Results in Control and Optimization最新文献_第6页

The role of temporary displacement of domestic animals in brucellosis control 家畜临时迁移在布鲁氏菌病控制中的作用

IF 3.2 Q3 Mathematics

Results in Control and Optimization

Pub Date : 2025-12-01 Epub Date: 2025-10-27 DOI: 10.1016/j.rico.2025.100627

Rehema Msuya , Silas Mirau , Nkuba Nyerere , Isambi Mbalawata

Brucellosis is one of the most prevalent zoonotic diseases worldwide, with significant impacts on human health, animal productivity, and the economy. Animal movement is a key factor influencing its transmission; however, the understanding of how such movements shape disease dynamics and the effectiveness of applied control measures remains limited. This study presents an optimal control model for brucellosis transmission among domestic animals, given the uncertainty in animal movement patterns. The model incorporates and evaluates the effectiveness of different control strategies under varying movement patterns. The effective reproduction number

(R_{e})

is computed, compared with the basic reproduction number

(R_{0})

, and used to quantify the potential for brucellosis spread and the effectiveness of different control measures for different time proportions a domestic animal spends in low or high-risk patches. Global sensitivity analysis was performed using the Latin Hypercube Sampling (LHS) approach, where the Partial Rank Correlation Coefficient (PRCC) index was computed. The results show that the time spent by domestic animals in high-risk areas limits the control of brucellosis. The findings also reveal that vaccination is the most effective strategy for significantly reducing the spread of brucellosis, even when domestic animals from low-risk areas spend extended periods in high-risk zones. This underscores the pivotal role of vaccination as the cornerstone of brucellosis control and prevention efforts.

布鲁氏菌病是世界上最流行的人畜共患疾病之一，对人类健康、动物生产力和经济产生重大影响。动物运动是影响其传播的关键因素；然而，对这种运动如何影响疾病动态和应用控制措施的有效性的理解仍然有限。鉴于动物运动模式的不确定性，本研究提出了布鲁氏菌病在家畜之间传播的最优控制模型。该模型结合并评估了不同运动模式下不同控制策略的有效性。与基本繁殖数（R0）相比，计算有效繁殖数（Re），并用于量化家畜在低或高风险斑块中不同时间比例的布鲁氏菌病传播潜力和不同控制措施的有效性。采用拉丁超立方抽样（LHS）方法进行全局敏感性分析，计算偏秩相关系数（PRCC）指数。结果表明，家畜在高危地区停留的时间限制了布鲁氏菌病的控制。研究结果还表明，疫苗接种是显著减少布鲁氏菌病传播的最有效策略，即使来自低风险地区的家畜在高风险地区停留较长时间也是如此。这强调了疫苗接种作为布鲁氏菌病控制和预防工作基石的关键作用。

{"title":"The role of temporary displacement of domestic animals in brucellosis control","authors":"Rehema Msuya , Silas Mirau , Nkuba Nyerere , Isambi Mbalawata","doi":"10.1016/j.rico.2025.100627","DOIUrl":"10.1016/j.rico.2025.100627","url":null,"abstract":"<div><div>Brucellosis is one of the most prevalent zoonotic diseases worldwide, with significant impacts on human health, animal productivity, and the economy. Animal movement is a key factor influencing its transmission; however, the understanding of how such movements shape disease dynamics and the effectiveness of applied control measures remains limited. This study presents an optimal control model for brucellosis transmission among domestic animals, given the uncertainty in animal movement patterns. The model incorporates and evaluates the effectiveness of different control strategies under varying movement patterns. The effective reproduction number <span><math><mrow><mo>(</mo><msub><mrow><mi>R</mi></mrow><mrow><mi>e</mi></mrow></msub><mo>)</mo></mrow></math></span> is computed, compared with the basic reproduction number <span><math><mrow><mo>(</mo><msub><mrow><mi>R</mi></mrow><mrow><mn>0</mn></mrow></msub><mo>)</mo></mrow></math></span>, and used to quantify the potential for brucellosis spread and the effectiveness of different control measures for different time proportions a domestic animal spends in low or high-risk patches. Global sensitivity analysis was performed using the Latin Hypercube Sampling (LHS) approach, where the Partial Rank Correlation Coefficient (PRCC) index was computed. The results show that the time spent by domestic animals in high-risk areas limits the control of brucellosis. The findings also reveal that vaccination is the most effective strategy for significantly reducing the spread of brucellosis, even when domestic animals from low-risk areas spend extended periods in high-risk zones. This underscores the pivotal role of vaccination as the cornerstone of brucellosis control and prevention efforts.</div></div>","PeriodicalId":34733,"journal":{"name":"Results in Control and Optimization","volume":"21 ","pages":"Article 100627"},"PeriodicalIF":3.2,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145417187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Comprehensive plant layout optimization for empty fruit bunch biodiesel production: A multi-floor MINLP approach with safety integration 空果束生物柴油生产的综合厂房布局优化：安全集成的多层MINLP方法

IF 3.2 Q3 Mathematics

Results in Control and Optimization

Pub Date : 2025-12-01 Epub Date: 2025-10-13 DOI: 10.1016/j.rico.2025.100624

Somboon Sukpancharoen , Chayangkul Janta-in , Pakon Sakdee , Thongchai Rohitatisha Srinophakun

Multi-floor layout optimization for empty fruit bunch (EFB) biodiesel plants presents a large-scale computational challenge requiring simultaneous consideration of economics, safety, and structural constraints. This study formulates a Mixed-Integer Nonlinear Programming (MINLP) model for multi-floor plant layout that co-optimizes equipment materials, floor assignments, section placement, and passive protection under quantified safety. The model is implemented in the General Algebraic Modeling System (GAMS) and solved using a three-stage decomposition—(i) material selection and structural capacity, (ii) section-level multi-floor layout, and (iii) plant-wide section integration—because a monolithic MINLP exceeds academic license limits and fails to converge within a standard time budget, whereas the staged approach solves with tight optimality gaps (total CPU 22.97 min). In a 1,000 t/d EFB case (57 items, seven sections), the optimized design reduces total capital by 28.9 %, cuts land footprint by 51.97 %, and—under Dow’s Fire and Explosion Index (F&EI) separations with device crediting—lowers Maximum Probable Property Damage (MPPD) before protection by 18.8 % and after protection by 69.0 %. The decomposition strategy demonstrates that complex industrial layout problems with safety constraints can be solved efficiently using hierarchical approaches, providing a framework applicable to other multi-criteria facility design challenges in the chemical and energy sectors.

空果串（EFB）生物柴油厂的多层布局优化提出了一个大规模的计算挑战，需要同时考虑经济性、安全性和结构约束。本研究建立了多层厂房布局的混合整数非线性规划（MINLP）模型，该模型在量化安全条件下对设备材料、楼层布置、剖面布置和被动防护进行了协同优化。该模型在通用代数建模系统（GAMS）中实现，并使用三阶段分解（i)材料选择和结构容量，（ii）分段级多层布局，以及（iii）全厂范围的剖面集成）来解决问题，因为单片MINLP超过了学术许可限制，无法在标准时间预算内实现融合，而分阶段方法解决了紧密的最优性差距（总CPU 22.97分钟）。在1000吨/天的EFB情况下（57个项目，7个部分），优化设计减少了28.9%的总资本，减少了51.97%的土地占用，并且根据陶氏火灾和爆炸指数（F&；EI）与设备信用分离，最大可能财产损失（MPPD）在保护前降低了18.8%，在保护后降低了69.0%。该分解策略表明，具有安全约束的复杂工业布局问题可以使用分层方法有效地解决，为化工和能源部门的其他多标准设施设计挑战提供了适用的框架。

{"title":"Comprehensive plant layout optimization for empty fruit bunch biodiesel production: A multi-floor MINLP approach with safety integration","authors":"Somboon Sukpancharoen , Chayangkul Janta-in , Pakon Sakdee , Thongchai Rohitatisha Srinophakun","doi":"10.1016/j.rico.2025.100624","DOIUrl":"10.1016/j.rico.2025.100624","url":null,"abstract":"<div><div>Multi-floor layout optimization for empty fruit bunch (EFB) biodiesel plants presents a large-scale computational challenge requiring simultaneous consideration of economics, safety, and structural constraints. This study formulates a Mixed-Integer Nonlinear Programming (MINLP) model for multi-floor plant layout that co-optimizes equipment materials, floor assignments, section placement, and passive protection under quantified safety. The model is implemented in the General Algebraic Modeling System (GAMS) and solved using a three-stage decomposition—(i) material selection and structural capacity, (ii) section-level multi-floor layout, and (iii) plant-wide section integration—because a monolithic MINLP exceeds academic license limits and fails to converge within a standard time budget, whereas the staged approach solves with tight optimality gaps (total CPU 22.97 min). In a 1,000 t/d EFB case (57 items, seven sections), the optimized design reduces total capital by 28.9 %, cuts land footprint by 51.97 %, and—under Dow’s Fire and Explosion Index (F&EI) separations with device crediting—lowers Maximum Probable Property Damage (MPPD) before protection by 18.8 % and after protection by 69.0 %. The decomposition strategy demonstrates that complex industrial layout problems with safety constraints can be solved efficiently using hierarchical approaches, providing a framework applicable to other multi-criteria facility design challenges in the chemical and energy sectors.</div></div>","PeriodicalId":34733,"journal":{"name":"Results in Control and Optimization","volume":"21 ","pages":"Article 100624"},"PeriodicalIF":3.2,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145417189","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Input-constrained fixed-time fault-tolerant tracking control of autonomous wheeled mobile robot 自主轮式移动机器人的输入约束定时容错跟踪控制

IF 3.2 Q3 Mathematics

Results in Control and Optimization

Pub Date : 2025-12-01 Epub Date: 2025-12-04 DOI: 10.1016/j.rico.2025.100636

Naiemeh Ahmadlou , Mehdi Mirzaei, Sadra Rafatnia , Somayeh Jamshidi

This paper presents an active fault-tolerant control strategy for trajectory tracking in autonomous wheeled mobile robots, ensuring fixed-time convergence regardless of initial conditions, external perturbations and control input limitations. The approach combines optimization techniques with a continuous predictive control strategy to ensure rapid convergence to the desired path considering limited control inputs. The proposed fixed-time control law is derived by introducing a novel performance index, which is minimized within the framework of a constrained optimization problem solved using the Karush–Kuhn–Tucker conditions. The practically fixed-time stability of the tracking error is demonstrated through rigorous mathematical analysis. In the proposed scheme, an observer is developed to compensate for model perturbations, including environmental disturbances, modeling uncertainties, and actuator faults. When the estimated perturbations surpass predefined thresholds, potential actuators’ faults are detected. To ensure the robustness of the fault detection mechanism, threshold bounds for external disturbances and uncertainties are statistically determined using the Monte Carlo simulation approach. The results demonstrate the high sensitivity, accuracy, and robustness of the proposed method in fault detection for nonlinear uncertain wheeled robots, achieved within a simplified control architecture. The proposed constrained fault-tolerant control system, which achieves fixed-time tracking convergence, demonstrates superior performance over existing control methods across various scenarios.

针对自主轮式移动机器人的轨迹跟踪问题，提出了一种主动容错控制策略，该策略在不考虑初始条件、外部扰动和控制输入限制的情况下，保证了系统的固定时间收敛性。该方法将优化技术与连续预测控制策略相结合，以确保在控制输入有限的情况下快速收敛到期望路径。通过引入一种新的性能指标，推导出固定时间控制律，该指标在使用Karush-Kuhn-Tucker条件求解的约束优化问题框架内最小化。通过严格的数学分析，证明了跟踪误差的实际定时稳定性。在该方案中，开发了一个观测器来补偿模型扰动，包括环境扰动、建模不确定性和执行器故障。当估计的扰动超过预定义的阈值时，检测到潜在的执行器故障。为了保证故障检测机制的鲁棒性，采用蒙特卡罗模拟方法统计确定外部干扰和不确定性的阈值边界。结果表明，该方法在非线性不确定轮式机器人故障检测中具有较高的灵敏度、精度和鲁棒性，并能在简化的控制体系中实现。所提出的约束容错控制系统实现了固定时间跟踪收敛，在各种场景下都优于现有的控制方法。

{"title":"Input-constrained fixed-time fault-tolerant tracking control of autonomous wheeled mobile robot","authors":"Naiemeh Ahmadlou , Mehdi Mirzaei, Sadra Rafatnia , Somayeh Jamshidi","doi":"10.1016/j.rico.2025.100636","DOIUrl":"10.1016/j.rico.2025.100636","url":null,"abstract":"<div><div>This paper presents an active fault-tolerant control strategy for trajectory tracking in autonomous wheeled mobile robots, ensuring fixed-time convergence regardless of initial conditions, external perturbations and control input limitations. The approach combines optimization techniques with a continuous predictive control strategy to ensure rapid convergence to the desired path considering limited control inputs. The proposed fixed-time control law is derived by introducing a novel performance index, which is minimized within the framework of a constrained optimization problem solved using the Karush–Kuhn–Tucker conditions. The practically fixed-time stability of the tracking error is demonstrated through rigorous mathematical analysis. In the proposed scheme, an observer is developed to compensate for model perturbations, including environmental disturbances, modeling uncertainties, and actuator faults. When the estimated perturbations surpass predefined thresholds, potential actuators’ faults are detected. To ensure the robustness of the fault detection mechanism, threshold bounds for external disturbances and uncertainties are statistically determined using the Monte Carlo simulation approach. The results demonstrate the high sensitivity, accuracy, and robustness of the proposed method in fault detection for nonlinear uncertain wheeled robots, achieved within a simplified control architecture. The proposed constrained fault-tolerant control system, which achieves fixed-time tracking convergence, demonstrates superior performance over existing control methods across various scenarios.</div></div>","PeriodicalId":34733,"journal":{"name":"Results in Control and Optimization","volume":"21 ","pages":"Article 100636"},"PeriodicalIF":3.2,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145681088","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Stability of a class of complex-valued BAM neural networks with proportional delays and impulse via fixed point theory 用不动点理论研究一类具有比例时延和脉冲的复值BAM神经网络的稳定性

IF 3.2 Q3 Mathematics

Results in Control and Optimization

Pub Date : 2025-12-01 Epub Date: 2025-09-13 DOI: 10.1016/j.rico.2025.100612

Min Luo , Mei Xiong , Longwei Chen , Yimin Yu

This paper mainly studies the stability of a class of proportional delay complex-valued BAM neural networks. Using the Banach fixed-point theorem, we obtain that the equilibrium points of the neural network exist uniquely, and at the same time, we also obtain its global exponential stability. Different from previous studies, we consider neural network systems in the complex number domain. Thus, the conclusions obtained have broader applicability. Finally, we present a numerical example to verify the validity of the result.

本文主要研究了一类比例延迟复值BAM神经网络的稳定性。利用Banach不动点定理，得到了神经网络平衡点的唯一存在性，同时也得到了神经网络的全局指数稳定性。与以往的研究不同，我们考虑的是复数域的神经网络系统。因此，所得结论具有更广泛的适用性。最后，给出了一个数值算例来验证结果的有效性。

引用次数: 0

Strategic decision-making model for addressing barriers in Sukanya Samriddhi Yojana inclusion: An ISM-MICMAC analytical framework 解决Sukanya Samriddhi Yojana包容性障碍的战略决策模型：ISM-MICMAC分析框架

IF 3.2 Q3 Mathematics

Results in Control and Optimization

Pub Date : 2025-12-01 Epub Date: 2025-09-24 DOI: 10.1016/j.rico.2025.100618

Kyvalya Garikapati , Sugyanta Priyadarshini , Nisrutha Dulla , Snigdharani Panda , Sumita Mishra , Jayalaxmi Samal

The study aims to provide an insight into the performance of Sukanya Samriddhi Yojana (SSY). The primary objective of the study is to identify and understand the frequent barriers obstructing implementation of SSY scheme in rural areas and to determine the interrelationships between these barriers. The analysis made use of Interpretive Structural Modelling (ISM) approach and MICMAC analysis through a combination of expert opinion on validation of barriers. First, the study has identified 225 published documents retrieved from google scholar (n=222), Scopus (n=2) and Web of Science (n=1) data base for reviewing the literature and identifying barriers. Finally, 51 documents fulfilled the objective in identifying 9 Sukanya Samriddhi Yojana Implementation Barriers (SSYIBs). Secondly, ISM Identifies “Lack of communication” with Dependence Power (DP:1) and strong Driving Power (DRP:9) is identified as the major barrier among the 9 validated barriers in the context of rural India in implementing SSY scheme. MICMAC analysis identifies 5 barriers (Perceived cognizance, Societal Stigma, Cultural Inhibition, Lack of educational infrastructure, and Gender discrimination) as linkage variables under Quadrant 3 with strong DP (9) and DRP (5). Further, 4 barriers (Lack of awareness, Lack of knowledge, Lack of financial literacy) as independent variables under Quadrant 4 pursue weak DP (4) and strong DRP (8). This study can possibly be beneficial for academic researchers and policy makers by overcoming the gaps by assembling evidence from literature and integrating the findings for a clear understanding of the matter.

这项研究的目的是提供一个洞察Sukanya Samriddhi Yojana （SSY）的表现。这项研究的主要目标是确定和了解阻碍在农村地区实施可持续发展计划的常见障碍，并确定这些障碍之间的相互关系。分析利用解释结构建模（ISM）方法和MICMAC分析，结合专家意见对障碍的验证。首先，从谷歌scholar （n=222）、Scopus （n=2）和Web of Science （n=1）数据库中检索225篇已发表的文献，进行文献综述和障碍识别。最后，51份文件实现了确定9个“苏坎亚Samriddhi Yojana”实施障碍（ssyib）的目标。其次，ISM认为“缺乏沟通”与依赖力（DP:1）和强驱动力（DRP:9）是印度农村实施SSY计划的9个有效障碍中的主要障碍。MICMAC分析确定了5个障碍（感知认知、社会污名、文化抑制、缺乏教育基础设施和性别歧视）作为象限3下具有强DP(9)和DRP(5)的联动变量。此外，作为自变量的4个障碍（缺乏意识、缺乏知识、缺乏金融素养）在象限4下追求弱DP(4)和强DRP(8)。本研究可以通过收集文献证据和整合研究结果来克服差距，从而清晰地了解问题，从而可能对学术研究人员和政策制定者有益。

{"title":"Strategic decision-making model for addressing barriers in Sukanya Samriddhi Yojana inclusion: An ISM-MICMAC analytical framework","authors":"Kyvalya Garikapati , Sugyanta Priyadarshini , Nisrutha Dulla , Snigdharani Panda , Sumita Mishra , Jayalaxmi Samal","doi":"10.1016/j.rico.2025.100618","DOIUrl":"10.1016/j.rico.2025.100618","url":null,"abstract":"<div><div>The study aims to provide an insight into the performance of Sukanya Samriddhi Yojana (SSY). The primary objective of the study is to identify and understand the frequent barriers obstructing implementation of SSY scheme in rural areas and to determine the interrelationships between these barriers. The analysis made use of Interpretive Structural Modelling (ISM) approach and MICMAC analysis through a combination of expert opinion on validation of barriers. First, the study has identified 225 published documents retrieved from google scholar (n=222), Scopus (n=2) and Web of Science (n=1) data base for reviewing the literature and identifying barriers. Finally, 51 documents fulfilled the objective in identifying 9 Sukanya Samriddhi Yojana Implementation Barriers (SSYIBs). Secondly, ISM Identifies “Lack of communication” with Dependence Power (DP:1) and strong Driving Power (DRP:9) is identified as the major barrier among the 9 validated barriers in the context of rural India in implementing SSY scheme. MICMAC analysis identifies 5 barriers (Perceived cognizance, Societal Stigma, Cultural Inhibition, Lack of educational infrastructure, and Gender discrimination) as linkage variables under Quadrant 3 with strong DP (9) and DRP (5). Further, 4 barriers (Lack of awareness, Lack of knowledge, Lack of financial literacy) as independent variables under Quadrant 4 pursue weak DP (4) and strong DRP (8). This study can possibly be beneficial for academic researchers and policy makers by overcoming the gaps by assembling evidence from literature and integrating the findings for a clear understanding of the matter.</div></div>","PeriodicalId":34733,"journal":{"name":"Results in Control and Optimization","volume":"21 ","pages":"Article 100618"},"PeriodicalIF":3.2,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145221914","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Lyapunov-based fault-tolerant control of stochastic switched systems via K-nearest neighbors switching detection and joint fault estimation 基于k近邻切换检测和联合故障估计的随机切换系统lyapunov容错控制

IF 3.2 Q3 Mathematics

Results in Control and Optimization

Pub Date : 2025-12-01 Epub Date: 2025-10-22 DOI: 10.1016/j.rico.2025.100625

Salwa Yahia , Saida Bedoui , Kamel Abderrahim

This paper introduces a new approach to designing fault-tolerant

H_{\infty}

control systems for stochastic switched system. The main objective is to address actuator faults and unanticipated shifts in the system’s operational mode. The proposed method uses a K-Nearest Neighbors (KNN) algorithm to quickly determine the system’s current mode. It also develops an augmented observer that can simultaneously estimate the system’s current state and any actuator faults. The novel proposed fault-tolerant control (FTC) strategy is designed to be robust and reliable. Using Linear Matrix Inequalities (LMIs) and Lyapunov stability analysis alongside an

H_{\infty}

objective, it guarantees strong performance. The effectiveness of this integrated approach are thoroughly substantiated through extensive numerical simulations, with a detailed case study demonstrating its practical application in two distinct scenarios: a two-pendulum system and a vehicle rollover prevention system.

本文介绍了一种设计随机切换系统的容错H∞控制系统的新方法。主要目标是解决执行器故障和系统运行模式中的意外变化。该方法使用k近邻（KNN）算法快速确定系统的当前模式。它还开发了一个增强观测器，可以同时估计系统的当前状态和任何执行器故障。所提出的容错控制策略具有鲁棒性和可靠性。利用线性矩阵不等式（lmi）和李雅普诺夫稳定性分析以及H∞目标，保证了较强的性能。这种综合方法的有效性通过广泛的数值模拟得到了充分的证实，并通过详细的案例研究展示了其在两种不同情况下的实际应用：双摆系统和车辆防侧翻系统。

{"title":"Lyapunov-based fault-tolerant control of stochastic switched systems via K-nearest neighbors switching detection and joint fault estimation","authors":"Salwa Yahia , Saida Bedoui , Kamel Abderrahim","doi":"10.1016/j.rico.2025.100625","DOIUrl":"10.1016/j.rico.2025.100625","url":null,"abstract":"<div><div>This paper introduces a new approach to designing fault-tolerant <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> control systems for stochastic switched system. The main objective is to address actuator faults and unanticipated shifts in the system’s operational mode. The proposed method uses a K-Nearest Neighbors (KNN) algorithm to quickly determine the system’s current mode. It also develops an augmented observer that can simultaneously estimate the system’s current state and any actuator faults. The novel proposed fault-tolerant control (FTC) strategy is designed to be robust and reliable. Using Linear Matrix Inequalities (LMIs) and Lyapunov stability analysis alongside an <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> objective, it guarantees strong performance. The effectiveness of this integrated approach are thoroughly substantiated through extensive numerical simulations, with a detailed case study demonstrating its practical application in two distinct scenarios: a two-pendulum system and a vehicle rollover prevention system.</div></div>","PeriodicalId":34733,"journal":{"name":"Results in Control and Optimization","volume":"21 ","pages":"Article 100625"},"PeriodicalIF":3.2,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145417188","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Local path planning based on Bi-population Swarms optimization algorithms 基于双种群群优化算法的局部路径规划

IF 3.2 Q3 Mathematics

Results in Control and Optimization

Pub Date : 2025-12-01 Epub Date: 2025-11-20 DOI: 10.1016/j.rico.2025.100634

Asmaa Shareef , Salah Al-darraji , Suhaib Al-Ansarry , Zaid Ameen Abduljabbar , Vincent Omollo Nyangaresi , Ali Hasan Ali , Husam A. Neamah

Robot navigation and path planning are among the most critical challenges facing mobile robots. Modern techniques have surpassed traditional methods in reducing high complexity by utilizing probabilistic or optimal solutions, such as algorithms based on swarm intelligence. This work proposes a novel global path planning using a bipopulation grasshopper optimization algorithm (BiGOA). Superior performance results were obtained compared to the original grasshopper optimization algorithm regarding time, cost, and path length for an average of 1000 times executions in environments of varying complexities. On the other hand, the optimal path, local path planning, and dynamic obstacle avoidance are done by the Dynamic Window Approach (DWA) algorithm that works within the follow-waypoint technique in mobile vehicles in the Robot Operating System (ROS). During robot movement, it tends to find a shorter and optimal path using a modified version of the waypoint method. A state machine determines the optimal path using the improved follow-waypoint algorithm during the robot’s real-time movement, thereby controlling the path’s smoothing, shortening, and continuity. This study compares the BiGOA algorithm with an optimal path method based on arrival time over ten trials. The results show that BiGOA paths were, on average, 33 s longer. Additionally, the robot’s performance using the proposed method was tested in a dynamic and complex environment, where the results indicated a reduction in both time and effort.

机器人导航和路径规划是移动机器人面临的最关键的挑战之一。现代技术已经超越了传统方法，通过利用概率或最优解来降低高复杂性，例如基于群体智能的算法。本文提出了一种基于双种群蚱蜢优化算法（BiGOA）的全局路径规划方法。在不同复杂性的环境中平均执行1000次，与原始的grasshopper优化算法相比，在时间、成本和路径长度方面获得了更好的性能结果。另一方面，在机器人操作系统（ROS）的移动车辆跟随路径点技术中，采用动态窗口方法（DWA）算法来实现最优路径、局部路径规划和动态避障。在机器人运动过程中，它倾向于使用改进的路径点方法来寻找更短的最优路径。在机器人实时运动过程中，状态机利用改进的跟随路径点算法确定最优路径，从而控制路径的平滑、缩短和连续性。本研究将BiGOA算法与基于10次以上到达时间的最优路径法进行了比较。结果表明，BiGOA路径的平均长度为33 s。此外，在动态和复杂的环境中测试了使用该方法的机器人的性能，结果表明时间和精力都减少了。

{"title":"Local path planning based on Bi-population Swarms optimization algorithms","authors":"Asmaa Shareef , Salah Al-darraji , Suhaib Al-Ansarry , Zaid Ameen Abduljabbar , Vincent Omollo Nyangaresi , Ali Hasan Ali , Husam A. Neamah","doi":"10.1016/j.rico.2025.100634","DOIUrl":"10.1016/j.rico.2025.100634","url":null,"abstract":"<div><div>Robot navigation and path planning are among the most critical challenges facing mobile robots. Modern techniques have surpassed traditional methods in reducing high complexity by utilizing probabilistic or optimal solutions, such as algorithms based on swarm intelligence. This work proposes a novel global path planning using a bipopulation grasshopper optimization algorithm (BiGOA). Superior performance results were obtained compared to the original grasshopper optimization algorithm regarding time, cost, and path length for an average of 1000 times executions in environments of varying complexities. On the other hand, the optimal path, local path planning, and dynamic obstacle avoidance are done by the Dynamic Window Approach (DWA) algorithm that works within the follow-waypoint technique in mobile vehicles in the Robot Operating System (ROS). During robot movement, it tends to find a shorter and optimal path using a modified version of the waypoint method. A state machine determines the optimal path using the improved follow-waypoint algorithm during the robot’s real-time movement, thereby controlling the path’s smoothing, shortening, and continuity. This study compares the BiGOA algorithm with an optimal path method based on arrival time over ten trials. The results show that BiGOA paths were, on average, 33 s longer. Additionally, the robot’s performance using the proposed method was tested in a dynamic and complex environment, where the results indicated a reduction in both time and effort.</div></div>","PeriodicalId":34733,"journal":{"name":"Results in Control and Optimization","volume":"21 ","pages":"Article 100634"},"PeriodicalIF":3.2,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145681176","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The development of novel fractional order differentiators and their applications 新型分数阶微分器的发展及其应用

IF 3.2 Q3 Mathematics

Results in Control and Optimization

Pub Date : 2025-12-01 Epub Date: 2025-11-15 DOI: 10.1016/j.rico.2025.100630

Battula Tirumala Krishna

The primary goal of this study is to look into the analysis, design, and applications of fractional order digital differentiators and integrators. First, different existing procedures for the calculation of the Rational Approximation of the fractional-order operator,

s^{α}

are explored. The discretization of

s^{α}

, is a crucial step in the construction of digital differentiators and integrators. The

s

to

z

transformations used in this investigation, including those by Al-Alaoui, Tahar, and Gujan Stancic, are reviewed. Direct and indirect discretization methods can be used to design fractional order digital differentiators and integrators. This paper discusses the development of fractional order differentiators and integrators of order

α

using the indirect discretization technique. The created fractional order differentiators have been used in the processing of Electro Cardio Gram (ECG) Signal and localization of edges in an Image. The reported findings are being compared to standard approaches. All simulations are performed using MATLAB. The Root Mean Square Error (RMSE) Values obtained using Guran Stancic Transform based Fractional Order Differentiator for the detection of the Edges in an Image is 0.0014265. The Signal to Noise Ratio (SNR) Values obtained using Al-Alaoui Transform based Fractional Order Differentiator for the detection of the Edges in an Image is

- 108.9501

dB.

本研究的主要目的是探讨分数阶数位微分器与积分器的分析、设计与应用。首先，探讨了分数阶算子sα的有理逼近的不同计算方法。sα的离散化是构造数字微分器和积分器的关键步骤。本文回顾了本研究中使用的s到z变换，包括Al-Alaoui、Tahar和Gujan Stancic的变换。直接和间接离散化方法可用于设计分数阶数字微分器和积分器。本文讨论了用间接离散化技术发展分数阶α阶微分和积分的方法。所建立的分数阶微分器已被用于心电信号的处理和图像边缘的定位。报告的结果正在与标准方法进行比较。所有仿真均使用MATLAB进行。基于Guran Stancic变换的分数阶微分器检测图像边缘得到的均方根误差（RMSE）值为0.0014265。基于Al-Alaoui变换的分数阶微分器检测图像边缘的信噪比（SNR）值为−108.9501 dB。

{"title":"The development of novel fractional order differentiators and their applications","authors":"Battula Tirumala Krishna","doi":"10.1016/j.rico.2025.100630","DOIUrl":"10.1016/j.rico.2025.100630","url":null,"abstract":"<div><div>The primary goal of this study is to look into the analysis, design, and applications of fractional order digital differentiators and integrators. First, different existing procedures for the calculation of the Rational Approximation of the fractional-order operator, <span><math><msup><mrow><mi>s</mi></mrow><mrow><mi>α</mi></mrow></msup></math></span> are explored. The discretization of <span><math><msup><mrow><mi>s</mi></mrow><mrow><mi>α</mi></mrow></msup></math></span>, is a crucial step in the construction of digital differentiators and integrators. The <span><math><mi>s</mi></math></span> to <span><math><mi>z</mi></math></span> transformations used in this investigation, including those by Al-Alaoui, Tahar, and Gujan Stancic, are reviewed. Direct and indirect discretization methods can be used to design fractional order digital differentiators and integrators. This paper discusses the development of fractional order differentiators and integrators of order <span><math><mi>α</mi></math></span> using the indirect discretization technique. The created fractional order differentiators have been used in the processing of Electro Cardio Gram (ECG) Signal and localization of edges in an Image. The reported findings are being compared to standard approaches. All simulations are performed using MATLAB. The Root Mean Square Error (RMSE) Values obtained using Guran Stancic Transform based Fractional Order Differentiator for the detection of the Edges in an Image is 0.0014265. The Signal to Noise Ratio (SNR) Values obtained using Al-Alaoui Transform based Fractional Order Differentiator for the detection of the Edges in an Image is <span><math><mrow><mo>−</mo><mn>108</mn><mo>.</mo><mn>9501</mn></mrow></math></span> dB.</div></div>","PeriodicalId":34733,"journal":{"name":"Results in Control and Optimization","volume":"21 ","pages":"Article 100630"},"PeriodicalIF":3.2,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145614418","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robust correlation feature selection based support vector machine approach for high dimensional datasets 基于鲁棒相关特征选择的高维数据支持向量机方法

IF 3.2 Q3 Mathematics

Results in Control and Optimization

Pub Date : 2025-12-01 Epub Date: 2025-09-11 DOI: 10.1016/j.rico.2025.100609

Ishaq Abdullahi Baba , Mohammed Bappah Mohammed , Kamal Bakari Jillahi , Aliyu Umar , Hasan Talib Hendi

Correlation-based feature selection methods are popular tools used to select the most important variables to include the true model in the analysis of sparse and high-dimensional models. In application, the presence of anomalous observations in both predictors and responses can seriously jeopardize the prediction accuracy of the model, which in turn leads to misleading interpretations and conclusions if not correctly addressed. Furthermore, the cause of dimensionality is another serious difficulty facing many existing feature selection algorithms. To achieve more reliable feature selection and prediction accuracy, a weighted sure independence screening-based support vector machine for high-dimensional datasets is proposed. The key contribution of our proposed method is that it minimizes the influence of outliers in differentiating between significant and insignificant features and improves predictability and interpretability. Our method consists of three basic steps. In the first step, a weights-based modified reweighted fast, consistent, and high break-down point is computed. The second step utilizes the estimates of weights from the first step to select the most important variables for the model. The third step employs the support vector machine algorithm to calculate prediction values. To demonstrate the effectiveness of the developed procedure, we used both simulation and real-life data examples. Our results show that the proposed methods performs better with a clear margin compared to other procedures.

基于相关性的特征选择方法是一种常用的工具，用于在稀疏和高维模型分析中选择最重要的变量以包含真实模型。在实际应用中，预测因子和响应中存在的异常观测会严重危及模型的预测精度，如果处理不当，反过来会导致误导性的解释和结论。此外，维数原因是许多现有特征选择算法面临的另一个严重困难。为了获得更可靠的特征选择和预测精度，提出了一种基于加权确定独立筛选的高维数据集支持向量机。我们提出的方法的关键贡献在于，它最大限度地减少了异常值在区分重要和不重要特征时的影响，并提高了可预测性和可解释性。我们的方法包括三个基本步骤。第一步，计算基于权重的修正重加权快速、一致、高分解点。第二步利用第一步的权重估计来为模型选择最重要的变量。第三步采用支持向量机算法计算预测值。为了证明所开发程序的有效性，我们使用了模拟和实际数据示例。我们的结果表明，与其他方法相比，所提出的方法具有明显的优势。

{"title":"Robust correlation feature selection based support vector machine approach for high dimensional datasets","authors":"Ishaq Abdullahi Baba , Mohammed Bappah Mohammed , Kamal Bakari Jillahi , Aliyu Umar , Hasan Talib Hendi","doi":"10.1016/j.rico.2025.100609","DOIUrl":"10.1016/j.rico.2025.100609","url":null,"abstract":"<div><div>Correlation-based feature selection methods are popular tools used to select the most important variables to include the true model in the analysis of sparse and high-dimensional models. In application, the presence of anomalous observations in both predictors and responses can seriously jeopardize the prediction accuracy of the model, which in turn leads to misleading interpretations and conclusions if not correctly addressed. Furthermore, the cause of dimensionality is another serious difficulty facing many existing feature selection algorithms. To achieve more reliable feature selection and prediction accuracy, a weighted sure independence screening-based support vector machine for high-dimensional datasets is proposed. The key contribution of our proposed method is that it minimizes the influence of outliers in differentiating between significant and insignificant features and improves predictability and interpretability. Our method consists of three basic steps. In the first step, a weights-based modified reweighted fast, consistent, and high break-down point is computed. The second step utilizes the estimates of weights from the first step to select the most important variables for the model. The third step employs the support vector machine algorithm to calculate prediction values. To demonstrate the effectiveness of the developed procedure, we used both simulation and real-life data examples. Our results show that the proposed methods performs better with a clear margin compared to other procedures.</div></div>","PeriodicalId":34733,"journal":{"name":"Results in Control and Optimization","volume":"21 ","pages":"Article 100609"},"PeriodicalIF":3.2,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145048530","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Model predictive control to manage the hydrokinetic systems connected into grid by a back-to-back converter 模型预测控制，以管理通过背靠背转换器连接到电网的水动力系统

IF 3.2 Q3 Mathematics

Results in Control and Optimization

Pub Date : 2025-12-01 Epub Date: 2025-11-07 DOI: 10.1016/j.rico.2025.100628

Jhon-Ronald Terreros-Barreto , Walter Gil-González , Alejandro Garcés-Ruiz

The use of power converter devices in the integration of hydrokinetic turbine (HKT) systems is essential since these devices enable controlling the turbine rotation speed to manage the active power provided into grid, as well as, the reactive power compensation. This paper presents an advanced model predictive control (MPC) approach for the maximum power tracking and output frequency control of an HKT connected by a back-to-back converter. The system consists of a horizontal propeller turbine, permanent magnet synchronous generator, rectifier, and inverter. The systems were implemented in MATLAB with the proposed control, and verified through simulations where performance was evaluated based on state variables of the system. A comparison based on a classical proportional-integral (PI) control approach indicates that MPC can achieve superior transitory response and better settling time for high-efficiency implementations, while simultaneously maintaining easy-to-handle implementation. The MPC controller was four times faster than the PI controller in terms of setting time.

在水动力涡轮机（HKT）系统的集成中使用功率转换器设备是必不可少的，因为这些设备能够控制涡轮机转速来管理提供给电网的有功功率，以及无功功率补偿。本文提出了一种先进的模型预测控制（MPC）方法，用于由背靠背变换器连接的HKT的最大功率跟踪和输出频率控制。该系统由水平螺旋桨涡轮、永磁同步发电机、整流器和逆变器组成。系统在MATLAB中使用所提出的控制实现，并通过仿真验证，基于系统的状态变量评估系统的性能。基于经典比例积分控制方法的比较表明，MPC可以在保持易于操作的同时，获得更好的暂态响应和更短的稳定时间，从而实现高效率的实现。MPC控制器在设定时间方面比PI控制器快4倍。

{"title":"Model predictive control to manage the hydrokinetic systems connected into grid by a back-to-back converter","authors":"Jhon-Ronald Terreros-Barreto , Walter Gil-González , Alejandro Garcés-Ruiz","doi":"10.1016/j.rico.2025.100628","DOIUrl":"10.1016/j.rico.2025.100628","url":null,"abstract":"<div><div>The use of power converter devices in the integration of hydrokinetic turbine (HKT) systems is essential since these devices enable controlling the turbine rotation speed to manage the active power provided into grid, as well as, the reactive power compensation. This paper presents an advanced model predictive control (MPC) approach for the maximum power tracking and output frequency control of an HKT connected by a back-to-back converter. The system consists of a horizontal propeller turbine, permanent magnet synchronous generator, rectifier, and inverter. The systems were implemented in MATLAB with the proposed control, and verified through simulations where performance was evaluated based on state variables of the system. A comparison based on a classical proportional-integral (PI) control approach indicates that MPC can achieve superior transitory response and better settling time for high-efficiency implementations, while simultaneously maintaining easy-to-handle implementation. The MPC controller was four times faster than the PI controller in terms of setting time.</div></div>","PeriodicalId":34733,"journal":{"name":"Results in Control and Optimization","volume":"21 ","pages":"Article 100628"},"PeriodicalIF":3.2,"publicationDate":"2025-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145520086","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0