Journal of The Franklin Institute-engineering and Applied Mathematics最新文献_第4页

Hierarchical-security formation control of multiple wheeled mobile robots on multi-target surrounding with collision avoidance 多轮式移动机器人多目标避碰分层安全编队控制

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.2025.108063

Ziyang Huang , Yuhao Ma , Xiangyu Wang , Shihua Li

{"title":"Hierarchical-security formation control of multiple wheeled mobile robots on multi-target surrounding with collision avoidance","authors":"Ziyang Huang , Yuhao Ma , Xiangyu Wang , Shihua Li","doi":"10.1016/j.jfranklin.2025.108063","DOIUrl":"10.1016/j.jfranklin.2025.108063","url":null,"abstract":"<div><div>This article investigates multi-target surrounding with collision avoidance for multiple wheeled mobile robots (WMRs) under a hierarchical-security formation control scheme. Multi-target surrounding requires WMRs to estimate and track targets’ center. Collisions happen between WMRs due to the estimator’s convergence errors or controllers’ tracking errors exceeding safety distance. Regarding this issue, a hierarchical-security control scheme is proposed for WMRs on multi-target surrounding task. In the first layer, a signal generator is constructed with primary security regulation to track the states of targets’ center estimator. In the second layer, a kind of trajectory tracking controllers containing secondary security regulation are designed for WMRs to track the reference signals from the previous layer. Compared with existing methods, the proposed control scheme improves the versatility of formation control methods for WMRs by modifying reference signals instead of controllers’ dynamic parts. Meanwhile, it uses local information to limit barrier function gains which ensures the smoothness of the generated reference trajectories. Finally, the effectiveness of proposed control scheme is verified by simulations and experiments.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108063"},"PeriodicalIF":4.2,"publicationDate":"2025-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145120472","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

Identification of ARMAX systems with bounded noise 具有有界噪声的ARMAX系统辨识

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.2025.108061

Mathieu Pouliquen , Tomas Menard , Eric Pigeon , Olivier Gehan , Abdelhak Goudjil

引用次数: 0

Prescribed performance control for nonlinear multiagent systems with information protection mechanism 具有信息保护机制的非线性多智能体系统的规定性能控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-16 DOI: 10.1016/j.jfranklin.2025.108059

Congyan Lv , Linchuang Zhang , Yingnan Pan

{"title":"Prescribed performance control for nonlinear multiagent systems with information protection mechanism","authors":"Congyan Lv , Linchuang Zhang , Yingnan Pan","doi":"10.1016/j.jfranklin.2025.108059","DOIUrl":"10.1016/j.jfranklin.2025.108059","url":null,"abstract":"<div><div>This paper is dedicated to the prescribed performance control issue for nonlinear multiagent systems with information protection mechanism. When the system encounters complex environmental changes, if the constraint boundaries cannot be flexibly adjusted according to the external environment, it will lead to a decrease in system performance. To address this issue, we propose a novel time-dependent shift function, which is combined with the traditional barrier Lyapunov function method. This combination allows the tracking errors to converge to different boundaries in different time intervals, thereby improving the robustness of the system in dynamic environments. At the same time, a custom information protection mechanism is designed to enhance the security of the system. This mechanism uses an output mask function with adjustable time intervals to protect information freely determined by the user. In addition, it can maintain system performance without decryption, avoiding the computational burden and information leakage issues caused by the decryption process. To handle the unknown uncertain terms in the controlled systems, neural network (NN) is used for identification. An improved cooperative learning control protocol is proposed to enhance the generalization ability of NN, which removes the assumption on neighbor adaptive law in existing cooperative learning literature. All signals of the closed-loop system are bounded. Finally, two simulation examples verify the effectiveness of the presented approach.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108059"},"PeriodicalIF":4.2,"publicationDate":"2025-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145120479","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

Dynamic event-triggered adaptive predefined accuracy consensus control for stochastic interconnected multi-agent systems 随机互联多智能体系统的动态事件触发自适应预定义精度一致性控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-16 DOI: 10.1016/j.jfranklin.2025.108066

Dajie Yao , Yangang Yao , Jian Wu

引用次数: 0

Practical predefined-time consensus control for stochastic nonlinear multiagent systems with time-varying state constraints 具有时变状态约束的随机非线性多智能体系统的实用预定义时间一致性控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-16 DOI: 10.1016/j.jfranklin.2025.108058

Liping Xie , Yefeng Xu , Shixiong Fang , Jian Ge , Kanjian Zhang

{"title":"Practical predefined-time consensus control for stochastic nonlinear multiagent systems with time-varying state constraints","authors":"Liping Xie , Yefeng Xu , Shixiong Fang , Jian Ge , Kanjian Zhang","doi":"10.1016/j.jfranklin.2025.108058","DOIUrl":"10.1016/j.jfranklin.2025.108058","url":null,"abstract":"<div><div>In this study, the practical predefined time(PPT) consensus control is investigated for a class of stochastic nonlinear multi-agent systems (MAS). The systems under consideration are characterized by asymmetric time-varying state constraints, pure feedback structures, and unknown nonlinear terms, all of which pose significant challenges in the design of effective control strategies. To overcome these challenges, a series of measures has been employed to ensure system stability. Firstly, an asymmetric time-varying barrier Lyapunov function (TVBLF) is introduced to address the system constraint. Additionally, a fuzzy logic system (FLS) is utilized to estimate system uncertainties. To attain the desired objectives, a PPT consensus control method is proposed, allowing for the arbitrary adjustment of the settling time in a mean-value sense. The Lyapunov stability analysis shows that the proposed control method guarantees PPT stability, with all signals bounded. Moreover, all follower agents demonstrate precise tracking of the leader’s output signal. The effectiveness of the proposed strategy has been confirmed through two simulation examples.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108058"},"PeriodicalIF":4.2,"publicationDate":"2025-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145098431","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

Data-driven optimal bipartite containment control for heterogeneous multi-agent systems over coopetition networks 合作网络上异构多智能体系统的数据驱动最优二部约束控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-16 DOI: 10.1016/j.jfranklin.2025.108057

Denghao Pang , Jinliang Zhu , Hao Meng , Jinde Cao , Song Liu

{"title":"Data-driven optimal bipartite containment control for heterogeneous multi-agent systems over coopetition networks","authors":"Denghao Pang , Jinliang Zhu , Hao Meng , Jinde Cao , Song Liu","doi":"10.1016/j.jfranklin.2025.108057","DOIUrl":"10.1016/j.jfranklin.2025.108057","url":null,"abstract":"<div><div>This paper investigates the optimal bipartite containment consensus control problem for heterogeneous multi-agent systems (HMASs) over coopetition networks. The primary challenge lies in achieving efficient bipartite containment control without requiring detailed knowledge of individual agent dynamics. To address this, we propose a distributed solution that employs model-free reinforcement learning. Our methodology considers both cooperative and competitive communication interactions, where followers are randomly allocated to two interconnected subnetworks that engage in both competition and collaboration with leaders. Specifically, in cooperative scenarios, followers converge toward the leaders’ convex hull, while in competitive cases, they converge to its antipodal counterpart. To approximate optimal control strategies, actor-critic neural networks (NNs) are utilized in conjunction with a policy iteration (PI) algorithm. The efficacy of the proposed method is validated through two simulation experiments.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108057"},"PeriodicalIF":4.2,"publicationDate":"2025-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145098909","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 finite-time synchronization of fractional-order quaternion-valued neural networks with generalized piecewise constant argument 具有广义分段常数参数的分数阶四元数神经网络的事件触发有限时间同步

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-16 DOI: 10.1016/j.jfranklin.2025.108067

Jingjing Wang, Song Zhu

引用次数: 0

UIO-based fault-tolerant control for MASs under arbitrary disturbances and multiple faults 基于ui的任意扰动多故障质量容错控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-16 DOI: 10.1016/j.jfranklin.2025.108062

Jing-Shan Wei , Bo-Qun Wang , Xiang-Gui Guo , Jian-Liang Wang

{"title":"UIO-based fault-tolerant control for MASs under arbitrary disturbances and multiple faults","authors":"Jing-Shan Wei , Bo-Qun Wang , Xiang-Gui Guo , Jian-Liang Wang","doi":"10.1016/j.jfranklin.2025.108062","DOIUrl":"10.1016/j.jfranklin.2025.108062","url":null,"abstract":"<div><div>The fault-tolerant consensus problem of multi-agent systems (MASs) under undirected topologies is investigated in this paper, which addresses arbitrary disturbances, multiple faults (including sensor faults and multiplicative as well as additive actuator faults). Firstly, a lumped disturbance combining multiplicative and additive actuator faults and arbitrary disturbances (including unbounded disturbances) is proposed. The accurate estimation and suppression of this lumped disturbance are challenging because it does not satisfy the widely adopted constraints on multiplicative actuator faults and disturbances, namely, having known upper and lower bounds for the multiplicative actuator fault scaling factors and requiring bounded derivatives for the disturbances. Secondly, a novel unknown input observer (UIO) is developed to simultaneously reconstruct the lumped disturbance, system states, and sensor faults. Based on this observer, a innovative UIO-based fault-tolerant control (FTC) strategy is proposed to ensure consensus for MASs. Lastly, simulation results verify the efficacy and merits of the presented approach.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108062"},"PeriodicalIF":4.2,"publicationDate":"2025-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145098910","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

Resilient H∞ synchronization of piecewise-homogeneous markovian jumping NNs with time-varying delay and asynchronous modes: A delayed event-triggered scheme 具有时变延迟和异步模式的分段齐次马尔可夫跳跃神经网络的弹性H∞同步：一种延迟事件触发方案

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-14 DOI: 10.1016/j.jfranklin.2025.108042

Kaisheng Zhang , Yujie Zhang , Qiang Li , Dongmei Fan , Kangkang Sun

{"title":"Resilient H∞ synchronization of piecewise-homogeneous markovian jumping NNs with time-varying delay and asynchronous modes: A delayed event-triggered scheme","authors":"Kaisheng Zhang , Yujie Zhang , Qiang Li , Dongmei Fan , Kangkang Sun","doi":"10.1016/j.jfranklin.2025.108042","DOIUrl":"10.1016/j.jfranklin.2025.108042","url":null,"abstract":"<div><div>This article is devoted to addressing the resilient asynchronous <span><math><msub><mi>H</mi><mi>∞</mi></msub></math></span> synchronization problem for piecewise-homogeneous Markovian jumping neural networks (NNs) with time-varying delay. Specifically, the presented NNs are modeled as a piecewise-homogeneous Markovian jumping system, which means that the system parameters and structure remain unchanged within each fixed time interval, although significant differences may exist between intervals. In other words, this piecewise-homogeneous approach lies between homogeneous and non-homogeneous methods. Besides, in order to cut down on communication waste and enhance the utilization of resources, an innovative delayed event-triggered approach is put forward, which availably avoid Zeno phenomenon and optimize trigger performance. By employing stochastic analysis technique, Lyapunov stability theory, and matrix inequality methods, certain sufficient criteria for achieving mean-square global asymptotic stability of error system are derived. Additionally, the desired gains can be explicitly designed by solving the corresponding matrix inequalities. Finally, one numerical simulation example is presented to reveal the viability and effectiveness of suggested event-triggered approach.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108042"},"PeriodicalIF":4.2,"publicationDate":"2025-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145120478","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

Boundary control of stochastic partial differential systems with delays and Lévy noise 具有时滞和lsamvy噪声的随机偏微分系统的边界控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-09-13 DOI: 10.1016/j.jfranklin.2025.108055

K. Mathiyalagan , N. Soundarya Lakshmi , Yong-Ki Ma , Xiao-Heng Chang

{"title":"Boundary control of stochastic partial differential systems with delays and Lévy noise","authors":"K. Mathiyalagan , N. Soundarya Lakshmi , Yong-Ki Ma , Xiao-Heng Chang","doi":"10.1016/j.jfranklin.2025.108055","DOIUrl":"10.1016/j.jfranklin.2025.108055","url":null,"abstract":"<div><div>This paper investigates the backstepping-based boundary control approach for stabilizing the semi-linear parabolic reaction-diffusion stochastic delayed partial differential system (SDPDS) driven by Lévy noise. The invertible Volterra integral transformation is chosen for transforming the original system to the target system. Boundary control for SDPDS is designed by finding the solution of PDE involving the kernel function with the help of method of successive approximation. By <span><math><mrow><mo>(</mo><mi>Q</mi><mo>,</mo><mi>S</mi><mo>,</mo><mi>R</mi><mo>)</mo></mrow></math></span> dissipative theory and linear matrix inequalities (LMIs), sufficient conditions are derived for proving the decreasing nature of the Lyapunov function for the target system. The result shows the system’s asymptotical stability under Neumann boundary conditions, further the stability of the target system proves the stability of the original system with control as our transformation is invertible. Finally, the proposed results are numerically validated.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 16","pages":"Article 108055"},"PeriodicalIF":4.2,"publicationDate":"2025-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145156832","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