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

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

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

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

Constructing RBF network based on interference robust projected gradient 基于干扰鲁棒投影梯度的RBF网络构造

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-19 DOI: 10.1016/j.jfranklin.2025.107798

Jiajie Mai, Chi-Sing Leung, Eric Wong

{"title":"Constructing RBF network based on interference robust projected gradient","authors":"Jiajie Mai, Chi-Sing Leung, Eric Wong","doi":"10.1016/j.jfranklin.2025.107798","DOIUrl":"10.1016/j.jfranklin.2025.107798","url":null,"abstract":"<div><div>In the radial basis function (RBF) network training, one significant issue is the selection of RBF centers to effectively utilize all available resources. Two additional challenges include handling outlier training samples and weight noise. This paper proposes a robust algorithm that addresses these three issues. The algorithm’s fundamental concept involves formulating the training process as a constrained optimization problem. The objective function consists of two components: one aims to minimize the influence of outlier training samples, while the other addresses the effects of weight noise. Consequently, we can effectively manage and regulate the impact of both outlier noise and weight noise. In the formulation, we incorporate an <span><math><msub><mrow><mi>ℓ</mi></mrow><mrow><mn>0</mn></mrow></msub></math></span>-norm constraint, which provides explicit control over the number of RBF nodes in the trained network. To solve the optimization problem, we introduce the interference robust projected gradient (IR-PG) algorithm. Furthermore, we present a theoretical analysis that explores the convergence behavior exhibited by the IR-PG algorithm. We then extend the capabilities of the IR-PG algorithm to effectively handle the simultaneous presence of weight noise and weight fault. Through extensive simulations, we demonstrate that our algorithm outperforms several cutting-edge methods in terms of both accuracy and robustness.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107798"},"PeriodicalIF":3.7,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144534769","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

Multisynchrosqueezing transform based on local polynomial Fourier transform 基于局部多项式傅里叶变换的多同步压缩变换

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-19 DOI: 10.1016/j.jfranklin.2025.107791

Yuntang Wang, Hongxia Miao

{"title":"Multisynchrosqueezing transform based on local polynomial Fourier transform","authors":"Yuntang Wang, Hongxia Miao","doi":"10.1016/j.jfranklin.2025.107791","DOIUrl":"10.1016/j.jfranklin.2025.107791","url":null,"abstract":"<div><div>The synchrosqueezing transform (SST) is an effective strategy for finely describing nonstationary signals and offers enhanced precision and reconstructability. However, the existing SST methods are unsuitable for addressing polynomial nonstationary signals. Thus, this study proposed the multisynchrosqueezed local polynomial Fourier transform (MSSLPFT) as a solution to mitigate this limitation. First, a new instantaneous frequency (IF) estimator based on the local polynomial Fourier transform (LPFT) was proposed. Furthermore, the corresponding energy reassignment operator synchrosqueezed local polynomial Fourier transform (SSLPFT) in the time–frequency domain was determined, which transformed into MSSLPFT after multiple iterations. To perfectly explain the practicability of the proposed method, examples of monocomponent and multicomponent signals were demonstrated. Subsequently, the discrete implementation was elucidated and its computational complexity was analyzed. Moreover, various time-varying signal experiments were simulated to validate the theoretical derivations. Finally, the formation of a real inverse synthetic aperture radar (ISAR) image was demonstrated to validate the effectiveness and excellence of the proposed method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107791"},"PeriodicalIF":3.7,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144470306","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 diagnosis for complex systems: A differential sensitivity-aided canonical correlation analysis approach 复杂系统的故障诊断：一种差分灵敏度辅助典型相关分析方法

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-19 DOI: 10.1016/j.jfranklin.2025.107788

Haoxiang Liang , Zhiyong Chen , Zhiwen Chen , Zhile Du , Hao Luo , Chao Cheng

{"title":"Fault diagnosis for complex systems: A differential sensitivity-aided canonical correlation analysis approach","authors":"Haoxiang Liang , Zhiyong Chen , Zhiwen Chen , Zhile Du , Hao Luo , Chao Cheng","doi":"10.1016/j.jfranklin.2025.107788","DOIUrl":"10.1016/j.jfranklin.2025.107788","url":null,"abstract":"<div><div>To address the challenges associated with limited fault diagnosis performance in complex systems, attributed to varying feature sensitivities and difficulties in identifying unknown faults, this paper introduces a novel fault diagnosis method based on differential sensitivity-aided canonical correlation analysis. The proposed method consists of several key steps. First, a differential sensitivity processing algorithm is introduced, encompassing two primary stages. In the initial step, the Fisher score algorithm is employed for the differential selection of sensitive features. In the second step, the mixture correlation coefficient is utilized to eliminate redundant features. Next, a well-established fault detection algorithm based on canonical correlation analysis is employed to detect the occurrence of faults. Furthermore, we present an instance confidence evaluator algorithm that integrates a fault model bank to isolate abnormalities and identify potential unknown faults. Experimental results obtained from the application of this method to bearings and a high-speed train braking system demonstrate its superior generalization performance, as well as its exceptional fault detection and fault isolation capabilities.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107788"},"PeriodicalIF":3.7,"publicationDate":"2025-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144366734","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

Polynomial stabilization of hybrid PSDEs with highly nonlinear coefficient and Lévy noise 具有高非线性系数和lsamvy噪声的混合PSDEs的多项式镇定

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-17 DOI: 10.1016/j.jfranklin.2025.107779

Hailing Dong , Chuoyuan Tang , Liying Sun , Mingqing Xiao

{"title":"Polynomial stabilization of hybrid PSDEs with highly nonlinear coefficient and Lévy noise","authors":"Hailing Dong , Chuoyuan Tang , Liying Sun , Mingqing Xiao","doi":"10.1016/j.jfranklin.2025.107779","DOIUrl":"10.1016/j.jfranklin.2025.107779","url":null,"abstract":"<div><div>This paper investigates the realization of <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> stabilization and polynomial stabilization for a class of hybrid stochastic systems with Lévy noise and pantograph delays, a specific form of unbounded delays. Unlike the conventional linear growth condition, the drift and diffusion terms in this system are only required to meet the polynomial growth condition, which is much weaker than linear growth condition. By designing discrete-time delay feedback control strategies and leveraging M-matrix theory and Lyapunov functionals, we demonstrate that the controlled system can achieve <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> stabilization, polynomial stabilization, and almost sure polynomial stability. Additionally, we provide an upper bound on the time lag in the discrete-time delay feedback control. The theoretical results are further validated through a numerical simulation presented at the end of the paper.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107779"},"PeriodicalIF":3.7,"publicationDate":"2025-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144470308","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

Path-tracking of nonlinear dynamics and input–output delays for vehicle error system via compound H∞ TS-feedforward controller 基于复合H∞ts前馈控制器的车辆误差系统非线性动力学和输入输出时滞路径跟踪

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-16 DOI: 10.1016/j.jfranklin.2025.107772

Weilong Lai , Tianjun Ma , Juntao Pan

{"title":"Path-tracking of nonlinear dynamics and input–output delays for vehicle error system via compound H∞ TS-feedforward controller","authors":"Weilong Lai , Tianjun Ma , Juntao Pan","doi":"10.1016/j.jfranklin.2025.107772","DOIUrl":"10.1016/j.jfranklin.2025.107772","url":null,"abstract":"<div><div>This article proposes a composite <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> Takagi–Sugeno (TS) feedforward controller integrated with fuzzy nonlinearity to address the path-following control problem of autonomous vehicles subject to input–output delays. First, a vehicle–road system is formulated using the norm-bound method to rigorously characterize parameter uncertainties and geometric dynamic properties. Second, the TS fuzzy modeling framework is adopted to approximate the vehicle’s inherent nonlinear dynamics while preserving accuracy. A Lyapunov–Krasovskii functional with free-weighting matrices is then applied to mitigate combined input–output delays, enabling the design of a low-conservatism TS <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> feedback controller. To counteract non-convergence arising from physical constraints in the expectation model, an adaptive TS compensation feedforward controller is introduced, enhancing system convergence. Furthermore, the proposed composite <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> TS controller reduces the number of system rules, thereby lowering computational complexity. Finally, Carsim-Simulink co-simulation validates the controller’s effectiveness in diverse road scenarios under delayed conditions, demonstrating superior performance compared to existing methods.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 11","pages":"Article 107772"},"PeriodicalIF":3.7,"publicationDate":"2025-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144307068","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 finite-time safety–critical consensus control for multi-agent systems and its application to microgrids 多智能体系统的分布式有限时间安全临界一致性控制及其在微电网中的应用

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-16 DOI: 10.1016/j.jfranklin.2025.107777

Zhiguo Xu , Junfeng Zheng , Mengxian Tang , Lijun Long

{"title":"Distributed finite-time safety–critical consensus control for multi-agent systems and its application to microgrids","authors":"Zhiguo Xu , Junfeng Zheng , Mengxian Tang , Lijun Long","doi":"10.1016/j.jfranklin.2025.107777","DOIUrl":"10.1016/j.jfranklin.2025.107777","url":null,"abstract":"<div><div>This paper focuses on the problem of distributed finite-time safety–critical consensus control for a class of multi-agent systems with switching networks and external disturbances. All followers with unsafe initial states are expected to enter and stay within a safe set in a finite time, and then track a leader asymptotically. To address this problem, a distributed finite-time robust control framework is formulated from a new perspective, where a stability condition and two soft-minimum barrier function-based safety conditions are derived to drive the follower system to enter and remain within safe zone in a finite time. Additionally, a nominal distributed robust consensus controller is designed by exploiting an improved dynamic compensator and a disturbance observer. Also, a synthesized distributed robust controller can drive the follower system to enter the safe set in a finite time and achieve the safety–critical asymptotic consensus tracking. Finally, the effectiveness is verified by applying the control approach to a microgrid example.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 11","pages":"Article 107777"},"PeriodicalIF":3.7,"publicationDate":"2025-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144307069","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

Guaranteed finite-time H∞ stability for uncertain nonlinear singular systems: A dynamic output feedback approach 不确定非线性奇异系统的保证有限时间H∞稳定性：一种动态输出反馈方法

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-06-16 DOI: 10.1016/j.jfranklin.2025.107781

Meiqing Li , Jason Gu , Umar Farooq

{"title":"Guaranteed finite-time H∞ stability for uncertain nonlinear singular systems: A dynamic output feedback approach","authors":"Meiqing Li , Jason Gu , Umar Farooq","doi":"10.1016/j.jfranklin.2025.107781","DOIUrl":"10.1016/j.jfranklin.2025.107781","url":null,"abstract":"<div><div>This paper explores the finite-time dynamic output feedback (DOF) <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control issue for nonlinear singular systems exposed to external perturbations and uncertainty. The primary objective is to utilize the designed technique of a DOF controller to achieve the state’s finite-time <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> stabilization for the nonlinear uncertain singular system in a prescribed interval. Firstly, by utilizing the augmented matrix method and Lyapunov function analysis, the developed results can achieve singular finite-time <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> stability for the closed-loop system along with the proposed DOF <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control strategy. Then, through utilizing the matrix inequality decoupling principle, the determination of the DOF control parameters is derived to adjust the states of the system. Finally, the applicability and reliability of the obtained controller are adequately substantiated by some examples.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107781"},"PeriodicalIF":3.7,"publicationDate":"2025-06-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144470307","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