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An efficient high-order iterative method to solve systems of nonlinear equations with applications to differential equations and image processing 求解非线性方程组的一种有效的高阶迭代方法,并在微分方程和图像处理中有应用
IF 4.2 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-12-17 DOI: 10.1016/j.jfranklin.2025.108332
Raziyeh Erfanifar, Masoud Hajarian
Many scientific disciplines, from basic sciences to engineering, frequently encounter the challenge of solving systems of nonlinear problems. Addressing this challenge demands the development of accurate and efficient computational methods. In this work, we propose a novel multi-step iterative method that achieves an exceptional convergence order of 3m+2, where m ≥ 3 denotes the number of iterative steps. This method significantly enhances computational efficiency without compromising accuracy, as it requires only a single evaluation and inversion of the Jacobian matrix per iteration cycle. To further optimize performance, the linear systems arising at every step are solved via LU decomposition, bypassing the computational burden of direct matrix inversion. As a result, the proposed method attains a higher convergence order than existing multi-step methods while maintaining comparable computational costs. Its efficiency makes it particularly well-suited for large-scale problems, where computational overhead is a critical concern. To validate the method’s effectiveness, we conducted comprehensive numerical experiments, assessing its efficiency, accuracy, and the geometry of its basins of attraction. The results consistently aligned with theoretical predictions, demonstrating the method’s superior performance over conventional approaches. Additionally, the method to solve standard nonlinear systems commonly arising in science and engineering is applied. Finally, we extended its application to image processing tasks, where it effectively addressed systems of nonlinear problem. The numerical outcomes underscored the method’s robustness, stability, and potential to outperform traditional iterative methods.
许多科学学科,从基础科学到工程,经常遇到解决非线性问题系统的挑战。解决这一挑战需要开发准确高效的计算方法。本文提出了一种新颖的多步迭代方法,其收敛阶为3m+2,其中m ≥ 3表示迭代步数。该方法在不影响精度的情况下显著提高了计算效率,因为它只需要在每个迭代周期内对雅可比矩阵进行一次求值和反演。为了进一步优化性能,每一步产生的线性系统都通过LU分解来求解,绕过了直接矩阵反演的计算负担。结果表明,与现有的多步方法相比,该方法具有更高的收敛阶,同时保持了相当的计算成本。它的效率使其特别适合于大规模问题,其中计算开销是一个关键问题。为了验证该方法的有效性,我们进行了全面的数值实验,评估了其效率、精度和吸引力盆地的几何形状。结果与理论预测一致,证明了该方法优于传统方法的性能。此外,还应用了科学和工程中常见的标准非线性系统的求解方法。最后,我们将其应用扩展到图像处理任务,其中它有效地解决了非线性系统问题。数值结果强调了该方法的鲁棒性、稳定性和优于传统迭代方法的潜力。
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引用次数: 0
Strategic sensors selection for the quasi online heat source trajectory control in 2D mobile disturbance rejection 二维移动扰动抑制中准在线热源轨迹控制的传感器选择
IF 4.2 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-12-17 DOI: 10.1016/j.jfranklin.2025.108365
Sara Fakih, Laetitia Perez, Laurent Autrique
This study aims to maintain a thermal system, whose evolution is modeled by a parabolic partial differential equation, close to a target state while mitigating disturbances caused by a moving fan. To do this, an additional actuator (a constant-flow heat source) is added and a quasi-online conjugate gradient method (CGM) is developed to determine its trajectory in order to track and reject fan disturbances. The method extends the classical offline CGM to a sliding interval formulation that allows real-time identification of the actuator’s trajectory in order to best reject the disturbance. In addition, the proposed approach provides a strategy for selecting the most sensitive sensors over time in order to determine the control law under the best conditions.
本研究旨在维持一个热系统,其演化由抛物线偏微分方程建模,接近目标状态,同时减轻由移动风扇引起的干扰。为此,增加了一个额外的执行器(恒流热源),并开发了一种准在线共轭梯度法(CGM)来确定其轨迹,以跟踪和抑制风扇干扰。该方法将经典的离线CGM扩展为滑动区间公式,允许实时识别执行器的轨迹,以便最好地抑制干扰。此外,该方法还提供了一种随时间选择最敏感传感器的策略,以确定最佳条件下的控制律。
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引用次数: 0
A generalized super-twisting algorithm: Parameter tuning and adaptive strategy development for integral gain 一种广义超扭转算法:积分增益的参数整定与自适应策略开发
IF 4.2 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-12-17 DOI: 10.1016/j.jfranklin.2025.108367
Jianheng Mao, Zhaobao Yu, Dingfeng Gao, Liaoxue Liu, Yu Guo
This article proposes a generalized super-twisting algorithm (GSTA) for a class of perturbed sliding mode dynamic systems and further develops an adaptive integral gain strategy for the GSTA. First, a novel GSTA ensuring fixed-time stability of the system is proposed, whose parameter tuning and stability proof are addressed by means of geometrical analysis. Then, in the absence of the knowledge regarding the exact bound of the disturbance gradient, the GSTA is improved in a fixed-time adaptive scheme based on equivalent control value where the integral gain can maintain at a magnitude only marginally larger than the absolute value of the disturbance gradient during the sliding motion without yielding an origin neighborhood for decreasing the gain. Moreover, compared with adaptive strategies in the existing literature relying on equivalent control value, it achieves fixed-time adaption by employing a fixed-time filter. The effectiveness of the proposed method is evaluated through simulation analysis and comparisons.
针对一类摄动滑模动态系统,提出了一种广义超扭转算法(GSTA),并进一步发展了该算法的自适应积分增益策略。首先,提出了一种保证系统定时稳定性的新型GSTA,并通过几何分析解决了其参数整定和稳定性证明问题。然后,在不知道干扰梯度的确切边界的情况下,采用基于等效控制值的定时自适应方案对GSTA进行改进,使积分增益在滑动运动期间仅能保持在略大于干扰梯度绝对值的幅度,而不会产生降低增益的原点邻域。并且,与现有文献中依赖等效控制值的自适应策略相比,该方法通过采用定时滤波器实现了定时自适应。通过仿真分析和比较,对该方法的有效性进行了评价。
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引用次数: 0
Input-output data-driven consensus control of multiagent systems under switching communication network topologies 交换通信网络拓扑下多智能体系统的输入输出数据驱动一致性控制
IF 4.2 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-12-17 DOI: 10.1016/j.jfranklin.2025.108344
Yucheng Li , Zhongxin Liu , Malika Sader
In this article, the input-output data-driven consensus problem is investigated for linear discrete-time multiagent systems (MASs) under switching communication network topologies, where the system dynamics of each agent is assumed to be completely unknown and only the input-output data of each agent are available. The distributed dynamic output feedback protocol is adopted without state data. The equivalence between the protocol and a specific static state feedback controller is established, enabling the transformation of the protocol into a feedback controller compatible with data-driven techniques. By leveraging input-output data structured as Hankel matrices, data-driven linear matrix inequalities (LMIs) are formulated to find the optimal feedback gain and the control input of each agent is calculated with the feedback gain, replicating the role of dynamic output feedback protocol. For the scenario involving noise, a regularized optimization is employed to enhance robustness. It has been demonstrated that the consensus of MASs under switching communication network topologies is guaranteed during the process of synthesizing control inputs under both noise-free and noise-corrupted conditions. Compared to the existing data-driven methods for MASs with input-state data, the application scenarios are broader with our algorithm. Finally, the efficiency of the algorithm is proven by a numerical example.
本文研究了交换通信网络拓扑下线性离散时间多智能体系统(MASs)的输入-输出数据驱动的一致性问题,其中假设每个智能体的系统动态完全未知,并且每个智能体的输入-输出数据是可用的。采用无状态数据的分布式动态输出反馈协议。建立了协议与特定静态反馈控制器之间的等价关系,使协议能够转换为与数据驱动技术兼容的反馈控制器。利用Hankel矩阵结构的输入-输出数据,建立数据驱动线性矩阵不等式(lmi),求出最优反馈增益,并利用反馈增益计算各agent的控制输入,复制动态输出反馈协议的作用。对于有噪声的场景,采用正则化优化来增强鲁棒性。研究结果表明,在无噪声和有噪声的情况下,在交换通信网络拓扑下的控制输入合成过程中,质量的一致性得到了保证。与现有的具有输入状态数据的质量数据驱动方法相比,该算法的应用场景更加广泛。最后,通过一个算例验证了该算法的有效性。
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引用次数: 0
Optimizing algaculture in open-channel raceway ponds for the production of bioenergy 优化明渠沟道池塘的藻类养殖以生产生物能源
IF 4.2 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-12-17 DOI: 10.1016/j.jfranklin.2025.108369
L.J. Alvarez-Vázquez , A. Martínez , M.E. Vázquez-Méndez
We present here a novel mathematical approach to deal with the optimal performance of a raceway pond (an open-channel pond where the circulating wastewater, during its purification process, is used to grow algae that will be used as a source for the production of bioenergy). The maximization of algal productivity is addressed here within an optimal control framework for partial differential equations. Thus, after formulating the real-world control problem in a rigorously mathematical way, we prove the existence of optimal solutions, we propose a full computational algorithm for its numerical solution and, finally, we present several results for the numerical optimization of a realistic case.
我们在这里提出了一种新的数学方法来处理沟道池(一种开放式池塘,循环废水在净化过程中用于生长藻类,这些藻类将被用作生产生物能源的来源)的最佳性能。在偏微分方程的最优控制框架内解决了藻类生产力的最大化问题。因此,在以严格的数学方式表述现实世界的控制问题之后,我们证明了最优解的存在性,我们提出了其数值解的完整计算算法,最后,我们给出了一个实际情况的数值优化的几个结果。
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引用次数: 0
Safety guarantee via periodic discrete-time high-order control barrier function: Application to bipedal robots 基于周期离散高阶控制屏障函数的安全保证:在双足机器人中的应用
IF 4.2 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-12-17 DOI: 10.1016/j.jfranklin.2025.108358
Kai Zong , Xiaochen Xie , Zhaoji Ling , Jing Dai , Ka-Wai Kwok
In this paper, the concept of periodic discrete-time high-order control barrier function (P-DHOCBF) is developed. The proposed P-DHOCBF is utilized to ensure the forward invariance of the safety set for discrete-time systems with periodic characteristics in system states of any relative degree. Focusing on the periodic forward walking problem of bipedal robots based on the variable-height inverted pendulum model, a periodic model predictive control optimization problem incorporating P-DHOCBF is formulated, and periodicity-related constraints are established. Compared to the existing discrete-time control barrier function, the proposed P-DHOCBF significantly reduces the conservatism of safety, thereby enhancing the system safety by promptly preventing unsafe occurrences. An illustrative example and simulation results based on a 12-degree-of-freedom (DOF) bipedal robot verify the effectiveness of the proposed approach.
提出了周期离散高阶控制势垒函数(P-DHOCBF)的概念。利用所提出的P-DHOCBF保证具有周期特征的离散时间系统在任何相对程度的系统状态下安全集的前向不变性。针对基于变高度倒立摆模型的两足机器人周期正向行走问题,建立了包含P-DHOCBF的周期模型预测控制优化问题,并建立了周期约束。与现有的离散时间控制屏障函数相比,所提出的P-DHOCBF显著降低了安全的保守性,从而通过及时预防不安全事件的发生来提高系统的安全性。基于一个12自由度双足机器人的实例和仿真结果验证了所提方法的有效性。
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引用次数: 0
Resilient bipartite consensus for delayed multi-agent systems with privacy requirements 具有隐私要求的延迟多智能体系统的弹性二部共识
IF 4.2 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-12-17 DOI: 10.1016/j.jfranklin.2025.108318
Ran Tian, Jie Mei, Guangfu Ma
This paper investigates multi-agent systems (MASs) affected by faulty agents attempting to disrupt the consensus process. The focus is on enabling normal agents to achieve resilient bipartite consensus while ensuring the privacy protection of their initial states. Moreover, the antagonistic interactions and time-varying communication delays in the network complicate the theoretical analysis. To this end, we present an advanced algorithm called state decomposition absolute W-MSR (SD-AW-MSR), where each normal agent ignores the extreme values from neighbors, and prevents the propagation of the actual state. A rigorous analysis of resilient bipartite consensus and privacy protection of the proposed algorithm is provided subsequently. Finally, numerical simulations and the practical application to social networks are proposed to illustrate the effectiveness of the theoretical results.
本文研究了试图破坏共识过程的错误智能体所影响的多智能体系统(MASs)。重点是使正常代理能够在确保其初始状态的隐私保护的同时实现有弹性的两方共识。此外,网络中的对抗相互作用和时变通信延迟使理论分析复杂化。为此,我们提出了一种称为状态分解绝对W-MSR (SD-AW-MSR)的高级算法,其中每个正常代理忽略来自邻居的极值,并阻止实际状态的传播。随后,对该算法的弹性二部共识和隐私保护进行了严格的分析。最后,通过数值模拟和在社交网络中的实际应用来验证理论结果的有效性。
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引用次数: 0
Adaptive fault-tolerant practical prescribed-time bipartite synchronization for nonlinear multi-agent systems 非线性多智能体系统的自适应容错实用规定时间二部同步
IF 4.2 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-12-17 DOI: 10.1016/j.jfranklin.2025.108329
Yu Zhang , Shuping Ma , Yongbao Wu
This paper focuses on the problem of neural adaptive practical prescribed-time (PPT) bipartite synchronization for nonlinear multi-agent systems (NMASs) subject to actuator faults (AFs), operating over directed graphs characterized by cooperative-antagonistic interactions. In contrast to approaches that ensure finite-time (FiT) or fixed-time (FxT) bipartite synchronization, this study presents an explicit time-varying distributed feedback control method aimed at guaranteeing consensus regulation within a user-defined finite time, despite uncertain nonlinearities and actuator failures. First, an improved practical prescribed-time stability lemma is presented for the first time. Building on this lemma, we construct a novel neural adaptive prescribed-time distributed control strategy that leverages the properties of radial basis function (RBF) vectors to derive an upper bound for terms involving RBF neural network, and formulates an adaptive law to determine this derived upper bound. Then, in the process of backstepping design, a practical first-order robust exact differentiator is incorporated to alleviate computational burdens associated with differentiating the prescribed-time virtual control signals. By employing the Lyapunov stability theorem, it is rigorously established that the proposed distributed controllers enable all agents to achieve bipartite synchronization within a predetermined timeframe. The primary control objective, ensuring bipartite synchronization performance within a prescribed time under actuator faults, is rigorously proven and successfully validated by simulation outcomes.
研究了具有执行器故障的非线性多智能体系统(NMASs)在具有合作-对抗相互作用的有向图上的神经自适应实际规定时间(PPT)二部同步问题。与保证有限时间(FiT)或固定时间(FxT)两部分同步的方法相反,本研究提出了一种显式时变分布式反馈控制方法,旨在保证在用户定义的有限时间内达成一致调节,尽管存在不确定的非线性和执行器故障。首先,提出了一个改进的实用定时稳定性引理。在此引理的基础上,我们构建了一种新的神经自适应规定时间分布控制策略,该策略利用径向基函数(RBF)向量的性质推导出涉及RBF神经网络的项的上界,并制定了一个自适应定律来确定该上界。然后,在反推设计过程中,引入了实用的一阶鲁棒精确微分器,以减轻对规定时间虚拟控制信号进行微分的计算负担。利用Lyapunov稳定性定理,严格地证明了所提出的分布式控制器能够使所有智能体在预定的时间范围内实现两部分同步。主要控制目标是在执行器故障的情况下保证在规定时间内的二部同步性能,通过仿真结果得到了严格的验证和成功的验证。
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引用次数: 0
High-speed and high-precision control for SMT process under dual-network structure 双网络结构下SMT工艺的高速高精度控制
IF 4.2 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-12-17 DOI: 10.1016/j.jfranklin.2025.108336
Jiansu Gong , Zhengkai Li , Liu Yang , Hao Sun , Xinghu Yu , Tong Wang
High-speed and high-precision motion control remains a major challenge in Surface-Mount Technology (SMT), as conventional methods often fail to balance overshoot and settling time under varying task requirements. To address this challenge, a motion control architecture driven by task-specific performance indicators is developed. The proposed framework integrates adaptive position, velocity, and current loop algorithms with a multi-parameter cooperative regulation model, in which control parameters are dynamically updated via a bidirectional radial basis function neural network (BRBFNN) based iterative correction mechanism. Unlike approaches that optimize a single performance metric, the proposed dual-layer architecture enables real-time coordination between precision and response speed, allowing the control system to adapt to the heterogeneous demands of different components. Experimental validation was conducted on the Z-axis, recognized as the most demanding in terms of speed and precision. The results demonstrate that the method can effectively adjust control performance according to varying operational requirements. This study provides a feasible control solution for SMT equipment and offers a general framework for motion systems requiring simultaneous optimization of speed and precision.
高速、高精度的运动控制仍然是表面贴装技术(SMT)面临的主要挑战,因为传统的方法往往无法在不同的任务要求下平衡超调量和稳定时间。为了解决这一挑战,开发了一种由特定任务性能指标驱动的运动控制体系结构。该框架将自适应位置、速度和电流环算法与多参数协同调节模型相结合,通过基于双向径向基函数神经网络(BRBFNN)的迭代修正机制动态更新控制参数。与优化单一性能指标的方法不同,所提出的双层体系结构可以实现精度和响应速度之间的实时协调,使控制系统能够适应不同组件的异构需求。实验验证在z轴上进行,被认为是对速度和精度要求最高的。结果表明,该方法可以根据不同的操作要求有效地调整控制性能。该研究为SMT设备提供了一种可行的控制方案,并为需要同时优化速度和精度的运动系统提供了一个总体框架。
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引用次数: 0
Optimal distributed consensus control for heterogeneous battery energy storage systems of microgrids by a noise approach 基于噪声方法的微电网异构电池储能系统最优分布式共识控制
IF 4.2 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS Pub Date : 2025-12-17 DOI: 10.1016/j.jfranklin.2025.108338
Guoliang Wang , Yaqiang Lyu , Yande Zhang
This paper explores the optimal distributed consensus problem of heterogeneous battery energy storage systems (BESSs) in microgrids via a noise control method. It implements a distributed consensus controller in the form of stochastic noise among heterogeneous BESSs with droop characteristics to achieve the pth moment consensus, which is quite unlike the traditional methods. Based on this model, a multi-objective optimization problem (MOP) is proposed to minimize the energy cost while ensuring that moment p is as close to 1 as possible, which can result in better performance. In order to solve the above MOP, not only the locally Pareto optimal set is obtained by applying the non-dominated sorting whale optimization algorithm, but also a locally optimal solution is provided via using the deep deterministic policy gradient algorithm after transforming the MOP into a single-objective optimization problem (SOP) via a weighting method. Finally, a numerical example validates the effectiveness and superiority of achieving consensus among BESSs in a microgrid through the noise control.
本文通过噪声控制方法研究了微电网中异构电池储能系统(bess)的最优分布式一致性问题。与传统方法不同的是,该方法在具有下垂特征的异构bess之间以随机噪声的形式实现分布式共识控制器,以实现第p矩共识。在此模型的基础上,提出了一种多目标优化问题(MOP),在保证时刻p尽可能接近1的情况下,使能量消耗最小化,从而获得更好的性能。为了求解上述MOP,不仅采用非支配排序鲸优化算法得到局部Pareto最优集,而且通过加权法将MOP转化为单目标优化问题(SOP)后,采用深度确定性策略梯度算法给出了局部最优解。最后,通过数值算例验证了通过噪声控制实现微电网bess间共识的有效性和优越性。
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引用次数: 0
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Journal of The Franklin Institute-engineering and Applied Mathematics
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