Journal of The Franklin Institute-engineering and Applied Mathematics最新文献_第7页

Intelligent disturbance rejection control for precision operations in space missions 空间任务精密操作的智能抗扰控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-03-01 Epub Date: 2026-01-12 DOI: 10.1016/j.jfranklin.2025.108373

Xumeng Cheng , Jia Ma , Congxi Liu , Gangfeng Liu , Meng Chen , Chongfeng Zhang , Jie Zhao

{"title":"Intelligent disturbance rejection control for precision operations in space missions","authors":"Xumeng Cheng , Jia Ma , Congxi Liu , Gangfeng Liu , Meng Chen , Chongfeng Zhang , Jie Zhao","doi":"10.1016/j.jfranklin.2025.108373","DOIUrl":"10.1016/j.jfranklin.2025.108373","url":null,"abstract":"<div><div>This paper proposes an intelligent compound disturbance rejection control framework integrating a novel Unknown System Dynamics Estimator (USDE) with Extreme Learning Machine (ELM). The USDE reconstructs the lumped term encompassing system parametric uncertainties and external disturbances online, requiring only real-time measurements of joint positions, velocities, and input torques, thereby eliminating dependency on a precise dynamic model. The framework further incorporates an ELM neural network to construct a disturbance rejection controller with direct joint torque actuation. Under randomly initialized ELM input weights, this architecture achieves effective prediction and compensation of acceleration errors through dynamic optimization of the output weights. Based on Lyapunov stability theory, the global stability of both the closed-loop tracking error and the USDE estimation error is rigorously proven. Simulations and experiments on a Franka Emika Panda robot demonstrate that the proposed method maintains high-precision trajectory tracking performance under simulated space disturbance scenarios, including unknown dynamic model mismatch, gravity variations, and sudden external disturbances. This work provides a theoretical framework and a universal implementation scheme, independent of precise dynamic models, for solving the challenge of fine manipulation control in harsh, unknown environments for open-space robotic systems.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 4","pages":"Article 108373"},"PeriodicalIF":4.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146079779","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

Interval type-2 fuzzy model predictive control for CPS with dynamic event-based scheduling protocol and actuator failure 基于动态事件调度协议和执行器故障的CPS区间2型模糊模型预测控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-03-01 Epub Date: 2026-01-11 DOI: 10.1016/j.jfranklin.2026.108413

Cancan Wang , Fucai Liu , Lining Fu , Shuang Ju

{"title":"Interval type-2 fuzzy model predictive control for CPS with dynamic event-based scheduling protocol and actuator failure","authors":"Cancan Wang , Fucai Liu , Lining Fu , Shuang Ju","doi":"10.1016/j.jfranklin.2026.108413","DOIUrl":"10.1016/j.jfranklin.2026.108413","url":null,"abstract":"<div><div>This paper presents an interval type-2 Takagi-Sugeno (IT2 T-S) fuzzy model predictive control (MPC) strategy for a nonlinear cyber-physical system (CPS) subject to dynamic event-based scheduling protocol and actuator failure. In contrast to type-1 fuzzy model, IT2 T-S fuzzy model with lower and upper membership functions can capture the uncertain parameters of system. To save network resources and avoid data collision problems, two dynamic event-based scheduling protocols are proposed in the fuzzy MPC algorithm. Compared with existing protocols, the scheduling protocols can simultaneously adjust whether to release the sampling instant and which node to transmit. Moreover, inevitable actuator failure issue is addressed by establishing a failure model. Furthermore, a state observer is off-line designed to reduce the calculation burden and the model predictive controller gains are on-line solved to stabilize the CPS. Finally, simulation results show that the triggered rates of dynamic event-based scheduling protocols (28.33% and 26.67% in Example 1) are lower than those of static event-based scheduling protocols (63.33% and 61.67% in Example 1), indicating the validity of proposed method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 4","pages":"Article 108413"},"PeriodicalIF":4.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145981973","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

Complete stability analysis and optimal design for dual-state-feedback delayed resonator 双态反馈延迟谐振器稳定性分析及优化设计

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-03-01 Epub Date: 2026-01-15 DOI: 10.1016/j.jfranklin.2026.108432

Qingbin Gao , Jiazhi Cai , Hao Wu , Kai Zhou , Libor Pekař

引用次数: 0

Robust continuum target tracking in a McKean–Vlasov-type model via sliding mode control 基于滑模控制的mckean - vlasov型模型鲁棒连续目标跟踪

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-03-01 Epub Date: 2026-01-27 DOI: 10.1016/j.jfranklin.2026.108453

Hyunjin Ahn

引用次数: 0

Adaptive control for stochastic high-order nonlinear systems with guaranteed tracking performance 具有保证跟踪性能的随机高阶非线性系统自适应控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-03-01 Epub Date: 2026-01-13 DOI: 10.1016/j.jfranklin.2026.108419

Gang Chen, Arong Xue

{"title":"Adaptive control for stochastic high-order nonlinear systems with guaranteed tracking performance","authors":"Gang Chen, Arong Xue","doi":"10.1016/j.jfranklin.2026.108419","DOIUrl":"10.1016/j.jfranklin.2026.108419","url":null,"abstract":"<div><div>This paper investigates the adaptive tracking control for stochastic high-order nonlinear systems with actuator faults and time-varying input delay. A novel fault-tolerant control scheme with ensured tracking performance is proposed and analyzed. More specially, the prescribed finite-time performance (PFTP) function is integrated into the controller design to achieve the prescribed transient performance. To deal with the problem of complexity explosion for the controller design, the extended high-order error compensation mechanism combined with the dynamic surface control approach is presented, which possesses enhanced robustness and broader applicability compared to existing methods. Additionally, an efficient high-order auxiliary system (HOAS) is constructed to handle the system inputs limited by faults and time delays concurrently. By combining the PFTP function with the asymptotic tracking control, the proposed control scheme first ensures that the tracking errors reach the prescribed range within the prescribed time and then achieve asymptotic convergence in probability. Finally, two simulation examples are employed to demonstrate the effectiveness of the designed control scheme.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 4","pages":"Article 108419"},"PeriodicalIF":4.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145981579","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

Sliding mode observer based security control of cyber-physical systems under periodic DoS attacks: An active compensation scheme 周期性DoS攻击下基于滑模观测器的网络物理系统安全控制：一种主动补偿方案

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-03-01 Epub Date: 2026-01-18 DOI: 10.1016/j.jfranklin.2026.108412

Jingqiu Li, Ruifeng Zhang, Rongni Yang

{"title":"Sliding mode observer based security control of cyber-physical systems under periodic DoS attacks: An active compensation scheme","authors":"Jingqiu Li, Ruifeng Zhang, Rongni Yang","doi":"10.1016/j.jfranklin.2026.108412","DOIUrl":"10.1016/j.jfranklin.2026.108412","url":null,"abstract":"<div><div>This paper explores the security control problem for discrete-time cyber-physical systems (CPSs) subject to external disturbances and periodic denial-of-service (DoS) attacks. Particularly, different from the existing results, a novel active compensation scheme is proposed for the considered CPSs, which consists of the disturbance reconstruction and one-step prediction for data loss caused by DoS attacks. First, the periodic DoS attacks are modeled via a switching strategy, such that the CPSs are characterized as a class of switched systems with stable and unstable subsystems during the silent and active intervals, respectively. Then, the augmented systems are obtained by introducing a sliding mode observer (SMO), which can achieve the real-time estimation of system states and unknown disturbances. Further, through designing the SMO and the prediction-based controller with the help of piecewise Lyapunov functions, sufficient conditions are derived to ensure the practical exponential stability of the resulting augmented systems. Finally, an application to the unmanned ground vehicle is provided to demonstrate the effectiveness and advantages of the proposed method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 4","pages":"Article 108412"},"PeriodicalIF":4.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146025301","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

Inverse compensation-based optimized intelligent control for nonlinear systems driven by hysteretic actuators 基于逆补偿的迟滞非线性系统优化智能控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-03-01 Epub Date: 2026-01-17 DOI: 10.1016/j.jfranklin.2026.108435

Li Zhou , Yonghua Wang , Guanyu Lai , Yongwei Zhang

{"title":"Inverse compensation-based optimized intelligent control for nonlinear systems driven by hysteretic actuators","authors":"Li Zhou , Yonghua Wang , Guanyu Lai , Yongwei Zhang","doi":"10.1016/j.jfranklin.2026.108435","DOIUrl":"10.1016/j.jfranklin.2026.108435","url":null,"abstract":"<div><div>This paper proposes an adaptive optimized intelligent control strategy for nonlinear strict-feedback systems with asymmetric hysteretic actuators by integrating reinforcement learning with backstepping. Although inverse hysteresis compensation is commonly employed, its performance is inherently limited by modeling inaccuracies, leading to non-negligible residual error. To address this issue, a dual-stage control framework is developed. First, an inverse asymmetric shifted Prandtl-Ishlinskii hysteresis compensator is applied to counteract the dominant hysteresis nonlinearity. Subsequently, an optimized backstepping controller is designed using a reinforcement learning-based identifier-critic-actor architecture with the dynamic surface technique to further suppress the residual error, thereby ensuring system stability and tracking performance. The main contributions of this work are threefold: 1) A simplified reinforcement learning mechanism is established, where the weight update laws for the actor and critic networks are designed to relax the persistent excitation condition while reducing computational complexity; 2) The dynamic surface technique is introduced to effectively circumvent the “differential explosion” problem inherent in conventional backstepping; 3) Adaptive parameters are incorporated to compensate for the residual error following inverse compensation. A rigorous Lyapunov-based stability analysis demonstrates that all closed-loop signals are semiglobally uniformly ultimately bounded. Simulation results confirm the effectiveness and robustness of the proposed controller.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 4","pages":"Article 108435"},"PeriodicalIF":4.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146025305","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 fuzzy weighted self-allocation sliding mode controller for UAV trajectory tracking 无人机轨迹跟踪的模糊加权自分配滑模控制器

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-03-01 Epub Date: 2026-01-13 DOI: 10.1016/j.jfranklin.2026.108418

Lin Xiao, Yuyang Liu, Qiuyue Zuo, Mengrui Cao, Wangqiu Kuang

{"title":"A fuzzy weighted self-allocation sliding mode controller for UAV trajectory tracking","authors":"Lin Xiao, Yuyang Liu, Qiuyue Zuo, Mengrui Cao, Wangqiu Kuang","doi":"10.1016/j.jfranklin.2026.108418","DOIUrl":"10.1016/j.jfranklin.2026.108418","url":null,"abstract":"<div><div>Sliding mode control has been extensively applied in unmanned aerial vehicle control for its robustness to nonlinear systems. However, its performance is sensitive to initial conditions and controller parameters, particularly reaching time. To address this, this paper proposes a Fuzzy Weighted Self-Allocation Sliding Mode Controller (FWSASMC) for quadrotor UAV trajectory tracking under bounded disturbances. By leveraging zeroing neural dynamics, the FWSASMC achieves fixed-time convergence through a fuzzy-weighted self-allocation scheme and an adaptive parameter. The scheme identifies varying effects of components in the conventional activation function during neural dynamics and uses fuzzy-optimized weights to coordinate them, accelerating convergence. The improved activation function is smoothed to construct a non-singular sliding surface, while the adaptive parameter refines the reaching law. Theoretical analysis and simulations verify convergence, demonstrating superior trajectory tracking performance and highlighting its potential for UAV applications, particularly in time-varying target tracking.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 4","pages":"Article 108418"},"PeriodicalIF":4.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145969349","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 for ARX models with multiple unknown noise variances: A multitask expectation maximization approach 具有多个未知噪声方差的ARX模型识别：一种多任务期望最大化方法

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-03-01 Epub Date: 2026-01-02 DOI: 10.1016/j.jfranklin.2025.108399

Yixuan Chu , Xiaojing Ping , Shunyi Zhao , Chengxi Zhang , Ruomu Tan

引用次数: 0

Research on adaptive neural networks spatial trajectory tracking control problem of an underactuated AUV under disturbances 扰动下欠驱动水下航行器自适应神经网络空间轨迹跟踪控制问题研究

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-03-01 Epub Date: 2026-01-22 DOI: 10.1016/j.jfranklin.2026.108433

Yi Chang , Yiqi Wang , Zhiguang Feng , Ruifeng Zhu

{"title":"Research on adaptive neural networks spatial trajectory tracking control problem of an underactuated AUV under disturbances","authors":"Yi Chang , Yiqi Wang , Zhiguang Feng , Ruifeng Zhu","doi":"10.1016/j.jfranklin.2026.108433","DOIUrl":"10.1016/j.jfranklin.2026.108433","url":null,"abstract":"<div><div>This paper studies the spatial trajectory tracking control issue for an underactuated autonomous underwater vehicle (AUV) with disturbances. Firstly, by performing coordinate transformation, a strict-feedback form of error variables is constructed, which facilitates the design of the scheme using the backstepping method. Secondly, neural networks are introduced to approximate the disturbances and the complex dynamic of AUV, which not only reduces the requirement for model accuracy in the backstepping method, but also simplifies the design process. At the same time, the inevitable problem of “computational explosion” in the backstepping method is solved by the command filter, and combined with the adaptive control method, the weights of the neural networks are adjusted online to complete the design of the adaptive neural networks command filter controllers. Lyapunov theory analysis demonstrates that all signals are ultimately bounded, and the tracking error converges to a small neighborhood near the origin. Finally, a comparative simulation is provided to validate the effectiveness and superiority of the designed control scheme.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 4","pages":"Article 108433"},"PeriodicalIF":4.2,"publicationDate":"2026-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146079780","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