Journal of The Franklin Institute-engineering and Applied Mathematics最新文献_第3页

Fuzzy Logic based adaptive control of robot manipulators driven by BLDC Motors

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107528

Bayram Melih Yilmaz , Sukru Unver , Erman Selim , Irem Saka , Enver Tatlicioglu

{"title":"Fuzzy Logic based adaptive control of robot manipulators driven by BLDC Motors","authors":"Bayram Melih Yilmaz , Sukru Unver , Erman Selim , Irem Saka , Enver Tatlicioglu","doi":"10.1016/j.jfranklin.2025.107528","DOIUrl":"10.1016/j.jfranklin.2025.107528","url":null,"abstract":"<div><div>This research focuses on designing a joint space controller for robot manipulators whose joints are driven by brushless DC motors. By appending the actuator dynamics to control synthesis and stability analysis, the sensitivity in the sense of positioning and reliability of the robot manipulators is aimed to increase. Uncertainties in both robot manipulator and actuator dynamics are taken into account to obtain improved tracking performance. To overcome these uncertainties, self-adjusting fuzzy logic networks, that is having adaptively updated centers and widths, are used. The developed adaptive controller structure does not rely on acceleration measurements and incorporates only full state feedback. Via utilizing Lyapunov type stability analysis methods, semi-global uniform ultimate bounded tracking result is ensured. To further verify the applicability of presented controller, comparative tests are performed on a two degree of freedom planar robot manipulator equipped with brushless DC motors and satisfactory tracking performance is demonstrated.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107528"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143145429","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 resilient fusion filtering for multi-sensor nonlinear singular systems subject to colored measurement noises

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107551

Zhibin Hu, Tana Guo

{"title":"Distributed resilient fusion filtering for multi-sensor nonlinear singular systems subject to colored measurement noises","authors":"Zhibin Hu, Tana Guo","doi":"10.1016/j.jfranklin.2025.107551","DOIUrl":"10.1016/j.jfranklin.2025.107551","url":null,"abstract":"<div><div>In this paper, the distributed resilient fusion (DRF) filter is designed for a kind of multi-sensor (MS) nonlinear singular systems with colored measurement noises. The measurement differencing way is used to deal with the colored measurement noises, ensuring that the noises of the measurement output are uncorrelated. During the algorithm implementation, the resilience case that the local filter gain is designed with the certain gain variations is considered, thereby enhancing the system robustness. In this case, our goal is that by using the full-order transformation method, the nonlinear singular system is transformed into an equivalent nonlinear nonsingular one. In addition, the DRF filtering approach is developed in terms of the inverse covariance intersection fusion method, where the local upper bound on the filtering error covariance is deduced and minimized by solving two difference equations and designing the appropriate filter gain, respectively. In the end, the effectiveness of the proposed DRF filtering algorithm is checked by using two numerical examples.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107551"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143145431","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}

引用次数: 0

Adaptive locally weighted learning tracking control for a class of unknown strict-feedback nonlinear systems via differentiable higher order kernels

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107523

Yu-Fa Liu , Dong Wang , Zhuo Wang , Ante Su , Yong-Hua Liu , Chun-Yi Su

引用次数: 0

Distributed adaptive finite-time and fixed-time cluster synchronization of complex networks

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107533

Shikun Zhang, Dan Liu, Xiaohong Cui, Kun Zhou, Binrui Wang

引用次数: 0

GASSM: Global attention and state space model based end-to-end hyperspectral change detection

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2024.107424

Yinhe Li , Jinchang Ren , Hang Fu , Genyun Sun

{"title":"GASSM: Global attention and state space model based end-to-end hyperspectral change detection","authors":"Yinhe Li , Jinchang Ren , Hang Fu , Genyun Sun","doi":"10.1016/j.jfranklin.2024.107424","DOIUrl":"10.1016/j.jfranklin.2024.107424","url":null,"abstract":"<div><div>As an essential task to identify anomalies and monitor changes over time, change detection enables detailed earth observation in remote sensing. By combining both the rich spectral information and spatial image, hyperspectral images (HSI) have offered unique and significant advantages for change detection. However, traditional hyperspectral change detection (HCD) methods, predominantly based on convolutional neural networks (CNNs), struggle with capturing long-range spatial-spectral dependencies due to their limited receptive fields. Whilst transformers based HCD methods are capable of modeling such dependencies, they often suffer from quadratic growth of the computational complexity. Considering the unique capabilities in offering robust long-range sequence modeling yet with linear computational complexity, the emerging Mamba model has provided a promising alternative. Accordingly, we propose a novel approach that integrates the global attention (GA) and state space model (SSM) to form our GASSM network for HCD. The SSM based Mamba block has been introduced to model global spatial-spectral features, followed by a fully connected layer to perform binary classification of detected changes. To the best of our knowledge, this is the first to explore using the Mamba and SSM for HCD. Comprehensive experiments on two publicly available datasets, compared with eight state-of-the-art benchmarks, have validated the efficacy and efficiency of our GASSM model, demonstrating its superiority of high accuracy and stability in HCD.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107424"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143137202","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}

引用次数: 0

Memory-based event-triggered synchronization of dynamic memristor delayed cellular neural networks for image encryption

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107552

Cheng Luo , Haibo Bao , Jinde Cao

{"title":"Memory-based event-triggered synchronization of dynamic memristor delayed cellular neural networks for image encryption","authors":"Cheng Luo , Haibo Bao , Jinde Cao","doi":"10.1016/j.jfranklin.2025.107552","DOIUrl":"10.1016/j.jfranklin.2025.107552","url":null,"abstract":"<div><div>This paper focuses on synchronization issue of dynamic memristor-delayed cellular neural networks (DM-DCNNs) for the first time. Different from the traditional memristor-based NNs (MNNs) that are modeled by discontinuous switched systems, DM-DCNNs where the memristor has flux-controlled and continuous-time nonlinear relation have been paid widespread attention. In order to reduce network burden, a novel memory-based event-triggered mechanism (METM) is proposed to synchronize drive–response systems of DM-DCNNs. With the help of some inequality techniques and Lyapunov stability theory, the sufficient conditions for synchronization are given by some linear matrix inequalities (LMIs). Unlike previous researches, all synchronization results were conducted in the flux-charge domain, which may be a potential advantage for information processing. Then, a numerical example is employed for supporting correctness of these synchronization criteria. Furthermore, the synchronization of DM-DCNNs under METM is further designed as a new type of encryption and decryption algorithms for image protection. Finally, the experimental performances are also provided to verify the high security of designed algorithm with anti-attack capability.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107552"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143145041","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

Real-time reachable set control for singular Markov jump systems with mixed delay and uncertain parameters

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107525

Guowei Zhao , Zhiguang Feng , Qingxiang Wang , Zhengyi Jiang , Hong Lin

引用次数: 0

Consensus for PDE-based multiagent systems under dual event-triggered mechanisms

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2024.107493

Linge Miao , Xiangliang Sun , Xiaona Song , Shuai Song

{"title":"Consensus for PDE-based multiagent systems under dual event-triggered mechanisms","authors":"Linge Miao , Xiangliang Sun , Xiaona Song , Shuai Song","doi":"10.1016/j.jfranklin.2024.107493","DOIUrl":"10.1016/j.jfranklin.2024.107493","url":null,"abstract":"<div><div>This study develops a consensus control technique for a class of multiagent systems (MASs) modeled using partial differential equations (PDEs) of the parabolic type, which implies that the state of each agent is space–time dependent. Furthermore, when the spatial factor is considered in the modeling of the system, the modeled system generates huge amounts of data, which can pose a problem in view of the limited network bandwidth. This problem is overcome by employing a spatial point measurement approach, which is used in this study for the first time, to reduce the amount of data transmission. Furthermore, the update frequency of controllers and actuators is reduced by using dual event-triggered mechanisms (ETMs). In view of the mismatch between measurement and control points, non-collocated pointwise control is used to achieve consensus. Finally, a numerical simulation is performed to verify the theory proposed in this paper, moreover, the comparative experiments illustrate the superiority of the spatial point measurement approach and dual event-triggered mechanisms.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107493"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143145406","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

Offset quaternion linear canonical transform: Properties, uncertainty inequalities and application

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107553

Mawardi Bahri, Nur Ismi Tahir, Nasrullah Bachtiar, Muhammad Zakir

{"title":"Offset quaternion linear canonical transform: Properties, uncertainty inequalities and application","authors":"Mawardi Bahri, Nur Ismi Tahir, Nasrullah Bachtiar, Muhammad Zakir","doi":"10.1016/j.jfranklin.2025.107553","DOIUrl":"10.1016/j.jfranklin.2025.107553","url":null,"abstract":"<div><div>In this present work, we first establish some basic properties of the offset quaternion linear canonical transform such as shifting and modulation, which are missed in the existing literature. We then present the relation of the quaternion Fourier transform to the quaternion linear canonical transform and the offset quaternion linear canonical transform. We also make a direct connection between the quaternion linear canonical transform and the offset quaternion linear canonical transform. By means of the properties and relations, we derive an analogue of sharp Hausdorff–Young inequality, Matolcsi-Szücs uncertainty principle, logarithmic Sobolev-type uncertainty inequality and Benedicks–Amrein–Berthier uncertainty inequality in the framework of the offset quaternion linear canonical transform. Additionally, we implement the quaternionic Gabor filter to verify sharp Hausdorff–Young inequality concerning the considered transformation. Finally, the utility of the proposed offset quaternion linear canonical transform in the quaternion linear frequency modulated (QLFM) signal is studied.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107553"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143145434","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

Indefinite LQ optimal control for mean-field stochastic systems with information asymmetry

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107569

Cheng Tan , Binlian Zhu , Ziran Chen , Wing Shing Wong

引用次数: 0