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

Decentralized robust secure beamforming for IRS-assisted integrated satellite–terrestrial networks irs辅助综合卫星地面网络的分散鲁棒安全波束形成

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-18 DOI: 10.1016/j.jfranklin.2025.107796

Yifan Feng , Zining Wang , Jian Ouyang , Jinyuan Wang , Min Lin

{"title":"Decentralized robust secure beamforming for IRS-assisted integrated satellite–terrestrial networks","authors":"Yifan Feng , Zining Wang , Jian Ouyang , Jinyuan Wang , Min Lin","doi":"10.1016/j.jfranklin.2025.107796","DOIUrl":"10.1016/j.jfranklin.2025.107796","url":null,"abstract":"<div><div>Integrated satellite–terrestrial networks (ISTNs) are considered a promising framework to provide seamless connectivity for future mobile communication. However, due to the spectrum sharing and heterogeneous architecture, interference management and secrecy transmission have become urgent issues in ISTNs. This paper proposes a decentralized robust beamforming (BF) scheme to enhance the secrecy performance of an intelligent reflecting surface (IRS)-assisted ISTN. In this framework, the satellite and terrestrial networks provide multicast services to satellite users (SUs) and terrestrial users (TUs), respectively, while sharing the same spectrum resources. To further improve communication quality and secrecy performance, an IRS is deployed on an unmanned aerial vehicle (UAV) to assist terrestrial transmissions and mitigate interference. To this end, we formulate an optimization problem to minimize the total transmit power of the ISTN while satisfying the achievable rate constraints of TUs and the achievable secrecy rate constraints of SUs. Given the non-convex nature of the problem and the availability of only imperfect channel state information (CSI), we decompose it into two parallel subproblems by introducing interference-related auxiliary variables. Furthermore, we leverage the triangle inequality and Hölder’s inequality to address channel uncertainty, employ Lagrange duality to iteratively update the auxiliary variables, and develop a decentralized robust algorithm for BF optimization. Finally, simulation results validate that the proposed scheme achieves superior secrecy performance while significantly reducing signaling overhead and computational complexity compared to conventional centralized BF schemes.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107796"},"PeriodicalIF":3.7,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144663549","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

Neural network model predictive control with active disturbance rejection for robot manipulators trajectory tracking 基于自抗扰神经网络模型的机器人轨迹跟踪预测控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-18 DOI: 10.1016/j.jfranklin.2025.107910

Abdelhadi Aouaichia , Sana Stihi , Raouf Fareh , Abdul Rahman Abdul Majid , Abdelhamid Ghoul , Maamar Bettayeb , Kamel Kara

{"title":"Neural network model predictive control with active disturbance rejection for robot manipulators trajectory tracking","authors":"Abdelhadi Aouaichia , Sana Stihi , Raouf Fareh , Abdul Rahman Abdul Majid , Abdelhamid Ghoul , Maamar Bettayeb , Kamel Kara","doi":"10.1016/j.jfranklin.2025.107910","DOIUrl":"10.1016/j.jfranklin.2025.107910","url":null,"abstract":"<div><div>This paper proposes a novel combination of neural network model predictive control with active disturbance rejection for trajectory tracking of a 4 degrees of freedom robot manipulator. The method leverages a neural network for accurate, derivative-free prediction of robot dynamics, enabling the neural network model predictive controller to perform effective trajectory tracking while handling constraints. A terminal cost stabilizing constraint is introduced to the optimization problem to ensure stability, and the optimal control action is computed using the Archimedes optimization algorithm. Crucially, the integrated active disturbance rejection controller, utilizing an extended state observer, provides real-time estimation and compensation of total disturbances, significantly enhancing the system’s robustness against external disturbances and internal uncertainties arising from unmodeled dynamics and parameter uncertainties. The effect of the total disturbances is then dynamically compensated by subtracting their estimation from the control law of the neural network model predictive controller. Experimental validation on the MICO robot manipulator provides concrete evidence that the proposed strategy achieves superior tracking performance and significantly improved disturbance rejection compared to neural network model predictive controller and fractional power rate sliding mode controller. These experimental findings confirm the practical applicability and advanced performance of the proposed controller.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107910"},"PeriodicalIF":3.7,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144685559","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 truncated model reduction method via cross Gramian and optimization 一种基于交叉Gramian和优化的截断模型约简方法

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-18 DOI: 10.1016/j.jfranklin.2025.107909

Ping Yang , Bo Song , Yao-Lin Jiang

{"title":"A truncated model reduction method via cross Gramian and optimization","authors":"Ping Yang , Bo Song , Yao-Lin Jiang","doi":"10.1016/j.jfranklin.2025.107909","DOIUrl":"10.1016/j.jfranklin.2025.107909","url":null,"abstract":"<div><div>This paper explores a truncated model reduction (TMR) approach for generalized linear systems and linear systems, leveraging cross Gramian. For generalized linear systems, an optimization problem is carefully constructed, factoring in the symmetrizer and the system matrices. The convexity characteristics of the objective function with respect to each variable are analyzed, followed by the rigorous derivation of its gradient. The Broyden-Fletcher-Goldfarb-Shanno (BFGS) algorithm is then employed to efficiently solve the optimization problem, facilitating the construction of an approximate generalized linear system. Subsequently, the cross-Gramian-based TMR approach is applied to obtaining the reduced-order model (ROM), and an investigation is conducted into the <span><math><msub><mi>H</mi><mi>∞</mi></msub></math></span> error bound between the full-order model and the ROM. Moreover, the proposed model reduction (MR) technique is adapted for linear systems, with a series of detailed discussions presented. This paper successfully bridges the gap between non-symmetric and symmetric systems in reduction, rendering the cross-Gramian-based TMR method applicable to non-symmetric systems. Finally, several numerical examples are provided, which effectively illustrate the efficiency of the proposed MR method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107909"},"PeriodicalIF":4.2,"publicationDate":"2025-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144722893","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

New results on predefined-time consensus for nonlinear multi-agent systems under Lipschitz condition: A dynamic-gains-based method 非线性多智能体系统在Lipschitz条件下的预定义时间一致性的新结果：一种基于动态增益的方法

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-17 DOI: 10.1016/j.jfranklin.2025.107894

Jiaqi Xu , Ronghao Wang , Jun Mao , Zhengrong Xiang

引用次数: 0

Event-based distributed cooperative learning control for discrete-time strict-feedback multi-agent systems 离散时间严格反馈多智能体系统基于事件的分布式合作学习控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-17 DOI: 10.1016/j.jfranklin.2025.107901

Weijian Pan , Haotian Shi , Shude He , Shuqi Li , Lixue Wang

{"title":"Event-based distributed cooperative learning control for discrete-time strict-feedback multi-agent systems","authors":"Weijian Pan , Haotian Shi , Shude He , Shuqi Li , Lixue Wang","doi":"10.1016/j.jfranklin.2025.107901","DOIUrl":"10.1016/j.jfranklin.2025.107901","url":null,"abstract":"<div><div>This paper proposes an event-based distributed cooperative learning (EBDCL) control method for a type of discrete-time strict-feedback multi-agent systems. The multi-agent systems have the same nonlinear dynamics, but different tracking control tasks. A new estimate-error-based neural network (NN) update law is designed to avoid the <span><math><mi>n</mi></math></span>-step delay disadvantage of combining the classical tracking-error-based NN update law with event-based communication in previous works. The stability of the system is proved using the Lyapunov stability theorem and error transformation method. Moreover, all the NN weights are proved to converge to small neighborhoods of their ideal values in a limited domain along the union trajectories of all agents, which can be stored as experience knowledge. Hereafter, the experience knowledge is reused to design the experience-based control scheme, which improves the control performance. Finally, simulation results are presented to demonstrate the efficacy of the EBDCL method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107901"},"PeriodicalIF":3.7,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144672350","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

Analysis of dual-frequency self-excited oscillations in relay feedback systems 继电反馈系统双频自激振荡分析

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-17 DOI: 10.1016/j.jfranklin.2025.107905

Ahmed Rehan , Igor Boiko , Yahya Zweiri

{"title":"Analysis of dual-frequency self-excited oscillations in relay feedback systems","authors":"Ahmed Rehan , Igor Boiko , Yahya Zweiri","doi":"10.1016/j.jfranklin.2025.107905","DOIUrl":"10.1016/j.jfranklin.2025.107905","url":null,"abstract":"<div><div>Self-excited multi-frequency oscillations in dynamic systems are a rare phenomenon. Dual-frequency oscillations, which may occur as limit cycles with higher-frequency chattering segments, are a peculiar behavior in certain relay systems. Understanding the cause of these oscillations is notably challenging. Other phenomena, such as limit cycles with sliding and chaotic chattering, are different from the present phenomenon under investigation. Their analysis requires specific approaches; the use of the previously developed approaches would not give an explanation of the cause of self-excited dual-frequency oscillations. The paper investigates this complex behavior using analytical methods such as the locus of perturbed relay systems and the describing function, applied in combination in different parts of the proposed analysis. The underlying mechanism of dual-frequency oscillations is studied through the bias function analysis, with application of the above-mentioned methods. Examples exhibiting oscillations of dual frequencies are presented and analyzed to investigate the origins of such complex oscillatory behaviors.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107905"},"PeriodicalIF":3.7,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144694533","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

Lead-time attitude control of HIL system based on disturbance observer 基于扰动观测器的HIL系统提前期姿态控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-17 DOI: 10.1016/j.jfranklin.2025.107908

Yingjiang Zhou , Yunjie Gao , Guoping Jiang , Cheng Hu , Leimin Wang

{"title":"Lead-time attitude control of HIL system based on disturbance observer","authors":"Yingjiang Zhou , Yunjie Gao , Guoping Jiang , Cheng Hu , Leimin Wang","doi":"10.1016/j.jfranklin.2025.107908","DOIUrl":"10.1016/j.jfranklin.2025.107908","url":null,"abstract":"<div><div>This paper aims to solve two complex problems in the flight control of quadrotor unmanned aerial vehicle (QUAV) hardware-in-the-loop (HIL): 1) The time-varying function tends to infinity around the prescribed time <span><math><mi>T</mi></math></span>, which may cause the system chattering; and 2) The effectiveness of the proposed algorithm in HIL and its anti-interference capability in real-world flight scenarios. A novel time-varying piecewise function is introduced in this paper, the switching points are made to occur before the setting time, and mathematical calculations are used to ensure that the stabilization time is less than the setting time. This approach reduces chattering in the system. A lead-time disturbance observer is proposed to estimate the complex disturbances encountered by the QUAV. Subsequently, by combining the sliding mode control theory with the novel time-varying switching function, the attitude system of QUAV is lead-time stability. Finally, the effectiveness of the proposed control scheme under disturbances is validated through numerical simulations and hardware-in-the-loop (HIL) experiments.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107908"},"PeriodicalIF":3.7,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144685561","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

Adaptive practical finite-time bipartite consensus of nonlinear multi-agent systems with input saturation and non-zero input leader 输入饱和非零前导非线性多智能体系统的自适应实用有限时间二部一致性

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-17 DOI: 10.1016/j.jfranklin.2025.107897

Qiufu Wang, Zhanshan Wang, Tianyuan Jia

{"title":"Adaptive practical finite-time bipartite consensus of nonlinear multi-agent systems with input saturation and non-zero input leader","authors":"Qiufu Wang, Zhanshan Wang, Tianyuan Jia","doi":"10.1016/j.jfranklin.2025.107897","DOIUrl":"10.1016/j.jfranklin.2025.107897","url":null,"abstract":"<div><div>This paper investigates the practical finite-time bipartite consensus (PFBC) for a class of nonlinear multi-agent systems (MASs) with input saturation and non-zero input leader, where the leader’s input is unknown to all followers. Due to the existence of unknown control gain and input saturation in the system, it is impossible to directly compensate through the controller, which poses challenges to the design of control scheme. To deal with this situation, firstly, a smooth function is employed to approximate input saturation. Then, a new compensation function is designed to handle the impact of leader’s input. Afterwards, in order to ensure convergence speed and achieve PFBC, a new adaptive controller with a power exponential term is designed by combining compensation function and sign function. Compared with related works in this field, the scheme proposed in this paper can effectively reduce chattering while ensuring system performance. Finally, The simulation results have verified the effectiveness of the proposed PFBC control strategy.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 13","pages":"Article 107897"},"PeriodicalIF":3.7,"publicationDate":"2025-07-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144672346","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

Dual-rate dynamic event-triggered control for semi-Markov wind turbine systems with singular perturbation parameters 具有奇异摄动参数的半马尔可夫风力发电系统双速率动态事件触发控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-17 DOI: 10.1016/j.jfranklin.2025.107904

Qilong Xie , Ying Zhai , Shoucheng Yuan , Jun Cheng , Dan Zhang , Wenhai Qi

引用次数: 0

Game-based bipartite consensus control of multiagent systems with antagonistic interactions 具有对抗相互作用的多智能体系统的基于博弈的二部共识控制

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-07-16 DOI: 10.1016/j.jfranklin.2025.107893

Jinjing Zu , Lianghao Ji , Binjie Wang

引用次数: 0