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

英文中文

Event-triggered and self-triggered control strategy design for discrete-time switched affine systems 离散时间切换仿射系统的事件触发和自触发控制策略设计

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 : 2026-03-01 Epub Date: 2026-01-18 DOI: 10.1016/j.jfranklin.2026.108439

Zhuoyu Li , Jin Qi , Yanfei Sun , Hong Sang

This paper deals with the event-triggered and self-triggered mechanisms design problem of discrete-time switched affine systems. Different from the classical switched linear systems, the subsystems of switched affine systems do not possess a common equilibrium point. In full consideration of the characteristics of switched affine systems, the mode-dependent event-triggered and self-triggered control schemes are formulated to guarantee that the system trajectory converges to a region containing the desired equilibrium point. Especially, the triggering interval of self-triggered mechanism is related to affine terms. An average dwell time switching law, a set of controller feedback gains together with the proposed event-triggered and self-triggered mechanisms are collaboratively designed by using multiple Lyapunov stability theory. Notably, the proposed discrete-time framework inherently precludes the switching and triggering Zeno behavior. To the best of the authors’ knowledge, this study represents the first attempt of addressing the event-triggered and self-triggered control problem specifically in discrete-time switched affine systems domain. Alongside, a DC-DC buck-boost converter example ultimately illustrates the validity of the raised theoretical results.

研究了离散时间切换仿射系统的事件触发和自触发机制设计问题。与经典的切换线性系统不同，切换仿射系统的子系统不具有共同的平衡点。在充分考虑切换仿射系统特性的基础上，提出了模式相关的事件触发和自触发控制方案，以保证系统轨迹收敛到包含理想平衡点的区域。特别是自触发机制的触发间隔与仿射项有关。利用多重李雅普诺夫稳定性理论，协同设计了平均停留时间切换律、控制器反馈增益以及所提出的事件触发和自触发机制。值得注意的是，所提出的离散时间框架固有地排除了切换和触发芝诺行为。据作者所知，这项研究代表了在离散时间切换仿射系统领域解决事件触发和自触发控制问题的第一次尝试。此外，一个DC-DC降压-升压变换器实例最终说明了所提理论结果的有效性。

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引用次数: 0

Practical inverse optimal adaptive tracking control for uncertain stochastic nonlinear systems with state constraints 具有状态约束的不确定随机非线性系统的实用逆最优自适应跟踪控制

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 : 2026-03-01 Epub Date: 2026-02-02 DOI: 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.

研究了不确定随机非线性系统在状态约束和规定性能下的自适应实用逆最优跟踪控制问题。首先，利用时变函数来处理规定的跟踪性能。针对存在随机干扰和系统不确定性的目标系统，采用自适应控制、反演技术和逆最优控制，设计了实用的逆最优控制器。所提出的控制算法既能满足规定的跟踪性能和状态约束，又能解决实际的逆优化问题。最后，通过数值仿真验证了所提控制方法的有效性。

引用次数: 0

Fuzzy adaptive prescribed performance control for stochastic nonlinear non-strict feedback systems with multiple delays and unmodeled dynamics 多时滞未建模随机非线性非严格反馈系统模糊自适应规定性能控制

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 : 2026-03-01 Epub Date: 2026-01-14 DOI: 10.1016/j.jfranklin.2026.108407

Xin Jin , Jiuxiang Dong

This article investigates the fuzzy adaptive prescribed performance control problem for stochastic nonlinear systems in non-strict feedback form with state delays, input delays and unmodeled dynamics. Firstly, by constructing intermediate variables and adopting the Padé approximation method, the original system is transformed into a system only perturbed by state delays. Secondly, aiming at the characteristic of the system’s non-strict feedback structure, a Lyapunov-Krasovskii functional associated with all the state variables is constructed to compensate for the state delay terms. Auxiliary dynamic signals are introduced to deal with the uncertainties arising from unmodeled dynamics. Then, an improved adaptive prescribed performance control strategy is proposed based on the properties of the hyperbolic tangent functions combined with the backstepping method. This strategy achieves higher convergence accuracy and superior tracking performance compared to traditional methods. Analysis demonstrates that all variables in the controlled system are semi-globally bounded in probability, and the tracking error can converge to the preset performance range. A simulation example is conducted to validate the efficacy of the proposed method.

研究了具有状态时滞、输入时滞和未建模动力学的非严格反馈随机非线性系统的模糊自适应规定性能控制问题。首先，通过构造中间变量，采用pad近似方法，将原系统转化为只有状态时滞的扰动系统。其次，针对系统非严格反馈结构的特点，构造了一个包含所有状态变量的Lyapunov-Krasovskii泛函来补偿状态延迟项。引入辅助的动态信号来处理未建模的动态所带来的不确定性。然后，基于双曲正切函数的特性，结合反演方法，提出了一种改进的自适应规定性能控制策略。与传统方法相比，该策略具有更高的收敛精度和更好的跟踪性能。分析表明，被控系统中所有变量在概率上都是半全局有界的，跟踪误差能够收敛到预设的性能范围内。通过仿真算例验证了该方法的有效性。

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引用次数: 0

Saturation control for fractional-order power systems with electric vehicles integration using sampling mechanism and actuator faults 基于采样机构和执行器故障的电动汽车集成分数阶电力系统饱和控制

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 : 2026-03-01 Epub Date: 2026-01-13 DOI: 10.1016/j.jfranklin.2026.108421

R. Samidurai , M. Yazhini , M. Baskar

The increasing penetration of electric vehicles (EVs) and renewable sources introduces significant challenges to power system stability, including load fluctuations, renewable intermittency, actuator saturation, and possible actuator faults. Existing control approaches often treat these issues separately and fail to capture the memory and hereditary effects inherent in such systems. This paper proposes a resilient fault-tolerant saturation control framework for fractional-order power systems with EV and photovoltaic integration, explicitly considering actuator faults, input saturation, and sampling mechanisms in a unified manner. A fractional-order state-space model combined with a Takagi-Sugeno fuzzy approach is developed to represent nonlinearities and uncertainties. Based on an indirect fractional-order Lyapunov method, less conservative LMI-based stability conditions are derived to guarantee robust asymptotic stability. Numerical simulations demonstrate that the proposed strategy achieves enhanced robustness and reliability against sampling irregularities, actuator failures, and saturation effects, significantly improving the stability and resilience of modern EV-integrated fractional-order power systems.

电动汽车和可再生能源的日益普及给电力系统的稳定性带来了重大挑战，包括负荷波动、可再生能源间歇性、致动器饱和和可能的致动器故障。现有的控制方法通常将这些问题分开处理，无法捕捉到这些系统中固有的记忆和遗传效应。本文提出了一种针对电动汽车和光伏集成的分数阶电力系统的弹性容错饱和控制框架，该框架明确地统一考虑了执行器故障、输入饱和和采样机制。提出了一种分数阶状态空间模型，结合Takagi-Sugeno模糊方法来表示非线性和不确定性。基于间接分数阶Lyapunov方法，导出了保证鲁棒渐近稳定的少保守性lmi稳定性条件。数值仿真结果表明，该策略对采样不规则性、致动器故障和饱和效应具有较强的鲁棒性和可靠性，显著提高了现代电动汽车集成分数阶电力系统的稳定性和弹性。

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引用次数: 0

Trajectory tracking control for quadrotor under wind disturbance based on four-quadrant switch and NMPC 基于四象限开关和NMPC的风扰动四旋翼飞行器轨迹跟踪控制

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 : 2026-03-01 Epub Date: 2026-01-13 DOI: 10.1016/j.jfranklin.2026.108420

Jialiang Liu, Lipeng Wang, Donghui Yuan, Zhenyao Fan

This paper proposes a composite nonlinear control method for trajectory tracking of a quadrotor unmanned aerial vehicle (UAV) subject to strong wind disturbances. Initially, the dynamic model of the quadrotor UAV, along with turbulent and shear wind models, are established. Subsequently, for the position subsystem of the quadrotor UAV, a four-quadrant switching-based sliding mode controller (FQS-SMC) is designed. For the control allocation segment, a nonlinear programming (NP)-based control allocator is developed. Finally, for the attitude subsystem, a barrier Lyapunov global sliding mode control based nonlinear model predictive controller (BLGSMC-NMPC) is proposed. The performance of the proposed method is evaluated through three simulation scenarios: planar trajectory, spatial trajectory, as well as a complex trajectory under different wind conditions. The experimental results demonstrate that the composite control method proposed in this paper significantly outperforms the comparative methods in terms of dynamic performance, disturbance rejection, and control smoothness.

提出了一种针对强风干扰下四旋翼无人机轨迹跟踪的复合非线性控制方法。首先，建立了四旋翼无人机的动力学模型，以及湍流和切变风模型。随后，针对四旋翼无人机的位置子系统，设计了基于四象限切换的滑模控制器（FQS-SMC）。针对控制分配段，提出了一种基于非线性规划的控制分配器。最后，针对姿态子系统，提出了一种基于障垒Lyapunov全局滑模控制的非线性模型预测控制器（BLGSMC-NMPC）。通过平面轨迹、空间轨迹和不同风况下的复杂轨迹三种模拟场景对该方法的性能进行了评价。实验结果表明，本文提出的复合控制方法在动态性能、抗扰性和控制平滑性方面明显优于比较方法。

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引用次数: 0

Stochastic false data injection attacks against distributed state estimation in interconnected large-scale systems 大规模互联系统分布式状态估计下的随机假数据注入攻击

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 : 2026-03-01 Epub Date: 2026-01-15 DOI: 10.1016/j.jfranklin.2026.108434

Chuanyi Ning, Fei Hao

In this paper, a novel distributed estimator has been designed for the interconnected large-scale systems (LSSs). In LSSs, the interconnection property of the subsystems makes it difficult to design a distributed estimator. Therefore, an unknown-input observer (UIO)-like observer is introduced to handle the unknown system information. Combined with the Kalman filter, the optimal estimation under Gaussian noises has also been guaranteed. Moreover, the vulnerability of the proposed estimation algorithm under malicious attacks has been investigated, including the conditions of the existence of stealthy false data injection (FDI) attacks. Note that the existing researches mainly focus on the attacks targeted at the wireless channels between the cyber layer and the physical layer in general cyber-physical system (CPS) model. However, as one kind of CPSs, a special feature of the LSS is that the distributed estimators need exchange data through wireless channels in the cyber layer. Motivated by the consideration above, the problem of designing optimal FDI attacks in cyber layer has also been addressed. Finally, simulation results are provided based on the three-area interconnected power system to illustrate the feasibility and advantages of the theoretical results.

本文针对大型互联系统设计了一种新的分布式估计器。在lss中，由于子系统的互连性，使得分布式估计器的设计变得困难。因此，引入一个类似于未知输入的观测器来处理未知的系统信息。结合卡尔曼滤波，保证了在高斯噪声下的最优估计。此外，研究了所提估计算法在恶意攻击下的脆弱性，包括存在隐形虚假数据注入（FDI）攻击的条件。需要注意的是，现有的研究主要集中在一般网络物理系统（CPS）模型中针对网络层和物理层之间无线通道的攻击。然而，作为cps的一种，LSS的一个特点是分布式估计器需要在网络层通过无线信道交换数据。基于上述考虑，本文还研究了网络层FDI攻击的最优设计问题。最后，给出了基于三区互联电力系统的仿真结果，说明了理论结果的可行性和优越性。

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引用次数: 0

Intelligent disturbance rejection control for precision operations in space missions 空间任务精密操作的智能抗扰控制

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 : 2026-03-01 Epub Date: 2026-01-12 DOI: 10.1016/j.jfranklin.2025.108373

Xumeng Cheng , Jia Ma , Congxi Liu , Gangfeng Liu , Meng Chen , Chongfeng Zhang , Jie Zhao

This paper proposes an intelligent compound disturbance rejection control framework integrating a novel Unknown System Dynamics Estimator (USDE) with Extreme Learning Machine (ELM). The USDE reconstructs the lumped term encompassing system parametric uncertainties and external disturbances online, requiring only real-time measurements of joint positions, velocities, and input torques, thereby eliminating dependency on a precise dynamic model. The framework further incorporates an ELM neural network to construct a disturbance rejection controller with direct joint torque actuation. Under randomly initialized ELM input weights, this architecture achieves effective prediction and compensation of acceleration errors through dynamic optimization of the output weights. Based on Lyapunov stability theory, the global stability of both the closed-loop tracking error and the USDE estimation error is rigorously proven. Simulations and experiments on a Franka Emika Panda robot demonstrate that the proposed method maintains high-precision trajectory tracking performance under simulated space disturbance scenarios, including unknown dynamic model mismatch, gravity variations, and sudden external disturbances. This work provides a theoretical framework and a universal implementation scheme, independent of precise dynamic models, for solving the challenge of fine manipulation control in harsh, unknown environments for open-space robotic systems.

提出了一种将未知系统动力学估计器（USDE）与极限学习机（ELM）相结合的智能复合抗扰控制框架。USDE在线重建包含系统参数不确定性和外部干扰的集总项，只需要实时测量关节位置、速度和输入扭矩，从而消除了对精确动态模型的依赖。该框架进一步结合ELM神经网络构建了直接关节力矩驱动的抗扰控制器。在随机初始化ELM输入权值的情况下，通过动态优化输出权值，实现对加速度误差的有效预测和补偿。基于Lyapunov稳定性理论，严格证明了闭环跟踪误差和USDE估计误差的全局稳定性。在Franka Emika Panda机器人上的仿真和实验表明，该方法在模拟的空间干扰场景下保持了高精度的轨迹跟踪性能，包括未知动态模型失配、重力变化和突发性外部干扰。这项工作提供了一个独立于精确动态模型的理论框架和通用实施方案，用于解决开放空间机器人系统在恶劣未知环境下的精细操作控制挑战。

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引用次数: 0

Complete stability analysis and optimal design for dual-state-feedback delayed resonator 双态反馈延迟谐振器稳定性分析及优化设计

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 : 2026-03-01 Epub Date: 2026-01-15 DOI: 10.1016/j.jfranklin.2026.108432

Qingbin Gao , Jiazhi Cai , Hao Wu , Kai Zhou , Libor Pekař

We propose a dual-state-feedback delayed resonator (DFDR) by incorporating an additional acceleration-based feedback into the classical DR design. The optimal tuning of its feedback parameters is guided by two objectives: enhancing vibration suppression at a specified target frequency and maintaining overall system stability. First, we extend the Advanced Clustering with Frequency Sweeping (ACFS) methodology from the delay-only domain to the combined delay-gain domain, enabling a rigorous and complete stability analysis where feedback gains and delays interact. Second, we develop the optimal parameter tuning procedure and demonstrate that the proposed DFDR achieves improved stability margins, enhanced robustness to frequency variations, and superior vibration suppression performance compared to the classical DR. These results highlight the practical potential of DFDR as an effective and robust solution for active vibration suppression systems.

我们提出了一种双状态反馈延迟谐振器（DFDR），通过在经典DR设计中加入一个额外的基于加速度的反馈。其反馈参数的最优调谐以两个目标为指导：在指定的目标频率下增强振动抑制和保持系统的整体稳定性。首先，我们将带频率扫描的高级聚类（ACFS）方法从仅延迟域扩展到组合延迟增益域，从而实现反馈增益和延迟相互作用的严格而完整的稳定性分析。其次，我们开发了最优参数调整程序，并证明了与经典dr相比，所提出的DFDR实现了更好的稳定裕度，增强了对频率变化的鲁棒性，并且具有更好的振动抑制性能。这些结果突出了DFDR作为主动振动抑制系统的有效鲁棒解决方案的实际潜力。

引用次数: 0

Interval type-2 fuzzy model predictive control for CPS with dynamic event-based scheduling protocol and actuator failure 基于动态事件调度协议和执行器故障的CPS区间2型模糊模型预测控制

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 : 2026-03-01 Epub Date: 2026-01-11 DOI: 10.1016/j.jfranklin.2026.108413

Cancan Wang , Fucai Liu , Lining Fu , Shuang Ju

This paper presents an interval type-2 Takagi-Sugeno (IT2 T-S) fuzzy model predictive control (MPC) strategy for a nonlinear cyber-physical system (CPS) subject to dynamic event-based scheduling protocol and actuator failure. In contrast to type-1 fuzzy model, IT2 T-S fuzzy model with lower and upper membership functions can capture the uncertain parameters of system. To save network resources and avoid data collision problems, two dynamic event-based scheduling protocols are proposed in the fuzzy MPC algorithm. Compared with existing protocols, the scheduling protocols can simultaneously adjust whether to release the sampling instant and which node to transmit. Moreover, inevitable actuator failure issue is addressed by establishing a failure model. Furthermore, a state observer is off-line designed to reduce the calculation burden and the model predictive controller gains are on-line solved to stabilize the CPS. Finally, simulation results show that the triggered rates of dynamic event-based scheduling protocols (28.33% and 26.67% in Example 1) are lower than those of static event-based scheduling protocols (63.33% and 61.67% in Example 1), indicating the validity of proposed method.

针对基于动态事件调度协议和执行器失效的非线性网络物理系统，提出了区间型2 Takagi-Sugeno （IT2 T-S）模糊模型预测控制策略。与第一类模糊模型相比，具有上下隶属函数的IT2 T-S模糊模型能够捕捉系统的不确定参数。为了节省网络资源和避免数据冲突问题，在模糊MPC算法中提出了两种基于事件的动态调度协议。与现有协议相比，调度协议可以同时调整是否释放采样时间和传输哪个节点。通过建立故障模型，解决了执行机构不可避免的故障问题。此外，离线设计状态观测器以减少计算负担，在线求解模型预测控制器增益以稳定CPS。仿真结果表明，动态事件调度协议的触发率（例1中分别为28.33%和26.67%）低于静态事件调度协议的触发率（例1中分别为63.33%和61.67%），验证了所提方法的有效性。

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引用次数: 0

Robust continuum target tracking in a McKean–Vlasov-type model via sliding mode control 基于滑模控制的mckean - vlasov型模型鲁棒连续目标跟踪

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 : 2026-03-01 Epub Date: 2026-01-27 DOI: 10.1016/j.jfranklin.2026.108453

Hyunjin Ahn

We investigate the enhanced asymptotic tracking behavior of a McKean–Vlasov-type model for continuum target tracking within the framework of measure-valued solutions. Our approach employs the method of sliding mode control. To this end, we first revisit a kinetic model for continuum target tracking, previously studied in [1], and analyze its exponential tracking property in the measure-valued sense by leveraging its characteristic curves and applying the hypocoercivity method. Subsequently, we introduce a feedback control input via sliding mode control into this kinetic equation, thereby obtaining a nonsmooth McKean–Vlasov-type tracking model. Under this controlled framework, we establish an improved rate of tracking convergence in the measure-valued solution sense. Finally, we provide numerical results to validate the analysis and to compare them with the theoretical results.

研究了mckean - vlasov型连续目标跟踪模型在测度值解框架下的增强渐近跟踪行为。我们的方法采用滑模控制的方法。为此，我们首先回顾了[1]中研究的连续目标跟踪动力学模型，并利用其特征曲线和应用亚矫顽力方法分析了其测量值意义上的指数跟踪特性。随后，我们通过滑模控制将反馈控制输入引入到该动力学方程中，从而获得非光滑mckean - vlasov型跟踪模型。在此控制框架下，我们建立了一个改进的测量值解意义下的跟踪收敛速度。最后，我们提供了数值结果来验证分析，并与理论结果进行了比较。

引用次数: 0

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