Journal of The Franklin Institute-engineering and Applied Mathematics最新文献_第8页

Adaptive practical prescribed-time attitude tracking control for quadrotor UAV

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-03 DOI: 10.1016/j.jfranklin.2025.107573

Shikai Shao , Zifei Wang , Bailing Tian , Yuanjie Zhao , Xiaojing Wu , Hexu Sun

{"title":"Adaptive practical prescribed-time attitude tracking control for quadrotor UAV","authors":"Shikai Shao , Zifei Wang , Bailing Tian , Yuanjie Zhao , Xiaojing Wu , Hexu Sun","doi":"10.1016/j.jfranklin.2025.107573","DOIUrl":"10.1016/j.jfranklin.2025.107573","url":null,"abstract":"<div><div>To achieve attitude tracking control on the entire time interval, an adaptive prescribed-time control (PTC) scheme is proposed for quadrotor unmanned aerial vehicle (QUAV) subject to external disturbances, actuator fault, input saturation and inertia uncertainties. Initially, a novel saturation function is introduced to approximate the actual control input subject to saturation, which eliminates the turning points in traditional saturation functions. Additionally, an adaptive neural network (NN) structure is proposed to approximate the lumped uncertainties. Subsequently, the approximation error of the NN structure and external disturbances are treated as a non-vanishing lumped term, and a novel adaptive prescribed-time control scheme is proposed, ensuring that tracking errors converge to a small neighborhood around zero within any prescribed time. To the best of our knowledge, existing PTC schemes primarily focus on vanishing uncertainties/ disturbances, thus tackling non-vanishing uncertainties/disturbances (NVU/NVD) renders the proposed PTC problem nontrivial. Furthermore, unlike existing PTC approaches, the combination of proposed adaptive PTC and NN approximation schemes results in satisfactory transient and steady-state performance. Rigorous stability analysis confirms the effectiveness of the proposed control strategy. Finally, comparing simulation results under various initial conditions and types of disturbances demonstrate the tracking performance and robustness of the proposed control strategy within prescribed time, which may offer broader application prospects than existing finite-time and fixed-time control schemes.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 5","pages":"Article 107573"},"PeriodicalIF":3.7,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143488726","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 output feedback tracking control for uncertain strict-feedback nonlinear systems subject to input saturation

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-03 DOI: 10.1016/j.jfranklin.2025.107566

Hanfeng Li , Min Li

{"title":"Event-triggered output feedback tracking control for uncertain strict-feedback nonlinear systems subject to input saturation","authors":"Hanfeng Li , Min Li","doi":"10.1016/j.jfranklin.2025.107566","DOIUrl":"10.1016/j.jfranklin.2025.107566","url":null,"abstract":"<div><div>This paper presents a novel event-triggered output feedback control method to achieve the tracking performance for uncertain strict-feedback nonlinear systems with input saturation. Unlike most existing tracking control strategies that are built upon the backstepping design method, the proposed control scheme is derived from an auxiliary system about the saturation error and the hyperbolic tangent function, together with the dynamic scaling transformations. Based on the designed event-triggered controller, the tracking error converges to the neighborhood of a pre-specified interval. Moreover, all closed-loop signals are bounded despite appearing as saturated phenomenon. By introducing an auxiliary system and constructing a new dynamic gain function, the boundedness of the saturation error can be guaranteed through the Lyapunov analysis, and the common assumption about the boundedness of saturation error can be avoided effectively. A practical example is provided to authenticate the usefulness and benefit of the proposed control method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 5","pages":"Article 107566"},"PeriodicalIF":3.7,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143387542","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

Particle filtering for nonlinear cyber–physical systems under Round-Robin protocol: Handling complex sensor issues and non-Gaussian noise

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107507

Beiyuan Li, Juan Li, Peng Lou, Lihong Rong, Ziyang Wang, Haitao Xiong

{"title":"Particle filtering for nonlinear cyber–physical systems under Round-Robin protocol: Handling complex sensor issues and non-Gaussian noise","authors":"Beiyuan Li, Juan Li, Peng Lou, Lihong Rong, Ziyang Wang, Haitao Xiong","doi":"10.1016/j.jfranklin.2025.107507","DOIUrl":"10.1016/j.jfranklin.2025.107507","url":null,"abstract":"<div><div>This paper proposes particle filtering for state estimation considering Round-Robin protocol for discrete-time nonlinear cyber–physical systems with non-Gaussian noise affecting the channels and multiple complex sensor phenomena, including missing measurements (MMs) and randomly occurring sensor saturations (ROSSs). A novel energy harvesting sensor is applied to ensure uninterrupted measurement transmission, and a simplified energy-transfer recursive algorithm is proposed to further calculate the measurement transmission probability of energy harvesting sensors. In addition, considering actual engineering scenarios, two sequences of Bernoulli-distributed random variables with known probability distributions are employed to describe the characteristics of MMs and ROSSs. During the design process of the filtering scheme, we construct a modified likelihood function to compensate for the impact of MMs, ROSSs, and energy harvesting sensors in cyber–physical systems. Subsequently, based on the mathematical characterisation of the likelihood function, we propose a particle filtering algorithm that can address the difficulty in obtaining the likelihood function when MMs and ROSSs occur simultaneously. Finally, the usefulness of the proposed particle filtering method is validated using two tracking examples.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107507"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143136961","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

Iterative learning based fault estimation for stochastic systems with variable pass lengths and data dropouts

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107550

Jiantao Shi, Shaodong Gu, Jiawen Tang, Wenli Zhang, Chuang Chen, Dongdong Yue

引用次数: 0

Identification of linear parameter-varying system with missing measurement data and outliers

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107547

Xiang Chen, Xiaogang Wang, Fei Liu

引用次数: 0

Performance constrained trajectory tracking control for free-flying flexible-joint space robots based on adaptive sliding mode disturbance observer

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107524

Dingfeng Gao, Xiutao Gu, Liaoxue Liu, Yu Guo

{"title":"Performance constrained trajectory tracking control for free-flying flexible-joint space robots based on adaptive sliding mode disturbance observer","authors":"Dingfeng Gao, Xiutao Gu, Liaoxue Liu, Yu Guo","doi":"10.1016/j.jfranklin.2025.107524","DOIUrl":"10.1016/j.jfranklin.2025.107524","url":null,"abstract":"<div><div>Aiming at the trajectory tracking control with performance constraints and actuator saturation for free-flying flexible-joint space robots (FFSR) under uncertain external disturbance. In the framework of the command filter backstepping method, a composite controller combining tan-type barrier Lyapunov function (TBLF) and anticipatory activation anti-saturation (AAA) is proposed. A finite-time prescribed performance function (FPPF) is developed to improve the transient performances of trajectory tracking. In addition, an adaptive sliding mode disturbance observer (ASMDO) is designed to estimate the uncertain external disturbance, with a novel log-type barrier function based adaptive control law (LBFACL) to prevent successive monotonic increases in gain and mitigate the risk of gain tending to infinity at the regional boundary. The simulation results show that the trajectory tracking performance of FFSR system under the designed control scheme has fast convergence speed and high accuracy.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107524"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143348298","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

Distributed event-triggered adaptive fuzzy finite-time control for multiple QUAVs with time-varying state constraints

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2024.107505

Changhui Wang, Yihao Wang, Mei Liang, Yibao Chen

引用次数: 0

Color image watermarking scheme based on singular value decomposition of split quaternion matrices

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107508

Gang Wang , Tongsong Jiang , Dong Zhang , V.I. Vasil’ev

{"title":"Color image watermarking scheme based on singular value decomposition of split quaternion matrices","authors":"Gang Wang , Tongsong Jiang , Dong Zhang , V.I. Vasil’ev","doi":"10.1016/j.jfranklin.2025.107508","DOIUrl":"10.1016/j.jfranklin.2025.107508","url":null,"abstract":"<div><div>As digital media increasingly faces copyright threats, robust protection schemes are crucial. While gray-scale watermarking techniques are well-developed, color watermarking problems require more advanced solutions due to the complex spectral relationships among RGB channels. This paper introduces a novel color watermarking scheme based on the split quaternion matrix model, a 4D algebraic structure that preserves the linear spectral relationships among RGB channels, enhances computational efficiency, and improves color image processing. Watermark embedding employs a double split quaternion singular value decomposition (SVDSQ) process. The host image is divided into patches, and dominant singular values are extracted from each patch using SVDSQ. These values are assembled into a matrix, which undergoes a second SVDSQ to embed the watermark. This dual-layered method enhances the adaptability of the watermark embedding payload. Experimental results show that, under the same experimental conditions, our watermarking scheme demonstrates strong robustness against noise and geometric attacks, while maintaining a high peak signal-to-noise ratio (PSNR <span><math><mo>≥</mo></math></span> 35), compared to recent watermarking schemes. Despite introducing real part redundancy and requiring prior information for the watermark extraction, this approach advances color image processing using split quaternion matrices. Future work will focus on addressing these limitations and exploring new applications.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107508"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143136966","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

Fuzzy control for Markov singularly perturbed systems with dynamic-probabilistic event-triggered mechanism

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107514

Xiaoke Tang , Yunliang Wang , Jun Cheng , Dan Zhang , Wenhai Qi

引用次数: 0

Dynamic regret for decentralized online bandit gradient descent with local steps

IF 3.7 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107530

Honglei Liu, Baoyong Zhang, Deming Yuan

{"title":"Dynamic regret for decentralized online bandit gradient descent with local steps","authors":"Honglei Liu, Baoyong Zhang, Deming Yuan","doi":"10.1016/j.jfranklin.2025.107530","DOIUrl":"10.1016/j.jfranklin.2025.107530","url":null,"abstract":"<div><div>In this paper, we focus on a decentralized online convex optimization problem over a multi-agent system, where each agent is equipped with a time-varying objective function. To handle the communication bottleneck and reduce the communication costs, we consider the method of local steps, where the agents communicate with their neighbors after performing local gradient descent steps. Under bandit feedback, we develop the Local-Decentralized Online Bandit Gradient Descent (Local-DOBGD) algorithm, which combines local steps and gradient descent. The performance of the developed algorithm is analyzed and the dynamic regret bound <span><math><mrow><mi>O</mi><mfenced><mrow><msqrt><mrow><mi>T</mi><mrow><mo>(</mo><mn>1</mn><mo>+</mo><msub><mrow><mi>P</mi></mrow><mrow><mi>T</mi></mrow></msub><mo>)</mo></mrow></mrow></msqrt></mrow></mfenced></mrow></math></span> is obtained, which is concerned with time horizon <span><math><mi>T</mi></math></span> and path-length <span><math><msub><mrow><mi>P</mi></mrow><mrow><mi>T</mi></mrow></msub></math></span>. Finally, we provide a numerical example to verify the effectiveness of the Local-DOBGD algorithm.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107530"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143145430","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