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

Active disturbance rejection geometric control of quadrotor UAV on SO(3) 基于SO(3)的四旋翼无人机自抗扰几何控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-05-25 DOI: 10.1016/j.jfranklin.2025.107744

Yike Zeng , Guolai Yang , Zongfan Wang

{"title":"Active disturbance rejection geometric control of quadrotor UAV on SO(3)","authors":"Yike Zeng , Guolai Yang , Zongfan Wang","doi":"10.1016/j.jfranklin.2025.107744","DOIUrl":"10.1016/j.jfranklin.2025.107744","url":null,"abstract":"<div><div>This paper addresses the global attitude tracking control problem of gun-launched quadrotor unmanned aerial vehicle (UAV) under arbitrary initial attitudes and external wind disturbances. A novel geometric control method with disturbance rejection is proposed on the special orthogonal group SO(3). Firstly, the attitude and error dynamics models of the quadrotor UAV are established on SO(3). Secondly, a new geometric tracking differentiator is designed on SO(3) to generate smooth desired inputs, with added angular velocity feedback that simultaneously regulates the system’s tracking speed and peak angular velocity tracking. Lastly, a geometric high-gain extended state observer on SO(3) is proposed to estimate the system’s states and disturbances, and a disturbance rejection geometric control law is designed based on state error feedback to achieve global asymptotic stability. This approach effectively tackles the attitude stabilization and tracking of time-varying desired attitudes of the quadrotor UAV under arbitrary initial attitudes perturbed by gusts. The attitude dynamics and the proposed control systems are developed on SO(3), thereby circumventing the limitations associated with other attitude representations, such as Euler angles, Rodrigues parameters, and unit quaternions. The efficacy and advancement of disturbance suppression of the proposed control system are validated through numerical simulation results.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 10","pages":"Article 107744"},"PeriodicalIF":3.7,"publicationDate":"2025-05-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144147867","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

Robust (Q,S,R)-γ-dissipative dynamic output feedback sliding mode control for descriptor T–S fuzzy Markovian jump systems with actuator faults 具有执行器故障的广义T-S模糊马尔可夫跳变系统的鲁棒（Q，S，R）-γ-耗散动态输出反馈滑模控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-05-24 DOI: 10.1016/j.jfranklin.2025.107745

Juan Zhou, Yi Chen, Yuan Yuan

引用次数: 0

Attitude control of flexible spacecraft subject to disturbances with unknown frequencies 受未知频率干扰的柔性航天器姿态控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-05-24 DOI: 10.1016/j.jfranklin.2025.107746

Zhaowu Ping , Shengrui He , Delai Xu , Yunzhi Huang , Canghua Jiang , Jun-Guo Lu

引用次数: 0

Encoding–decoding-based distributed event-triggered sliding mode consensus control for multiagent systems under constrained bit rate 码率受限下基于编解码的分布式事件触发滑模一致性控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-05-23 DOI: 10.1016/j.jfranklin.2025.107722

Xing Qi , Liangkuan Zhu , Xin Li

{"title":"Encoding–decoding-based distributed event-triggered sliding mode consensus control for multiagent systems under constrained bit rate","authors":"Xing Qi , Liangkuan Zhu , Xin Li","doi":"10.1016/j.jfranklin.2025.107722","DOIUrl":"10.1016/j.jfranklin.2025.107722","url":null,"abstract":"<div><div>This paper investigates the distributed sliding mode consensus control problem for the continuous-time multi-agent systems (MASs) under the constrained bit rate, in which a quantization-based event-triggered encoding–decoding mechanism (ETEDM) is developed to compress the transmitted data between agents and lessen the burden on the limited bandwidth resources of digital communication networks. The lower bound of bit rate is modeled as the ratio of the encoding length to the minimum inter-execution time of the event-triggered protocol (ETP). In addition, a distributed estimator is adopted to estimate the state of each agent and generate event-triggered instants. Further, a dynamic parameter-based distributed sliding mode control (SMC) algorithm is formulated to reinforce the system’s robustness and suppress the chattering phenomenon. Subsequently, the Zeno phenomenon of ETP is eliminated and the required bit rate condition for the decoding error to be bounded is deduced. By the theory of linear matrix inequalities, a sufficient criterion under the bit rate allocation scheme is given to guarantee that the consensus tracking error is exponentially ultimately bounded (EUB) and the solution of the controller’s gain matrix is parameterized. Finally, the validity of the developed control approach is verified by a set of two-mass–spring systems.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 10","pages":"Article 107722"},"PeriodicalIF":3.7,"publicationDate":"2025-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144138864","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

Robust docking control and safety evaluation of autonomous aerial refueling for unmanned aerial vehicles 无人机自主空中加油鲁棒对接控制与安全评价

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-05-22 DOI: 10.1016/j.jfranklin.2025.107736

Bin Hang, Pengjun Guo, Shuhao Yan, Bin Xu

{"title":"Robust docking control and safety evaluation of autonomous aerial refueling for unmanned aerial vehicles","authors":"Bin Hang, Pengjun Guo, Shuhao Yan, Bin Xu","doi":"10.1016/j.jfranklin.2025.107736","DOIUrl":"10.1016/j.jfranklin.2025.107736","url":null,"abstract":"<div><div>This paper introduces a novel tracking control scheme based on additive state decomposition (ASD) to address the challenges of precise docking control in autonomous aerial refueling (AAR) for unmanned aerial vehicles (UAVs) under external disturbances, model uncertainties, and actuator faults. Firstly, using ASD theory, the complex control problem of aerial refueling docking is decomposed into two subproblems: a simple linear robust tracking problem with disturbances and a nonlinear system stabilization problem without disturbances. Then, a robust <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> anti-disturbance fault-tolerant composite controller is designed for the primary system, while a feedback linearization controller is applied to the secondary system. Furthermore, calculating the relative docking distance between the probe and drogue under external disturbances involves an extremely complex process. To address this, we develop a predictive model using a deep learning data-driven approach, integrating the sparrow search algorithm (SSA) with a long short-term memory (LSTM) network. Utilizing the predictions from this model, we construct a safety assessment network (SAN) to evaluate the future safety of AAR docking operations. Finally, the robustness of the proposed control method and the accuracy of the network’s prediction results are validated through comparisons with various control methods and other network models.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 10","pages":"Article 107736"},"PeriodicalIF":3.7,"publicationDate":"2025-05-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144124324","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

Fault tolerant self-reconfigurable waypoint guidance for mobile robots under actuator faults 执行器故障下移动机器人容错自重构路径点制导

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-05-21 DOI: 10.1016/j.jfranklin.2025.107735

Himanshu , Raja Rout , Tarun K. Bera , Nizar Chatti

引用次数: 0

Fuzzy adaptive fault-tolerant tracking algorithm based on event-triggered for stochastic nonlinear systems 基于事件触发的随机非线性系统模糊自适应容错跟踪算法

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-05-20 DOI: 10.1016/j.jfranklin.2025.107734

Hao Jiang , Shufang Fan , Zong-Yao Sun , Shounian Deng , Junsheng Zhao

{"title":"Fuzzy adaptive fault-tolerant tracking algorithm based on event-triggered for stochastic nonlinear systems","authors":"Hao Jiang , Shufang Fan , Zong-Yao Sun , Shounian Deng , Junsheng Zhao","doi":"10.1016/j.jfranklin.2025.107734","DOIUrl":"10.1016/j.jfranklin.2025.107734","url":null,"abstract":"<div><div>The focus of this article is to develop a novel adaptive fuzzy fault-tolerant algorithm for stochastic nonlinear systems with unmodeled dynamics, sensor and actuator faults. During the design process of the algorithm, two main difficulties are encountered: 1)The presence of actuator faults and multiple sensor faults in the system; 2)The presence of stochastic noise and uncertain nonlinear terms in the system. To handle these problems, multiple adaptive laws are introduced to compensate for the effects of sensor and actuator faults. Furthermore, the unknown nonlinear terms are estimated effectively by the universal approximation capability of fuzzy logic systems. At the same time, to save the communication resources, event-triggered mechanism and quantized control scheme are introduced in the design of the controller to avoid Zeno behavior effectively. On this basis, the designed fault-tolerant controller not only ensures that all signals within the closed-loop system remain bounded in the finite time but also guarantees that the tracking error converges to a small neighborhood near the origin. Ultimately, the validity of the proposed algorithm is verified through its application to two examples, one of which is a classic mass–spring–damper system that may be influenced by factors including friction, vibration, bias errors, and gain variations.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 10","pages":"Article 107734"},"PeriodicalIF":3.7,"publicationDate":"2025-05-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144115985","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 linear time-varying multi-agent systems with a variable number of nodes 变节点数线性时变多智能体系统的一致性

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-05-17 DOI: 10.1016/j.jfranklin.2025.107725

Xiaolei Ji, Fei Hao

引用次数: 0

Dissipative filtering for semi-Markov jump singularly perturbed systems with a dynamic event-triggered mechanism 具有动态事件触发机制的半马尔可夫跳变奇摄动系统的耗散滤波

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-05-15 DOI: 10.1016/j.jfranklin.2025.107724

Kun Liang , Haoxuan Yan , Chuanlin Zhang , Jianliang Mao , Mengshen Chen

{"title":"Dissipative filtering for semi-Markov jump singularly perturbed systems with a dynamic event-triggered mechanism","authors":"Kun Liang , Haoxuan Yan , Chuanlin Zhang , Jianliang Mao , Mengshen Chen","doi":"10.1016/j.jfranklin.2025.107724","DOIUrl":"10.1016/j.jfranklin.2025.107724","url":null,"abstract":"<div><div>The dissipative filter is designed in this paper via using a dynamic event-triggered approach for semi-Markov jump singularly perturbed systems. Based on the sampled-data, a novel dynamic event-triggered mechanism (ETM) is presented, where the threshold parameter dynamically adjusts according to continuously varying system output errors and modes. This approach adapts the threshold magnitude at the beginning to achieve better transient-time performance. The dynamic ETM offers more flexibility in data transmission, balancing system performance with transmission frequency. Furthermore, dissipative filter gains are designed by introducing non-singular matrices, eliminating the need for singular perturbation parameters. This method avoids ill-conditioning in the system and the singular perturbation parameter’s upper bound is estimated. Sufficient conditions for stochastically stable and desired dissipative performance of the filter error system are shown using the Lyapunov theory. Finally, the effectiveness of the proposed approach is validated through a numerical example and an RC circuit system.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 9","pages":"Article 107724"},"PeriodicalIF":3.7,"publicationDate":"2025-05-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144084578","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

Local asymptotic set stabilization of probabilistic Boolean control networks via state feedback control 基于状态反馈控制的概率布尔控制网络的局部渐近集镇定

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-05-13 DOI: 10.1016/j.jfranklin.2025.107723

Bingquan Chen , Yuyi Xue , Bowen Li , Jie Zhong

引用次数: 0