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

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Adaptive event-triggered control of switched nonlinear systems with unknown input dead zones and unmodeled dynamics

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 : 2025-01-01 DOI: 10.1016/j.jfranklin.2024.107453

Tianping Zhang , Caijun Feng , Xiaonan Xia

In this article, the problem of adaptive neural event-triggered control (ETC) based on command filter and dynamic surface control (DSC) is discussed for a class of nonstrict-feedback switched nonlinear systems with unknown asymmetric dead zones and unmodeled dynamics. The unknown nonlinear continuous functions are approximated by radial basis function neural networks (RBFNNs). Unmodeled dynamics can be handled efficiently by applying distinct dynamic signals for distinct subsystems. The input dead zone is linearized to facilitate controller design and stability analysis. The explosion of complexity can be avoided by using command-filtered backstepping technology. A new event-triggered strategy with no triggering and multiple triggering is designed for each switching interval. Furthermore, by selecting the initial values of the next subsystem at the time of switching and using DSC, the stability of a single switching interval is linked to the stability of all switching intervals. By theoretical analysis, all signals in the adaptive system are proved to be semi-global uniform ultimate bounded (SGUUB) under arbitrary switching. Meanwhile, the Zeno behavior is removed. Simulation results verify that the proposed control approach is feasible.

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引用次数: 0

Adaptive output-feedback dynamic fault-tolerant control-based integrated guidance and control

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 : 2025-01-01 DOI: 10.1016/j.jfranklin.2024.107497

Wenxue Chen , Kelong Han , Changsheng Gao

In the terminal guidance, the design of the inner loop autopilot seriously affects the performance of guidance, which is still a challenging research issue. To enhance the matching relationship of guidance subsystem and control subsystem, this paper proposes an adaptive output-feedback dynamic fault-tolerant integrated guidance and control (IGC) design for the skid-to-turn (STT) interceptor to study the autopilot design in detail, taking the fault model of the actuator into account. First, we propose nonlinear IGC model, which fusion the modeling disturbances, autopilot lag dynamics model, fault model, saturation deflection angle, and other relevant factors. And transform it into a general form for simple control of the scheme design. Additionally, the proposed IGC scheme is derived by incorporating the virtual control variable and dynamic error surface into the backstepping control design. Then, the uncertainties of the IGC model and target maneuvering acceleration are integrated into the lumped disturbance. In the IGC scheme design, they introduce the parameter delay design method while proposing an enhanced adaptive control approach to accurately estimate the lumped disturbance. Furthermore, the theoretical proof of stability of the proposed IGC system employs the barrier Lyapunov function. Ultimately, numerical simulation results indicate that the proposed IGC strategy against non-maneuvering can guarantee the Euler angle's convergence to stability within 5 s, while keeping the final stability error within 0.2 deg.

{"title":"Adaptive output-feedback dynamic fault-tolerant control-based integrated guidance and control","authors":"Wenxue Chen , Kelong Han , Changsheng Gao","doi":"10.1016/j.jfranklin.2024.107497","DOIUrl":"10.1016/j.jfranklin.2024.107497","url":null,"abstract":"<div><div>In the terminal guidance, the design of the inner loop autopilot seriously affects the performance of guidance, which is still a challenging research issue. To enhance the matching relationship of guidance subsystem and control subsystem, this paper proposes an adaptive output-feedback dynamic fault-tolerant integrated guidance and control (IGC) design for the skid-to-turn (STT) interceptor to study the autopilot design in detail, taking the fault model of the actuator into account. First, we propose nonlinear IGC model, which fusion the modeling disturbances, autopilot lag dynamics model, fault model, saturation deflection angle, and other relevant factors. And transform it into a general form for simple control of the scheme design. Additionally, the proposed IGC scheme is derived by incorporating the virtual control variable and dynamic error surface into the backstepping control design. Then, the uncertainties of the IGC model and target maneuvering acceleration are integrated into the lumped disturbance. In the IGC scheme design, they introduce the parameter delay design method while proposing an enhanced adaptive control approach to accurately estimate the lumped disturbance. Furthermore, the theoretical proof of stability of the proposed IGC system employs the barrier Lyapunov function. Ultimately, numerical simulation results indicate that the proposed IGC strategy against non-maneuvering can guarantee the Euler angle's convergence to stability within 5 s, while keeping the final stability error within 0.2 deg.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 2","pages":"Article 107497"},"PeriodicalIF":3.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143138503","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

Chance constrained load frequency control of power systems with wind resources

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 : 2025-01-01 DOI: 10.1016/j.jfranklin.2024.107478

Tong Ma , David Alonso Barajas-Solano , Alexandre M. Tartakovsky

We propose a semidefinite programming (SDP) framework for load frequency control (LFC) of a power system with significant wind power generation. The presence of stochastic wind and load disturbances causes frequency deviations which may lead to power grid instability, it is reasonable to formulate a stochastic model predictive control (SMPC) framework to suppress the load frequency deviation and minimize the mechanical power cost. To reduce the computational burden, we reformulate the quadratic cost function and chance constraints as linear ones with linear matrix inequalities, which yields a tractable SDP framework. The SDP framework is more computationally efficient than the scenario-based MPC, it also guarantees convergence and recursive feasibility which is lacking in scenario-based MPC. The SDP framework with time-varying feedback control gains achieves 95% reduction in frequency deviation, which outperforms the one that uses constant feedback control gains.

引用次数: 0

Low complexity fault-tolerant formation control for autonomous underwater vehicles with global prescribed-time performance

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 : 2025-01-01 DOI: 10.1016/j.jfranklin.2024.107422

Yiwei Liu , Xin Wang , Ning Pang , Lihua Tan

This paper investigates a novel control scheme for multiple autonomous underwater vehicle (AUV) systems in the presence of measurement errors, unknown external disturbances, and actuator faults. The proposed strategy achieves robust formation control while ensuring global prescribed-time performance. By employing passive strategies and event-triggering mechanism, the communication burden between controller and actuator and computational complexity are significantly reduced. All closed-loop signals are proven to be bounded, and Zeno behavior is avoided. The effectiveness of this control scheme is validated through a simulation.

引用次数: 0

Hierarchical-based self-triggered control for linear systems with external disturbances

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 : 2025-01-01 DOI: 10.1016/j.jfranklin.2024.107438

Chenyang Wang, Haiying Wan, Xiaoli Luan, Fei Liu

This paper introduces a hierarchical-based robust self-triggered control mechanism for linear systems with disturbances, with the goal of achieving anti-interference and computational resource saving. To address the potential external interference in the system, the

H_{\infty}

performance index is introduced, and the self-triggered controller is developed based on this index to guarantee the system’s desired anti-interference capabilities. Furthermore, a hierarchical framework is employed to facilitate collaborative optimization of triggering mechanisms and control strategies. Within this framework, the triggering interval values and control input values are computed sequentially using a cyclic iteration approach. By upholding the

H_{\infty}

performance standard and incorporating a hierarchical optimization framework, the system’s sampling frequency is notably diminished, anti-interference performance is safeguarded, and the convergence speed of the state trajectory is accelerated. The efficacy of the proposed method is validated through two illustrative examples.

{"title":"Hierarchical-based self-triggered control for linear systems with external disturbances","authors":"Chenyang Wang, Haiying Wan, Xiaoli Luan, Fei Liu","doi":"10.1016/j.jfranklin.2024.107438","DOIUrl":"10.1016/j.jfranklin.2024.107438","url":null,"abstract":"<div><div>This paper introduces a hierarchical-based robust self-triggered control mechanism for linear systems with disturbances, with the goal of achieving anti-interference and computational resource saving. To address the potential external interference in the system, the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance index is introduced, and the self-triggered controller is developed based on this index to guarantee the system’s desired anti-interference capabilities. Furthermore, a hierarchical framework is employed to facilitate collaborative optimization of triggering mechanisms and control strategies. Within this framework, the triggering interval values and control input values are computed sequentially using a cyclic iteration approach. By upholding the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> performance standard and incorporating a hierarchical optimization framework, the system’s sampling frequency is notably diminished, anti-interference performance is safeguarded, and the convergence speed of the state trajectory is accelerated. The efficacy of the proposed method is validated through two illustrative examples.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107438"},"PeriodicalIF":3.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143168689","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

Switching funnel transformation function-based discrete-time sliding-mode control for servo systems with time-varying external disturbances

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 : 2025-01-01 DOI: 10.1016/j.jfranklin.2024.107418

Mingyu Yang , Xuemei Ren , Yun Cheng , Dongdong Zheng

This paper proposes a switching funnel transformation function-based discrete-time sliding-mode control with lower cost to prevent the issue of control failure caused by time-varying external disturbances leading to tracking errors exceeding the performance boundary. This scheme employs an offline spectral regularization-based neural network with good generalization capability to approximate the unknown nonlinear dynamics and modeling errors in the system, resulting in a more accurate discrete-time system model. Based on the discrete-time system model with time-varying external disturbances, a novel discrete-time switching funnel transformation function-based sliding surface is proposed to solve the problem when the tracking error exceeds performance boundaries. The discrete-time funnel boundaries are switched through a predefined event-triggered mechanism, ensuring that the tracking error remains within the performance boundaries at all times, thereby avoiding control failure. Furthermore, a time-varying sliding mode variable reaching rate is proposed to reduce control cost. Finally, theoretical analysis demonstrates that the tracking error remains within a smaller funnel region compared to the predefined one, and the sliding-mode variable ultimately stays within a bounded sliding-mode boundary. Experimental results on SCARA verify the effectiveness of the proposed method.

{"title":"Switching funnel transformation function-based discrete-time sliding-mode control for servo systems with time-varying external disturbances","authors":"Mingyu Yang , Xuemei Ren , Yun Cheng , Dongdong Zheng","doi":"10.1016/j.jfranklin.2024.107418","DOIUrl":"10.1016/j.jfranklin.2024.107418","url":null,"abstract":"<div><div>This paper proposes a switching funnel transformation function-based discrete-time sliding-mode control with lower cost to prevent the issue of control failure caused by time-varying external disturbances leading to tracking errors exceeding the performance boundary. This scheme employs an offline spectral regularization-based neural network with good generalization capability to approximate the unknown nonlinear dynamics and modeling errors in the system, resulting in a more accurate discrete-time system model. Based on the discrete-time system model with time-varying external disturbances, a novel discrete-time switching funnel transformation function-based sliding surface is proposed to solve the problem when the tracking error exceeds performance boundaries. The discrete-time funnel boundaries are switched through a predefined event-triggered mechanism, ensuring that the tracking error remains within the performance boundaries at all times, thereby avoiding control failure. Furthermore, a time-varying sliding mode variable reaching rate is proposed to reduce control cost. Finally, theoretical analysis demonstrates that the tracking error remains within a smaller funnel region compared to the predefined one, and the sliding-mode variable ultimately stays within a bounded sliding-mode boundary. Experimental results on SCARA verify the effectiveness of the proposed method.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 1","pages":"Article 107418"},"PeriodicalIF":3.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143169879","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

QPSOMPC-based chassis coordination control of 6WIDAGV for vehicle stability and trajectory tracking

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 : 2025-01-01 DOI: 10.1016/j.jfranklin.2024.107458

Te Chen , Xing Xu , Yingfeng Cai , Long Chen , Ke Li

This paper investigated the coordination control of six-wheel independent drive autonomous ground vehicle for simultaneous trajectory tracking and yaw stability control. A coordination controller is presented by combining quantum-behaved particle swarm optimization algorithm and model predictive control algorithm for better computational efficiency of rolling optimization. To suppress chattering and improve tracking performance, a front-wheel steering angle tracking controller is designed by using the super-twisting sliding mode control algorithm, and an unknown-input observer considering actuator time delay is proposed for front-wheel steering angle estimation. A tire force optimal allocation method is designed to achieve coordinated chassis control with the longitudinal vehicle speed, yaw stability, and tire slip rate being considered. The results indicate that the proposed coordinated control strategy can effectively coordinate the upper controller and chassis execution controller, achieving comprehensive optimization and improvement of vehicle multi-objective control performance.

{"title":"QPSOMPC-based chassis coordination control of 6WIDAGV for vehicle stability and trajectory tracking","authors":"Te Chen , Xing Xu , Yingfeng Cai , Long Chen , Ke Li","doi":"10.1016/j.jfranklin.2024.107458","DOIUrl":"10.1016/j.jfranklin.2024.107458","url":null,"abstract":"<div><div>This paper investigated the coordination control of six-wheel independent drive autonomous ground vehicle for simultaneous trajectory tracking and yaw stability control. A coordination controller is presented by combining quantum-behaved particle swarm optimization algorithm and model predictive control algorithm for better computational efficiency of rolling optimization. To suppress chattering and improve tracking performance, a front-wheel steering angle tracking controller is designed by using the super-twisting sliding mode control algorithm, and an unknown-input observer considering actuator time delay is proposed for front-wheel steering angle estimation. A tire force optimal allocation method is designed to achieve coordinated chassis control with the longitudinal vehicle speed, yaw stability, and tire slip rate being considered. The results indicate that the proposed coordinated control strategy can effectively coordinate the upper controller and chassis execution controller, achieving comprehensive optimization and improvement of vehicle multi-objective control performance.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 2","pages":"Article 107458"},"PeriodicalIF":3.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143137835","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

An efficient reconfigurable band tuning filter design for channelizer in transponder satellite system

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 : 2025-01-01 DOI: 10.1016/j.jfranklin.2024.107474

Rinu C. Varghese , Amir A. , Inbanila K.

For improved performance in a variety of applications, the transponder in satellite systems must be very flexible. The channelizer-dependent transponder system significantly boosts the operation of a satellite system. When channelizing wideband input signals, a digital filter bank is typically used to extract several small sub-bands. In this research, a reconfigurable band tuning (RBT) design for the channelizer in the satellite transponder system is designed and implemented. Cosine modulation, exponential modulation and IFIR filter are the techniques behind the RBT design. The RBT design facilitates the generation of many channels enabling channelization with non-uniform narrow transition width. A number of examples are presented to illustrate how well the RBT design performs. Findings indicate that there are fewer filter coefficients in the RBT design than there are in the current approaches Effective implementation of a properly designed RBT design lowers power consumption and simplifies the hardware.

引用次数: 0

Novel control strategy for robustness of two DOF Smith predictor via active disturbance rejection method

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 : 2025-01-01 DOI: 10.1016/j.jfranklin.2024.107457

Yoonuh Chung , Hyeongki Ahn , Mingyuan Hu , Jihoon Park , Kwanho You

This paper presents a novel control strategy that employs a Smith predictor for large delay-time systems. Although the classic Smith predictor structure is superior for large delay-time compensation, it exhibits weaknesses when confronted with time varying disturbances, parameter uncertainties, and unmodeled dynamics. To overcome this intrinsic problem of the Smith predictor, this paper proposes a novel two degrees-of-freedom Smith predictor structure with two decoupled controllers. For fast reference tracking and robustness against disturbance, the reference controller is designed as a sliding mode controller and is developed using linear quadratic regulation and a modified smooth super-twisting algorithm. The perturbation rejection capability is enhanced by using an adaptive method and sliding mode based active disturbance rejection control. Thus, the developed control system can achieve robustness, accurate trajectory tracking, and fast response despite disturbances, noises, and mismatched errors. The simulation results demonstrate the effectiveness of the proposed control strategy in reducing the delay-time and system uncertainties, resulting in improved PMSM speed control.

{"title":"Novel control strategy for robustness of two DOF Smith predictor via active disturbance rejection method","authors":"Yoonuh Chung , Hyeongki Ahn , Mingyuan Hu , Jihoon Park , Kwanho You","doi":"10.1016/j.jfranklin.2024.107457","DOIUrl":"10.1016/j.jfranklin.2024.107457","url":null,"abstract":"<div><div>This paper presents a novel control strategy that employs a Smith predictor for large delay-time systems. Although the classic Smith predictor structure is superior for large delay-time compensation, it exhibits weaknesses when confronted with time varying disturbances, parameter uncertainties, and unmodeled dynamics. To overcome this intrinsic problem of the Smith predictor, this paper proposes a novel two degrees-of-freedom Smith predictor structure with two decoupled controllers. For fast reference tracking and robustness against disturbance, the reference controller is designed as a sliding mode controller and is developed using linear quadratic regulation and a modified smooth super-twisting algorithm. The perturbation rejection capability is enhanced by using an adaptive method and sliding mode based active disturbance rejection control. Thus, the developed control system can achieve robustness, accurate trajectory tracking, and fast response despite disturbances, noises, and mismatched errors. The simulation results demonstrate the effectiveness of the proposed control strategy in reducing the delay-time and system uncertainties, resulting in improved PMSM speed control.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 2","pages":"Article 107457"},"PeriodicalIF":3.7,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143137865","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

Neural network-based dynamic output feedback control for nonhomogeneous Markov switching systems under deception attacks

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 : 2025-01-01 DOI: 10.1016/j.jfranklin.2024.107502

Weiling Bao , Yunliang Wang , Jun Cheng , Dan Zhang , Wenhai Qi , Jinde Cao

This paper presents a neural network-based method to address the challenge of designing dynamic output feedback controllers for nonhomogeneous Markov switching systems (NMSSs) under deception attacks. The model enhances realism by incorporating a nonhomogeneous Markov process to depict the system’s stochastic switching behavior. To alleviate communication load and prevent frequent data collisions, a round-robin protocol is implemented for transmitting measurement outputs. Unlike conventional approaches that assume deception attacks are known and bounded, this work considers more general unbounded deception attacks and employs neural networks to approximate and mitigate their impact on the system. Utilizing Lyapunov stability theory, sufficient conditions are derived to ensure the stochastic stability of the closed-loop system. Finally, the effectiveness of the proposed approach and the theoretical results are demonstrated through a simulation example.

引用次数: 0

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