{"title":"TVIE-based fault-tolerant model predictive control for trajectory tracking of mobile robot","authors":"","doi":"10.1016/j.jfranklin.2024.107277","DOIUrl":"10.1016/j.jfranklin.2024.107277","url":null,"abstract":"<div><p>This paper investigates the trajectory tracking control issue for a linear parameter-varying (LPV) system of a wheeled mobile robot (WMR) with actuator fault and constraints, where a time-varying intermediate estimator (TVIE)-based fault-tolerant model predictive control (MPC) method is proposed. To obtain the real system with actuator fault, based on the existing traditional IE, an optimized objective function is designed to update its observer gain online, which results in a TVIE. A new estimation-based predictive model in MPC is designed by introducing the estimations of error state and fault from the TVIE. Moreover, compared with the existing IE or extended state observer (ESO), the estimation performance of TVIE is better. Then the MPC optimization strategy is used to design fault-tolerant controllers. To guarantee stability and recursive feasibility, the bimodal MPC strategy is used, where a terminal penalty and a terminal constraint are included. Finally, the effectiveness and superiority of the proposed approach is illustrated in experiment.</p></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142239882","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}
{"title":"H∞ load frequency control of multi-area power systems with multi-time-varying delays against deception attacks via a sliding mode control strategy","authors":"","doi":"10.1016/j.jfranklin.2024.107280","DOIUrl":"10.1016/j.jfranklin.2024.107280","url":null,"abstract":"<div><p>This article mainly addresses the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> load frequency control issue for multi-area power systems with multi-time-varying delays, where a sliding mode control scheme is developed to make the objective system more robust. Considering that the data transmission from the sensor to the controller in the channel may be vulnerable to malicious attacks, the deception attacks are taken into account in the controller design to ensure data authenticity while maintaining the system performance. By constructing a system model regarding multi-time-varying delays in multi-area power systems, this article aims to design a reliable sliding mode controller that guarantees the objective system asymptotic stability with an expected <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance. Then, through the linear matrix inequality technology, sufficient conditions with less conservativeness maintaining the system asymptotic stability with a set of proper controller gains are established.Finally, a two-area interconnected power system is used to validate the presented method.</p></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142240637","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}
{"title":"Adaptive fuzzy performance control based on a triggering mechanism with decreasing function and internal dynamic variable","authors":"","doi":"10.1016/j.jfranklin.2024.107272","DOIUrl":"10.1016/j.jfranklin.2024.107272","url":null,"abstract":"<div><div>The problem of fuzzy adaptive prescribed performance control with dynamic event-triggered input for a class of uncertain nonlinear systems is investigated in this article. A dynamic event-triggered scheme is proposed that integrates an internal dynamic variable and an exponentially decreasing function, effectively reducing unnecessary trigger events and minimizing the system of communication resources. Subsequently, a fuzzy estimator is designed to estimate the unmeasurable states of the system, while fuzzy logic systems are employed to approximate the uncertain nonlinear terms. The proposed scheme ensures semi-globally uniformly ultimately bounded (SGUUB) of the closed-loop system and converges the tracking error to a prescribed performance range based on a barrier Lyapunov function. Finally, a simulation example is given to justify the rationality of the proposed strategy.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142316210","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}
{"title":"Fully distributed practical fixed-time fault-tolerant consensus of nonlinear multiagent systems","authors":"","doi":"10.1016/j.jfranklin.2024.107275","DOIUrl":"10.1016/j.jfranklin.2024.107275","url":null,"abstract":"<div><p>In this article, the practical fixed-time fault-tolerant consensus problem of a class of first-order nonlinear multiagent systems with actuator faults is investigated. Owing to the existence of uncertain actuator failures (multiplicative faults and additive faults) and non-linearities, it is challenging to study the fixed-time consensus problem of such multiagent systems in a fully distributed approach. To get over this challenge, a fully distributed adaptive protocol that utilizes adaptive techniques is proposed. Under this control protocol, multiagent systems can achieve consensus, and by adjusting controller parameters, the consensus error can converge to the acceptable bounded region in a fixed time. In addition, due to the introduction of adaptive parameters, the design of the control protocol is not dependent on any global network topology information, which means the control protocol is fully distributed. Therefore, the proposed scheme has better scalability and wider applicability. Finally, the simulation results are proposed to validate the fault-tolerant ability and fully distributed characteristics of the presented scheme.</p></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142271612","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}
{"title":"Decentralized control for optimal LQ problems in stochastic systems with unknown uncertainties","authors":"","doi":"10.1016/j.jfranklin.2024.107274","DOIUrl":"10.1016/j.jfranklin.2024.107274","url":null,"abstract":"<div><div>In this paper, we study the optimal control problem of a linear quadratic stochastic system where the randomness results from multiplicative noises. Especially, two controllers having access to different information are involved in the system. Different from most of the existing results which are based on the condition that the information of multiplicative noise is known during the design of optimal controllers, we focus on a more general case that the statistical information of the multiplicative noise is inaccessible. Under this setting, we propose a stochastic approximation algorithm to derive the solutions to algebraic Riccati equations (AREs) and obtain the optimal and stabilizing decentralized controllers.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142328212","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}
{"title":"A new quasi-finite-rank approximation of compression operators on L∞[0,H) with applications to sampled-data and time-delay systems: Piecewise linear kernel approximation approach","authors":"","doi":"10.1016/j.jfranklin.2024.107271","DOIUrl":"10.1016/j.jfranklin.2024.107271","url":null,"abstract":"<div><p>This paper provides a new quasi-finite-rank approximation (QFRA) of infinite-rank compression operators defined on the Banach space <span><math><mrow><msub><mrow><mi>L</mi></mrow><mrow><mi>∞</mi></mrow></msub><mrow><mo>[</mo><mn>0</mn><mo>,</mo><mi>H</mi><mo>)</mo></mrow></mrow></math></span>, which are associated with tractable representations of infinite-dimensional systems such as time-delay and sampled-data systems. We first formulate the QFRA by an optimization problem with a matrix-valued parameter <span><math><mi>X</mi></math></span> to minimize the associated error in terms of the <span><math><mrow><msub><mrow><mi>L</mi></mrow><mrow><mi>∞</mi></mrow></msub><mrow><mo>[</mo><mn>0</mn><mo>,</mo><mi>H</mi><mo>)</mo></mrow></mrow></math></span>-induced norm. To facilitate solving the optimization problem, we next employ the piecewise linear kernel approximation (PLKA) technique, by which the optimization problem is then converted to a linear programming (LP) problem. The solution of the LP problem is shown to converge to the optimal solution of the original QFRA with the order of <span><math><mrow><mn>1</mn><mo>/</mo><mi>M</mi></mrow></math></span>, where <span><math><mi>M</mi></math></span> is the PLKA parameter. The PLKA-based QFRA is shown to lead to practical methods of the stability analysis for time-delay systems and the <span><math><msub><mrow><mi>L</mi></mrow><mrow><mn>1</mn></mrow></msub></math></span> optimal controller synthesis for sampled-data systems. Finally, the overall arguments developed in this paper are demonstrated through some numerical and experimental studies.</p></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142240638","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}
{"title":"Intelligent aeration amount prediction control for wastewater treatment process based on recurrent neural network","authors":"","doi":"10.1016/j.jfranklin.2024.107276","DOIUrl":"10.1016/j.jfranklin.2024.107276","url":null,"abstract":"<div><p>The use of machine learning in artificial intelligence to solve industrial problems has been a current trend. Predictions can be made by machine learning algorithms. This greatly improves the efficiency and also the accuracy. With the development of industrialization, the pollution of water resources is becoming more and more serious. How to treat wastewater more cost-effectively to meet the discharge standards has become one of the most urgent problems in the world. In the Anaerobic-Anoxic-Aerobic (AAO) process, the key to reach the standard of sewage treatment with low cost and high efficiency lies in the aeration link. In this study, multiple machine learning methods are used for modeling, and proposed a method employing the long short-term memory (LSTM) neural network model for regression prediction addresses the need for a more accurate prediction approach. By utilizing data from the preceding 100 days, this model replaces manual, experience-based prediction methods, thereby mitigating energy consumption. This model is optimized by training and testing with real wastewater treatment plant data and continuously adjusting the parameters through multiple sets of experiments. This can make the real recorded aeration amount and the actual aeration amount infinitely close. Through the experimental comparison, it is found that the performance of the LSTM neural network model is better, with about 14% higher accuracy than the benchmark model.</p></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142240635","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}
{"title":"Practical robust formation tracking for multi-agent systems with a nonautonomous leader: A game-based approach","authors":"","doi":"10.1016/j.jfranklin.2024.107263","DOIUrl":"10.1016/j.jfranklin.2024.107263","url":null,"abstract":"<div><p>In this paper, the practical formation tracking problems for second-order multi-agent systems (MASs) under the external disturbance and the unknown input are studied. First, a local performance index of the practical formation tracking is introduced for each agent. Second, a practical robust formation tracking protocol via a worst-case game strategy is proposed to achieve the practical formation tracking and counteract the external disturbance and the leader’s unknown input by treating them as two players in the Nash game. Third, a distributed terminal state observer is introduced to provide an analytical solution to the Nash game, ensuring the <span><math><mi>ϵ</mi></math></span>-Nash equilibrium. Finally, a multiple mobile robot experimental platform is constructed to demonstrate the theoretical results. The proposed practical robust formation tracking protocol via the distributed game strategy is verified to be effective in practice.</p></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142240636","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}
{"title":"Synchronization control of cyber–physical systems with time-varying dynamics under denial-of-service attacks","authors":"","doi":"10.1016/j.jfranklin.2024.107243","DOIUrl":"10.1016/j.jfranklin.2024.107243","url":null,"abstract":"<div><div>In this paper, the problem of synchronization control of cyber–physical systems with time-varying dynamics under Denial-of-Service attacks is studied. The communication channels of the synchronization protocol between the subsystems in the cyber–physical systems may be injected into DoS attacks. To counteract the adverse effects of these attacks on synchronization, a target reference model is initially created for each subsystem to mimic its standard operational dynamics. Subsequently, utilizing this reference model, an adaptive compensator is proposed. The unified synchronization protocol guarantees that the synchronization error remains minimal through the adjustment of specific parameters, even under DoS attacks. To showcase the efficiency of this approach, an illustrative numerical simulation example is conducted.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142420684","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}
{"title":"Maritime ISAR detection and tracking algorithm for multiple maneuvering extended vessels in heavy-tailed clutter using SK-MM-Sub-RMM-MB-TBD filter","authors":"","doi":"10.1016/j.jfranklin.2024.107247","DOIUrl":"10.1016/j.jfranklin.2024.107247","url":null,"abstract":"<div><div>Multiple extended objects tracking (EOT) tasks play an important role in computer vision and engineering applications of artificial intelligence. In particular, nonlinear marine object imaging and tracking has received an increasing amount of attention due to its enormous application potential in the field of marine engineering, Autonomous Underwater Vehicles, and Remotely Operated Vehicles. Under high sea state, ship-EOTs perform complex maneuvering movements due to strong disturbances such as sea winds and sea waves. In this paper, we exploit emergent maneuvering EOTs (M-EOTs) methodologies in heavy-tailed clutter. We propose a M-EOT procedure in real-time scenario based on the popular multi-Bernoulli (MB)-TBD filter in maritime inverse synthetic aperture radar (ISAR) systems, and in particular, we describe the extended ship target state through the random matrices model (RMM). In RMM, scatter centers are distributed symmetrically around the M-EOT's centroid. However, in ship M-EOT scenario, the distribution over the whole object is not symmetrical, but distributed and skewed in some portions while a target maneuvers. To solve this problem, a novel robustness observation model is represented by using skewed (SK) non-symmetrically normal distribution and multiple model (MM) MB-TBD with more than one ellipse. Simulation and experimental results illustrate that the proposed SK-MM-Sub-RMM-MB-TBD filter outperforms the existing filters for M-EOTs.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7,"publicationDate":"2024-09-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142320361","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}