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

英文中文

A low-complexity solution for LMIs of hardly constrained nonlinear MIMO tracking control systems 几乎不受约束的非线性多输入多输出（MIMO）跟踪控制系统 LMI 的低复杂度解决方案

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 : 2024-10-25 DOI: 10.1016/j.jfranklin.2024.107350

Mohammad Abbasi Gavari , Mohammad Reza Homaeinezhad

This research is dedicated to the discrete-time tracking control of nonlinear multi-input multi-output (MIMO) Newtonian mechanics systems with an equal number of inputs and outputs, in the presence of input saturation and high-order dynamics of the actuation system. Firstly, the continuous-time model of the plant and actuation system has been transformed into the discrete-time domain using Adams–Bashforth and Adams–Moulton discretization techniques. In the next step, considering saturation boundaries, the modified position and velocity references are derived using the discrete-time reaching law-based control approach. These modified references are obtained through an optimization algorithm that calculates the closest achievable position and velocity trajectories with respect to the desired reference trajectory. Modifying desired trajectories in MIMO systems results in the formation of a system of linear matrix inequalities (LMIs). Solving such systems of inequalities requires the use of complex methods, and this difficulty increases with the increase in the system’s degrees of freedom (DOFs). The proposed strategy offers a more straightforward approach to solving these inequalities. Once the modified references are calculated, the corresponding position and velocity control signals can be obtained using the mentioned reaching law strategies. The final step of the proposed algorithm is to combine the resulting position and velocity control signals using a Gaussian-weighted averaging method to form the main control signal. A desirable performance for the control system can be achieved by appropriately adjusting the standard deviations of the Gaussian weighing functions. To evaluate the performance characteristics of the proposed method, it has been applied in the tracking control procedure of a nonlinear 3-DOF mechanical system. The numerical simulation results demonstrate the effectiveness of the method.

本研究致力于非线性多输入多输出（MIMO）牛顿力学系统的离散时间跟踪控制，该系统具有相等数量的输入和输出，且存在输入饱和和执行系统的高阶动态。首先，利用 Adams-Bashforth 和 Adams-Moulton 离散化技术将工厂和执行系统的连续时间模型转换为离散时间域。下一步，考虑到饱和边界，使用基于离散时间达成律的控制方法，得出修正后的位置和速度参考值。这些修改后的参考值通过优化算法获得，该算法可计算出与所需参考轨迹最接近的可实现位置和速度轨迹。在多输入多输出系统中修改所需的轨迹会形成一个线性矩阵不等式（LMI）系统。解决这种不等式系统需要使用复杂的方法，而且随着系统自由度（DOFs）的增加，难度也会增加。所提出的策略为解决这些不等式提供了一种更直接的方法。计算出修改后的参考点后，就可以使用上述达到律策略获得相应的位置和速度控制信号。建议算法的最后一步是使用高斯加权平均法将得到的位置和速度控制信号组合起来，形成主控制信号。通过适当调整高斯权重函数的标准偏差，控制系统可以获得理想的性能。为了评估所提出方法的性能特点，我们将其应用于一个非线性三维空间机械系统的跟踪控制程序中。数值模拟结果证明了该方法的有效性。

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引用次数: 0

Low-complexity tracking control of hydraulic excavator systems with asymmetric full-state constraints 具有非对称全状态约束条件的液压挖掘机系统的低复杂度跟踪控制

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 : 2024-10-24 DOI: 10.1016/j.jfranklin.2024.107345

Changchun Hua, Jiafeng Zhou, Bo Zhang, Yu Zhang, Jian Zhang

This work is devoted to solving the control problem of hydraulic excavator systems under full-state constraints. The standout aspect of the proposed control approach lies in the fact that not only full-state constraints can be accommodated, but also the settling time and tracking precision can be explicitly specified in advance, irrespective of the arbitrary initial poses of the hydraulic excavator. Additionally, a novel nonlinear state-dependent function is introduced, enabling the system to handle a larger range of initial conditions. The proposed controller, which solely relies on the state variables after nonlinear transformation, has lower complexity in both structure and expression. The effectiveness of the proposed approach is demonstrated through simulations and experiments.

这项研究致力于解决全状态约束下的液压挖掘机系统控制问题。所提出的控制方法的突出之处在于，它不仅能适应全状态约束，而且还能事先明确指定沉降时间和跟踪精度，而不受液压挖掘机任意初始姿态的影响。此外，还引入了新的非线性状态相关函数，使系统能够处理更大范围的初始条件。所提出的控制器仅依赖于非线性变换后的状态变量，在结构和表达上都具有较低的复杂性。模拟和实验证明了所提方法的有效性。

引用次数: 0

Robust H∞ output feedback control for polynomial discrete-time systems 多项式离散时间系统的鲁棒 H∞ 输出反馈控制

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 : 2024-10-24 DOI: 10.1016/j.jfranklin.2024.107328

S. Saat , R. Sakhtivel , F.A. Hussin , M. Sedek

This paper aims to design a robust output feedback controller with

H_{\infty}

performance for polynomial discrete-time systems (PDTS). This is due to the lack of research available on PDTS’ output feedback control especially when uncertainty is considered in the system. To be specific, the norm-bounded uncertainties are considered instead of polytopic uncertainties and then a so-called ‘

s c a l e d

’ system is established to relate the robust

H_{\infty}

and the nonlinear

H_{\infty}

output feedback control problem. The integrator approach is introduced to overcome the nonconvexity issue when the polynomial Lyapunov function is selected. The controller is obtained by solving the sufficient conditions which are formulated in Polynomial Matrix Inequalities (PMIs) which is then converted into Sum of Squares (SOS) form. Semidefinite Programming (SDP) is used to obtain the results. Finally, the efficacy of the method is shown through numerical examples.

本文旨在为多项式离散时间系统（PDTS）设计一种具有 H∞ 性能的鲁棒输出反馈控制器。这是因为目前缺乏对 PDTS 输出反馈控制的研究，尤其是当系统中考虑到不确定性时。具体来说，我们考虑了有规范约束的不确定性，而不是多点不确定性，然后建立了一个所谓的 "缩放 "系统，将鲁棒 H∞ 和非线性 H∞ 输出反馈控制问题联系起来。在选择多项式 Lyapunov 函数时，引入了积分器方法来克服非凸性问题。控制器通过求解以多项式矩阵不等式（PMI）提出的充分条件得到，然后转换成平方和（SOS）形式。半定量编程（SDP）用于获得结果。最后，通过数值示例展示了该方法的功效。

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引用次数: 0

A variable threshold weight approach to dynamic event-triggered consensus control for leader-following multi-agent systems under asynchronous DoS attacks 异步 DoS 攻击下领导者-跟随者多代理系统的动态事件触发共识控制可变阈值权重法

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 : 2024-10-24 DOI: 10.1016/j.jfranklin.2024.107343

Tu Zhang , Guobao Zhang , Amr Alanwar , Yongming Huang

This paper is concerned with the event-triggered consensus problem for leader-following multi-agent systems under asynchronous denial-of-service (DoS) attacks. Since the asynchronous attacks on different edges may enlarge the defense burden, the topology connectivity is employed to reveal the effectiveness of attacks and determine the unhealthy time periods. Relying on the internal system state, a dynamic event-triggered mechanism is built to regulate the information transmission between agents. In this mechanism, a variable threshold weight composed of the deviations of the relative neighboring errors and historical state errors is proposed to adaptively schedule the triggering thresholds with systems running stages. To guarantee secure consensus performance even during the triggering intervals, the local estimation of the neighboring information is integrated into the controller such that sufficient conditions to obtain the control parameters and the tolerable attack parameters are established without any Zeno behavior. The proposed method is validated by a simulation study.

本文关注异步拒绝服务（DoS）攻击下领导者-跟随者多代理系统的事件触发共识问题。由于不同边缘上的异步攻击可能会加重防御负担，因此采用拓扑连通性来揭示攻击的有效性并确定不健康的时间段。根据系统内部状态，建立了一种动态事件触发机制来调节代理之间的信息传输。在该机制中，提出了一个由相对邻接误差和历史状态误差的偏差组成的可变阈值权重，以根据系统运行阶段自适应地安排触发阈值。为了保证即使在触发间隔期间也能获得安全的共识性能，将邻近信息的本地估计集成到控制器中，从而在不出现任何芝诺行为的情况下，建立起获得控制参数和可容忍攻击参数的充分条件。模拟研究验证了所提出的方法。

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引用次数: 0

Fractional exponential stability of nonlinear conformable fractional-order delayed systems with delayed impulses and its application 具有延迟脉冲的非线性保形分数阶延迟系统的分数指数稳定性及其应用

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 : 2024-10-24 DOI: 10.1016/j.jfranklin.2024.107353

Lingao Luo , Lulu Li , Jinde Cao , Mahmoud Abdel-Aty

This article studies the fractional exponential stability (FES) of nonlinear conformable fractional-order delayed systems (CFODSs) and the fractional exponential synchronization of conformable fractional-order delayed inertial neural networks (CFODINNs), both with delayed impulses (DIs). Under the conformable fractional-order derivative framework, a novel Halanay inequality is established by generalizing the average impulsive interval (AII), which is a key basis for further investigations. Additionally, based on the proposed inequality, the requirement of the magnitude relationship among the system delay, the impulsive intervals, and the impulsive delays is removed. Moreover, using the improved average impulsive delay (AID), a relaxed FES criterion for nonlinear CFODSs with DIs is derived. Furthermore, as an application of the obtained theoretical results, the fractional exponential synchronization of CFODINNs with DIs is studied. Finally, simulations are given to illustrate the validity of our results, where the positive effect of impulsive delays is verified.

本文研究了非线性可保形分数阶延迟系统（CFODS）的分数指数稳定性（FES）和可保形分数阶延迟惯性神经网络（CFODINN）的分数指数同步性，两者都具有延迟脉冲（DI）。在可保形分数阶导数框架下，通过概括平均脉冲间隔（AII）建立了一个新的哈拉内不等式，为进一步研究奠定了重要基础。此外，基于所提出的不等式，取消了对系统延迟、脉冲间隔和脉冲延迟之间大小关系的要求。此外，利用改进的平均脉冲延迟 (AID)，还推导出了一种适用于具有 DIs 的非线性 CFODS 的宽松 FES 准则。此外，作为所获理论结果的应用，还研究了带 DI 的 CFODINN 的分数指数同步。最后，我们给出了模拟来说明我们结果的有效性，其中验证了脉冲延迟的积极作用。

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引用次数: 0

Editorial: Special Issue on Recent Developments in Sliding Mode Control/Variable Structure Systems dedicated to the memory of Prof. Vadim I. Utkin 编辑关于滑模控制/可变结构系统最新发展的特刊，献给 Vadim I. Utkin 教授

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 : 2024-10-22 DOI: 10.1016/j.jfranklin.2024.107327

Michael Basin (Editors), Michael Defoort, Yuri Shtessel, Elio Usai

引用次数: 0

Observer-based iterative learning control with varying iteration lengths and alignment condition 基于观测器的迭代学习控制，迭代长度和排列条件各不相同

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 : 2024-10-22 DOI: 10.1016/j.jfranklin.2024.107325

Zihao Wang , Mouquan Shen , Liwei Li

Observer-based iterative learning control is developed in this paper to meet nonlinear systems with alignment condition and varying iteration lengths. Alignment condition is treated by a modified reference trajectory to achieve spatial closed-loop. Virtual forms of estimation error and tracking error are provided to handle varying iteration lengths. An adaptive observer based controller is constructed in terms of two tracking error feedback and three compensation parts for reference trajectory, state estimation and parameter estimation. Convergence of the errors is guaranteed in the framework of the composite energy function. Finally, a comparative simulation is presented to demonstrate the advantage of the proposed algorithm.

本文开发了基于观测器的迭代学习控制，以满足具有对齐条件和不同迭代长度的非线性系统。对齐条件通过修改参考轨迹来处理，以实现空间闭环。提供了估计误差和跟踪误差的虚拟形式，以处理不同的迭代长度。通过两个跟踪误差反馈以及参考轨迹、状态估计和参数估计的三个补偿部分，构建了基于自适应观测器的控制器。在复合能量函数的框架下，误差的收敛性得到了保证。最后，通过比较仿真展示了所提算法的优势。

引用次数: 0

On-line data-driven control for uncertain systems based on greedy algorithm 基于贪婪算法的不确定系统在线数据驱动控制

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 : 2024-10-21 DOI: 10.1016/j.jfranklin.2024.107335

Jiahui Shen, Xinggao Liu

Considering a result that persistently exciting data can be used to replace the linear system model, this paper is devoted to applying this result in the field of data-driven control of nonlinear systems. An on-line iteration based on greedy algorithm to stabilize uncertain discrete-time systems is proposed. The method tends to obtain approximate optimal control through solving a series of programming problems. Every programming problem is linear for the convenience of solving. Besides, in particular, the method requires few prior conditions, as long as the system is controllable and observable and the equilibrium state of the system is known. First, we prove that under certain circumstances, the solution to our linear matrix inequality can stabilize the system. Next, a multi-objective programming problem is proposed to deal with situations where the required conditions are unknown. Finally, an on-line iteration is used to enhance robustness as well as real-time evaluation. The method is illustrated to be effective through a simulation under repeated experiments.

考虑到持续激励数据可用来替代线性系统模型这一结果，本文致力于将这一结果应用于非线性系统的数据驱动控制领域。本文提出了一种基于贪婪算法的在线迭代方法，用于稳定不确定的离散时间系统。该方法倾向于通过求解一系列编程问题来获得近似最优控制。为了方便求解，每个编程问题都是线性的。此外，特别值得一提的是，只要系统是可控和可观测的，并且系统的平衡状态已知，该方法所需的先验条件就很少。首先，我们证明在某些情况下，我们的线性矩阵不等式的解可以稳定系统。接下来，我们提出了一个多目标编程问题，以处理所需条件未知的情况。最后，使用在线迭代来增强鲁棒性和实时评估。通过反复实验下的模拟，说明了该方法的有效性。

引用次数: 0

Event-triggered sliding mode control for networked T–S fuzzy delayed systems against random injection attacks 针对随机注入攻击的网络 T-S 模糊延迟系统的事件触发滑动模式控制

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 : 2024-10-19 DOI: 10.1016/j.jfranklin.2024.107333

Hao Liu , Jun Hu , Hongxu Zhang , Zhiyuan Zuo

This paper investigates the event-triggered sliding mode control (SMC) problem for networked T–S fuzzy delayed systems subject to random injection attacks, where the event-triggered mechanism (ETM) is introduced to alleviate data congestion and improve network efficiency. Under an open network environment, malicious attackers may randomly inject false information into the controller–actuator channel to compromise the integrity of the data. A new fuzzy sliding mode controller is constructed based on a non-parallel distributed compensation strategy, which introduces the distribution information of the attack probability. Then, the membership function dependent (MFD) analysis technique is adopted to reconstruct the membership functions in order to reduce the conservatism caused by the mismatch between the membership functions of fuzzy model and controller. Furthermore, the co-design conditions for the ETM and the fuzzy sliding mode controller are provided, which can ensure that the resulting closed-loop fuzzy system is mean-square exponentially ultimately bounded (EUB) and the sliding surface is reachable. Finally, a simulation experiment with tunnel diode circuit application is utilized to demonstrate the validity of the proposed SMC scheme.

本文研究了受随机注入攻击的网络 T-S 模糊延迟系统的事件触发滑模控制（SMC）问题，其中引入了事件触发机制（ETM）以缓解数据拥塞并提高网络效率。在开放的网络环境下，恶意攻击者可能会随机向控制器-执行器信道注入虚假信息，从而破坏数据的完整性。基于非并行分布式补偿策略，引入攻击概率分布信息，构建了一种新的模糊滑模控制器。然后，采用成员函数依赖（MFD）分析技术重构成员函数，以减少模糊模型和控制器成员函数不匹配造成的保守性。此外，还提供了 ETM 和模糊滑模控制器的协同设计条件，从而确保所得到的闭环模糊系统是均方指数最终有界（EUB）的，且滑动面是可达到的。最后，利用隧道二极管电路应用的仿真实验证明了所提出的 SMC 方案的有效性。

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引用次数: 0

Search region updating with hierarchical feature fusion for accurate thermal infrared tracking 利用分层特征融合更新搜索区域，实现精确的热红外跟踪

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 : 2024-10-19 DOI: 10.1016/j.jfranklin.2024.107332

Xiu Shu , Feng Huang , Zhaobing Qiu , Chunwei Tian , Qiao Liu , Di Yuan

Due to their resilience against lighting variations, thermal infrared (TIR) images demonstrate robust adaptability in diverse environments, enabling effective object tracking even in intricate scenarios. Nevertheless, TIR target tracking encounters challenges such as fast target motion and interference from visually similar objects, substantially compromising the tracking precision of TIR trackers. To surmount these challenges, we propose a method grounded in the strategy of search region updating and hierarchical feature fusion, tailored for the precise TIR target-tracking task. Specifically, to address the issue of fast motion causing the target to depart from the search region, we propose to update the current search region by leveraging historical frame information. Additionally, we employ a hierarchical feature fusion strategy to contend with interference from visually similar objects in the tracking scenario. This strategy enhances the ability to model and represent the target more accurately, thereby elevating the tracker’s capacity to discriminate between the target and similar objects. Furthermore, to tackle the challenge of inaccurate estimation of target bounding boxes, we introduce an enhanced Intersection over Union (IoU) loss function, which improvement facilitates a more precise prediction of target bounding boxes, resulting in superior target localization. Extensive experiments substantiate that our tracker exhibits a commendable level of competitiveness when compared to other trackers.

由于热红外（TIR）图像对光照变化的适应能力强，因此在各种环境中都能表现出强大的适应能力，即使在错综复杂的场景中也能实现有效的目标跟踪。然而，热红外目标跟踪会遇到目标快速移动和视觉相似物体干扰等挑战，大大影响了热红外跟踪器的跟踪精度。为了克服这些挑战，我们提出了一种基于搜索区域更新和分层特征融合策略的方法，专门用于精确的近红外目标跟踪任务。具体来说，为了解决快速运动导致目标偏离搜索区域的问题，我们建议利用历史帧信息更新当前搜索区域。此外，我们还采用了分层特征融合策略，以应对跟踪场景中视觉相似物体的干扰。这一策略增强了更准确地建模和表示目标的能力，从而提高了跟踪器区分目标和类似物体的能力。此外，为了解决目标边界框估计不准确的难题，我们引入了增强的 "交集大于联合"（IoU）损失函数，该函数的改进有助于更精确地预测目标边界框，从而实现出色的目标定位。广泛的实验证明，与其他跟踪器相比，我们的跟踪器表现出了令人称道的竞争力。

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