Search Results (392)

An adaptive neural network output-feedback control strategy is proposed in this paper for the distributed optimization problem (DOP) of high-order nonlinear stochastic multi-agent systems (MASs) driven by Lévy noise. On the basis of the penalty-function method, the consensus constraint is removed and the global objective function (GOF) is reconstructed. The stability of the system is analyzed by combining the generalized Itô’s formula with the Lyapunov function method. Moreover, the command filtering mechanism is introduced to solve the “complexity explosion” problem in the process of designing virtual controller, and the filter errors are compensated by introducing compensating signals. The proposed algorithm has been proved that the outputs of all agents converge to the optimal solution of the DOP with bounded errors. The simulation results demonstrate the effectiveness of the proposed approach. Full article

In this paper, we conducted a study on the optimal control problem of an epidemic model which consists of two strain with different types of incidence rates: bilinear and non-monotonic. We also considered use of the saturation treatment function. Two basic regeneration numbers are calculated from the epidemic model, which are denoted as $R_1$ and $R_2$. The global stability of the disease-free equilibrium point was studied by the Lyapunov method, and it was proved that the disease-free equilibrium point is globally asymptotically stable when $R_1$ and $R_2$ are less than one. Finally, we formulated a time-dependent optimal control problem by Pontryagin’s maximum principle. Numerical simulations were performed to establish the effects of model parameters for disease transmission as well as the effects of control. Full article

In this study, a model-free  $P{I}^{\phi }$-sliding mode control ( $P{I}^{\phi }$-SMC) methodology is proposed to synchronize a specific class of chaotic fractional-order memristive neural network systems (FOMNNSs) with delays and input saturation. The fractional-order Lyapunov stability theory is used to design a two-level  $P{I}^{\phi }$-SMC which can effectively manage the inherent chaotic behavior of delayed FOMNNSs and achieve finite-time synchronization. At the outset, an initial sliding surface is introduced. Subsequently, a robust  $P{I}^{\phi }$-sliding surface is designed as a second sliding surface, based on proportional–integral (PI) rules. The finite-time asymptotic stability of both surfaces is demonstrated. The final step involves the design of a dynamic-free control law that is robust against system uncertainties, input saturations, and delays. The independence of control rules from the functions of the system is accomplished through the application of the norm-boundedness property inherent in chaotic system states. The soft actor-critic (SAC) algorithm based deep Q-Learning is utilized to optimally adjust the coefficients embedded in the two-level  $P{I}^{\phi }$-SMC controller’s structure. By maximizing a reward signal, the optimal policy is found by the deep neural network of the SAC agent. This approach ensures that the sliding motion meets the reachability condition within a finite time. The validity of the proposed protocol is subsequently demonstrated through extensive simulation results and two numerical examples. Full article

This study presents a novel obstacle evasion method for unmanned aerial vehicle (UAV) clusters in the presence of static and dynamic obstacles. First, a discrete three-dimensional model of the UAV is provided. Second, the proposed improved artificial potential field (APF) is illustrated. In designing the improved scheme, a pseudo-exponential function is fused into the potential field, thus avoiding local extreme points. Frictional resistance is introduced to optimize vibration and maintain stability after reaching the desired endpoints. Meanwhile, the relevant parameters are optimized, and appropriate state limits are defined, thus enhancing the control stability. Third, Lyapunov stability analysis proves that all signals in the closed-loop cluster system are ultimately bounded. Finally, the simulation results demonstrate that the UAV cluster can efficiently reconstruct, form, and maintain formations while avoiding static and dynamical obstacles along with maintaining a safe distance, solving the problem of the local extreme of traditional artificial potential field methods. The proposed scheme is also tested under large-scale multi-UAV scenarios. In conclusion, this study provides valuable insights for engineers working with UAV clusters navigating through formations. Full article

Protecting sensitive patient data, such as electrocardiogram (ECG) signals, during RF wireless transmission is essential due to the increasing demand for secure telemedicine communications. This paper presents an innovative chaotic-based encryption system designed to enhance the security and integrity of telemedicine data transmission. The proposed system utilizes a multi-scroll chaotic system for ECG signal encryption based on master–slave synchronization. The ECG signal is encrypted by a master system and securely transmitted to a remote location, where it is decrypted by a slave system using an extended state observer. Synchronization between the master and slave is achieved through the Lyapunov criteria, which ensures system stability. The system also supports Orthogonal Frequency Division Multiplexing (OFDM) and adaptive n-quadrature amplitude modulation (n-QAM) schemes to optimize signal discretization. Experimental validations with a custom transceiver scheme confirmed the system’s effectiveness in preventing channel overlap during 2.5 GHz transmissions. Additionally, a commercial RF Power Amplifier (RF-PA) for LTE applications and a development board were integrated to monitor transmission quality. The proposed encryption system ensures robust and efficient RF transmission of ECG data, addressing critical challenges in the wireless communication of sensitive medical information. This approach demonstrates the potential for broader applications in modern telemedicine environments, providing a reliable and efficient solution for the secure transmission of healthcare data. Full article

UAV-based air-ground integrated networks offer a significant benefit in terms of providing ubiquitous communications and computing services for Internet of Things (IoT) devices. With the empowerment of edge intelligence (EI) technology, they can efficiently deploy various intelligent IoT applications. However, the trajectory of UAVs can significantly affect the quality of service (QoS) and resource optimization decisions. Joint computation offloading and UAV trajectory optimization bring many challenges, including coupled decision variables, information uncertainty, and long-term queue delay constraints. Therefore, this paper introduces an air-ground integrated architecture with EI and proposes a TD3-based joint computation offloading and UAV trajectory optimization (TCOTO) algorithm. Specifically, we use the principle of the TD3 algorithm to transform the original problem into a cumulative reward maximization problem in deep reinforcement learning (DRL) to obtain the UAV trajectory and offloading strategy. Additionally, the Lyapunov framework is used to convert the original long-term optimization problem into a deterministic short-term time-slot problem to ensure the long-term stability of the UAV queue. Based on the simulation results, it can be concluded that our novel TD3-based algorithm effectively solves the joint computation offloading and UAV trajectory optimization problems. The proposed algorithm improves the performance of the system energy efficiency by 3.77%, 22.90%, and 67.62%, respectively, compared to the other three benchmark schemes. Full article

This paper presents a fixed-time fault-tolerant adaptive neural network control scheme for the Twin-Rotor Multi-Input Multi-Output System (TRMS), which is challenging due to its complex, unstable dynamics and helicopter-like behavior with two degrees of freedom (DOFs). The control objective is to stabilize the TRMS in trajectory tracking in the presence of unknown nonlinear dynamics, external disturbances, and sensor faults. The proposed approach employs the backstepping technique combined with adaptive neural network estimators to achieve fixed-time convergence. The unknown nonlinear functions and disturbances of the system are processed via an adaptive radial basis function neural network (RBFNN), while the sensor faults are actively estimated using robust terms. The developed controller is applied to the TRMS using a decentralized structure where each DOF is controlled independently to simplify the control scheme. Moreover, the parameters of the proposed controller are optimized by the gray-wolf optimization algorithm to ensure high flight performance. The system’s stability analysis is proven using a Lyapunov approach, and simulation results demonstrate the effectiveness of the proposed controller. Full article

Precise control of furnace temperature (FT) is crucial for the stable, efficient operation and pollution control of the municipal solid waste incineration (MSWI) process. To address the inherent nonlinearity and uncertainty of the incineration process, a FT control strategy is proposed. Firstly, by analyzing the process characteristics of the MSWI process in terms of FT control, the secondary air flow is selected as the manipulated variable to control the FT. Secondly, an FT prediction model based on the Interval Type-2 Fuzzy Broad Learning System (IT2FBLS) is developed, incorporating online parameter learning and structural learning algorithms to enhance prediction accuracy. Next, particle swarm rolling optimization (PSRO) is used to solve the optimal control law sequence to ensure optimization efficiency. Finally, the stability of the proposed method is validated using Lyapunov theory, confirming the controller’s reliability in practical applications. Experiments based on actual operational data confirm the method’s effectiveness. Full article

This research substantiates the necessity for developing and implementing structural reconfiguration methods for automatic control systems in the event of a parametric sensor failure to enhance the helicopter turboshaft engine’s overall reliability and safety. The research aim is the substantiation of the helicopter turboshaft engine’s mathematically reconfigured automatic control system in the event of the failure of a standard sensor, which will ensure the helicopter turboshaft engine’s stable operation under failure conditions, minimizing the impact on engine control and performance. A theorem was developed and proven concerning the reconfiguration of the helicopter turboshaft engine’s automatic control system structure, defining the system’s new mathematical form using nonlinear thermogas-dynamic parameters. A method was proposed to determine the values of these parameters that keep the reconfigured control system stable. This method uses numerical optimization to find the best thermogas-dynamic parameters to ensure system stability. Experimental results showed that for slow changes, using parameters from the previous step works best, while for fast changes, restarting is more effective due to significant differences in the system states. The accuracy of the proposed mathematical model for the reconfigured control system was confirmed through mean square error analysis (within 0.4% and 0.77% under white noise), regression analysis (with a determination coefficient of 0.986), and cross-validation (with a metric deviation from the maximum mean square error of 3.88%). Full article

UAVs are increasingly prominent in the competition for space due to their multiple characteristics, such as strong maneuverability, long flight distance, and high survivability. A new online safe flight control method based on constrained reinforcement learning is proposed for the intelligent safety control of UAVs. This method adopts constrained policy optimization as the main reinforcement learning framework and develops a constrained policy optimization algorithm with extra safety budget, which introduces Lyapunov stability requirements and limits rudder deflection loss to ensure flight safety and improves the robustness of the controller. By efficiently interacting with the constructed simulation environment, a control law model for UAVs is trained. Subsequently, a condition-triggered meta-learning online learning method is used to adjust the control raw online ensuring successful attitude angle tracking. Simulation experimental results show that using online control laws to perform aircraft attitude angle control tasks has an overall score of 100 points. After introducing online learning, the adaptability of attitude control to comprehensive errors such as aerodynamic parameters and wind improved by 21% compared to offline learning. The control law can be learned online to adjust the control policy of UAVs, ensuring their safety and stability during flight. Full article

Automatic emotion recognition using portable sensors is gaining attention due to its potential use in real-life scenarios. Existing studies have not explored Galvanic Skin Response and Photoplethysmography sensors exclusively for emotion recognition using nonlinear features with machine learning (ML) classifiers such as Random Forest, Support Vector Machine, Gradient Boosting Machine, K-Nearest Neighbor, and Decision Tree. In this study, we proposed a genuine window sensitivity analysis on a continuous annotation dataset to determine the window duration and percentage of overlap that optimize the classification performance using ML algorithms and nonlinear features, namely, Lyapunov Exponent, Approximate Entropy, and Poincaré indices. We found an optimum window duration of 3 s with $50\%$ overlap and achieved accuracies of 0.75 and 0.74 for both arousal and valence, respectively. In addition, we proposed a Strong Labeling Scheme that kept only the extreme values of the labels, which raised the accuracy score to 0.94 for arousal. Under certain conditions mentioned, traditional ML models offer a good compromise between performance and low computational cost. Our results suggest that well-known ML algorithms can still contribute to the field of emotion recognition, provided that window duration, overlap percentage, and nonlinear features are carefully selected. Full article

Aimed at addressing the strong nonlinearity and strong external disturbances that cause flight control issues in conventional guided projectiles, as well as the slow response and structural vibrations that often occur in sliding mode control systems, which have a detrimental impact on the control effect and ultimate hit precision, a new type of fast and robust control algorithm with a unidirectional mode has been designed. The objective is to design an optimized aerodynamic shape for the projectile and to establish a dynamic model of the roll channel and a motion model of the entire trajectory. The dynamics of a new global terminal sliding mode are proposed, and an adaptive parameter term is realized by calculating the state of the critical sliding mode surface, which ensures that the tracking error converges within a finite time. Its combination with an adaptive approaching law is used to further speed up convergence while damping the structural vibration of the system. The bias error of the roll angle is constructed as the controller and simulation calculations are conducted on the basis of the aforementioned framework. The stability and time convergence of the control system are demonstrated through Lyapunov theory. The results indicate that, in comparison to the conventional terminal sliding mode controller, the designed controller exhibits a markedly rapid convergence rate and stronger robustness in tracking the command signal. Moreover, it also maintains a stable motion attitude of the projectile throughout the entire process. The superior control effect under different guidance schemes and the strong external disturbances also further reflect the anti-jamming capability and tracking performance of the system. Full article

In this paper, a time-varying delay output feedback control method based on the potential barrier function is proposed, which can solve the communication delay and field-of-view (FOV) constraints of Unmanned Ground Vehicle (UGV) clusters when communicating with ultra-wide-angle cameras. First, a second-order oscillator and an output feedback controller are utilized to feed back the position and direction of neighboring vehicles by exchanging control quantities and to solve the time-varying delay in the position computation of the ultra-wide-angle camera. Due to the limited target radiation range perceived by the camera, an FOV-constrained potential function is adopted to optimize the design of the sliding mode surface. The stability of the closed-loop control system is analyzed by applying the Lyapunov method. Finally, simulation experiments are conducted to verify the effectiveness of the consensus scheme in addressing the communication delay and FOV constraint problem under two different initial conditions. Full article

In the Internet of Things (IoT) era, Mobile Edge Computing (MEC) significantly enhances the efficiency of smart devices but is limited by battery life issues. Wireless Power Transfer (WPT) addresses this issue by providing a stable energy supply. However, effectively managing overall energy consumption remains a critical and under-addressed aspect for ensuring the network’s sustainable operation and growth. In this paper, we consider a WPT-MEC network with user cooperation to migrate the double near–far effect for the mobile node (MD) far from the base station. We formulate the problem of maximizing long-term computation rates under a power consumption constraint as a multi-stage stochastic optimization (MSSO) problem. This approach is tailored for a sustainable WPT-MEC network, considering the dynamic and varying MEC network environment, including randomness in task arrivals and fluctuating channels. We introduce a virtual queue to transform the time-average energy constraint into a queue stability problem. Using the Lyapunov optimization technique, we decouple the stochastic optimization problem into a deterministic problem for each time slot, which can be further transformed into a convex problem and solved efficiently. Our proposed algorithm works efficiently online without requiring further system information. Extensive simulation results demonstrate that our proposed algorithm outperforms baseline schemes, achieving approximately 4% enhancement while maintain the queues stability. Rigorous mathematical analysis and experimental results show that our algorithm achieves $\left[O(1/V),O\left(V\right)\right]$ trade-off between computation rate and queue stability. Full article

In Mobile Crowdsensing (MCS), sensing tasks have different impacts and contributions to the whole system or specific targets, so the importance of the tasks is different. Since resources for performing tasks are usually limited, prioritizing the allocation of resources to more important tasks can ensure that key data or information can be collected promptly and accurately, thus improving overall efficiency and performance. Therefore, it is very important to consider the importance of tasks in the task selection and allocation of MCS. In this paper, a task queue is established, the importance of tasks, the ability of participants to perform tasks, and the stability of the task queue are considered, and a novel task selection and allocation scheme (TSAS) in the MCS system is designed. This scheme introduces the Lyapunov optimization method, which can be used to dynamically keep the task queue stable, balance the execution ability of participants and the system load, and perform more important tasks in different system states, even when the participants are limited. In addition, the Double Deep Q-Network (DDQN) method is introduced to improve on the traditional solution of the Lyapunov optimization problem, so this scheme has a certain predictive ability and foresight on the impact of future system states. This paper also proposes action-masking and iterative training methods for the MCS system, which can accelerate the training process of the neural network in the DDQN and improve the training effect. Experiments show that the TSAS based on the Lyapunov optimization method and DDQN performs better than other algorithms, considering the long-term stability of the queue, the number and importance of tasks to be executed, and the congestion degree of tasks. Full article