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

英文中文

Mixed H∞ and passivity based state estimation for Markovian switching complex dynamical networks with event-triggered control subject to multiple cyber attacks 基于混合H∞和无源的马尔可夫切换复杂动态网络状态估计

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 : 2026-02-01 Epub Date: 2025-12-28 DOI: 10.1016/j.jfranklin.2025.108354

N. Sakthivel, V. Rajkumar, S. Keerthna

This article is focused on the state estimation problem of nonlinear complex dynamical networks (CDNs) with the combination of Markovian switching parameters, exogenous disturbance, coupling delay and multiple cyber attacks. Precisely, the controller is designed with an event-triggered mechanism to obtain the synchronization of addressed CDNs, which reduces the burden of the communication channel and improves the implementation of bandwidth. Further, the event-triggered control technique is modeled with adversary attacks, namely, deception attacks and denial-of-service (DoS) attacks, which acquire the secure synchronization of the considered networks. By establishing a suitable Lyapunov–Krasovskii functional (LKF), novel adequate criteria have been obtained in the form of linear matrix inequalities (LMIs), which guarantee the secure synchronization of CDNs based on mixed H_∞ and passivity performance. Ultimately, the obtained theoretical results are validated through numerical examples.

研究了具有马尔可夫切换参数、外源干扰、耦合延迟和多重网络攻击的非线性复杂动态网络的状态估计问题。该控制器采用事件触发机制实现寻址cdn的同步，减轻了通信信道的负担，提高了带宽的实现。此外，事件触发控制技术与对手攻击建模，即欺骗攻击和拒绝服务（DoS）攻击，它们获得了所考虑网络的安全同步。通过建立一个合适的Lyapunov-Krasovskii泛函（LKF），以线性矩阵不等式（lmi）的形式得到了新的充分准则，保证了基于混合H∞和无源性能的cdn的安全同步。最后，通过数值算例验证了所得理论结果。

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引用次数: 0

Dynamic output feedback fuzzy sliding mode learning attitude control for hypersonic flight vehicle with actuator rate constraint 基于作动器速率约束的高超声速飞行器动态输出反馈模糊滑模学习姿态控制

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 : 2026-02-01 Epub Date: 2025-12-25 DOI: 10.1016/j.jfranklin.2025.108374

Xiaoxiang Hu , Yuewen Wang , Jingwen Xu , Jingyan Zhao , Bing. Xiao

By considering the actuator rate constraint and measurable output of hypersonic flight vehicle’s (HFV) attitude system, a dynamic output feedback sliding mode learning controller (DOFSMLC) is proposed in this paper. The proposed DOFSMLC can solve the controller design of nonlinear system with incomplete measurable state, system uncertainties and input rate constraint simultaneously. The nonlinear model of HFV’s attitude system is firstly represented by T-S fuzzy model, then the actuator rate constraint is proposed. Based on the original tracking control objective of HFV’s attitude system, the control objective of the T-S fuzzy model is built. Then a dynamic output feedback (DOF) based sliding surface is design and the stability of the designing sliding surface is guaranteed by selecting appropriate dynamic feedback parameters. A traditional discontinuous reaching law is deigned without considering the actuator rate constraint, and then a sliding mode learning control (SMLC) with iterative updating law is designed. By the designed SMLC, the actuator rate constraint and the system stability requirements can be guaranteed synchronously. Finally, the proposed DOFSMLC is applied on the nonlinear model of HFV’s attitude system, and the simulation results validate the effectiveness of the presented controller

针对高超声速飞行器姿态系统的执行器速率约束和可测输出，提出了一种动态输出反馈滑模学习控制器（DOFSMLC）。该方法可以同时解决具有不完全可测状态、系统不确定性和输入速率约束的非线性系统的控制器设计问题。首先用T-S模糊模型表示HFV姿态系统的非线性模型，然后提出了执行器速率约束。在原HFV姿态系统跟踪控制目标的基础上，建立了T-S模糊模型的控制目标。然后设计了基于动态输出反馈的滑动面，并通过选择合适的动态反馈参数来保证所设计滑动面的稳定性。设计了不考虑执行器速率约束的传统不连续趋近律，设计了具有迭代更新律的滑模学习控制。通过设计的SMLC，可以同步保证执行器的速率约束和系统的稳定性要求。最后，将所提出的DOFSMLC应用于HFV姿态系统的非线性模型，仿真结果验证了所提控制器的有效性

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引用次数: 0

Resilient adaptive NN-based distributed consensus for nonlinear MASs subject to DoS attacks and uncertainties 受DoS攻击和不确定性影响的非线性质量的基于弹性自适应神经网络的分布式一致性

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 : 2026-02-01 Epub Date: 2026-01-09 DOI: 10.1016/j.jfranklin.2026.108401

Shengli Du , Qiong Wu , Honggui Han , Junfei Qiao

This paper investigates the fully distributed consensus control problem for nonlinear multiagent systems (MASs) subject to denial-of-service (DoS) attacks, external disturbances, and unmodeled nonlinearities. To mitigate the adverse effects of such uncertainties, a radial basis function neural network (RBFNN)-based adaptive control law is developed, combined with sign-function-based update rules to ensure robust approximation and compensation. In addressing the communication constraints induced by DoS attacks, a dynamic event-triggered switching control strategy is further proposed to reduce communication load while maintaining resilience against intermittent network failures. To eliminate the reliance on any global information, a fully distributed implementation is achieved, enhancing the scalability and practicality of the control scheme. With the assistance of Lyapunov stability theory, some bounded consensus conditions have been established. Finally, two simulation studies are conducted to demonstrate the effectiveness and robustness of the proposed control approach.

研究了具有拒绝服务（DoS）攻击、外部干扰和未建模非线性的非线性多智能体系统（MASs）的完全分布式共识控制问题。为了减轻这种不确定性的不利影响，提出了一种基于径向基函数神经网络（RBFNN）的自适应控制律，并结合基于符号函数的更新规则来保证鲁棒逼近和补偿。为了解决DoS攻击导致的通信约束问题，进一步提出了一种动态事件触发切换控制策略，在降低通信负荷的同时保持对间歇性网络故障的弹性。为了消除对全局信息的依赖，实现了全分布式实现，增强了控制方案的可扩展性和实用性。利用Lyapunov稳定性理论，建立了一些有界一致条件。最后，进行了两个仿真研究，验证了所提控制方法的有效性和鲁棒性。

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引用次数: 0

Adaptive predefined-time asymptotic tracking control for uncertain switched nonlinear systems with switching deception attacks 具有切换欺骗攻击的不确定切换非线性系统的自适应预定义时间渐近跟踪控制

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 : 2026-02-01 Epub Date: 2026-01-03 DOI: 10.1016/j.jfranklin.2025.108394

Shuo Liu , Huaguang Zhang , Hongbo Pang

This paper concerns on adaptive predefined-time asymptotic tracking control issume for switched uncertain nonlinear systems with switching deception attacks, although the output tracking control problem for each subsystem is not solvable. Switching deception attacks mode is constructed in channel of sensor-to-controller channel (S-C) and controller-to-actuatorb (C-A) firstly. A more general predefined-time stability criterion is established, which is an useful tool for predefined-time asymptotic tracking control. To overcome the disadvantage of recursive design methods, a predefined-time command filter has been constructed. Moreover, a predefined-time controller and a adaptive state dependent switching law dependent on adaptive parameter estimation are given to ensure that all the signals of the resulting closed-loop system subject to switching deception attacks are bounded. The tracking error can enter into the interval near origin in predefined time, and asymptotically tend towards to zero finally. To prevent the Zeno behavior, a hysteresis switching law dependent on parameter estimation is derived. Finally, an example on RLC circuite system is given to verty the effectiveness of the novel method.

本文研究了具有切换欺骗攻击的切换不确定非线性系统的自适应预定义时间渐近跟踪控制问题，尽管每个子系统的输出跟踪控制问题都是不可解的。首先在传感器到控制器通道（S-C）和控制器到执行器通道（C-A）中构建切换欺骗攻击模式。建立了一个更一般的预定义时间稳定性判据，为预定义时间渐近跟踪控制提供了一个有用的工具。为了克服递归设计方法的缺点，构造了一个预定义时间命令滤波器。此外，给出了一个预定义时间控制器和一个依赖于自适应参数估计的自适应状态相关切换律，以保证闭环系统中所有受切换欺骗攻击的信号都是有界的。跟踪误差可以在预定时间内进入原点附近的区间，并最终渐近趋于零。为了防止芝诺行为，推导了依赖于参数估计的迟滞切换律。最后，以RLC电路系统为例验证了该方法的有效性。

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引用次数: 0

Extended state observer-based adaptive iterative learning control of redundant manipulators subject to dual-domain disturbances 基于扩展状态观测器的冗余机械臂双域扰动自适应迭代学习控制

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 : 2026-02-01 Epub Date: 2026-01-09 DOI: 10.1016/j.jfranklin.2026.108415

Jiayu Zhao, Tao Zhao, Hainan Yang

Redundant manipulators are widely employed in complex and precision-critical tasks, yet achieving effective disturbance rejection remains challenging due to their highly nonlinear dynamics, strong inter-joint coupling, and susceptibility to both time- and batch-varying uncertainty disturbances. Existing iterative learning control approaches often struggle to cope with such disturbances, especially when these disturbances vary within each iteration cycle, which limits their applicability in repetitive high-accuracy tasks. To address this gap, this paper proposes an adaptive iterative learning control (AILC) scheme integrated with an interval type-2 fuzzy extended state observer (IT2FESO) to enhance both tracking accuracy and disturbance rejection performance. First, an interval type-2 fuzzy model of the manipulator is constructed via the fuzzy c-regression clustering algorithm to capture inherent nonlinearities and model uncertainties. Then, the IT2FESO is designed to estimate time- and batch-varying disturbances in real time, and its output is incorporated into the AILC to enable autonomous parameter adaptation and accurate target trajectory tracking. Finally, a compound energy function is formulated to rigorously establish the convergence conditions of the tracking errors. Simulation studies on a redundant manipulator demonstrate that the proposed approach achieves superior tracking accuracy and disturbance rejection performance under time- and batch-varying uncertainty disturbances.

冗余机械手广泛应用于复杂和精度要求高的任务中，但由于其高度非线性动力学、强关节间耦合以及对时间和批量变化的不确定性干扰的敏感性，实现有效的抗干扰仍然具有挑战性。现有的迭代学习控制方法往往难以处理这些干扰，特别是当这些干扰在每个迭代周期内变化时，这限制了它们在重复的高精度任务中的适用性。为了解决这一问题，本文提出了一种结合区间2型模糊扩展状态观测器（IT2FESO）的自适应迭代学习控制（AILC）方案，以提高跟踪精度和抗扰性能。首先，利用模糊c回归聚类算法建立了机械臂的区间2型模糊模型，以捕捉其固有的非线性和模型的不确定性；然后，设计了IT2FESO来实时估计时变和批变干扰，并将其输出纳入AILC，以实现自主参数自适应和精确的目标轨迹跟踪。最后，构造了复合能量函数，严格建立了跟踪误差的收敛条件。对冗余度机械臂的仿真研究表明，该方法在时变和批变不确定性干扰下具有良好的跟踪精度和抗扰性能。

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引用次数: 0

Distributed continuous-time optimization with nonlinear inequality and equality constraints under disturbances 扰动下非线性不等式约束的分布连续时间优化

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 : 2026-02-01 Epub Date: 2025-12-18 DOI: 10.1016/j.jfranklin.2025.108356

Zeinab Ebrahimi, Mohammad Deghat

This paper presents a distributed continuous-time optimization framework designed to address the challenges posed by time-varying cost functions, nonlinear inequality constraints, and equality constraints in multi-agent systems subject to disturbances. The proposed framework integrates log-barrier and quadratic penalty functions to handle constraints and employs an integral sliding mode control for disturbance rejection, including cases with bounded disturbances and disturbances with bounded derivatives. The proposed method ensures asymptotic convergence to the optimal solution, and convergence is established through nonsmooth analysis and Lyapunov theory. The effectiveness of the proposed algorithms is validated via numerical simulations on network topologies with different connectivity levels.

本文提出了一个分布式连续时间优化框架，旨在解决受干扰的多智能体系统中时变成本函数、非线性不等式约束和等式约束所带来的挑战。所提出的框架集成了对数障碍和二次惩罚函数来处理约束，并采用积分滑模控制来抑制干扰，包括有界干扰和有界导数的干扰。该方法保证了最优解的渐近收敛，并通过非光滑分析和Lyapunov理论证明了其收敛性。通过对具有不同连接级别的网络拓扑结构的数值模拟，验证了所提算法的有效性。

引用次数: 0

Enhanced shadow removal using space-variant anisotropic PDEs and tensor-based osmosis models 利用空间变各向异性偏微分方程和基于张量的渗透模型增强阴影去除

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 : 2026-02-01 Epub Date: 2025-12-20 DOI: 10.1016/j.jfranklin.2025.108315

Fakhr-Eddine Limami , Aissam Hadri , Amine Laghrib , Lekbir Afraites

In this work, we propose an innovative approach to shadow removal in images by enhancing the space-variant anisotropic Partial Differential Equation (PDE) framework. This enhancement involves redefining existing osmosis models to incorporate tensor-based characteristics inspired by Weickert-type operators. The model leverages spatially distant pixel similarities, using a specified window size to improve image restoration. The numerical solution is obtained through the Split Bregman Iterative method (SBI). To thoroughly evaluate the model’s performance, we conduct a series of tests, including both perceptual and quantitative assessments. The results demonstrate that our approach outperforms state-of-the-art methods in shadow removal.

在这项工作中，我们提出了一种创新的方法，通过增强空间变异性偏微分方程（PDE）框架来去除图像中的阴影。这种增强包括重新定义现有的渗透模型，以纳入受weickert型算子启发的基于张量的特征。该模型利用空间上遥远的像素相似性，使用指定的窗口大小来提高图像恢复。通过分裂布雷格曼迭代法（SBI）得到了数值解。为了彻底评估模型的性能，我们进行了一系列测试，包括感知和定量评估。结果表明，我们的方法在阴影去除方面优于最先进的方法。

引用次数: 0

Practical input-to-state stability of switched stochastic delay nonlinear systems and its application to hysteretic mechanical systems 开关随机时滞非线性系统的实际输入状态稳定性及其在滞回机械系统中的应用

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

Journal of The Franklin Institute-engineering and Applied Mathematics

Pub Date : 2026-02-01 Epub Date: 2026-01-04 DOI: 10.1016/j.jfranklin.2025.108382

Tianze Xie , Hui Wang , Jian Ding , Quanxin Zhu

Existing literature on input-to-state stability (ISS) primarily focuses on transient responses and robustness to external disturbances, yet it often fails to capture the inherent modeling bias in systems like those exhibiting mechanical hysteresis. To address this limitation, we introduce the concept of practical ISS for switched stochastic nonlinear time-delay systems (SSNTDSs), which provides a comprehensive framework for analyzing robustness against both internal bias and external disturbances. Acknowledging potential mismatches between the controller and subsystems, we establish less conservative criteria for practical ISS using Lyapunov-Razumikhin functions (LRFs) with indefinite differential operators. Furthermore, to accommodate mode variability and relax stringent constraints on switching signals, we develop a novel condition based on the mode-dependent average dwell time (MDADT) technique. This condition is specifically tailored for asynchronous switching and notably maintains consistency with the synchronous case, reducing to the classical condition when the switching signal delay approaches zero. The practical relevance of our work is highlighted through the extension of an exponential stability criterion and its successful application to a mechanical system with backlash hysteresis.

关于输入状态稳定性（ISS）的现有文献主要关注瞬态响应和对外部干扰的鲁棒性，但它往往无法捕捉到系统中固有的建模偏差，例如那些表现出机械滞后的系统。为了解决这一限制，我们为切换随机非线性时滞系统（ssntds）引入了实用的ISS概念，它为分析对内部偏置和外部干扰的鲁棒性提供了一个全面的框架。考虑到控制器和子系统之间可能存在的不匹配，我们使用带有不定微分算子的Lyapunov-Razumikhin函数（LRFs）建立了实际国际空间站的不太保守的准则。此外，为了适应模式可变性和放松对开关信号的严格限制，我们开发了一种基于模式相关平均停留时间（MDADT）技术的新条件。该条件是专门针对异步交换而设计的，与同步情况保持明显的一致性，减少到切换信号延迟趋近于零时的经典条件。我们的工作的实际意义是通过指数稳定性准则的扩展和它的成功应用于一个机械系统的反弹滞后突出。

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引用次数: 0

L1/L− fault detection filtering for delayed 2-D continuous positive Markov jump systems 延时二维连续正马尔可夫跳变系统的L1/L−故障检测滤波

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 : 2026-02-01 Epub Date: 2026-01-08 DOI: 10.1016/j.jfranklin.2025.108387

Zhaoxia Duan , Yuyan Fu , Choon Ki Ahn , Zhengrong Xiang

This paper aims to design a fault detection (FD) filter for continuous two-dimensional (2-D) Markov jump positive systems (MJPSs) with constant state delays that ensures the stochastic stability and L₁/

L_{-}

performances of the filtering augmented system. The L₁-gain and

L_{-}

performances of the delayed continuous 2-D MJPSs are investigated, and their exact values can be calculated. Necessary and sufficient conditions for ensuring the L₁-gain performance and

L_{-}

index of the system are derived. On this basis, sufficient conditions for the existence of the mixed

L_{1} / L_{-}

FD filter are achieved and then are solved via an iterative algorithm. Finally, a numerical example validates the preceding theoretical findings.

本文旨在为具有恒定状态延迟的连续二维（2-D）马尔可夫跳变正系统（MJPSs）设计一种故障检测（FD）滤波器，以保证滤波增强系统的随机稳定性和L1/L−性能。研究了延迟连续二维MJPSs的l1增益和L -性能，并计算了它们的精确值。导出了保证系统l1增益性能和L -指标的充分必要条件。在此基础上，得到了混合L1/L−FD滤波器存在的充分条件，并通过迭代算法求解。最后，通过数值算例验证了上述理论结论。

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引用次数: 0

Predictive-Deception-Attack-Detection-Based secure control for switched systems 基于预测-欺骗-攻击-检测的交换系统安全控制

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 : 2026-02-01 Epub Date: 2026-01-08 DOI: 10.1016/j.jfranklin.2026.108411

Bin Lu , Lili Li , Jinqi Liu , Xiaowei Zhao

Deception attacks in switched systems can manipulate both the switching signal and system state, inducing severe asynchronous switching. While existing research predominantly employs passive mitigation strategies, this paper proposes a proactive secure control framework integrating prediction into attack detection. A model predictive control-based attack detection mechanism, augmented by a mode-state predictor, detects attacks by comparing predicted and received system modes and states. A detection-aware event-triggered mechanism and a mode-based try-once-discard protocol are implemented to reduce asynchrony between the subsystem and the controller. Additionally, an optimal subsystem switching rule, derived from the optimal states, ensures stability and security during switching. Asymptotic stability of the closed-loop system is analytically verified, and its feasibility is validated through an unmanned surface vehicle case study.

交换系统中的欺骗攻击可以同时操纵交换信号和系统状态，引起严重的异步交换。现有研究主要采用被动缓解策略，本文提出了一种将预测与攻击检测相结合的主动安全控制框架。基于模型预测控制的攻击检测机制，由模式状态预测器增强，通过比较预测和接收的系统模式和状态来检测攻击。实现了检测感知事件触发机制和基于模式的try-once-discard协议，以减少子系统与控制器之间的异步性。此外，根据系统的最优状态推导出最优子系统切换规则，保证了系统切换过程的稳定性和安全性。分析验证了闭环系统的渐近稳定性，并通过无人水面车辆实例验证了其可行性。

引用次数: 0

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