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Adaptive barrier function terminal sliding mode control for nonlinear systems subject to uncertain bounded perturbations

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Ain Shams Engineering Journal 2025年第7期16卷

作者： Wang, ZiKai Hsia, Kuo-Hsien Mobayen, Saleh Mofid, Omid Skruch, Pawel China Bachelor Program in Intelligent Robotics National Yunlin University of Science and Technology Douliou640301 Taiwan of Intelligent Data Science National Yunlin University of Science and Technology 123 University Road Section 3 Yunlin Douliou640301 Taiwan Computer Science Department University of Tulsa OK India Department of Automatic Control and Robotics AGH University of Krakow Poland

This research proposes a tracking control strategy for perturbed and uncertain nonlinear systems by incorporating an adaptive barrier function within a terminal sliding mode control framework. The proposed approach leverages terminal sliding mode control, integrated with the global convergence principle, to ensure global finite-time tracking performance. Additionally, the adaptive barrier function mechanism is employed to effectively mitigate the impact of system perturbations and uncertainties, enhancing overall robustness and stability in nonlinear system control. The key findings and advantages of the proposed method are summarized as: (1) The use of terminal sliding mode control enhances the system's robustness;(2) Since the controller derivative is continuous except for a discontinuous sign function, integrating the barrier function-based control signal effectively minimizes chattering;(3) By incorporating an adaptive barrier-tuning function, the method ensures robustness against system uncertainties, disturbances, and nonlinearities while mitigating the chattering effect;(4) The proposed method improves tracking accuracy and reduces chattering caused by switching laws;(5) This novel approach holds significant potential for real-world applications, particularly in tracking control scenarios involving input saturations and time delays in uncertain nonlinear systems. Additionally, the proposed approach is highly adaptable for practical applications as it employs two adaptation rules to handle uncertainties and disturbances with unknown upper bounds under specific conditions. Numerical simulation and experimental validation on a rotary inverted pendulum system demonstrate the effectiveness and feasibility of the proposed control scheme for the trajectory tracking control of the real nonlinear system, which confirms the compatibility of the proposed method in real applications. © 2025 The Author(s)

关键词： control nonlinearities

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A meta-reinforcement learning method for adaptive payload transportation with variations

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Neurocomputing 2025年 638卷

作者： Chen, Jingyu Ma, Ruidong Xu, Meng Candan, Fethi Mihaylova, Lyudmila Oyekan, John Institute of Software Chinese Academy of Sciences Beijing China Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom School of Information Technology & Management University of International Business and Economics Beijing China Department of Computer Science University of York York United Kingdom

The safe transport of cable-suspended payloads by a group of Unmanned Aerial Vehicles (UAVs) depends on their capacity to effectively respond to fluctuations in the dynamics caused by external variations, such as wind gusts. For group transportation with obstacles, internal variations, such as changes in formation, can also alter the space occupancy of the system related to collision detection. However, traditional adaptive learning methods are challenging to adapt to these two variations. In this paper, we present a learning-based method for collision-free dual-UAV–payload transportation in the presence of varied wind force and formation change. It consists of an adaptive trajectory tracking controller based on meta-model-based reinforcement learning with online adaptation and a novel correction policy, and a path planner that can sample collision-free goal states of the system for the controller based on the meta-collision predictor. The simulation results demonstrate that the proposed trajectory tracking controller outperforms state-of-the-art model-free, model-based, and variational inference methods in terms of payload tracking error reduction and robustness when dealing with the variations mentioned above. Specifically, the proposed controller reduces the average payload tracking error to less than 0.1 metres in most tasks without obstacles. Furthermore, by following the adapted paths generated by the path planner, the trajectory tracking controller can effectively track the payload while ensuring collision-free safety of the dual-UAV–payload system during navigation among obstacles. The success rate of the proposed method is more than 80% in all scenarios with obstacles. Our project website can be seen at https://***/view/meta-payload-fly/ and the source code is available at https://***/wawachen/Meta-load-fly. © 2025

关键词： Unmanned aerial vehicles (UAV)

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Periodic-Enhanced Informer Model for Short-Term Wind Power Forecasting Using SCADA Data

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IEEE Transactions on Sustainable Energy 2025年

作者： Liu, Zhao-Hua Li, Long-Wei Wei, Hua-Liang Li, Ming Lv, Ming-Yang Zhang, Ying-Jie Hunan University of Science and Technology School of Information and Electrical Engineering Xiangtan411201 China University of Sheffield Department of Automatic Control and Systems Engineering SheffieldS1 3JD United Kingdom Hunan University College of Computer Science and Electronic Engineering Changsha410082 China

Supervisory control and Data Acquisition (SCADA) systems can collect abundant information about wind farm operation and environment. To better make use of SCADA data, a periodic-enhanced informer model for short-term wind power forecasting using scada data is proposed. Firstly, to effectively filter out noise in SCADA data, a v-p curve-based method is adopted by incorporating a quartile approach to remove sparse outliers;a density-based spatial clustering of applications with noise (DBSCAN) algorithm is then employed to eliminate stacked outliers from the power curve. Secondly, a multi-feature input set selection method based on Maximization Information Coefficient is introduced to make better use of the SCADA system data by reducing the number of features. Thirdly, a Temporal Convolutional Network (TCN) is designed to extract the scalar projection of the input set, followed by fusing the local time stamp and global time stamp to build the periodic information enhanced prediction model embedding layer. Subsequently, the enhanced input set is fed into an informer model to predict future wind power. Finally, considering the multiple temporal scales structure characteristics present in the dataset, a multi-scale deep fusion module is established in the informer model to deeply integrate the features of different scales. It can simultaneously avoid the resource waste and overfitting problems caused by increasing the network depth. The experimental results, which are obtained from several deep learning methods on real SCADA data, demonstrate that the suggested approach has good predictive capability. © 2010-2012 IEEE.

关键词： Wind forecasting

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H control for General Conformable Polynomial Fuzzy Models

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International Journal of Fuzzy Systems 2025年 1-10页

作者： Laajimi, Malek Gassara, Hamdi Rhaima, Mohamed Mchiri, Lassaad Makhlouf, Abdellatif Ben Laboratory of Sciences and Techniques of Automatic control & Computer Engineering National School of Engineering of Sfax Sfax Tunisia Department of Statistics and Operations Research College of Science King Saud University Riyadh Saudi Arabia Panthéon-Assas University Paris II Paris France Department of Mathematics Faculty of Sciences Sfax University Sfax Tunisia

This research focuses on exploring the exponential $$H_\infty $$ stability of general conformable nonlinear system. In order to address the nonlinearity inherent in the system, a polynomial fuzzy (PF) method is employed. Modeling a general conformable nonlinear system within the polynomial framework reduces the number of fuzzy rules compared to the classical Takagi–Sugeno fuzzy (TSF). Furthermore, controlling such a complex system, which accounts for perturbations, employs a PF model instead TSF model to describe its nonlinear dynamics, and incorporates a general conformable derivative instead of an integer-order one, is significantly more challenging, and remains unaddressed in previous studies. In this paper, a PF controller is designed in the form of sum of squares (SOS) to enhance the resilience against perturbations and ensure the exponential stability of the proposed model. The proposed SOS can be solved numerically, and partially symbolically, using the recently developed SOSTOOLS. In order to ensure the $$H_\infty $$ performance, a generalized criterion is defined for the general conformable nonlinear system. To demonstrate the effectiveness of the proposed method, a numerical example is provided.

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Small Signal Stability-Guaranteed Moving Target Defense Against Load Redistribution Attack On IoT-based Smart Grid

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IEEE Internet of Things Journal 2025年

作者： Wang, Bingdong Zhang, Zhenyong Wang, Mufeng Liu, Mengxiang Ye, Rui Deng, Ruilong Zhang, Xin Guizhou University State Key Laboratory of Public Big Data College of Computer Science and Technology Guiyang550025 China China Industrial Control Systems Cyber Emergency Response Team Beijing100040 China University of Sheffield Department of Automatic Control and System Engineering Sheffield United Kingdom Guizhou Power Grid Co. Ltd. Intelligent Operation Center China Zhejiang University State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou310027 China Huzhou Institute of Industrial Control Technology Huzhou313000 China

Moving target defense (MTD) is a promising approach to defend against load redistribution attacks on the internet-of-things (IoT)-based smart grid networks by probing the distorted state estimates with the distributed flexible AC transmission system. However, existing studies mainly focus on optimizing the performance of MTD and ignore the safety effect of it on the system’s operation. In this paper, we fill this gap by deeply analyzing the effect of MTD on the small signal stability and aim to alleviate the negative impact and guarantee its defending performance simultaneously. Firstly, the stability is formally described using the eigenvalue sensitivity. The relationship between the MTD-induced perturbation (MTDper) and the stability criteria is derived. Secondly, a new indicator is proposed to measure the effectiveness of MTDper. Thirdly, a constrained optimization problem is formulated to compute the bound of MTDper for guaranteeing the small signal stability. In addition, a surprising finding is that the stability margin can be improved and enhanced by optimizing the value of MTDper without losing the MTD’s effectiveness. Finally, we evaluate the performance of MTDper and its impact on the small signal stability with extensive simulations on the IEEE 30-bus, 39-bus, and 68-bus test power systems. © 2014 IEEE.

关键词： Constrained optimization

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Silver-atom catalysts boosted nitrogen-doped MoS2 for chemiresistive NO2 gas sensor

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Sensors and Actuators B: Chemical 2025年 439卷

作者： Kumar, Ashok Barala, Suraj Gutal, Akash Popat Chakkar, Atul G. Kumar, Pradeep Paranjothy, Manikandan Kumar, Mahesh Department of Electrical Engineering Indian Institute of Technology Jodhpur342030 India Interdisciplinary Department of Space Science and Technology Indian Institute of Technology Jodhpur342030 India Department of Chemistry Indian Institute of Technology Jodhpur342030 India School of Physical Sciences Indian Institute of Technology Himachal Pradesh Mandi175005 India Department of Cybernetics Nanotechnology and Data Processing Faculty of Automatic Control Electronics and Computer Science Silesian University of Technology Akademicka 16 Gliwice44-100 Poland

MoS2 has elicited notable interest as a promising material for gas sensing applications. The pristine MoS2 is still encumbered by drawbacks such as low response, large response time, and a propensity for weak adsorption of target gases, which can impede its effectiveness in practical applications. To address these challenges, this study investigates the functionalization of nitrogen-doped MoS2 with silver nanoparticles to improve its sensing performance for NO2 gas. MoS2 nanosheets were synthesized through chemical vapor deposition and subsequently subjected to nitrogen plasma treatment to facilitate doping. We evaluated the gas sensing performance of pristine MoS2, Ag-decorated MoS2, nitrogen-doped MoS2, and Ag-decorated nitrogen-doped MoS2 (Ag-N-MoS2) specifically for NO2 gas sensing. The Ag-N-MoS2 configuration demonstrated a response that was nearly double that of pristine MoS2 at 100 °C, demonstrating the benefits of this dual enhancement strategy. Additionally, selectivity tests revealed the sensor's capacity to distinguish NO2 from other gases. To reinforce our experimental results, density functional theory (DFT) calculations were conducted, confirming the improved electronic properties achieved through nitrogen doping and Ag NP functionalization. This research underscores the potential of Ag-N-MoS2 as a formidable platform for sophisticated gas sensors, addressing crucial environmental monitoring requirements while surmounting the intrinsic limitations of pristine MoS2. © 2025 Elsevier B.V.

关键词： Plasma CVD

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Algorithmic solutions for several offline constrained resource processing and data transfer multicriteria optimization problems

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Scalable Computing 2010年第1期11卷 1-18页

作者： Andreica, Mugurel Ionuţ Ţăpuş, Nicolae Computer Science and Engineering Department Faculty of Automatic Control and Computer Science Bucharest Romania

In this paper we present novel algorithmic solutions for several resource processing and data transfer multicriteria optimization problems. The results of most of the presented techniques are strategies which solve the considered problems (almost) optimally. Thus, the developed algorithms construct intelligent strategies which can be implemented by agents in specific situations. All the described solutions make use of the properties of the considered problems and, thus, they are not applicable to a very general class of problems. However, by considering the specific details of each problem, we were able to obtain very efficient results. © 2010 SCPE.

关键词： Data transfer

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NUMERICAL AND APPLICATIONAL ASPECTS OF FUZZY RELATIONAL EQUATIONS

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FUZZY SETS AND SYSTEMS 1983年第1期11卷 1-18页

作者： PEDRYCZ, W Department of Automatic Control and Computer Science Silesian Technical University Gliwice Poland

We discuss numerical methods leading to a resolution of fuzzy relational equations which create a formal description of ill-defined systems. An applicability of the numerical approach is shown in solving some problems in fuzzy systems such as identification and control. An idea of fuzzy discretization (fuzzy chopping) as a meaningful tool for handling various problems is also investigated.

关键词： Fuzzy relational equation Numerical methods Identification control Fuzzy discretization

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On the feasibility of constrained generalized predictive control

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UPB Scientific Bulletin, Series C: Electrical Engineering 2010年第4期72卷 65-76页

作者： Olaru, Sorin Dumur, Didier Dumitrache, Ioan Automatic Control Department SUPELEC France Faculty of Automatic Control and Computer Science University POLTEHNICA of Bucharest Romania

This paper analyzes the generalized predictive control law under constraints on the input, output or other auxiliary signals that depend linearly on the system variables. These constraints are formulated as sets of linear equalities or inequalities;the control sequence is therefore elaborated based on parametric optimization problem. The feasibility issues are related on one hand to the wellposedness condition and on the other hand to the compatibility with the set-point constraints. The prediction of the feasibility is of great interest from this point of view and necessary feasibility conditions are presented.

关键词： Predictive control systems

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H observer-based control for fuzzy Hadamard fractional-order systems

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Computational and Applied Mathematics 2025年第4期44卷 1-14页

作者： Rhaima, Mohamed Gassara, Hamdi Mchiri, Lassaad El Hajjaji, Ahmed Ben Makhlouf, Abdellatif Department of Statistics and Operations Research College of Science King Saud University Riyadh Saudi Arabia Laboratory of Sciences Techniques of Automatic Control and Computer Engineering National School of Engineering of Sfax University of Sfax Sfax Tunisia Panthéon-Assas University Paris II Paris France Modeling Information and Systems Laboratory University of Picardie Jules Verne UFR of Sciences Amiens France Department of Mathematics Faculty of Sciences Sfax University Sfax Tunisia

While the $$H_\infty $$ observer-based control has found widespread application in the literature for integer-order systems, researchers have shown less interest in addressing the same issue within the fractional-order framework. In this context, this study delves into the application of $$H_\infty $$ observer-based control for the Hadamard fractional-order system (HFOS) described by the Takagi–Sugeno fuzzy models (TSFM). Using Lyapunov approach and by employing a matrix decoupling technique, LMI based conditions ensuring the existence of an observer and controller, are proposed. To minimize the impact of disturbances on the controlled output, $$H_\infty $$ optimization technique is used. The validity of our approach is substantiated through an example, underscoring the robustness and reliability of our proposed findings.

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