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

Stabilization of LTI systems via derivative feedback and time delay effects 基于导数反馈和时滞效应的LTI系统镇定

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-19 DOI: 10.1016/j.jfranklin.2025.108079

Lifei Xie, Xueyan Zhao, Feiqi Deng

{"title":"Stabilization of LTI systems via derivative feedback and time delay effects","authors":"Lifei Xie, Xueyan Zhao, Feiqi Deng","doi":"10.1016/j.jfranklin.2025.108079","DOIUrl":"10.1016/j.jfranklin.2025.108079","url":null,"abstract":"<div><div>This study investigates the output derivative feedback control issue for linear time-invariant (LTI) systems and introduces the novel concept of derivative-induced stability. By imposing structural assumptions on the system, we establish a category of systems that fail to be stabilised by conventional output feedback control. Subsequently, to achieve stability under derivative feedback, two parameterization methods for designing feedback gains are proposed, involving algebraic analysis and Lyapunov theory. Furthermore, to overcome the practical challenges of measuring derivatives and reduce noise sensitivity, a difference feedback control framework based on finite-difference approximation was introduced. It was shown that by incorporating a properly selected delay, the system not only achieves effective derivative estimation but also benefits from improved stability, this phenomenon aligns with the theory of delay-induced stability. Using Lyapunov functional analysis, sufficient conditions are established to ensure asymptotic stability under difference feedback control. Finally, the proposed method is validated through two numerical examples, which also highlight the beneficial impact of output derivatives and time delays on system stability.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108079"},"PeriodicalIF":4.2,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145156835","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

Trajectory planning and tracking control for cable-driven continuum robots with dynamic obstacles 具有动态障碍物的索驱动连续体机器人的轨迹规划与跟踪控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-19 DOI: 10.1016/j.jfranklin.2025.108089

Yanan Qin, Qi Chen

{"title":"Trajectory planning and tracking control for cable-driven continuum robots with dynamic obstacles","authors":"Yanan Qin, Qi Chen","doi":"10.1016/j.jfranklin.2025.108089","DOIUrl":"10.1016/j.jfranklin.2025.108089","url":null,"abstract":"<div><div>To obtain safe and optimal trajectory planning and high-performance tracking control for cable-driven continuum robots (CDCRs) with dynamic obstacles, a novel two-layer model predictive control (MPC) based trajectory planning and tracking controller is designed. In the outer layer, a soft constraint is incorporated into the cost function via a penalty term and integrated into MPC, thereby ensuring the safety of CDCR obstacle avoidance while effectively mitigating the issue of infeasible solutions that arise from hard constraints. Additionally, an improved grey wolf optimizer (IGWO) is introduced into MPC-based trajectory planner to achieve optimal obstacle avoidance. Particularly, to obtain the motion estimation of dynamic obstacles, a super-twisting observer (STO) is combined with the MPC-based trajectory planner to predict the state of moving obstacles. In the inner layer, the IGWO is merged into MPC to attain high precision and rapid convergence in trajectory tracking control. Both simulation and experimental results show that the proposed two-layer MPC achieves excellent effectiveness in trajectory planning and tracking for the CDCR navigating dynamic obstacles within uncertain environments.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108089"},"PeriodicalIF":4.2,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145120474","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

Synthesizing a negative-imaginary system with a specified L2-performance bound via nonlinear static output feedback control 通过非线性静态输出反馈控制，合成具有指定l2性能界的负虚数系统

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-19 DOI: 10.1016/j.jfranklin.2025.108087

Pravin Behera , Arnab Dey , Sourav Patra

{"title":"Synthesizing a negative-imaginary system with a specified L2-performance bound via nonlinear static output feedback control","authors":"Pravin Behera , Arnab Dey , Sourav Patra","doi":"10.1016/j.jfranklin.2025.108087","DOIUrl":"10.1016/j.jfranklin.2025.108087","url":null,"abstract":"<div><div>In this paper, an iterative algorithm is proposed for synthesizing a nonlinear negative-imaginary (NI) system by designing a stabilizing nonlinear static output feedback (SOF) controller for input-affine polynomial systems. Additionally, <span><math><msub><mi>L</mi><mn>2</mn></msub></math></span>-performance of the closed-loop system is ensured in local sense. This scheme can handle robustness in the face of NI and <span><math><msub><mi>L</mi><mn>2</mn></msub></math></span>-norm bounded uncertainties of the system. Since the design of nonlinear SOF control ensuring closed-loop NI property is inherently a bilinear matrix inequality (BMI) problem, a set of sufficient conditions is derived in polynomial optimization framework using the Lyapunov-based approach with no structural constraints imposed on the Lyapunov function, contrary to the existing result. To solve this optimization problem, a computationally tractable sum of squares (SOS) decomposition technique is applied. The effectiveness of the developed results is demonstrated through numerical examples, highlighting the favorable features of the proposed synthesis scheme.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108087"},"PeriodicalIF":4.2,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145222577","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

Velocity-free impulsive consensus for second-order Lipschitz nonlinear multi-agent systems under external disturbances 外部扰动下二阶Lipschitz非线性多智能体系统的无速度脉冲一致性

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-19 DOI: 10.1016/j.jfranklin.2025.108056

Wu-Hua Chen , Yating Liang , Shuning Niu , Xiaoyun Lu

{"title":"Velocity-free impulsive consensus for second-order Lipschitz nonlinear multi-agent systems under external disturbances","authors":"Wu-Hua Chen , Yating Liang , Shuning Niu , Xiaoyun Lu","doi":"10.1016/j.jfranklin.2025.108056","DOIUrl":"10.1016/j.jfranklin.2025.108056","url":null,"abstract":"<div><div>This paper presents novel velocity-free impulsive consensus protocols for second-order multi-agent systems (MASs) subject to Lipschitz nonlinear dynamics, tackling the challenge of distributed impulsive control subject to missing measurements. Unlike existing velocity-dependent strategies, the proposed leaderless framework eliminates velocity reliance through two Lyapunov-based analysis techniques: (i) an augmentation-based Lyapunov technique that is able to fetch the hidden velocity information by exploiting historical sampled position information, and (ii) a Lyapunov-based iterative estimation technique for impulse-delay system to deduce the velocity-free static consensus condition. The robustness of the proposed impulsive consensus protocols against external disturbances is quantified via <span><math><msub><mi>H</mi><mi>∞</mi></msub></math></span> performance analysis, allowing the design of robust impulsive control gains with a prescribed level on disturbance attenuation. This velocity-independent framework offers a practical solution for consensus in second-order Lipschitz nonlinear MASs with limited sensing capabilities and environmental disturbances. Numerical simulations validate its effectiveness and theoretical guarantees.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108056"},"PeriodicalIF":4.2,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145156843","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

Zonotope-based attack detection for cyber-physical systems with a dynamic event-triggered scheme 基于分区的动态事件触发网络物理系统攻击检测

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-19 DOI: 10.1016/j.jfranklin.2025.108068

Jianing Hu , Zhihua Guo , Ben Niu , Xudong Zhao , Zhenhua Wang , Wenqi Zhou

引用次数: 0

Finite-time adaptive fuzzy control for strict feedback systems with asymmetric state constraints and prescribed performance 具有非对称状态约束和规定性能的严格反馈系统的有限时间自适应模糊控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-19 DOI: 10.1016/j.jfranklin.2025.108076

Zonglin Yang , Guang Ling , Zhi-Hong Guan , Yuan Ge , Ming-Feng Ge

{"title":"Finite-time adaptive fuzzy control for strict feedback systems with asymmetric state constraints and prescribed performance","authors":"Zonglin Yang , Guang Ling , Zhi-Hong Guan , Yuan Ge , Ming-Feng Ge","doi":"10.1016/j.jfranklin.2025.108076","DOIUrl":"10.1016/j.jfranklin.2025.108076","url":null,"abstract":"<div><div>In practical systems, it is crucial to achieve the prescribed performance under system constraints. A novel finite-time adaptive fuzzy control strategy is proposed for strict feedback nonlinear systems subject to Asymmetric Time-Varying State Constraints (ATSCs) and Predefined Performance Indices (PPI). The proposed method employs an asymmetric barrier Lyapunov function to guarantee that the system states remain within the ATSCs while simultaneously ensuring that the output tracking error remains within the PPI defined by the finite-time performance function (FTPF). Furthermore, the strategy incorporates a disturbance observer, a fuzzy state observer, and the Dynamic Surface Control (DSC), thereby enhancing the practical applicability and robustness of the control design. The semi-global practical finite-time stability (SPFS) of the closed-loop system is rigorously established using Lyapunov-based analysis. The study of a one-link manipulator has verified the theoretical results and demonstrated the effectiveness and feasibility of the proposed control method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108076"},"PeriodicalIF":4.2,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145120473","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

Predefined-time cluster output synchronization of fuzzy neural networks with a new logarithmic function 基于新对数函数的模糊神经网络的预定义时间聚类输出同步

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-18 DOI: 10.1016/j.jfranklin.2025.108065

Peng Liu , Ting Liu , Junwei Sun , Yanfeng Wang

引用次数: 0

An enhanced anti-disturbance of quadrotor UAV via the adaptive reduced-order GPEBO 利用自适应降阶GPEBO增强四旋翼无人机的抗干扰能力

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-17 DOI: 10.1016/j.jfranklin.2025.108082

Cheng Chen , Yunping Liu , Yonghong Zhang , Wanqiang Xi

{"title":"An enhanced anti-disturbance of quadrotor UAV via the adaptive reduced-order GPEBO","authors":"Cheng Chen , Yunping Liu , Yonghong Zhang , Wanqiang Xi","doi":"10.1016/j.jfranklin.2025.108082","DOIUrl":"10.1016/j.jfranklin.2025.108082","url":null,"abstract":"<div><div>This paper proposed an adaptive reduced-order generalized parameter estimation-based observer (GPEBO) to simultaneously reconstruct the unavailable states and unknown parameters for a quadrotor UAV to realize trajectory tracking control without velocity measurements. More specifically. Firstly, the model of a quadrotor UAV is built and divided into position and attitude loop subsystems. Secondly, a linear regression equation (LRE) is constructed using the GPEBO technique to transform the tasks of state estimation into parameter estimation, only utilizing the output information of the plant after the reparameterization of the system where a state affine nonlinear system. Then, the GPEBO technique is adopted again to reconstruct the parameters of LRE to obtain a new LRE that combines the dynamic regressor extension and mixing (DREM) estimator to generate a set of scalar LREs under extremely weak conditions, observability of the system, which are much weaker than persistent excitation (PE) conditions. In addition, a time-varying forgetting factor is incorporated into the developed observer to track possible time-varying parameters. Subsequently, the information that the developed observer estimates is introduced into the non-singular fast terminal sliding model controller (NFTSMC) based on complete information in an equivalent way to form a composite controller scheme. The stability proof of the closed-loop system will be rigorously proven via the Lyapunov stability theory. Finally, comparing the proposed control scheme with the classic active disturbance rejection control (ADRC), which is widely popular, an obvious merit is that the system output of the proposed scheme can quickly converge to the desired value, and the developed observer can also be extended to a broader class of state affine nonlinear systems.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108082"},"PeriodicalIF":4.2,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145098432","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

Reduced-order H∞ filtering of phase-type semi-Markov jump linear systems 相位型半马尔可夫跳变线性系统的降阶H∞滤波

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-17 DOI: 10.1016/j.jfranklin.2025.108018

Gabriela W. Gabriel , André M. De Oliveira , Oswaldo L.V. Costa , Sérgio R. Barros dos Santos

{"title":"Reduced-order H∞ filtering of phase-type semi-Markov jump linear systems","authors":"Gabriela W. Gabriel , André M. De Oliveira , Oswaldo L.V. Costa , Sérgio R. Barros dos Santos","doi":"10.1016/j.jfranklin.2025.108018","DOIUrl":"10.1016/j.jfranklin.2025.108018","url":null,"abstract":"<div><div>In this work, we present design conditions for robust reduced-order <span><math><msub><mi>H</mi><mi>∞</mi></msub></math></span> filters for a type of hybrid system, the so-called phase-type (PH) semi-Markov jump linear systems (S-MJLS), in a context of partial observation of the jump process. For this purpose, we recast the non-linear design problem for obtaining reduced-order <span><math><msub><mi>H</mi><mi>∞</mi></msub></math></span> filters into a convex problem written as linear matrix inequalities (LMI) by employing a new linearization technique based on slack variables. Furthermore, by restricting the filter structure to the plant’s order and reducing the semi-Markov jump system into a Markov jump linear system with perfect mode observation, we are able to design the optimal <span><math><msub><mi>H</mi><mi>∞</mi></msub></math></span> filter. In the case that the project can afford full-order filters, and by using mild assumptions on the system matrices, we also present conditions for clusterized model-based <span><math><msub><mi>H</mi><mi>∞</mi></msub></math></span> observers, which are robust with respect to uncertain transition rates and some system matrices. For showing the effectiveness of our results, we present an example in the context of networked control systems subject to packet dropouts.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108018"},"PeriodicalIF":4.2,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145120475","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

Event-triggered-based adaptive asymptotic containment control using an improved DSC method for nonlinear MASs under unknown control directions 未知控制方向下基于事件触发的非线性质量改进DSC自适应渐近控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-17 DOI: 10.1016/j.jfranklin.2025.108060

Jihang Sui , Huilin Yang , Ben Niu , Wenqi Zhou , Yi Niu , Bocheng Yan

{"title":"Event-triggered-based adaptive asymptotic containment control using an improved DSC method for nonlinear MASs under unknown control directions","authors":"Jihang Sui , Huilin Yang , Ben Niu , Wenqi Zhou , Yi Niu , Bocheng Yan","doi":"10.1016/j.jfranklin.2025.108060","DOIUrl":"10.1016/j.jfranklin.2025.108060","url":null,"abstract":"<div><div>The article studies the adaptive event-triggered asymptotic containment control issue for a class of nonlinear nonstrict-feedback multi-agent systems (MASs) under unknown control directions. Firstly, the radial basis function neural networks (RBF NNs) are used to tackle the design challenges caused by the nonstrict-feedback structure and the completely unknown nonlinear functions. Then, this article has the two following merits: 1) the issue of “explosion of complexity” resulting from the continuous differentiation of virtual controllers is settled by proposing an improved dynamic surface control (DSC) method, and the influences of the boundary layers caused by the filters in the DSC procedure are eliminated skillfully through the compensation terms; 2) the event-triggered control (ETC) scheme is designed to decline the trigger frequency of the controllers, and Zeno behavior is triumphantly averted. The proposed controllers can assure that all the variables of closed-loop systems are uniformly ultimately bounded (UUB), and the containment errors eventually tend to zero. Finally, a simulation example demonstrates the feasibility of the presented scheme.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108060"},"PeriodicalIF":4.2,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145120480","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