Journal of The Franklin Institute-engineering and Applied Mathematics最新文献_第9页

Optimizing bioinspired neurodynamic formation control for traffic cone robots under control input constraints: A noncooperative game approach 控制输入约束下交通锥机器人的仿生神经动力学编队控制优化：一种非合作博弈方法

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-02-01 Epub Date: 2026-01-10 DOI: 10.1016/j.jfranklin.2025.108383

Jiale Zhang , Dongsheng Zhang , Zhiyong Li , Shengjie Jiao , Chuanwei Zhang , Siyuan Chang , Meng Wei

{"title":"Optimizing bioinspired neurodynamic formation control for traffic cone robots under control input constraints: A noncooperative game approach","authors":"Jiale Zhang , Dongsheng Zhang , Zhiyong Li , Shengjie Jiao , Chuanwei Zhang , Siyuan Chang , Meng Wei","doi":"10.1016/j.jfranklin.2025.108383","DOIUrl":"10.1016/j.jfranklin.2025.108383","url":null,"abstract":"<div><div>This study presents an optimized bioinspired neurodynamic control framework for the formation placement and recovery control of traffic cone robots (TCRs) under constrained control inputs. A dynamic error model is constructed based on positional states, upon which a backstepping controller is designed and integrated with a bioinspired neurodynamic module to mitigate infeasible control commands arising from large initial deviations, ensuring actuator feasibility. Lyapunov-based analysis demonstrates closed-loop stability and guarantees the asymptotic convergence of formation errors. In addition, a multi-parameter optimization framework grounded in noncooperative game theory is proposed to identify optimal control gains at the Nash equilibrium, minimizing a predefined performance cost. The effectiveness, robustness, and practical applicability of the approach are validated through both numerical simulations and physical experiments, demonstrating its potential for real-world TCR formation operations.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 3","pages":"Article 108383"},"PeriodicalIF":4.2,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145980933","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

Small-gain theorem-based stability analysis of two-dimensional systems with time delays 基于小增益定理的二维时滞系统稳定性分析

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-02-01 Epub Date: 2026-01-05 DOI: 10.1016/j.jfranklin.2025.108384

Sadek Belamfedel Alaoui , Adnane Saoud , Abdelaziz Hmamed , Alejandro J. Rojas , El Houssaine Tissir

引用次数: 0

Improved sampled-data-based adaptive dynamic event-triggered containment control of multi-agent systems 改进的基于采样数据的多智能体系统自适应动态事件触发遏制控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-02-01 Epub Date: 2026-01-08 DOI: 10.1016/j.jfranklin.2026.108402

Jianfeng Guo , Wei Qian , Wudi Li

{"title":"Improved sampled-data-based adaptive dynamic event-triggered containment control of multi-agent systems","authors":"Jianfeng Guo , Wei Qian , Wudi Li","doi":"10.1016/j.jfranklin.2026.108402","DOIUrl":"10.1016/j.jfranklin.2026.108402","url":null,"abstract":"<div><div>This paper addresses the problem of event-triggered containment control for linear multi-agent systems. Initially, a state observer is designed to estimate the unmeasurable states of follower agents. Subsequently, a novel sampled-data-based hybrid error-driven adaptive dynamic event-triggered mechanism is proposed utilizing the periodically sampled observed states. This mechanism integrates state measurement errors, containment control errors, along with containment measurement errors, and employs dynamic auxiliary variables as well as adaptive threshold parameters that dynamically adjust in real time to meet the system’s performance requirements. By leveraging the observed states at triggering instants, a containment control protocol is further developed. Furthermore, a composite closed-loop error system, which includes containment errors, measurement errors, and observation errors, is constructed through model transformation. Consequently, the containment control problem is equivalently reformulated as an asymptotic stability analysis for a time-delayed error system. Sufficient conditions for containment control are derived from a stability analysis of the error system driven by the Lyapunov functional approach. A co-design method for controller gain, observer gain, and event-triggered parameters is then developed to ensure system performance. Finally, simulation results from two illustrative examples validate the effectiveness and superiority of the proposed event-triggered mechanism and containment control protocol.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 3","pages":"Article 108402"},"PeriodicalIF":4.2,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145980923","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

User-prescribed-time path-following control of underactuated unmanned surface vessels with switching extended state observers 带切换扩展状态观测器的欠驱动无人水面舰艇用户规定时间路径跟踪控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-02-01 Epub Date: 2025-12-03 DOI: 10.1016/j.jfranklin.2025.108285

Simeng Song , Zhilin Liu , Shouzheng Yuan , Yingkai Ma , Lin Yang , Zhongxin Wang

{"title":"User-prescribed-time path-following control of underactuated unmanned surface vessels with switching extended state observers","authors":"Simeng Song , Zhilin Liu , Shouzheng Yuan , Yingkai Ma , Lin Yang , Zhongxin Wang","doi":"10.1016/j.jfranklin.2025.108285","DOIUrl":"10.1016/j.jfranklin.2025.108285","url":null,"abstract":"<div><div>In this paper, the problem of user-prescribed-time path-following control of the underactuated unmanned surface vessel is reported. We consider practical problems such as input saturation, external disturbances, model uncertainty, and unmeasurable velocity. First, we utilize a Gaussian error function to linearize the input saturation constraint. Further, we innovatively propose a set of switching user-prescribed-time extended state observers to accurately estimate the unmeasurable velocity and lumped disturbances in a user-prescribed time. Then, for the first time, we propose user-prescribed-time line-of-sight guidance to ensure that the position error converges in a user-prescribed time. Next, surge and heading controllers are constructed to achieve user-prescribed-time stabilization of the dynamic error. Finally, several commonly used schemes are presented as comparative cases to verify the superiority and feasibility of the proposed scheme at the simulation level.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 3","pages":"Article 108285"},"PeriodicalIF":4.2,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145980925","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

Mixed H∞ and passivity based state estimation for Markovian switching complex dynamical networks with event-triggered control subject to multiple cyber attacks 基于混合H∞和无源的马尔可夫切换复杂动态网络状态估计

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-02-01 Epub Date: 2025-12-28 DOI: 10.1016/j.jfranklin.2025.108354

N. Sakthivel, V. Rajkumar, S. Keerthna

{"title":"Mixed H∞ and passivity based state estimation for Markovian switching complex dynamical networks with event-triggered control subject to multiple cyber attacks","authors":"N. Sakthivel, V. Rajkumar, S. Keerthna","doi":"10.1016/j.jfranklin.2025.108354","DOIUrl":"10.1016/j.jfranklin.2025.108354","url":null,"abstract":"<div><div>This article is focused on the state estimation problem of nonlinear complex dynamical networks (CDNs) with the combination of Markovian switching parameters, exogenous disturbance, coupling delay and multiple cyber attacks. Precisely, the controller is designed with an event-triggered mechanism to obtain the synchronization of addressed CDNs, which reduces the burden of the communication channel and improves the implementation of bandwidth. Further, the event-triggered control technique is modeled with adversary attacks, namely, deception attacks and denial-of-service (DoS) attacks, which acquire the secure synchronization of the considered networks. By establishing a suitable Lyapunov–Krasovskii functional (LKF), novel adequate criteria have been obtained in the form of linear matrix inequalities (LMIs), which guarantee the secure synchronization of CDNs based on mixed <em>H</em><sub>∞</sub> and passivity performance. Ultimately, the obtained theoretical results are validated through numerical examples.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 3","pages":"Article 108354"},"PeriodicalIF":4.2,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145981005","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 output feedback fuzzy sliding mode learning attitude control for hypersonic flight vehicle with actuator rate constraint 基于作动器速率约束的高超声速飞行器动态输出反馈模糊滑模学习姿态控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-02-01 Epub Date: 2025-12-25 DOI: 10.1016/j.jfranklin.2025.108374

Xiaoxiang Hu , Yuewen Wang , Jingwen Xu , Jingyan Zhao , Bing. Xiao

{"title":"Dynamic output feedback fuzzy sliding mode learning attitude control for hypersonic flight vehicle with actuator rate constraint","authors":"Xiaoxiang Hu , Yuewen Wang , Jingwen Xu , Jingyan Zhao , Bing. Xiao","doi":"10.1016/j.jfranklin.2025.108374","DOIUrl":"10.1016/j.jfranklin.2025.108374","url":null,"abstract":"<div><div>By considering the actuator rate constraint and measurable output of hypersonic flight vehicle’s (HFV) attitude system, a dynamic output feedback sliding mode learning controller (DOFSMLC) is proposed in this paper. The proposed DOFSMLC can solve the controller design of nonlinear system with incomplete measurable state, system uncertainties and input rate constraint simultaneously. The nonlinear model of HFV’s attitude system is firstly represented by T-S fuzzy model, then the actuator rate constraint is proposed. Based on the original tracking control objective of HFV’s attitude system, the control objective of the T-S fuzzy model is built. Then a dynamic output feedback (DOF) based sliding surface is design and the stability of the designing sliding surface is guaranteed by selecting appropriate dynamic feedback parameters. A traditional discontinuous reaching law is deigned without considering the actuator rate constraint, and then a sliding mode learning control (SMLC) with iterative updating law is designed. By the designed SMLC, the actuator rate constraint and the system stability requirements can be guaranteed synchronously. Finally, the proposed DOFSMLC is applied on the nonlinear model of HFV’s attitude system, and the simulation results validate the effectiveness of the presented controller</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 3","pages":"Article 108374"},"PeriodicalIF":4.2,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145941329","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 adaptive NN-based distributed consensus for nonlinear MASs subject to DoS attacks and uncertainties 受DoS攻击和不确定性影响的非线性质量的基于弹性自适应神经网络的分布式一致性

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-02-01 Epub Date: 2026-01-09 DOI: 10.1016/j.jfranklin.2026.108401

Shengli Du , Qiong Wu , Honggui Han , Junfei Qiao

{"title":"Resilient adaptive NN-based distributed consensus for nonlinear MASs subject to DoS attacks and uncertainties","authors":"Shengli Du , Qiong Wu , Honggui Han , Junfei Qiao","doi":"10.1016/j.jfranklin.2026.108401","DOIUrl":"10.1016/j.jfranklin.2026.108401","url":null,"abstract":"<div><div>This paper investigates the fully distributed consensus control problem for nonlinear multiagent systems (MASs) subject to denial-of-service (DoS) attacks, external disturbances, and unmodeled nonlinearities. To mitigate the adverse effects of such uncertainties, a radial basis function neural network (RBFNN)-based adaptive control law is developed, combined with sign-function-based update rules to ensure robust approximation and compensation. In addressing the communication constraints induced by DoS attacks, a dynamic event-triggered switching control strategy is further proposed to reduce communication load while maintaining resilience against intermittent network failures. To eliminate the reliance on any global information, a fully distributed implementation is achieved, enhancing the scalability and practicality of the control scheme. With the assistance of Lyapunov stability theory, some bounded consensus conditions have been established. Finally, two simulation studies are conducted to demonstrate the effectiveness and robustness of the proposed control approach.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 3","pages":"Article 108401"},"PeriodicalIF":4.2,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145981010","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 predefined-time asymptotic tracking control for uncertain switched nonlinear systems with switching deception attacks 具有切换欺骗攻击的不确定切换非线性系统的自适应预定义时间渐近跟踪控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-02-01 Epub Date: 2026-01-03 DOI: 10.1016/j.jfranklin.2025.108394

Shuo Liu , Huaguang Zhang , Hongbo Pang

{"title":"Adaptive predefined-time asymptotic tracking control for uncertain switched nonlinear systems with switching deception attacks","authors":"Shuo Liu , Huaguang Zhang , Hongbo Pang","doi":"10.1016/j.jfranklin.2025.108394","DOIUrl":"10.1016/j.jfranklin.2025.108394","url":null,"abstract":"<div><div>This paper concerns on adaptive predefined-time asymptotic tracking control issume for switched uncertain nonlinear systems with switching deception attacks, although the output tracking control problem for each subsystem is not solvable. Switching deception attacks mode is constructed in channel of sensor-to-controller channel (S-C) and controller-to-actuatorb (C-A) firstly. A more general predefined-time stability criterion is established, which is an useful tool for predefined-time asymptotic tracking control. To overcome the disadvantage of recursive design methods, a predefined-time command filter has been constructed. Moreover, a predefined-time controller and a adaptive state dependent switching law dependent on adaptive parameter estimation are given to ensure that all the signals of the resulting closed-loop system subject to switching deception attacks are bounded. The tracking error can enter into the interval near origin in predefined time, and asymptotically tend towards to zero finally. To prevent the Zeno behavior, a hysteresis switching law dependent on parameter estimation is derived. Finally, an example on RLC circuite system is given to verty the effectiveness of the novel method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 3","pages":"Article 108394"},"PeriodicalIF":4.2,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145915209","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

Extended state observer-based adaptive iterative learning control of redundant manipulators subject to dual-domain disturbances 基于扩展状态观测器的冗余机械臂双域扰动自适应迭代学习控制

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-02-01 Epub Date: 2026-01-09 DOI: 10.1016/j.jfranklin.2026.108415

Jiayu Zhao, Tao Zhao, Hainan Yang

{"title":"Extended state observer-based adaptive iterative learning control of redundant manipulators subject to dual-domain disturbances","authors":"Jiayu Zhao, Tao Zhao, Hainan Yang","doi":"10.1016/j.jfranklin.2026.108415","DOIUrl":"10.1016/j.jfranklin.2026.108415","url":null,"abstract":"<div><div>Redundant manipulators are widely employed in complex and precision-critical tasks, yet achieving effective disturbance rejection remains challenging due to their highly nonlinear dynamics, strong inter-joint coupling, and susceptibility to both time- and batch-varying uncertainty disturbances. Existing iterative learning control approaches often struggle to cope with such disturbances, especially when these disturbances vary within each iteration cycle, which limits their applicability in repetitive high-accuracy tasks. To address this gap, this paper proposes an adaptive iterative learning control (AILC) scheme integrated with an interval type-2 fuzzy extended state observer (IT2FESO) to enhance both tracking accuracy and disturbance rejection performance. First, an interval type-2 fuzzy model of the manipulator is constructed via the fuzzy c-regression clustering algorithm to capture inherent nonlinearities and model uncertainties. Then, the IT2FESO is designed to estimate time- and batch-varying disturbances in real time, and its output is incorporated into the AILC to enable autonomous parameter adaptation and accurate target trajectory tracking. Finally, a compound energy function is formulated to rigorously establish the convergence conditions of the tracking errors. Simulation studies on a redundant manipulator demonstrate that the proposed approach achieves superior tracking accuracy and disturbance rejection performance under time- and batch-varying uncertainty disturbances.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 3","pages":"Article 108415"},"PeriodicalIF":4.2,"publicationDate":"2026-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145981012","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 continuous-time optimization with nonlinear inequality and equality constraints under disturbances 扰动下非线性不等式约束的分布连续时间优化

IF 4.2 3区计算机科学

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2026-02-01 Epub Date: 2025-12-18 DOI: 10.1016/j.jfranklin.2025.108356

Zeinab Ebrahimi, Mohammad Deghat

引用次数: 0