Journal of The Franklin Institute-engineering and Applied Mathematics最新文献

英文中文

Shedding light on uncertainties in machine learning: formal derivation and optimal model selection

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107548

Giulio Del Corso, Sara Colantonio, Claudia Caudai

The concept of uncertainty has always been important in the field of mathematical modeling. In particular, the growing application of Machine Learning and Deep Learning methods in many scientific fields has led to the implementation and use of new uncertainty quantification techniques aimed at distinguishing between reliable and unreliable predictions. However, the novelty of this discipline and the plethora of articles produced, ranging from theoretical results to purely applied experiments, has resulted in a very fragmented and cluttered literature. In this review, we have attempted to combine the well-established mathematical background of the Bayesian framework with the practical aspect of modern state-of-the-art emerging techniques in order to meet the urgent need for clarity on key concepts related to uncertainty quantification. First, we introduced the different sources of uncertainty, ranging from epistemic/reducible to aleatoric/irreducible, providing both a rigorous mathematical derivation and several examples to facilitate understanding. The review then details some of the most important techniques for uncertainty quantification. These methods are compared in terms of their advantages and drawbacks and classified in terms of their intrusiveness, in order to provide the practitioner with a useful vademecum for selecting the optimal model depending on the application context.

{"title":"Shedding light on uncertainties in machine learning: formal derivation and optimal model selection","authors":"Giulio Del Corso, Sara Colantonio, Claudia Caudai","doi":"10.1016/j.jfranklin.2025.107548","DOIUrl":"10.1016/j.jfranklin.2025.107548","url":null,"abstract":"<div><div>The concept of uncertainty has always been important in the field of mathematical modeling. In particular, the growing application of Machine Learning and Deep Learning methods in many scientific fields has led to the implementation and use of new uncertainty quantification techniques aimed at distinguishing between reliable and unreliable predictions. However, the novelty of this discipline and the plethora of articles produced, ranging from theoretical results to purely applied experiments, has resulted in a very fragmented and cluttered literature. In this review, we have attempted to combine the well-established mathematical background of the Bayesian framework with the practical aspect of modern state-of-the-art emerging techniques in order to meet the urgent need for clarity on key concepts related to uncertainty quantification. First, we introduced the different sources of uncertainty, ranging from epistemic/reducible to aleatoric/irreducible, providing both a rigorous mathematical derivation and several examples to facilitate understanding. The review then details some of the most important techniques for uncertainty quantification. These methods are compared in terms of their advantages and drawbacks and classified in terms of their intrusiveness, in order to provide the practitioner with a useful vademecum for selecting the optimal model depending on the application context.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107548"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143137201","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}

引用次数: 0

Multi-factorial rate bumpless output regulation of switched systems against multiple deception attacks: The dissipativity framework

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107520

Lili Li, Xingyao Zhu, Bingqi Chen

Multiple deception attacks (MDAs) cause multiple bumps of the switched system (SS) state rate on dual sensor and transmission networks. The conflicts among uncorrelated amplitude limits are elicited by independently using existing rate bumpless transfer control (BTC) methods to suppress multiple bumps of the system state rate elicited by MDAs. A new multi-factorial rate BTC method is proposed limiting the total amplitude of multiple bumps elicited by MDAs, and balancing transient performances of the output regulation (OR) for the SS, thereby improving its steady-state performance. The anti-sensor-attack event-triggering mechanisms (ASAETMs) compute the error using data on the forged adjacent sensor nodes and dynamically adjust the threshold based on the attack probability to resist MDAs that can tamper with adjacent relation and data transmission on dual sensor networks. The utilization of the dissipativity theoretical framework establishes a quantitative link between the external data transfer, the solvability conditions of the OR control scheme, and levels of energy dissipation within the SS. Finally, the methods are applied to an aircraft engine for verification.

{"title":"Multi-factorial rate bumpless output regulation of switched systems against multiple deception attacks: The dissipativity framework","authors":"Lili Li, Xingyao Zhu, Bingqi Chen","doi":"10.1016/j.jfranklin.2025.107520","DOIUrl":"10.1016/j.jfranklin.2025.107520","url":null,"abstract":"<div><div>Multiple deception attacks (MDAs) cause multiple bumps of the switched system (SS) state rate on dual sensor and transmission networks. The conflicts among uncorrelated amplitude limits are elicited by independently using existing rate bumpless transfer control (BTC) methods to suppress multiple bumps of the system state rate elicited by MDAs. A new multi-factorial rate BTC method is proposed limiting the total amplitude of multiple bumps elicited by MDAs, and balancing transient performances of the output regulation (OR) for the SS, thereby improving its steady-state performance. The anti-sensor-attack event-triggering mechanisms (ASAETMs) compute the error using data on the forged adjacent sensor nodes and dynamically adjust the threshold based on the attack probability to resist MDAs that can tamper with adjacent relation and data transmission on dual sensor networks. The utilization of the dissipativity theoretical framework establishes a quantitative link between the external data transfer, the solvability conditions of the OR control scheme, and levels of energy dissipation within the SS. Finally, the methods are applied to an aircraft engine for verification.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107520"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143146026","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

Controlling memory chaos and synchronization in real order nonlinear systems

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2024.107503

Bichitra Kumar Lenka, Ranjit Kumar Upadhyay

Nonlinear systems associated with real orders are known to produce complicated dynamics that can be distinguished from their integer counterparts. In applications of interest, the inclusion of real orders introduces memory to the system, and the settling of initial time can give rise to new representations of real-order systems that may not be similar to their integer version counterparts. Controlling memory chaos and synchronization in real-world systems poses new complex issues due to initial time-dependent nature of fractional derivatives. All the existing literature has not considered an important factor of ultimate random initial time, when it comes to the problem of control and synchronization of real-order systems. This paper uses the active control method and proposes principles of control and synchronization for random initial-time incommensurate real-order systems in the sense of Caputo fractional derivative. First, by using the real-order linear time-varying theory, it is shown that memory chaos in an incommensurate food chain nonlinear system can be controlled when the system starts at a non-zero initial time. Then, we show that the chaotic states of two identical models of such systems can be synchronized whenever the initial time becomes non-zero. Numerical simulations are presented to illustrate the importance of theoretical analysis.

{"title":"Controlling memory chaos and synchronization in real order nonlinear systems","authors":"Bichitra Kumar Lenka, Ranjit Kumar Upadhyay","doi":"10.1016/j.jfranklin.2024.107503","DOIUrl":"10.1016/j.jfranklin.2024.107503","url":null,"abstract":"<div><div>Nonlinear systems associated with real orders are known to produce complicated dynamics that can be distinguished from their integer counterparts. In applications of interest, the inclusion of real orders introduces memory to the system, and the settling of initial time can give rise to new representations of real-order systems that may not be similar to their integer version counterparts. Controlling memory chaos and synchronization in real-world systems poses new complex issues due to initial time-dependent nature of fractional derivatives. All the existing literature has not considered an important factor of ultimate random initial time, when it comes to the problem of control and synchronization of real-order systems. This paper uses the active control method and proposes principles of control and synchronization for random initial-time incommensurate real-order systems in the sense of Caputo fractional derivative. First, by using the real-order linear time-varying theory, it is shown that memory chaos in an incommensurate food chain nonlinear system can be controlled when the system starts at a non-zero initial time. Then, we show that the chaotic states of two identical models of such systems can be synchronized whenever the initial time becomes non-zero. Numerical simulations are presented to illustrate the importance of theoretical analysis.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107503"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143136920","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 switching dynamic event-triggered controls of stochastic Takagi–Sugeno fuzzy semi-Markov jump systems

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2024.107504

Dalin Zhu, Quanxin Zhu

In this paper, the stability analysis for a class of stochastic nonlinear Takagi-Sugeno fuzzy semi-Markov jump systems (TSFS-MJSs) is studied under a novel dual switching dynamic event-triggered fuzzy controller. Unlike conventional deterministic or stochastic systems governed by event-triggered controllers, the constructed controller strategy contains primary control and auxiliary control, enabling the controller to switch between these dual controls. Besides, the novel dual switching dynamic event-triggering mechanism (DSD-ETM) is founded on state detection, condition analysis, and switching signal of TSFS-MJSs, ensuring that the operation of the controller is entirely dictated by the DSD-ETM. In addition, the DSD-ETM allows for the avoidance of the Zeno phenomenon and directly obtains the minimum inter-execution time across different subsystems within TSFS-MJSs. Based on an augmented Lyapunov function with mode-dependent, the sufficient conditions for the mean-square asymptotic stability and the mean-square exponential stability of TSFS-MJSs with dual switching dynamic event-triggered fuzzy controller are obtained. Finally, an application example involving a nonlinear double-link robot arm model is presented to illustrate and validate our results.

{"title":"Dual switching dynamic event-triggered controls of stochastic Takagi–Sugeno fuzzy semi-Markov jump systems","authors":"Dalin Zhu, Quanxin Zhu","doi":"10.1016/j.jfranklin.2024.107504","DOIUrl":"10.1016/j.jfranklin.2024.107504","url":null,"abstract":"<div><div>In this paper, the stability analysis for a class of stochastic nonlinear Takagi-Sugeno fuzzy semi-Markov jump systems (TSFS-MJSs) is studied under a novel dual switching dynamic event-triggered fuzzy controller. Unlike conventional deterministic or stochastic systems governed by event-triggered controllers, the constructed controller strategy contains primary control and auxiliary control, enabling the controller to switch between these dual controls. Besides, the novel dual switching dynamic event-triggering mechanism (DSD-ETM) is founded on state detection, condition analysis, and switching signal of TSFS-MJSs, ensuring that the operation of the controller is entirely dictated by the DSD-ETM. In addition, the DSD-ETM allows for the avoidance of the Zeno phenomenon and directly obtains the minimum inter-execution time across different subsystems within TSFS-MJSs. Based on an augmented Lyapunov function with mode-dependent, the sufficient conditions for the mean-square asymptotic stability and the mean-square exponential stability of TSFS-MJSs with dual switching dynamic event-triggered fuzzy controller are obtained. Finally, an application example involving a nonlinear double-link robot arm model is presented to illustrate and validate our results.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107504"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143136965","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 Bayesian and Markov chain approach to short-term and long-term personal watercraft trajectory forecasting

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107509

Lucija Žužić , Ivan Dražić , Loredana Simčić , Franko Hržić , Jonatan Lerga

In this work, vessel position is estimated using a Bayesian approach based on heading, speed, time intervals, and offsets of latitude and longitude. An additional approach using a Markov chain is presented. The trajectory data comes from a cloud-based marine watercraft tracking system that enables remote control of the vessels. Wave height and meteorological reports were used to evaluate the impact of weather on personal watercraft trajectories. One proposed approach to trajectory estimation uses the longitude and latitude offsets, while another uses the speed, heading, and actual time intervals. A long-term forecasting window of up to ten seconds is achieved by dividing trajectories into segments that do not overlap. The limitation this method faces in long-term forecasting inspires more sophisticated machine-learning approaches. The most successful estimation method used one or two previous actual values and a Bayesian approach, proving that using previously predicted values in a chain accumulates errors. Considering environmental variables did not improve the model, highlighting that small watercrafts operate well even in unstable sea states. This occurs because they generate and ride waves, having a larger impact than oceanic currents.

{"title":"A Bayesian and Markov chain approach to short-term and long-term personal watercraft trajectory forecasting","authors":"Lucija Žužić , Ivan Dražić , Loredana Simčić , Franko Hržić , Jonatan Lerga","doi":"10.1016/j.jfranklin.2025.107509","DOIUrl":"10.1016/j.jfranklin.2025.107509","url":null,"abstract":"<div><div>In this work, vessel position is estimated using a Bayesian approach based on heading, speed, time intervals, and offsets of latitude and longitude. An additional approach using a Markov chain is presented. The trajectory data comes from a cloud-based marine watercraft tracking system that enables remote control of the vessels. Wave height and meteorological reports were used to evaluate the impact of weather on personal watercraft trajectories. One proposed approach to trajectory estimation uses the longitude and latitude offsets, while another uses the speed, heading, and actual time intervals. A long-term forecasting window of up to ten seconds is achieved by dividing trajectories into segments that do not overlap. The limitation this method faces in long-term forecasting inspires more sophisticated machine-learning approaches. The most successful estimation method used one or two previous actual values and a Bayesian approach, proving that using previously predicted values in a chain accumulates errors. Considering environmental variables did not improve the model, highlighting that small watercrafts operate well even in unstable sea states. This occurs because they generate and ride waves, having a larger impact than oceanic currents.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107509"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143136967","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 digital over-the-air computation system based on maximum posterior probability demodulation

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107510

Shibao Li , Yujie Song , Ziyi Tang , Zhihao Cui , Wenhan Li , Xuerong Cui , Lianghai Li

The number of edge devices (EDs) has grown exponentially with the development of technologies such as the Internet of Things, distributed consensus, federated learning, and sensor networks. Physical communication between edge devices and fusion centers (FCs) has become a bottleneck affecting the efficiency of data aggregation. To overcome this bottleneck, an efficient broadband analog transmission scheme has recently been proposed named over-the-air computation (OAC), featuring data aggregation via the waveform superposition property of the wireless channel. The OAC system effectively improves the efficiency of data fusion and reduces the consumption of hardware and arithmetic resources. However, analog communications have poor communication quality and are difficult to deploy. While existing digital OAC solutions are not widely available due to the limitations of demodulation schemes. To solve this problem, we propose a digital OAC system based on maximum a posteriori probabilistic demodulation. The proposed scheme has higher generalizability. In addition, we propose a frequency offset estimation algorithm for oriented OAC uplink and a three-stage handshake compensation scheme to eliminate the effect of frequency offset on OAC systems. This frequency synchronization scheme can effectively eliminate the residual frequency offsets caused by channel imperfect reciprocity and improve the calculation accuracy of OAC. Experimentally, it is proved that the proposed scheme has higher accuracy, especially at low signal-to-noise ratios, with an average improvement rate of 56.8% compared with the existing scheme. Although the complexity of the proposed frequency synchronization scheme slightly increases, this is perfectly acceptable considering the light weight of the proposed demodulation scheme and the increase in system accuracy.

{"title":"A digital over-the-air computation system based on maximum posterior probability demodulation","authors":"Shibao Li , Yujie Song , Ziyi Tang , Zhihao Cui , Wenhan Li , Xuerong Cui , Lianghai Li","doi":"10.1016/j.jfranklin.2025.107510","DOIUrl":"10.1016/j.jfranklin.2025.107510","url":null,"abstract":"<div><div>The number of edge devices (EDs) has grown exponentially with the development of technologies such as the Internet of Things, distributed consensus, federated learning, and sensor networks. Physical communication between edge devices and fusion centers (FCs) has become a bottleneck affecting the efficiency of data aggregation. To overcome this bottleneck, an efficient broadband analog transmission scheme has recently been proposed named over-the-air computation (OAC), featuring data aggregation via the waveform superposition property of the wireless channel. The OAC system effectively improves the efficiency of data fusion and reduces the consumption of hardware and arithmetic resources. However, analog communications have poor communication quality and are difficult to deploy. While existing digital OAC solutions are not widely available due to the limitations of demodulation schemes. To solve this problem, we propose a digital OAC system based on maximum a posteriori probabilistic demodulation. The proposed scheme has higher generalizability. In addition, we propose a frequency offset estimation algorithm for oriented OAC uplink and a three-stage handshake compensation scheme to eliminate the effect of frequency offset on OAC systems. This frequency synchronization scheme can effectively eliminate the residual frequency offsets caused by channel imperfect reciprocity and improve the calculation accuracy of OAC. Experimentally, it is proved that the proposed scheme has higher accuracy, especially at low signal-to-noise ratios, with an average improvement rate of 56.8% compared with the existing scheme. Although the complexity of the proposed frequency synchronization scheme slightly increases, this is perfectly acceptable considering the light weight of the proposed demodulation scheme and the increase in system accuracy.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107510"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143136969","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

Theory and algorithm: An optimal control approach for parameter identification of turing patterns with respect to an epidemic model with Allee Effects on both continuous space and complex networks

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107531

Linhe Zhu , Junlang Hu , Shuling Shen

In this paper, a parameter identification method based on optimal control theory is used to identify the parameters of the Turing pattern in the reaction–diffusion system. In terms of theory, we firstly conduct linear stability analysis on an epidemic disease compartment model, and make some simple derivations on the necessary conditions for Turing pattern to appear. Next, the well-posedness of the direct problem and the existence of optimal solutions to the parameter identification inverse problem are proved. For the first-order necessary conditions, we formally derive the general form of the variational inequality with respect to the cost function and reaction–diffusion system also in general forms. In terms of algorithm and simulation: to accelerate iteration speed of the algorithm, the Adam algorithm is adopted to replace the traditional gradient descent algorithm, which greatly increases the convergence speed and completes the identification task of up to seven parameters. Regarding the global convergence of the algorithm, by iterating on the already stable pattern, we achieve the effect of global convergence and overcome the defect that the old method is sensitive to the initial value. We also try to combine theory with practice, and reproduce a natural pattern with spatially heterogeneous parameters. Furthermore, we present similar identification methods for parameter identification for time-delay systems and systems on complex networks.

{"title":"Theory and algorithm: An optimal control approach for parameter identification of turing patterns with respect to an epidemic model with Allee Effects on both continuous space and complex networks","authors":"Linhe Zhu , Junlang Hu , Shuling Shen","doi":"10.1016/j.jfranklin.2025.107531","DOIUrl":"10.1016/j.jfranklin.2025.107531","url":null,"abstract":"<div><div>In this paper, a parameter identification method based on optimal control theory is used to identify the parameters of the Turing pattern in the reaction–diffusion system. In terms of theory, we firstly conduct linear stability analysis on an epidemic disease compartment model, and make some simple derivations on the necessary conditions for Turing pattern to appear. Next, the well-posedness of the direct problem and the existence of optimal solutions to the parameter identification inverse problem are proved. For the first-order necessary conditions, we formally derive the general form of the variational inequality with respect to the cost function and reaction–diffusion system also in general forms. In terms of algorithm and simulation: to accelerate iteration speed of the algorithm, the Adam algorithm is adopted to replace the traditional gradient descent algorithm, which greatly increases the convergence speed and completes the identification task of up to seven parameters. Regarding the global convergence of the algorithm, by iterating on the already stable pattern, we achieve the effect of global convergence and overcome the defect that the old method is sensitive to the initial value. We also try to combine theory with practice, and reproduce a natural pattern with spatially heterogeneous parameters. Furthermore, we present similar identification methods for parameter identification for time-delay systems and systems on complex networks.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107531"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143137200","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 Logic based adaptive control of robot manipulators driven by BLDC Motors

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107528

Bayram Melih Yilmaz , Sukru Unver , Erman Selim , Irem Saka , Enver Tatlicioglu

This research focuses on designing a joint space controller for robot manipulators whose joints are driven by brushless DC motors. By appending the actuator dynamics to control synthesis and stability analysis, the sensitivity in the sense of positioning and reliability of the robot manipulators is aimed to increase. Uncertainties in both robot manipulator and actuator dynamics are taken into account to obtain improved tracking performance. To overcome these uncertainties, self-adjusting fuzzy logic networks, that is having adaptively updated centers and widths, are used. The developed adaptive controller structure does not rely on acceleration measurements and incorporates only full state feedback. Via utilizing Lyapunov type stability analysis methods, semi-global uniform ultimate bounded tracking result is ensured. To further verify the applicability of presented controller, comparative tests are performed on a two degree of freedom planar robot manipulator equipped with brushless DC motors and satisfactory tracking performance is demonstrated.

{"title":"Fuzzy Logic based adaptive control of robot manipulators driven by BLDC Motors","authors":"Bayram Melih Yilmaz , Sukru Unver , Erman Selim , Irem Saka , Enver Tatlicioglu","doi":"10.1016/j.jfranklin.2025.107528","DOIUrl":"10.1016/j.jfranklin.2025.107528","url":null,"abstract":"<div><div>This research focuses on designing a joint space controller for robot manipulators whose joints are driven by brushless DC motors. By appending the actuator dynamics to control synthesis and stability analysis, the sensitivity in the sense of positioning and reliability of the robot manipulators is aimed to increase. Uncertainties in both robot manipulator and actuator dynamics are taken into account to obtain improved tracking performance. To overcome these uncertainties, self-adjusting fuzzy logic networks, that is having adaptively updated centers and widths, are used. The developed adaptive controller structure does not rely on acceleration measurements and incorporates only full state feedback. Via utilizing Lyapunov type stability analysis methods, semi-global uniform ultimate bounded tracking result is ensured. To further verify the applicability of presented controller, comparative tests are performed on a two degree of freedom planar robot manipulator equipped with brushless DC motors and satisfactory tracking performance is demonstrated.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107528"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143145429","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 resilient fusion filtering for multi-sensor nonlinear singular systems subject to colored measurement noises

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107551

Zhibin Hu, Tana Guo

In this paper, the distributed resilient fusion (DRF) filter is designed for a kind of multi-sensor (MS) nonlinear singular systems with colored measurement noises. The measurement differencing way is used to deal with the colored measurement noises, ensuring that the noises of the measurement output are uncorrelated. During the algorithm implementation, the resilience case that the local filter gain is designed with the certain gain variations is considered, thereby enhancing the system robustness. In this case, our goal is that by using the full-order transformation method, the nonlinear singular system is transformed into an equivalent nonlinear nonsingular one. In addition, the DRF filtering approach is developed in terms of the inverse covariance intersection fusion method, where the local upper bound on the filtering error covariance is deduced and minimized by solving two difference equations and designing the appropriate filter gain, respectively. In the end, the effectiveness of the proposed DRF filtering algorithm is checked by using two numerical examples.

{"title":"Distributed resilient fusion filtering for multi-sensor nonlinear singular systems subject to colored measurement noises","authors":"Zhibin Hu, Tana Guo","doi":"10.1016/j.jfranklin.2025.107551","DOIUrl":"10.1016/j.jfranklin.2025.107551","url":null,"abstract":"<div><div>In this paper, the distributed resilient fusion (DRF) filter is designed for a kind of multi-sensor (MS) nonlinear singular systems with colored measurement noises. The measurement differencing way is used to deal with the colored measurement noises, ensuring that the noises of the measurement output are uncorrelated. During the algorithm implementation, the resilience case that the local filter gain is designed with the certain gain variations is considered, thereby enhancing the system robustness. In this case, our goal is that by using the full-order transformation method, the nonlinear singular system is transformed into an equivalent nonlinear nonsingular one. In addition, the DRF filtering approach is developed in terms of the inverse covariance intersection fusion method, where the local upper bound on the filtering error covariance is deduced and minimized by solving two difference equations and designing the appropriate filter gain, respectively. In the end, the effectiveness of the proposed DRF filtering algorithm is checked by using two numerical examples.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107551"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143145431","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}

引用次数: 0

Adaptive locally weighted learning tracking control for a class of unknown strict-feedback nonlinear systems via differentiable higher order kernels

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2025-02-01 DOI: 10.1016/j.jfranklin.2025.107523

Yu-Fa Liu , Dong Wang , Zhuo Wang , Ante Su , Yong-Hua Liu , Chun-Yi Su

This study addresses the problem of adaptive locally weighted learning (LWL) tracking control for a class of n-order unknown strict-feedback nonlinear systems (SFNSs). Without involving a priori information on the system dynamics, an adaptive tracking control algorithm is designed by fusing LWL and the technique of backstepping, in which the LWL is employed to identify the unknown nonlinear functions. Particularly, by introducing a novel weighting function with sufficient differentiability, the obstacle of the integration of LWL and backstepping to control SFNSs is successfully circumvented. The developed adaptive LWL tracking control scheme ensures that all closed-loop signals are bounded. Finally, simulation results are performed to testify the effectiveness of the proposed LWL tracking control approach.

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全部化学•材料生命科学医学物理工程技术环境•农林材料科学地球科学法学管理学化学环境科学与生态学计算机科学教育学经济学农林科学人文科学生物学数学物理与天体物理心理学综合性期刊其他工业工程理学历史学农学文学信息工程

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全部 ACS Publications Elsevier ieeexplore Springer The Royal Society of Chemistry Wiley

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Journal of The Franklin Institute-engineering and Applied Mathematics

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