Journal of The Franklin Institute-engineering and Applied Mathematics最新文献_第2页

Fast finite-time consensus strategy for multi-agent systems based on switching of different protocols

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-04-12 DOI: 10.1016/j.jfranklin.2025.107686

Tianpeng Fan, Hongxiao Hu, Quan Wan, Zhongguo Li, Zhengtao Ding

{"title":"Fast finite-time consensus strategy for multi-agent systems based on switching of different protocols","authors":"Tianpeng Fan, Hongxiao Hu, Quan Wan, Zhongguo Li, Zhengtao Ding","doi":"10.1016/j.jfranklin.2025.107686","DOIUrl":"10.1016/j.jfranklin.2025.107686","url":null,"abstract":"<div><div>In multi-agent systems (MASs), the time to reach a consensus is an important factor in characterising system performance and control strategy. The linear protocol has a fast convergence rate when the initial error is large but slows significantly as the error decreases. Therefore, this paper combines the linear protocol with two finite-time protocols, and a switching strategy is designed to achieve fast finite-time consensus. First, when the connection topology is undirected, it is proved that the continuous finite-time consensus protocol is unnecessary, with the fastest convergence achieved by switching directly from the linear protocol to the discontinuous finite-time protocol. Two switching thresholds are provided. Subsequently, the results are extended to detail-balanced and leader-following graphs. Notably, in the leader-following case, the graph only needs to be connected without requiring strongly connected or detail-balanced. The proposed approach significantly reduces the time required for MAS consensus and eliminates the need for additional parameter calculations.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 8","pages":"Article 107686"},"PeriodicalIF":3.7,"publicationDate":"2025-04-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143838945","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

Consensus of wave PDE agents under switching graphs

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-04-12 DOI: 10.1016/j.jfranklin.2025.107684

Yining Chen , Guoting Wang , Yongle Guo , Linying Xiang , Dandan Li , Zhiqiang Zuo

引用次数: 0

Self-supervised keypoint detection based on affine transformation

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-04-11 DOI: 10.1016/j.jfranklin.2025.107648

Na Ying, Xuewei Zhang, Miao Hu, Xinyu Lin, Kairui Yin, Jian Zhao

{"title":"Self-supervised keypoint detection based on affine transformation","authors":"Na Ying, Xuewei Zhang, Miao Hu, Xinyu Lin, Kairui Yin, Jian Zhao","doi":"10.1016/j.jfranklin.2025.107648","DOIUrl":"10.1016/j.jfranklin.2025.107648","url":null,"abstract":"<div><div>Self-supervised learning has emerged as a powerful approach to reducing the cost associated with data labeling for network training. Nonetheless, a key challenge in self-supervised keypoint detection is ensuring that the detected keypoints carry human-interpretable semantic meaning. This paper addresses this challenge by introducing a novel self-supervised keypoint detection algorithm designed to generate semantically meaningful human keypoints while maintaining detection accuracy. The proposed approach reformulates human keypoint detection as a problem of affine transformation of predefined keypoint templates, distinguishing itself from existing self-supervised techniques. Specifically, a semantically annotated human keypoint template is predefined, and an affine transformation matrix is learned based on extracted human pose features. By applying this matrix to the template, the algorithm generates keypoints that are not only accurate but also semantically aligned with the corresponding human poses. Furthermore, a margin loss is introduced to stabilize the affine transformations across various image scales, ensuring robust performance. Experimental evaluations on the Human3.6M and Deepfashion datasets demonstrate that the algorithm achieves an average detection error of 2.78 on Human3.6M, only a marginal increase of 0.02 compared to the baseline method, Autolink. On the Deepfashion dataset, the algorithm achieves a keypoint detection accuracy of 65%, which is 1% below Autolink. Importantly, unlike other methods, the proposed algorithm guarantees that all generated keypoints are semantically interpretable, providing a significant advantage in human-centered applications.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 8","pages":"Article 107648"},"PeriodicalIF":3.7,"publicationDate":"2025-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143868289","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

In-depth exploration on dynamic-controlled principal component analysis: Algorithm properties and its applications in pattern control and optimisation

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-04-10 DOI: 10.1016/j.jfranklin.2025.107696

Niannian Zheng , Yuri A.W. Shardt , Xiaoli Luan , Fei Liu

{"title":"In-depth exploration on dynamic-controlled principal component analysis: Algorithm properties and its applications in pattern control and optimisation","authors":"Niannian Zheng , Yuri A.W. Shardt , Xiaoli Luan , Fei Liu","doi":"10.1016/j.jfranklin.2025.107696","DOIUrl":"10.1016/j.jfranklin.2025.107696","url":null,"abstract":"<div><div>Recently, significant attention has been directed towards extracting latent pattern from measured variables to characterise the operational status of processes. Notably, dynamic-controlled principal component analysis (DCPCA) has been developed to explicitly model the dynamic causality between control inputs and the pattern. However, studies on the mathematical properties of DCPCA are still absent, which hinders understanding and limits its applications. To bridge this gap, this paper analyses the properties of the optimisation problem and solution algorithm for DCPCA, as well as showing the geometric characteristics of DCPCA models. Consequently, the method by which DCPCA is solved and its working principle are explained. Based on these theoretical explorations, a framework for DCPCA-based pattern control and optimisation is designed and discussed to highlight a standard paradigm and show the significance of DCPCA for engineering applications. Finally, a numerical example is presented to validate the effectiveness of DCPCA, which explicitly captures the dynamic-controlled relationships of the process and directly regulates the pattern for process control. Additionally, a benchmark case study using the Tennessee Eastman process shows that DCPCA has a better detection-accuracy rate than dynamic-inner PCA (DIPCA).</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 8","pages":"Article 107696"},"PeriodicalIF":3.7,"publicationDate":"2025-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143877434","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

Mixed-objective robust hierarchical lateral control of autonomous distributed drive electric vehicles considering parametric uncertainties and energy loss

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-04-10 DOI: 10.1016/j.jfranklin.2025.107693

Danyang Li, Youqun Zhao, Fen Lin, Tao Xu, Chenxi Zhang

{"title":"Mixed-objective robust hierarchical lateral control of autonomous distributed drive electric vehicles considering parametric uncertainties and energy loss","authors":"Danyang Li, Youqun Zhao, Fen Lin, Tao Xu, Chenxi Zhang","doi":"10.1016/j.jfranklin.2025.107693","DOIUrl":"10.1016/j.jfranklin.2025.107693","url":null,"abstract":"<div><div>To overcome the issues of parametric uncertainties, external disturbances, input saturation and energy loss in the lateral control of autonomous distributed drive electric vehicles (A-DDEVs), a mixed-objective robust hierarchical control strategy is proposed. Firstly, considering the uncertain tire cornering stiffness and velocity, a control-oriented constrained polytopic system model with disturbance is established, which integrates active front wheel steering (AFS), direct yaw moment control (DYC), and anti-rollover control (ARC) to maximize vehicle safety. Subsequently, an upper-level mixed-objective constrained robust model predictive control (RMPC) algorithm is developed, transforming the robust control problem–satisfying input/state constraints, desired quadratic performance, and H∞ performance–into a finite-dimensional convex optimization problem in terms of linear matrix inequalities (LMIs). For lower-level control, an optimal torque vectoring control (TVC) algorithm balancing safety and economy is proposed, employing a weighted sum of tire load rate and energy loss as the objective function. Here, the weight is dynamically adjusted via phase plane and fuzzy rules for holistic optimization. Finally, simulations across diverse driving scenarios validate the strategy's effectiveness and robustness.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 8","pages":"Article 107693"},"PeriodicalIF":3.7,"publicationDate":"2025-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143874213","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

Geodesic-based free terminal time energy optimization for spacecraft clusters trajectory planning in conflict zone

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-04-09 DOI: 10.1016/j.jfranklin.2025.107692

Jingxian Wang , Heng Zhou , Rong Chen , Yong Zhao , Yuzhu Bai , Jing Zhang

{"title":"Geodesic-based free terminal time energy optimization for spacecraft clusters trajectory planning in conflict zone","authors":"Jingxian Wang , Heng Zhou , Rong Chen , Yong Zhao , Yuzhu Bai , Jing Zhang","doi":"10.1016/j.jfranklin.2025.107692","DOIUrl":"10.1016/j.jfranklin.2025.107692","url":null,"abstract":"<div><div>This paper explores the free terminal time two-point boundary value problem for two spacecraft clusters in a conflict zone by introducing a trajectory planning method based on geodesics. Within this context, the clusters are subject to configuration, collision avoidance, communication, and motion constraints. First, the cluster state space under complex multiple constraints is constructed as a manifold. The free terminal time two-point boundary value problem is further transformed into a geodesic solution problem in manifold space and characterized by a partial differential equation. Addressing the multi-peaked nature of this multi-constrained optimization challenge, an initial guess, founded on the Clohessy-Wiltshire equation and employing homotopy principles, is devised. This facilitates algorithm convergence towards a superior peak, even from a bad initial guess. Finally, the Christoffel symbol simplified computation and the fast construction method of cluster boundary are proposed to realize the balance between optimal solution search and algorithm performance. Simulation results show that the proposed algorithm can solve the clusters conflict problem and can converge quickly under the random configuration to achieve cluster energy optimization in the multi-peak problem.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 8","pages":"Article 107692"},"PeriodicalIF":3.7,"publicationDate":"2025-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143851390","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 fuzzy tracking control for constrained stochastic nonlinear systems with unknown control direction

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-04-09 DOI: 10.1016/j.jfranklin.2025.107681

Haoran Wang, Zhibao Song

引用次数: 0

Interval estimation and control for linear reaction–diffusion systems

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-04-06 DOI: 10.1016/j.jfranklin.2025.107677

Yu Gao , Kai-Ning Wu , Song Zhu , Deqiong Ding

引用次数: 0

Dynamic analysis and composite robust control for detumbling non-cooperative flexible satellites

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-04-06 DOI: 10.1016/j.jfranklin.2025.107678

Hongwei Wang, Honghua Dai, Khan Amir

{"title":"Dynamic analysis and composite robust control for detumbling non-cooperative flexible satellites","authors":"Hongwei Wang, Honghua Dai, Khan Amir","doi":"10.1016/j.jfranklin.2025.107678","DOIUrl":"10.1016/j.jfranklin.2025.107678","url":null,"abstract":"<div><div>For the non-cooperative satellite, the use of detumbling approaches to reduce its angular velocity can facilitate capturing missions. A servicing spacecraft mounted with flexible operation rod is considered to be a promising detumbling approach. Mounting numbers of studies have been devoted to the detumbling dynamics and control of the servicing spacecraft. However, almost all studies on the dynamics do not simultaneously consider the effects of flexible solar panels of the satellite and the spacecraft. Moreover, due to the contact-induced disturbance with fast time-varying characteristics, the most existing controllers make the spacecraft unable to realize efficient and safe operations. To solve these problems, a dynamic model of the non-cooperative flexible satellite is established via the absolute coordinate based method, and a dynamic model of the flexible servicing spacecraft is established via the Lagrangian multipliers approach. Besides, a novel composite robust detumbling control method is proposed to significantly improve convergence performance and tracking accuracy, wherein a predefined-time disturbance observer is constructed to accurately estimate the disturbance without requiring the information of the disturbance and its derivative. Extensive simulations are conducted to demonstrate the key dynamic behavior of the spacecraft and the effectiveness of the control method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 8","pages":"Article 107678"},"PeriodicalIF":3.7,"publicationDate":"2025-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143791374","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

Distributed predefined-time economic dispatch algorithm for microgrid

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-04-05 DOI: 10.1016/j.jfranklin.2025.107672

Junjie Guan , Shiming Chen , Huijun Xu , Yang Zhang

{"title":"Distributed predefined-time economic dispatch algorithm for microgrid","authors":"Junjie Guan , Shiming Chen , Huijun Xu , Yang Zhang","doi":"10.1016/j.jfranklin.2025.107672","DOIUrl":"10.1016/j.jfranklin.2025.107672","url":null,"abstract":"<div><div>This paper investigates the economic dispatch problem (EDP) concerning a cluster of distributed generators (DGs) within microgrid (MG) interconnected via a connected graph. The objective of each individual DG is to collaboratively minimize the total cost of generation while adhering to power balance constraints and individual generator capacity constraints. A novel distributed predefined-time algorithm is proposed to solve the EDP within a predefined time frame by utilizing distributed weighted gradient method, polynomial feedback control technique and <span><math><mi>ϵ</mi></math></span>-exact penalty function method. The minimum upper bound of the convergence time of the algorithm as an explicit parameter can be preset within any physically allowable range, which remains independent of the initial conditions of generators and easily adjustable. The power balance under the proposed algorithm is always satisfied. Rigorous proof of predefined-time convergence for the proposed algorithm is provided via convex optimization and Lyapunov theory. The effectiveness and superiority of the proposed algorithm are verified by IEEE 14-bus system simulation and comparison results.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 8","pages":"Article 107672"},"PeriodicalIF":3.7,"publicationDate":"2025-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143833476","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