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

英文中文

Finite-time mixed H2/H∞ control for stochastic T-S fuzzy networked semi-Markov jump systems with event-triggering and quantization 具有事件触发和量化的随机T-S模糊网络半马尔可夫跳跃系统的有限时间混合H2/H∞控制

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2026-03-15 Epub Date: 2026-02-03 DOI: 10.1016/j.jfranklin.2026.108457

Xikui Liu , Yapeng Teng , Yan Li

This paper mainly addresses the finite-time mixed H₂/H_∞ control issue of stochastic T-S fuzzy networked control systems with semi-Markov switching by constructing a dynamic output feedback controller (DOFC). Firstly, a novel criterion of finite-time stability (FTS) is defined for stochastic systems, and by employing linear matrix inequality (LMI) and the free-weighting matrix methods, sufficient conditions for the system to satisfy this definition are given. Then, a new Lyapunov-Krasovskii functional (LKF) associated with the sojourn time is constructed for semi-Markov jump systems (semi-MJSs), this function encompasses the entire Markov switching process and augments the practical applicability of the results. Furthermore, considering the transition rates (TRs) matrix of semi-MJSs is time-varying, we suppose that the TRs matrix belongs to a bounded yet unfixed polytope to overcome the computational challenges induced by time-varying TRs. Next, in order to reduce communication burden of stochastic networked semi-MJSs and save network resources, the event-triggered mechanism (ETM) and the quantized output strategy are adopted simultaneously. Finally, a solution algorithm is proposed based on the obtained conditions, and the feasibility of this work is verified through the practical application of a mass-spring-damper mechanical system (MSDMS) and a comparative example.

本文主要通过构造一个动态输出反馈控制器（DOFC）来解决具有半马尔可夫切换的随机T-S模糊网络控制系统的有限时间混合H2/H∞控制问题。首先，定义了随机系统的有限时间稳定性判据，并利用线性矩阵不等式和自由加权矩阵方法，给出了系统满足该判据的充分条件。然后，对半马尔可夫跳变系统构造了一个新的与停留时间相关的Lyapunov-Krasovskii泛函（LKF），该泛函包含了整个马尔可夫切换过程，增强了结果的实用性。此外，考虑到半mjs的过渡率矩阵是时变的，我们假设过渡率矩阵属于一个有界的不固定多面体，以克服时变过渡率带来的计算挑战。其次，为了减少随机网络化半mjs的通信负担，节约网络资源，同时采用事件触发机制（ETM）和量化输出策略。最后，根据所得条件提出了求解算法，并通过质量-弹簧-阻尼器机械系统（MSDMS）的实际应用和对比算例验证了本文工作的可行性。

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引用次数: 0

Thermal inertia analysis and its bound-dependent active control for thermoacoustic systems 热声系统的热惯性分析及其界相关主动控制

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2026-03-15 Epub Date: 2026-02-03 DOI: 10.1016/j.jfranklin.2026.108463

Yuzhuo Zhao , Dan Ma

The thermoacoustic system with the thermal inertia in the Rijke tube is considered, where the thermal inertia between the unstable heat release and the velocity field in the Rijke tube refers to a time-delay. To suppress the thermoacoustic instability phenomenon, a time-delay bound-dependent active control is designed for the thermoacoustic system with the known and the unknown heat release rates. Unlike previous works, a time-delay bound-dependent active controller is proposed to make sure the velocity and pressure of the thermoacoustic system with the known and the unknown heat release rates to converge to a small neighborhood about the zero, in the case of the unknown upper bound on the unknown time-delay. Moreover, this control method can calculate the maximum allowable time-delay of the active controller. In addition, considering the known heat release rate, the maximum allowable time-delay of the active controller is related to the control gain or physical parameters of the thermoacoustic system; When considering the unknown heat release rate, the maximum allowable time-delay of the active controller is only related to the control gain. Finally, the effectiveness of the active control methods are proved through the simulation experiment.

考虑热惯性存在于Rijke管内的热声系统，其中不稳定热释放与Rijke管内速度场之间的热惯性是一个时滞。为了抑制热声不稳定现象，设计了具有已知和未知放热率的热声系统时滞界相关主动控制。与以往的研究不同，本文提出了一种时滞界相关的主动控制器，以确保在未知时滞上界未知的情况下，具有已知和未知放热率的热声系统的速度和压力收敛于零附近的小邻域。此外，该控制方法还可以计算出主动控制器的最大允许时延。此外，考虑到已知的放热速率，主动控制器的最大允许时延与热声系统的控制增益或物理参数有关；考虑未知放热率时，主动控制器的最大允许时延仅与控制增益有关。最后，通过仿真实验验证了主动控制方法的有效性。

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引用次数: 0

Adaptive fixed-time prescribed performance control for the upper limb exoskeleton with arbitrary initial errors 具有任意初始误差的上肢外骨骼自适应定时性能控制

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2026-03-15 Epub Date: 2026-02-02 DOI: 10.1016/j.jfranklin.2026.108459

Xianlei Zhang , Yan Zhang , Qing Hu , Zongyu Han

In this paper, an adaptive fixed-time preset performance control strategy is proposed for the upper limb exoskeleton (ULE) with arbitrary initial errors. By integrating a prescribed performance function with a switching function-based nonlinear transformation, this method eliminates the conventional requirement that the initial errors must satisfy specific constraints. Meanwhile, the tracking control of the ULE system is transformed into the boundedness problem of transformation functions. The ULE system will achieve its predetermined performance within a fixed time if the transformation functions are fixed-time bounded. Leveraging the backstepping control framework, an adaptive fixed-time controller is constructed. The tracking errors converge to a narrow range around zero within a fixed time without violating the predefined constraints. The effectiveness and practicability of the proposed control approach are validated by simulation and experiment.

针对具有任意初始误差的上肢外骨骼，提出了一种自适应固定时间预置性能控制策略。该方法通过将规定的性能函数与基于切换函数的非线性变换相结合，消除了初始误差必须满足特定约束的传统要求。同时，将ULE系统的跟踪控制问题转化为变换函数的有界性问题。如果变换函数是定时有界的，则ULE系统将在固定时间内达到预定的性能。利用回溯控制框架，构造了自适应定时控制器。在不违反预定义约束的情况下，跟踪误差在固定时间内收敛到零附近的窄范围内。仿真和实验验证了所提控制方法的有效性和实用性。

引用次数: 0

Event-triggered based finite-time adaptive control for multi-agent systems with unknown input delay and input quantization 具有未知输入延迟和输入量化的多智能体系统的事件触发有限时间自适应控制

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2026-03-15 Epub Date: 2025-12-21 DOI: 10.1016/j.jfranklin.2025.108351

Xiaonan Xia, Zihang Tong, Tianping Zhang, Jianwen Pan

A finite-time state event-triggered control strategy is developed based on adaptive dynamic surface control (DSC) approach for multi-agent nonlinear systems including unknown time-varying input delays and input quantization. The designed dynamic state-based event triggering mechanism is set to trigger the control signal when the system state error exceeds the dynamic threshold, and error calculation relies on partial neighbor agent information and local measurement information. A new input filtering error compensation system suitable for systems with input delay is designed. The semi-global finite-time stability of closed-loop systems with input delay is proven by constructing Lyapunov functionals, ensuring consensus error convergence and avoiding Zeno phenomenon. Finally, simulation results are presented to confirm the efficacy of the proposed control strategy.

针对包含未知时变输入时滞和输入量化的多智能体非线性系统，提出了一种基于自适应动态面控制（DSC）的有限时间状态事件触发控制策略。设计了基于动态状态的事件触发机制，当系统状态误差超过动态阈值时触发控制信号，误差计算依赖于部分邻居代理信息和局部测量信息。设计了一种适用于有输入延迟系统的输入滤波误差补偿系统。通过构造Lyapunov泛函，证明了具有输入时滞的闭环系统的半全局有限时间稳定性，保证了一致误差收敛，避免了Zeno现象。最后通过仿真结果验证了所提控制策略的有效性。

引用次数: 0

Distributed optimization algorithm design and analysis on cooperation-competition network based on PID control 基于PID控制的协同竞争网络分布式优化算法设计与分析

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2026-03-15 Epub Date: 2026-02-09 DOI: 10.1016/j.jfranklin.2026.108483

Jiaxu Liu , Pengkai Wang , Song Chen , Shengze Cai , Chao Xu

This paper addresses distributed optimization problems with equality constraints within the framework of cooperation-competition network. Motivated by the exceptional performance of proportional-integral-derivative (PID) controllers, we propose an accelerated distributed optimization algorithm to decompose the distributed optimization problem on the cooperation-competition network into two cooperative subnetworks and address them. By leveraging the Lyapunov stability theorem, we establish the exponential convergence of our algorithm over undirected connected and structurally balanced cooperation-competition graphs when the parameters (e.g., k_p, k_i, k_d) are selected within certain ranges, assuming that the local objective functions are smooth and strongly convex. Additionally, we provide guidelines for selecting appropriate parameter values (e.g., k_p, k_i, k_d). Furthermore, we show that the D-PID-CCN has great potential for nonconvex distributed optimization over the cooperation-competition network. Finally, we present the effectiveness and superiority of our proposed algorithms on several numerical simulations.

本文研究了合作-竞争网络框架下具有平等约束的分布式优化问题。基于比例-积分-导数（PID）控制器的优异性能，提出了一种加速分布式优化算法，将合作-竞争网络上的分布式优化问题分解为两个合作子网络，并对其进行求解。利用Lyapunov稳定性定理，在局部目标函数光滑且强凸的条件下，当参数（如kp， ki, kd）在一定范围内选择时，我们建立了算法在无向连接且结构平衡的合作竞争图上的指数收敛性。此外，我们还提供了选择适当参数值（例如，kp, ki, kd）的指南。此外，我们还证明了D-PID-CCN在合作-竞争网络上具有很大的非凸分布优化潜力。最后，在几个数值模拟中证明了所提算法的有效性和优越性。

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引用次数: 0

Less conservative stability conditions of fractional-order time-delay systems using covering sets and filters 使用覆盖集和滤波器的分数阶时滞系统的小保守稳定性条件

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2026-03-15 Epub Date: 2026-02-09 DOI: 10.1016/j.jfranklin.2026.108497

Qing-Hao Zhang , Xiao-Chuang Jin , Jun-Guo Lu , Zhen Zhu

Complex Industrial Internet systems are often challenged by communication delays, posing significant threats to the stability of the systems. This paper conducts an in-depth investigation into the stability problems of a representative model, fractional-order time-delay systems, in Industrial Internet. The paper aims to provide theoretical support for enhancing the stability in interconnected industrial systems. To conclude this goal, the stability problem of fractional-order time-delay systems is transformed to the robust stability problem of delay-free interconnected uncertain systems. By applying the small gain theorem and fractional-order bounded real lemma, a delay-dependent stability condition is derived. Then, different covering sets and well-designed filters that capture the phase and gain information of the uncertainties are utilized to further reduce the conservatism of the proposed stability condition. The results are formulated as linear/bilinear matrix inequalities (LMIs/BMIs), and the proposed LMI/BMI criteria yield enlarged delay margins compared with previously reported conditions in the literature. Finally, two examples are analyzed and the results indicate that the new proposed conditions are effective and have less conservatism than other existing criteria.

复杂的工业互联网系统经常受到通信延迟的挑战，对系统的稳定性构成重大威胁。本文对工业互联网中具有代表性的分数阶时滞系统的稳定性问题进行了深入研究。本文旨在为提高互联工业系统的稳定性提供理论支持。为了实现这一目标，将分数阶时滞系统的稳定性问题转化为无时滞互联不确定系统的鲁棒稳定性问题。利用小增益定理和分数阶有界实引理，导出了时滞相关的稳定性条件。然后，利用不同的覆盖集和精心设计的滤波器捕获不确定性的相位和增益信息，进一步降低所提出的稳定条件的保守性。结果被表述为线性/双线性矩阵不等式（LMI /BMI），与文献中先前报道的条件相比，所提出的LMI/BMI标准产生了更大的延迟裕度。最后，对两个算例进行了分析，结果表明所提出的条件是有效的，并且比其他现有准则具有更小的保守性。

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引用次数: 0

Resilient state estimation for nonlinear systems: A binary encoding scheme under stochastic bit flips 非线性系统的弹性状态估计：随机位翻转下的二进制编码方案

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2026-03-15 Epub Date: 2026-01-03 DOI: 10.1016/j.jfranklin.2025.108398

Hongwei Chen , Shengmei Xiang , Hengyu Gu

This article deals with the state estimation problem for a class of time-varying systems subject to stochastic nonlinearities and channel noise over sensor networks. A binary encoding scheme (BES) is employed in the filter design to overcome distortions caused by the limited communication capacity. In addition, stochastic perturbations are introduced into the filter gain to characterize the resilience of the filter. Measurements are transmitted as bit strings over a binary symmetric channel, taking into account the stochastic bit flips. An upper bound of estimation error covariance is derived with the help of the inductive approach, and such an upper bound is subsequently minimized to design the filter parameters at each time instant. Finally, a numerical example is employed to confirm the effectiveness of the proposed approach.

研究了一类具有随机非线性和信道噪声的时变传感器网络系统的状态估计问题。滤波器设计采用二进制编码方案（BES）来克服由于通信容量有限造成的失真。此外，在滤波器增益中引入随机扰动来表征滤波器的弹性。考虑到随机位翻转，测量以二进制对称信道上的位串传输。利用归纳法推导出估计误差协方差的上界，并对该上界进行最小化，以设计各时刻的滤波器参数。最后，通过数值算例验证了所提方法的有效性。

引用次数: 0

Adaptive fuzzy finite-time observer-based control for nonlinear cyber-physical systems with actuator hysteresis and sensor deception attacks 具有执行器迟滞和传感器欺骗攻击的非线性网络物理系统的自适应模糊有限时间观测器控制

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2026-03-15 Epub Date: 2026-02-02 DOI: 10.1016/j.jfranklin.2026.108455

Mohamed Kharrat

This work addresses the finite-time adaptive control of a class of strict-feedback nonlinear cyber-physical systems (CPSs) subject to external disturbances, sensor deception attacks, and actuator hysteresis. To handle unmeasured states caused by malicious sensor interference, a fuzzy logic-based state observer is designed, exploiting its approximation capability to reconstruct the unknown states. An output-feedback control scheme is developed by incorporating a Nussbaum-type function, ensuring stability despite unknown control gains. The proposed approach guarantees that all closed-loop signals remain bounded and system states converge to desired trajectories within a finite-time. Simulation results on a third-order electromechanical system demonstrate accurate state estimation and rapid tracking performance. Comparative analysis with an existing adaptive resilient control method shows the proposed scheme achieves faster convergence and higher estimation accuracy, highlighting its robustness and effectiveness in mitigating sensor attacks and actuator nonlinearities.

这项工作解决了一类严格反馈非线性网络物理系统（cps）的有限时间自适应控制，这些系统受到外部干扰、传感器欺骗攻击和执行器滞后的影响。为了处理由传感器恶意干扰引起的不可测状态，设计了基于模糊逻辑的状态观测器，利用其逼近能力重构未知状态。通过结合nussbaum型函数开发了一种输出反馈控制方案，在未知控制增益的情况下确保稳定性。该方法保证了所有闭环信号保持有界，系统状态在有限时间内收敛到期望的轨迹。仿真结果表明，三阶机电系统具有准确的状态估计和快速的跟踪性能。与已有的自适应弹性控制方法的对比分析表明，该方法收敛速度快，估计精度高，在减轻传感器攻击和执行器非线性方面具有较强的鲁棒性和有效性。

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引用次数: 0

Practical prescribed-time formation control of nonholonomic mobile robots with connectivity maintenance and collision avoidance 具有连通性维护和避碰的非完整移动机器人实用规定时间编队控制

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2026-03-15 Epub Date: 2026-02-10 DOI: 10.1016/j.jfranklin.2026.108494

Wanning Peng , Chen Chen , Zhengrong Xiang

In this article, a practical prescribed-time (PPT) formation control strategy is proposed for multiple nonholonomic mobile robots (NMRs). Due to the limited communication range of devices and the physical size of robots, the connectivity maintenance and collision avoidance are considered. Firstly, a bounded and differentiable saturated prescribed-time adjustment (SPTA) function is introduced, allowing users to specify the settling time. Subsequently, a virtual multi-robot system is constructed by employing a potential function that incorporates both the communication range and the safe distance, which generates reference trajectories for the actual mobile robots. Additionally, fuzzy logic systems (FLSs) are employed to approximate the unknown dynamics of the NMR model. In particular, adaptive techniques are further introduced to compensate for the approximation errors, thus improving the accuracy of the approximation. The control scheme ensures that multiple NMRs achieve a desired formation pattern within a prescribed time while satisfying the connectivity and collision avoidance requirements. Finally, simulations are conducted to validate the effectiveness of the proposed control method.

针对多非完整移动机器人，提出了一种实用的规定时间（PPT）编队控制策略。由于设备的通信范围和机器人的物理尺寸有限，需要考虑连接维护和避免碰撞。首先，引入有界可微饱和规定时间调整（SPTA）函数，允许用户指定沉降时间；随后，利用结合通信距离和安全距离的势函数构建虚拟多机器人系统，为实际移动机器人生成参考轨迹。此外，采用模糊逻辑系统（FLSs）来逼近核磁共振模型的未知动力学。特别地，进一步引入自适应技术来补偿逼近误差，从而提高逼近的精度。该控制方案确保多个nmr在满足连通性和避碰要求的同时，在规定的时间内形成所需的队形。最后，通过仿真验证了所提控制方法的有效性。

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引用次数: 0

A modified Blaschke product decomposition method for deep graph signal feature extraction and its application on anomaly detection 基于改进Blaschke积分解的深度图信号特征提取及其在异常检测中的应用

IF 4.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2026-03-15 Epub Date: 2026-02-07 DOI: 10.1016/j.jfranklin.2026.108471

Hao Guocheng , Wang Pei , Guo Juan , Li Xiangbo , Liu Cong , Wang Lei

To address anomaly detection challenge in industrial manufacturing, this paper proposes a modified Blaschke product decomposition method based on the maximal selection principle of the greedy algorithm for extracting deep graph signal features, with application to vibration signal anomaly detection. The method employs the greedy algorithm to determine the eigenroots of the Blaschke product and constructs graph signals during the feature root unwinding decomposition process. The topological and spectral characteristics of these graph signals are characterized using Total Variation (TV) and Graph Fourier Total Trends (GFTT) to evaluate signal anomalies. Simulation experiments demonstrate that the extracted graph signal features effectively capture changes in feature distribution induced by artificial anomalies. The derived TV and GFTT values successfully characterize the topology, intensity distribution, and fluctuation patterns of graph signals, enabling reliable fault discrimination. In practical validation, the method was applied to vibration signals collected from micro-motors of electro-hydraulic bridge plug sealing tools, where it effectively distinguished faulty motors from normal ones and achieved more accurate abnormality diagnosis. Comparative studies with traditional anomaly detection algorithms, including Principal Component Analysis, Wavelet Transform, Support Vector Machines, and Back Propagation Neural Networks, demonstrate that the proposed method achieves substantial improvements in anomaly detection accuracy while exhibiting lower computational complexity and shorter execution times. These advantages establish the method as an effective approach for vibration fault detection in industrial applications.

针对工业制造中的异常检测难题，提出了一种基于贪心算法最大选择原则的改进Blaschke积分解方法，用于深度图信号特征提取，并应用于振动信号异常检测。该方法采用贪心算法确定Blaschke积的特征根，并在特征根展开分解过程中构造图信号。利用总变分（TV）和图傅立叶总趋势（GFTT）对这些图信号的拓扑和频谱特征进行表征，以评估信号异常。仿真实验表明，所提取的图信号特征能有效捕捉人为异常引起的特征分布变化。导出的TV和GFTT值成功地表征了图形信号的拓扑结构、强度分布和波动模式，从而实现了可靠的故障识别。在实际验证中，将该方法应用于电液桥塞密封工具微马达的振动信号，有效地区分了故障马达与正常马达，实现了更准确的异常诊断。与传统的异常检测算法（包括主成分分析、小波变换、支持向量机和反向传播神经网络）的对比研究表明，该方法在显著提高异常检测精度的同时，具有较低的计算复杂度和较短的执行时间。这些优点使该方法成为工业应用中振动故障检测的有效方法。

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