Pub Date : 2025-02-01DOI: 10.1016/j.jfranklin.2025.107553
Mawardi Bahri, Nur Ismi Tahir, Nasrullah Bachtiar, Muhammad Zakir
In this present work, we first establish some basic properties of the offset quaternion linear canonical transform such as shifting and modulation, which are missed in the existing literature. We then present the relation of the quaternion Fourier transform to the quaternion linear canonical transform and the offset quaternion linear canonical transform. We also make a direct connection between the quaternion linear canonical transform and the offset quaternion linear canonical transform. By means of the properties and relations, we derive an analogue of sharp Hausdorff–Young inequality, Matolcsi-Szücs uncertainty principle, logarithmic Sobolev-type uncertainty inequality and Benedicks–Amrein–Berthier uncertainty inequality in the framework of the offset quaternion linear canonical transform. Additionally, we implement the quaternionic Gabor filter to verify sharp Hausdorff–Young inequality concerning the considered transformation. Finally, the utility of the proposed offset quaternion linear canonical transform in the quaternion linear frequency modulated (QLFM) signal is studied.
{"title":"Offset quaternion linear canonical transform: Properties, uncertainty inequalities and application","authors":"Mawardi Bahri, Nur Ismi Tahir, Nasrullah Bachtiar, Muhammad Zakir","doi":"10.1016/j.jfranklin.2025.107553","DOIUrl":"10.1016/j.jfranklin.2025.107553","url":null,"abstract":"<div><div>In this present work, we first establish some basic properties of the offset quaternion linear canonical transform such as shifting and modulation, which are missed in the existing literature. We then present the relation of the quaternion Fourier transform to the quaternion linear canonical transform and the offset quaternion linear canonical transform. We also make a direct connection between the quaternion linear canonical transform and the offset quaternion linear canonical transform. By means of the properties and relations, we derive an analogue of sharp Hausdorff–Young inequality, Matolcsi-Szücs uncertainty principle, logarithmic Sobolev-type uncertainty inequality and Benedicks–Amrein–Berthier uncertainty inequality in the framework of the offset quaternion linear canonical transform. Additionally, we implement the quaternionic Gabor filter to verify sharp Hausdorff–Young inequality concerning the considered transformation. Finally, the utility of the proposed offset quaternion linear canonical transform in the quaternion linear frequency modulated (QLFM) signal is studied.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107553"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143145434","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}
The exponential stability of time-varying delayed linear systems under uncertainty is the subject of this paper. A low-conservative approach for stabilizing an electric vehicle (EV) aggregator is described with the use of a novel Lyapunov–Krasovskii Functional (LKF) with an exponential term. The present paper considers the state space model of the system as a polytopic model, and integrates this approach with free-weighting auxiliary matrices to yield an exact allowable delay upper bound (ADUB). The Lyapunov theory is used to prove system stability without any limitation on the maximum upper bound of delay derivative in the presence of a time-varying delay and uncertain participation factors. A load frequency control (LFC) system with EV aggregators is introduced to illustrate the performance of the proposed method. Various scenarios are conducted to illustrate the superiority of the proposed approach over previous methods. The results indicate that the proposed approach calculates a larger ADUB than the state-of-the-art techniques for both the nominal and uncertain power systems cases.
{"title":"Robust stabilization of time-delayed electric vehicle aggregator via exponential Lyapunov Krasovskii functional","authors":"Khashayar Torabi-Farsani , Maryam Dehghani , Roozbeh Abolpour","doi":"10.1016/j.jfranklin.2024.107476","DOIUrl":"10.1016/j.jfranklin.2024.107476","url":null,"abstract":"<div><div>The exponential stability of time-varying delayed linear systems under uncertainty is the subject of this paper. A low-conservative approach for stabilizing an electric vehicle (EV) aggregator is described with the use of a novel Lyapunov–Krasovskii Functional (LKF) with an exponential term. The present paper considers the state space model of the system as a polytopic model, and integrates this approach with free-weighting auxiliary matrices to yield an exact allowable delay upper bound (ADUB). The Lyapunov theory is used to prove system stability without any limitation on the maximum upper bound of delay derivative in the presence of a time-varying delay and uncertain participation factors. A load frequency control (LFC) system with EV aggregators is introduced to illustrate the performance of the proposed method. Various scenarios are conducted to illustrate the superiority of the proposed approach over previous methods. The results indicate that the proposed approach calculates a larger ADUB than the state-of-the-art techniques for both the nominal and uncertain power systems cases.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107476"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143136970","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 : 2025-02-01DOI: 10.1016/j.jfranklin.2025.107512
Jian Li , Yuqi Liang , Zhaojing Wu , Yungang Liu
This paper is concerned on the event-triggered practical tracking control for a class of uncertain high-order nonlinear systems with output-constraint. Remarkably, the system under investigation not only considers output constraint, but also involves more serious uncertainties which are reflected from unknown control directions and input powers. Such two distinguished features make the traditional method technically more difficult to apply, and consequently a novel switching event-triggered control scheme is proposed in this paper. Specifically, a switching time-triggered controller is first designed based on certain critical event, in which an event-triggered mechanism is chosen to tune the controller parameters via switching in two families of predefined sequences, and in turn to compensate the serious uncertainties. Combining the event that used for switching mentioned above with another new one that is carefully chosen by incorporating the compensation of unknown input power into the sampling error of control input, an event-triggered mechanism is designed and then brings a switching event-triggered controller. Finally, it is shown that the designed controller guarantees that, along with the stopping of the switching of controller parameters, all the signals of the resulting closed-loop system are bounded while system output practically tracks the reference signal without any violation of the output constraint, and moreover, Zeno phenomenon is excluded by showing all the sampling intervals are lower bounded by certain positive constant. Two simulation examples are provided to validate the effectiveness of the proposed theoretical results.
{"title":"A switching method for the event-triggered practical tracking control of a class of uncertain output-constrained high-order nonlinear systems","authors":"Jian Li , Yuqi Liang , Zhaojing Wu , Yungang Liu","doi":"10.1016/j.jfranklin.2025.107512","DOIUrl":"10.1016/j.jfranklin.2025.107512","url":null,"abstract":"<div><div>This paper is concerned on the event-triggered practical tracking control for a class of uncertain high-order nonlinear systems with output-constraint. Remarkably, the system under investigation not only considers output constraint, but also involves more serious uncertainties which are reflected from unknown control directions and input powers. Such two distinguished features make the traditional method technically more difficult to apply, and consequently a novel switching event-triggered control scheme is proposed in this paper. Specifically, a switching time-triggered controller is first designed based on certain critical event, in which an event-triggered mechanism is chosen to tune the controller parameters via switching in two families of predefined sequences, and in turn to compensate the serious uncertainties. Combining the event that used for switching mentioned above with another new one that is carefully chosen by incorporating the compensation of unknown input power into the sampling error of control input, an event-triggered mechanism is designed and then brings a switching event-triggered controller. Finally, it is shown that the designed controller guarantees that, along with the stopping of the switching of controller parameters, all the signals of the resulting closed-loop system are bounded while system output practically tracks the reference signal without any violation of the output constraint, and moreover, Zeno phenomenon is excluded by showing all the sampling intervals are lower bounded by certain positive constant. Two simulation examples are provided to validate the effectiveness of the proposed theoretical results.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107512"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143137137","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 : 2025-02-01DOI: 10.1016/j.jfranklin.2025.107515
Fangzheng Li , Zhen Liu , Xingqiang Zhao , Quanmin Zhu
In this article, a prescribed-time observer-based sliding mode tracking control strategy is put forward for a quadrotor unmanned aerial vehicle (QUAV) carrying a cable-suspended payload, which also ensures that the payload is driven to desired trajectories under asymmetric partial time-interval output constraints (APTIOCs). Firstly, to deal with the influence of unknown perturbations rapidly, a prescribed-time disturbance observer is designed. Also, the reachability of the constructed novel nonsingular sliding surface is actualized in an assigned time by employing a prescribed-time sliding mode controller synthesis, from which tracking errors can converge to zero in a predefined time then. It is noteworthy that the proposed APTIOCs are more general than conventional continuous output constraints, which are discontinuous and have limited duration, meaning that they occur only in a specific time period. The salient advantage of APTIOCs lies in its applicability to both continuous constrained case and constraint-free one, without revising the control structure. At last, the effectiveness of the raised control algorithm is demonstrated through simulation experiment.
{"title":"Prescribed-time tracking control for a QUAV with a cable-suspended payload and asymmetric partial time-interval output constraints","authors":"Fangzheng Li , Zhen Liu , Xingqiang Zhao , Quanmin Zhu","doi":"10.1016/j.jfranklin.2025.107515","DOIUrl":"10.1016/j.jfranklin.2025.107515","url":null,"abstract":"<div><div>In this article, a prescribed-time observer-based sliding mode tracking control strategy is put forward for a quadrotor unmanned aerial vehicle (QUAV) carrying a cable-suspended payload, which also ensures that the payload is driven to desired trajectories under asymmetric partial time-interval output constraints (APTIOCs). Firstly, to deal with the influence of unknown perturbations rapidly, a prescribed-time disturbance observer is designed. Also, the reachability of the constructed novel nonsingular sliding surface is actualized in an assigned time by employing a prescribed-time sliding mode controller synthesis, from which tracking errors can converge to zero in a predefined time then. It is noteworthy that the proposed APTIOCs are more general than conventional continuous output constraints, which are discontinuous and have limited duration, meaning that they occur only in a specific time period. The salient advantage of APTIOCs lies in its applicability to both continuous constrained case and constraint-free one, without revising the control structure. At last, the effectiveness of the raised control algorithm is demonstrated through simulation experiment.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107515"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143137138","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 : 2025-02-01DOI: 10.1016/j.jfranklin.2024.107498
Hesham Abdelfattah , Sameh A. Eisa , Peter Stechlinski
Optimal control theory extending from the calculus of variations has not been used to study the wind turbine power system (WTPS) control problem, which aims at achieving two targets: (i) maximizing power generation in lower wind speed conditions; and (ii) maintaining the output power at the rated level in high wind speed conditions. A lack of an optimal control framework for the WTPS (i.e., no access to actual optimal control trajectories) reduces optimal control design potential and prevents competing control methods of WTPSs to have a reference control solution for comparison. In fact, the WTPS control literature often relies on reduced and linearized models of WTPSs, and avoids the nonsmoothness present in the system during transitions between different conditions of operation. In this paper, we introduce a novel optimal control framework for the WTPS control problem. We use in our formulation a recent accurate, nonlinear differential–algebraic equation (DAE) model of WTPSs, which we then generalize over all wind speed ranges using nonsmooth functions. We also use developments in nonsmooth optimal control theory to take into account nonsmoothness present in the system. We implement this new WTPS optimal control approach to solve the problem numerically, including (i) different wind speed profiles for testing the system response; (ii) real-world wind data; and (iii) a comparison with smoothing and naive approaches. Results show the effectiveness of the proposed approach.
{"title":"A new nonsmooth optimal control framework for wind turbine power systems","authors":"Hesham Abdelfattah , Sameh A. Eisa , Peter Stechlinski","doi":"10.1016/j.jfranklin.2024.107498","DOIUrl":"10.1016/j.jfranklin.2024.107498","url":null,"abstract":"<div><div>Optimal control theory extending from the calculus of variations has not been used to study the wind turbine power system (WTPS) control problem, which aims at achieving two targets: (i) maximizing power generation in lower wind speed conditions; and (ii) maintaining the output power at the rated level in high wind speed conditions. A lack of an <em>optimal control</em> framework for the WTPS (i.e., no access to actual optimal control trajectories) reduces optimal control design potential and prevents competing control methods of WTPSs to have a reference control solution for comparison. In fact, the WTPS control literature often relies on reduced and linearized models of WTPSs, and avoids the nonsmoothness present in the system during transitions between different conditions of operation. In this paper, we introduce a novel optimal control framework for the WTPS control problem. We use in our formulation a recent accurate, nonlinear differential–algebraic equation (DAE) model of WTPSs, which we then generalize over all wind speed ranges using nonsmooth functions. We also use developments in nonsmooth optimal control theory to take into account nonsmoothness present in the system. We implement this new WTPS optimal control approach to solve the problem numerically, including (i) different wind speed profiles for testing the system response; (ii) real-world wind data; and (iii) a comparison with smoothing and naive approaches. Results show the effectiveness of the proposed approach.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107498"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143137142","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 : 2025-02-01DOI: 10.1016/j.jfranklin.2025.107534
Kewei Zhang, Erchao Li, Yanrong Lu
This paper addresses the formation control problem of heterogeneous multi-agent systems (MASs) comprising first-order and second-order agents, where the desired formation can be time-varying. Different from previous works, this paper comprehensively takes into account the impact of measurement noise and random network, enhancing the overall applicability of control protocols. Firstly, the time-varying formation control problem of heterogeneous MASs is transformed into the stability problem of nonautonomous stochastic systems. Then by employing the stochastic Lyapunov function and martingale convergence theorem for stability analysis, the formation conditions in mean square and almost sure for control gains are derived for scenarios with additive and multiplicative noise, respectively. Moreover, the paper provides an explicit expression for the mathematical expectation of the formation center function. This expression effectively characterizes the macroscopic trajectory of the entire time-varying formation, considering the impact of both random network and measurement noise. Finally, numerical simulations show the effectiveness of our theoretical results.
{"title":"Time-varying formation control for heterogeneous multi-agent systems with random network and measurement noise","authors":"Kewei Zhang, Erchao Li, Yanrong Lu","doi":"10.1016/j.jfranklin.2025.107534","DOIUrl":"10.1016/j.jfranklin.2025.107534","url":null,"abstract":"<div><div>This paper addresses the formation control problem of heterogeneous multi-agent systems (MASs) comprising first-order and second-order agents, where the desired formation can be time-varying. Different from previous works, this paper comprehensively takes into account the impact of measurement noise and random network, enhancing the overall applicability of control protocols. Firstly, the time-varying formation control problem of heterogeneous MASs is transformed into the stability problem of nonautonomous stochastic systems. Then by employing the stochastic Lyapunov function and martingale convergence theorem for stability analysis, the formation conditions in mean square and almost sure for control gains are derived for scenarios with additive and multiplicative noise, respectively. Moreover, the paper provides an explicit expression for the mathematical expectation of the formation center function. This expression effectively characterizes the macroscopic trajectory of the entire time-varying formation, considering the impact of both random network and measurement noise. Finally, numerical simulations show the effectiveness of our theoretical results.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107534"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143348262","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 : 2025-02-01DOI: 10.1016/j.jfranklin.2025.107549
Long-wen Liu , Jin-yang Huang , Awais Khan
This paper is the first to investigate the design problem of Luenberger-like dynamic interval observers (LD-IOs) for a class of uncertain vector second-order (VS) systems. First, a coordinate transformation-based classical LD-IO structure is re-built within the original physical framework of VS systems, and an improved generalized proportional–differential LD-IO structure with more design degrees of freedom is further developed through introducing the differential elements and re-representing its uncertainty boundaries and outputs. Meanwhile, the existence conditions of such two LD-IOs are formulated as a class of constrained VS matrix equations on the original physical coefficients of VS systems, which better retains certain advantages on computational amount and physical background than the order-reduction ones. We prove the solvability of the existence conditions under the common observable condition, and the parametric expressions of two LD-IOs are obtained by solving the constrained VS matrix equations, more clearly showing the available design parameters and thus providing greater operability and less conservatism than the LMIs-based one. Besides, the above results are discussed and extended in different coupling modes for the special decentralized outputs. Finally, a non-linear robotic manipulator system and a spacecraft relative motion system are separately simulated to verify the superiority and correctness of the proposed methods.
{"title":"Luenberger-like interval observer design in the physical framework of uncertain vector second-order dynamic systems","authors":"Long-wen Liu , Jin-yang Huang , Awais Khan","doi":"10.1016/j.jfranklin.2025.107549","DOIUrl":"10.1016/j.jfranklin.2025.107549","url":null,"abstract":"<div><div>This paper is the first to investigate the design problem of Luenberger-like dynamic interval observers (LD-IOs) for a class of uncertain vector second-order (VS) systems. First, a coordinate transformation-based classical LD-IO structure is re-built within the original physical framework of VS systems, and an improved generalized proportional–differential LD-IO structure with more design degrees of freedom is further developed through introducing the differential elements and re-representing its uncertainty boundaries and outputs. Meanwhile, the existence conditions of such two LD-IOs are formulated as a class of constrained VS matrix equations on the original physical coefficients of VS systems, which better retains certain advantages on computational amount and physical background than the order-reduction ones. We prove the solvability of the existence conditions under the common observable condition, and the parametric expressions of two LD-IOs are obtained by solving the constrained VS matrix equations, more clearly showing the available design parameters and thus providing greater operability and less conservatism than the LMIs-based one. Besides, the above results are discussed and extended in different coupling modes for the special decentralized outputs. Finally, a non-linear robotic manipulator system and a spacecraft relative motion system are separately simulated to verify the superiority and correctness of the proposed methods.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107549"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143342733","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 : 2025-02-01DOI: 10.1016/j.jfranklin.2025.107545
Shangzuo Xie, Yuhao Huang, Gangrong Qu, Youran Ge
Video Compressed Sensing (VCS) aims to reconstruct multiple frames from a single captured measurement, enabling high-speed scene recording with a low-frame-rate sensor. Despite recent advancements in VCS, state-of-the-art (SOTA) methods significantly increase model complexity and suffer from poor generality and robustness, as they require retraining to accommodate new system configurations. These limitations hinder real-time imaging and practical deployment. To address these issues, we propose a Sampling-Priors-Augmented Deep Unfolding Network (SPA-DUN) for efficient and robust VCS reconstruction. Leveraging a deep unfolding framework inspired by optimization, we introduce a lightweight and efficient U-net to reduce model size while enhancing performance. Additionally, we incorporate prior knowledge from the sampling model to dynamically modulate network features, allowing SPA-DUN to handle arbitrary sampling settings with a single model. This approach improves interpretability and generality. Extensive experiments on both simulation and real datasets demonstrate that SPA-DUN achieves SOTA performance with remarkable efficiency, offering a highly adaptable solution for VCS. Code is available at: https://github.com/yuhaoo00/SPA-DUN.
{"title":"Sampling-priors-augmented deep unfolding network for robust video compressive sensing","authors":"Shangzuo Xie, Yuhao Huang, Gangrong Qu, Youran Ge","doi":"10.1016/j.jfranklin.2025.107545","DOIUrl":"10.1016/j.jfranklin.2025.107545","url":null,"abstract":"<div><div>Video Compressed Sensing (VCS) aims to reconstruct multiple frames from a single captured measurement, enabling high-speed scene recording with a low-frame-rate sensor. Despite recent advancements in VCS, state-of-the-art (SOTA) methods significantly increase model complexity and suffer from poor generality and robustness, as they require retraining to accommodate new system configurations. These limitations hinder real-time imaging and practical deployment. To address these issues, we propose a Sampling-Priors-Augmented Deep Unfolding Network (SPA-DUN) for efficient and robust VCS reconstruction. Leveraging a deep unfolding framework inspired by optimization, we introduce a lightweight and efficient U-net to reduce model size while enhancing performance. Additionally, we incorporate prior knowledge from the sampling model to dynamically modulate network features, allowing SPA-DUN to handle arbitrary sampling settings with a single model. This approach improves interpretability and generality. Extensive experiments on both simulation and real datasets demonstrate that SPA-DUN achieves SOTA performance with remarkable efficiency, offering a highly adaptable solution for VCS. Code is available at: <span><span>https://github.com/yuhaoo00/SPA-DUN</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 3","pages":"Article 107545"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143137198","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 : 2025-02-01DOI: 10.1016/j.jfranklin.2025.107557
Heng Yang , Liang Yang , Yong Chen
In this paper, an adaptive actuator failure compensation control scheme is proposed for visual servoing of an eye-to-hand robotic manipulator with redundant actuators at joints, for which a precise calibration of camera is not required. And the stuck-type as well as time-varying actuator failures are considered in control design. Furthermore, a proportional-actuation strategy to accommodate different output capacities of the redundant actuators is newly developed. And a decoupling method is proposed, based on which the unknown actuator failure parameters and camera parameters can be estimated independently. Moreover, a novel framework for stability analysis is given, which enables us to prove the convergence of image errors and the boundedness of all closed-loop signals. Finally, the effectiveness of our scheme is validated by simulation results.
{"title":"Adaptive fault-tolerant visual control of uncalibrated eye-to-hand manipulator based on proportional-actuation strategy","authors":"Heng Yang , Liang Yang , Yong Chen","doi":"10.1016/j.jfranklin.2025.107557","DOIUrl":"10.1016/j.jfranklin.2025.107557","url":null,"abstract":"<div><div>In this paper, an adaptive actuator failure compensation control scheme is proposed for visual servoing of an eye-to-hand robotic manipulator with redundant actuators at joints, for which a precise calibration of camera is not required. And the stuck-type as well as time-varying actuator failures are considered in control design. Furthermore, a proportional-actuation strategy to accommodate different output capacities of the redundant actuators is newly developed. And a decoupling method is proposed, based on which the unknown actuator failure parameters and camera parameters can be estimated independently. Moreover, a novel framework for stability analysis is given, which enables us to prove the convergence of image errors and the boundedness of all closed-loop signals. Finally, the effectiveness of our scheme is validated by simulation results.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107557"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143145040","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 : 2025-02-01DOI: 10.1016/j.jfranklin.2025.107521
Mengmeng Zhang, Quanxin Zhu
In this paper, the stability of stochastic discrete-time singular systems with semi-Markovian switching (SMS) is taken into consideration. Based on inherent mode-dependent state jump behaviors, a time-dependent coordinate transformation is established, which is of great importance in discussion. Stochastic disturbances are also considered. Constructing Lyapunov function and applying stochastic analysis techniques, sufficient conditions for exponential stability in mean square and almost surely exponential stability are obtained by considering the probability density function of sojourn-time. Besides, we provide corresponding linear matrix inequalities (LMIs) of the provided sufficient conditions. Finally, the correctness of the results is demonstrated with an example.
{"title":"Exponential stability for discrete-time singular stochastic systems with semi-Markovian switching","authors":"Mengmeng Zhang, Quanxin Zhu","doi":"10.1016/j.jfranklin.2025.107521","DOIUrl":"10.1016/j.jfranklin.2025.107521","url":null,"abstract":"<div><div>In this paper, the stability of stochastic discrete-time singular systems with semi-Markovian switching (SMS) is taken into consideration. Based on inherent mode-dependent state jump behaviors, a time-dependent coordinate transformation is established, which is of great importance in discussion. Stochastic disturbances are also considered. Constructing Lyapunov function and applying stochastic analysis techniques, sufficient conditions for exponential stability in mean square and almost surely exponential stability are obtained by considering the probability density function of sojourn-time. Besides, we provide corresponding linear matrix inequalities (LMIs) of the provided sufficient conditions. Finally, the correctness of the results is demonstrated with an example.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 4","pages":"Article 107521"},"PeriodicalIF":3.7,"publicationDate":"2025-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143145983","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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