Pub Date : 2026-02-08DOI: 10.1016/j.jfranklin.2026.108484
Yong Wei, Wen Qin, Mouquan Shen
This paper investigates synchronization for complex networks with mismatched quantization inputs via an anti-disturbance intermittent control scheme. A proportional-integral intermediate observer is employed to reconstruct states and disturbances. An intermittent protocol consisting of two dynamic thresholds is designed to reduce energy consumption. An intermittent control strategy is constructed to actively compensate quantization errors and external disturbances. Based on Finsler’s lemma and the vertex separation method, two sufficient criteria are built in terms of linear matrix inequalities such that the estimation error system is uniformly ultimately bounded and the synchronization error system is bounded. The priority of the proposed method is demonstrated via a Chua’s circuit system.
{"title":"Anti-disturbance synchronization of complex networks with mismatched quantization input via aperiodically intermittent control","authors":"Yong Wei, Wen Qin, Mouquan Shen","doi":"10.1016/j.jfranklin.2026.108484","DOIUrl":"10.1016/j.jfranklin.2026.108484","url":null,"abstract":"<div><div>This paper investigates synchronization for complex networks with mismatched quantization inputs via an anti-disturbance intermittent control scheme. A proportional-integral intermediate observer is employed to reconstruct states and disturbances. An intermittent protocol consisting of two dynamic thresholds is designed to reduce energy consumption. An intermittent control strategy is constructed to actively compensate quantization errors and external disturbances. Based on Finsler’s lemma and the vertex separation method, two sufficient criteria are built in terms of linear matrix inequalities such that the estimation error system is uniformly ultimately bounded and the synchronization error system is bounded. The priority of the proposed method is demonstrated via a Chua’s circuit system.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 5","pages":"Article 108484"},"PeriodicalIF":4.2,"publicationDate":"2026-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146172504","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}
Pub Date : 2026-02-07DOI: 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.
{"title":"A modified Blaschke product decomposition method for deep graph signal feature extraction and its application on anomaly detection","authors":"Hao Guocheng , Wang Pei , Guo Juan , Li Xiangbo , Liu Cong , Wang Lei","doi":"10.1016/j.jfranklin.2026.108471","DOIUrl":"10.1016/j.jfranklin.2026.108471","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 5","pages":"Article 108471"},"PeriodicalIF":4.2,"publicationDate":"2026-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146172506","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}
Pub Date : 2026-02-05DOI: 10.1016/j.jfranklin.2026.108461
A. Chandrasekar , T. Radhika , M. Kamali , Michael Shi
This study explores the problem of asynchronous event-triggered secure control for semi-Markov jump cyber-physical systems (S-MJCPSs) subjected to time-varying delays (TVDs) and aperiodic denial-of-service (DoS) attacks. To counteract Zeno behavior and eliminate the need for continuous monitoring, a memory-based mode-dependent resilient event-triggering scheme (MMRETS) is devised. This scheme not only enhances transmission efficiency but also improves resilience against DoS attacks. Furthermore, an advanced auxiliary function-dependent integral inequality is introduced to effectively handle the differentiation of the triple integral terms in the lyapunov-krasovskii functional (LKF). Leveraging this refined inequality, passivity conditions with reduced conservatism for S-MJCPSs are established, and the corresponding sufficient conditions are formulated as linear matrix inequalities (LMIs). Lastly, the efficacy and superiority of the proposed approach are validated through two numerical case studies: an aircraft engine system and a robot arm model.
{"title":"Security-based asynchronous event-triggered control for passivity analysis of semi-Markov jump cyber-physical systems under aperiodic DoS attacks","authors":"A. Chandrasekar , T. Radhika , M. Kamali , Michael Shi","doi":"10.1016/j.jfranklin.2026.108461","DOIUrl":"10.1016/j.jfranklin.2026.108461","url":null,"abstract":"<div><div>This study explores the problem of asynchronous event-triggered secure control for semi-Markov jump cyber-physical systems (S-MJCPSs) subjected to time-varying delays (TVDs) and aperiodic denial-of-service (DoS) attacks. To counteract Zeno behavior and eliminate the need for continuous monitoring, a memory-based mode-dependent resilient event-triggering scheme (MMRETS) is devised. This scheme not only enhances transmission efficiency but also improves resilience against DoS attacks. Furthermore, an advanced auxiliary function-dependent integral inequality is introduced to effectively handle the differentiation of the triple integral terms in the lyapunov-krasovskii functional (LKF). Leveraging this refined inequality, passivity conditions with reduced conservatism for S-MJCPSs are established, and the corresponding sufficient conditions are formulated as linear matrix inequalities (LMIs). Lastly, the efficacy and superiority of the proposed approach are validated through two numerical case studies: an aircraft engine system and a robot arm model.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 5","pages":"Article 108461"},"PeriodicalIF":4.2,"publicationDate":"2026-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146172502","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}
This research proposes a swift and accurate control strategy for a generator’s excitation system being easily perturbed during normal operation. The strategy is developed based on the event-triggered mechanism and fixed-time stabilization theory. To begin with, the mathematical models of the generator and its excitation control system are established, and the impact of external disturbances is analyzed. Then, an event-triggered fixed-time super-twisting observer is introduced to reduce the system’s susceptibility to perturbations by estimating and compensating for them. Simultaneously, a controller is designed using this observer to ensure the system state converges within a fixed time, with the upper bound of convergence time independent of the initial state. Ultimately, Lyapunov theory is employed to validate the fixed-time convergence of the controller and observer while avoiding the Zeno phenomenon. Simulation results confirm the effectiveness of the proposed strategy in detecting and resisting perturbations, improving system performance, and reducing energy consumption and update frequency.
{"title":"Event-triggered fixed-time control for marine generator excitation system with super-twisting observer","authors":"Xiaoyuan Luo , Jiahui Dong , Shaoping Chang , Xinping Guan","doi":"10.1016/j.jfranklin.2026.108462","DOIUrl":"10.1016/j.jfranklin.2026.108462","url":null,"abstract":"<div><div>This research proposes a swift and accurate control strategy for a generator’s excitation system being easily perturbed during normal operation. The strategy is developed based on the event-triggered mechanism and fixed-time stabilization theory. To begin with, the mathematical models of the generator and its excitation control system are established, and the impact of external disturbances is analyzed. Then, an event-triggered fixed-time super-twisting observer is introduced to reduce the system’s susceptibility to perturbations by estimating and compensating for them. Simultaneously, a controller is designed using this observer to ensure the system state converges within a fixed time, with the upper bound of convergence time independent of the initial state. Ultimately, Lyapunov theory is employed to validate the fixed-time convergence of the controller and observer while avoiding the Zeno phenomenon. Simulation results confirm the effectiveness of the proposed strategy in detecting and resisting perturbations, improving system performance, and reducing energy consumption and update frequency.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 5","pages":"Article 108462"},"PeriodicalIF":4.2,"publicationDate":"2026-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146122637","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}
Pub Date : 2026-02-03DOI: 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.
{"title":"Finite-time mixed H2/H∞ control for stochastic T-S fuzzy networked semi-Markov jump systems with event-triggering and quantization","authors":"Xikui Liu , Yapeng Teng , Yan Li","doi":"10.1016/j.jfranklin.2026.108457","DOIUrl":"10.1016/j.jfranklin.2026.108457","url":null,"abstract":"<div><div>This paper mainly addresses the finite-time mixed <em>H</em><sub>2</sub>/<em>H</em><sub>∞</sub> 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.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 5","pages":"Article 108457"},"PeriodicalIF":4.2,"publicationDate":"2026-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146172574","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}
Pub Date : 2026-02-03DOI: 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.
{"title":"Thermal inertia analysis and its bound-dependent active control for thermoacoustic systems","authors":"Yuzhuo Zhao , Dan Ma","doi":"10.1016/j.jfranklin.2026.108463","DOIUrl":"10.1016/j.jfranklin.2026.108463","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 5","pages":"Article 108463"},"PeriodicalIF":4.2,"publicationDate":"2026-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146122638","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}
Pub Date : 2026-02-03DOI: 10.1016/j.jfranklin.2026.108454
Haoran You, Sulan Li, Xuechao Duan, Wei Zhang
This paper addresses the full-state constrained fixed-time trajectory tracking problem of a stratospheric airship subject to input saturation and external disturbances. By combining dynamic surface control (DSC) technique with fixed-time stability theory, a novel full-state constrained fixed-time dynamic surface controller (FCFT-DSC) is designed, which inherently avoids the computation of the virtual control law derivatives. A constraint transformation function is introduced to convert the original system into an unconstrained one. Moreover, a filtering-error estimator is proposed for the DSC, ensuring that filtering error converges to zero. Theoretical analysis proves that the proposed control algorithm can achieve fixed-timely uniformly ultimately bounded stabilization, and all the tracking errors remain within the specified constrained bounds. Additionally, a Predefined-Time Sliding Mode Observer (PTSMO) is employed to address external disturbances and input saturation within a user-defined settling time Tc. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme.
{"title":"Full-state constrained fixed-time trajectory tracking control for stratospheric airships with actuator saturation and external disturbances","authors":"Haoran You, Sulan Li, Xuechao Duan, Wei Zhang","doi":"10.1016/j.jfranklin.2026.108454","DOIUrl":"10.1016/j.jfranklin.2026.108454","url":null,"abstract":"<div><div>This paper addresses the full-state constrained fixed-time trajectory tracking problem of a stratospheric airship subject to input saturation and external disturbances. By combining dynamic surface control (DSC) technique with fixed-time stability theory, a novel full-state constrained fixed-time dynamic surface controller (FCFT-DSC) is designed, which inherently avoids the computation of the virtual control law derivatives. A constraint transformation function is introduced to convert the original system into an unconstrained one. Moreover, a filtering-error estimator is proposed for the DSC, ensuring that filtering error converges to zero. Theoretical analysis proves that the proposed control algorithm can achieve fixed-timely uniformly ultimately bounded stabilization, and all the tracking errors remain within the specified constrained bounds. Additionally, a Predefined-Time Sliding Mode Observer (PTSMO) is employed to address external disturbances and input saturation within a user-defined settling time <em>T<sub>c</sub></em>. Finally, simulation results are given to illustrate the effectiveness of the proposed control scheme.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 5","pages":"Article 108454"},"PeriodicalIF":4.2,"publicationDate":"2026-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146172567","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}
Pub Date : 2026-02-02DOI: 10.1016/j.jfranklin.2026.108458
Bowen Sun, Xiaowu Mu, Zenghui Hu
This paper investigates adaptive practical inverse optimal tracking control problem for uncertain stochastic nonlinear systems under state constraints and prescribed performance. Firstly, a time-varying function is utilized to deal with the prescribed tracking performance. By using the adaptive control, backstepping technique and inverse optimal control, the practical inverse optimal controller is designed for the addressed system in the existence of stochastic disturbance and system uncertainties. The proposed control algorithm can not only satisfy the prescribed tracking performance and state constraints but also solve the practical inverse optimal problem. Finally, numerical simulation is presented to verify the validity of the presented control method.
{"title":"Practical inverse optimal adaptive tracking control for uncertain stochastic nonlinear systems with state constraints","authors":"Bowen Sun, Xiaowu Mu, Zenghui Hu","doi":"10.1016/j.jfranklin.2026.108458","DOIUrl":"10.1016/j.jfranklin.2026.108458","url":null,"abstract":"<div><div>This paper investigates adaptive practical inverse optimal tracking control problem for uncertain stochastic nonlinear systems under state constraints and prescribed performance. Firstly, a time-varying function is utilized to deal with the prescribed tracking performance. By using the adaptive control, backstepping technique and inverse optimal control, the practical inverse optimal controller is designed for the addressed system in the existence of stochastic disturbance and system uncertainties. The proposed control algorithm can not only satisfy the prescribed tracking performance and state constraints but also solve the practical inverse optimal problem. Finally, numerical simulation is presented to verify the validity of the presented control method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 4","pages":"Article 108458"},"PeriodicalIF":4.2,"publicationDate":"2026-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146170835","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}
Pub Date : 2026-02-02DOI: 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.
{"title":"Adaptive fixed-time prescribed performance control for the upper limb exoskeleton with arbitrary initial errors","authors":"Xianlei Zhang , Yan Zhang , Qing Hu , Zongyu Han","doi":"10.1016/j.jfranklin.2026.108459","DOIUrl":"10.1016/j.jfranklin.2026.108459","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 5","pages":"Article 108459"},"PeriodicalIF":4.2,"publicationDate":"2026-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146172563","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}
Pub Date : 2026-02-02DOI: 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.
{"title":"Adaptive fuzzy finite-time observer-based control for nonlinear cyber-physical systems with actuator hysteresis and sensor deception attacks","authors":"Mohamed Kharrat","doi":"10.1016/j.jfranklin.2026.108455","DOIUrl":"10.1016/j.jfranklin.2026.108455","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"363 5","pages":"Article 108455"},"PeriodicalIF":4.2,"publicationDate":"2026-02-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146172572","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}
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