conditions is presented, and the slow time-delay condition is removed successfully. The algorithm is finally verified with a practical example.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420825","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}