Search Results (31)

This paper introduces new formulas for non-symmetric Jacobi polynomials of specific parameters, focusing specifically on the subclasses where the difference between the two parameters of Jacobi polynomials is two or three. First, several key expressions of these polynomials are established, such as the power form expression and its inverse expression. After that, further essential formulas such as the derivatives of moments, linearization and connection formulas, and a formula for the repeated integrals are developed. Symbolic algebra is pivotal for summing some sums in closed forms. An application of some of the introduced formulas is included. The FitzHugh–Nagumo equation—a nonlinear differential equation arising in neuroscience—is solved using the collocation method. The presented numerical examples demonstrate the accuracy and efficiency of the proposed algorithm. Full article

In this work, an adaptive dynamic programming (ADP)-based event-triggered infinite-horizon ($H_{\infty }$) control algorithm is proposed for high-precision speed regulation of permanent magnet synchronous motors (PMSMs). The $H_{\infty }$ control problem of PMSM can be formulated as a two-player zero-sum differential game, and only a single critic neural network is needed to approximate the solution of the Hamilton–Jacobi–Isaacs (HJI) equations online, which significantly simplifies the control structure. Dynamically balancing control accuracy and update frequency through adaptive event-triggering mechanism significantly reduces the computational burden. Through theoretical analysis, the system state and critic weight estimation error are rigorously proved to be uniform ultimate boundedness, and the Zeno behavior is theoretically precluded. The simulation results verify the high accuracy tracking capability and the strong robustness of the algorithm under both load disturbance and shock load, and the event-triggering mechanism significantly reduces the computational resource consumption. Full article

This paper investigates the robust tracking control of unmanned aerial vehicles (UAVs) against external time-varying disturbances. First, by introducing a virtual position controller, we innovatively decouple the UAV dynamics into independent position and attitude error subsystems, transforming the robust tracking problem into two zero-sum differential games. This approach contrasts with conventional methods by treating disturbances as strategic “players”, enabling a systematic framework to address both external disturbances and model uncertainties. Second, we develop an integral reinforcement learning (IRL) framework that approximates the optimal solution to the Hamilton–Jacobi–Isaacs (HJI) equations without relying on precise system models. This model-free strategy overcomes the limitation of traditional robust control methods that require known disturbance bounds or accurate dynamics, offering superior adaptability to complex environments. Third, the proposed recursive Ridge regression with a forgetting factor (${\mathrm{R}}^3{\mathrm{F}}^2$ ) algorithm updates actor-critic-disturbance neural network (NN) weights in real time, ensuring both computational efficiency and convergence stability. Theoretical analyses rigorously prove the closed-loop system stability and algorithm convergence, which fills a gap in existing data-driven control studies lacking rigorous stability guarantees. Finally, numerical results validate that the method outperforms state-of-the-art model-based and model-free approaches in tracking accuracy and disturbance rejection, demonstrating its practical utility for engineering applications. Full article

This paper concentrates on the fixed-time optimal consensus issue of multi-agent systems (MASs) under false data injection (FDI) attacks. To mitigate FDI attacks on sensors and actuators that may cause systems to deviate from the reference trajectory, a zero-sum game framework is established, where the secure control protocol aims at the better system performance, yet the attacker plays a contrary role. By solving the Hamilton–Jacobi–Isaacs (HJI) equation related to the zero-sum game, an optimal secure tracking controller based on the event-triggered mechanism (ETM) is obtained to decrease the consumption of system resources while the fixed-time consensus can be guaranteed. Moreover, a critic-only online reinforcement learning (RL) algorithm is proposed to approximate the optimal policy, in which the critic neural networks are constructed by the experience replay-based approach. The unmanned aerial vehicle (UAV) systems are adopted to verify the feasibility of the presented approach. Full article

This paper investigates a parameter-free H_∞ differential game approach for nonlinear active vehicle suspensions. The study accounts for the geometric nonlinearity of the half-car active suspension and the cubic nonlinearity of the damping elements. The nonlinear H_∞ control problem is reformulated as a zero-sum game between two players, leading to the establishment of the Hamilton–Jacobi–Isaacs (HJI) equation with a Nash equilibrium solution. To minimize reliance on model parameters during the solution process, an actor–critic framework employing neural networks is utilized to approximate the control policy and value function. An off-policy reinforcement learning method is implemented to iteratively solve the HJI equation. In this approach, the disturbance policy is derived directly from the value function, requiring only a limited amount of driving data to approximate the HJI equation’s solution. The primary innovation of this method lies in its capacity to effectively address system nonlinearities without the need for model parameters, making it particularly advantageous for practical engineering applications. Numerical simulations confirm the method’s effectiveness and applicable range. The off-policy reinforcement learning approach ensures the safety of the design process. For low-frequency road disturbances, the designed H_∞ control policy enhances both ride comfort and stability. Full article

This paper employs an integral reinforcement learning (IRL) method to investigate the optimal tracking control problem (OTCP) for nonlinear nonzero-sum (NZS) differential game systems with unknown drift dynamics. Unlike existing methods, which can only bound the tracking error, the proposed approach ensures that the tracking error asymptotically converges to zero. This study begins by constructing an augmented system using the tracking error and reference signal, transforming the original OTCP into solving the coupled Hamilton–Jacobi (HJ) equation of the augmented system. Because the HJ equation contains unknown drift dynamics and cannot be directly solved, the IRL method is utilized to convert the HJ equation into an equivalent equation without unknown drift dynamics. To solve this equation, a critic neural network (NN) is employed to approximate the complex value function based on the tracking error and reference information data. For the unknown NN weights, the least squares (LS) method is used to design an estimation law, and the convergence of the weight estimation error is subsequently proven. The approximate solution of optimal control converges to the Nash equilibrium, and the tracking error asymptotically converges to zero in the closed system. Finally, we validate the effectiveness of the proposed method in this paper based on MATLAB using the ode45 method and least squares method to execute Algorithm 2. Full article

An enhanced dung beetle optimization algorithm (EDBO) is proposed for nonlinear optimization problems with multiple constraints in manufacturing. Firstly, the dung beetle rolling phase is improved by removing the worst value interference and coupling the current solution with the optimal solution to each other, while retaining the advantages of the original formulation. Subsequently, to address the problem that the dung beetle dancing phase focuses only on the information of the current solution, which leads to the overly stochastic and inefficient exploration of the problem space, the globally optimal solution is introduced to steer the dung beetle, and a stochastic factor is added to the optimal solution. Finally, the dung beetle foraging phase introduces the Jacobi curve to further enhance the algorithm’s ability to jump out of the local optimum and avoid the phenomenon of premature convergence. The performance of EDBO in optimization is tested using the CEC2017 function set, and the significance of the algorithm is verified by the Wilcoxon rank-sum test and the Friedman test. The experimental results show that EDBO has strong optimization-seeking accuracy and optimization-seeking stability. By solving four engineering optimization problems of varying degrees, EDBO has proven to have good adaptability and robustness. Full article

In the case where the square of an eigenfunction F with respect to an eigenvalue of Markov generator L can be expressed as a sum of eigenfunctions, we find the largest number excluding zero among the eigenvalues in the terms of the sum. Using this number, we obtain an improved bound of the fourth moment theorem for Markov diffusion generators. To see how this number depends on an improved bound, we give some examples of eigenfunctions of the diffusion generators L such as Ornstein–Uhlenbeck, Jacobi, and Romanovski–Routh. Full article

In this paper, the safe optimal control method for continuous-time (CT) nonlinear safety-critical systems with asymmetric input constraints and unmatched disturbances based on the adaptive dynamic programming (ADP) is investigated. Initially, a new non-quadratic form function is implemented to effectively handle the asymmetric input constraints. Subsequently, the safe optimal control problem is transformed into a two-player zero-sum game (ZSG) problem to suppress the influence of unmatched disturbances, and a new Hamilton–Jacobi–Isaacs (HJI) equation is introduced by integrating the control barrier function (CBF) with the cost function to penalize unsafe behavior. Moreover, a damping factor is embedded in the CBF to balance safety and optimality. To obtain a safe optimal controller, only one critic neural network (CNN) is utilized to tackle the complex HJI equation, leading to a decreased computational load in contrast to the utilization of the conventional actor–critic network. Then, the system state and the parameters of the CNN are uniformly ultimately bounded (UUB) through the application of the Lyapunov stability method. Lastly, two examples are presented to confirm the efficacy of the presented approach. Full article

Recently, we have established and used the generalized Littlewood theorem concerning contour integrals of the logarithm of analytical function to obtain new criteria equivalent to the Riemann hypothesis. Later, the same theorem was applied to calculate certain infinite sums and study the properties of zeroes of a few analytical functions. In this study, we apply this approach to elliptic functions of Jacobi and Weierstrass. Numerous sums over inverse powers of zeroes and poles are calculated, including some results for the Jacobi elliptic functions sn(z, k) and others understood as functions of the index k. The consideration of the case of the derivative of the Weierstrass rho-function, ${\wp }_z(z{,}_{}\tau )$, leads to quite easy and transparent proof of numerous equalities between the sums over inverse powers of the lattice points $m+n\tau$ and “demi-lattice” points $m+1/2+n\tau$, $m+(n+1/2)\tau$, $m+1/2+(n+1/2)\tau$. We also prove theorems showing that, in most cases, fundamental parallelograms contain exactly one simple zero for the first derivative ${\theta }_1\prime (z|\tau )$ of the elliptic theta-function and the Weierstrass $\zeta$-function, and that far from the origin of coordinates such zeroes of the $\zeta$-function tend to the positions of the simple poles of this function. Full article

In this paper, an event-triggered adaptive dynamic programming (ADP) method is proposed to deal with the $H_{\infty }$ problem with unknown dynamic and constrained input. Firstly, the $H_{\infty }$-constrained problem is regarded as the two-player zero-sum game with the nonquadratic value function. Secondly, we develop the event-triggered Hamilton–Jacobi–Isaacs(HJI) equation, and an event-triggered ADP method is proposed to solve the HJI equation, which is equivalent to solving the Nash saddle point of the zero-sum game. An event-based single-critic neural network (NN) is applied to obtain the optimal value function, which reduces the communication resource and computational cost of algorithm implementation. For the event-triggered control, a triggering condition with the level of disturbance attenuation is developed to limit the number of sampling states, and the condition avoids Zeno behavior by proving the existence of events with minimum triggering interval. It is proved theoretically that the closed-loop system is asymptotically stable, and the critic NN weight error is uniformly ultimately boundedness (UUB). The learning performance of the proposed algorithm is verified by two examples. Full article

This paper presents an approach for the solution of a zero-sum differential game associated with a nonlinear state-feedback ${\mathcal{H}}_{\infty }$ control problem. Instead of using the approximation methods for solving the corresponding Hamilton–Jacobi–Isaacs (HJI) partial differential equation, we propose an algorithm that calculates the explicit inputs to the dynamic system by directly performing minimization with simultaneous maximization of the same objective function. In order to achieve numerical robustness and stability, the proposed algorithm uses: quasi-Newton method, conjugate gradient method, line search method with Wolfe conditions, Adams approximation method for time discretization and complex-step calculation of derivatives. The algorithm is evaluated in computer simulations on examples of first- and second-order nonlinear systems with analytical solutions of ${\mathcal{H}}_{\infty }$ control problem. Full article

This paper investigates certain Jacobi polynomials that involve one parameter and generalize the well-known orthogonal polynomials called Chebyshev polynomials of the third-kind. Some new formulas are developed for these polynomials. We will show that some of the previous results in the literature can be considered special ones of our derived formulas. The derivatives of the moments of these polynomials are derived. Hence, two important formulas that explicitly give the derivatives and the moments of these polynomials in terms of their original ones can be deduced as special cases. Some new expressions for the derivatives of different symmetric and non-symmetric polynomials are expressed as combinations of the generalized third-kind Chebyshev polynomials. Some new linearization formulas are also given using different approaches. Some of the appearing coefficients in derivatives and linearization formulas are given in terms of different hypergeometric functions. Furthermore, in several cases, the existing hypergeometric functions can be summed using some standard formulas in the literature or through the employment of suitable symbolic algebra, in particular, Zeilberger’s algorithm. Full article

In this paper, a robust differential game guidance law is proposed for the nonlinear zero-sum system with unknown dynamics and external disturbances. First, the continuous-time nonlinear zero-sum differential game problem is transformed into solving the nonlinear Hamilton–Jacobi–Isaacs equation, a time-varying cost function is developed to reflect the fixed terminal time, and the robust guidance law is developed to compensate for the external disturbance. Then, a novel neural network identifier is designed to approximate the unknown nonlinear dynamics with online weight tuning. Subsequently, an online critic neural network approximator is presented to estimate the cost function, and time-varying activation functions are considered to deal with the fixed final time problem. An adaptive weight tuning law is given, where two additional terms are added to ensure the stability of the closed-loop nonlinear system and so as to meet the terminal cost at a fixed final time. Furthermore, the uniform ultimate boundedness of the closed-loop system and the critic neural network weights estimation error are proven based upon the Lyapunov approach. Finally, some simulation results are presented to demonstrate the effectiveness of the proposed robust differential game guidance law for nonlinear interception. Full article

This paper addresses the distributed optimal decoupling synchronous control of multiple autonomous unmanned linear systems (MAUS) subject to complex network dynamic coupling. The leader–follower mechanism based on neighborhood error dynamics is established and the network coupling term is regarded as the external disturbance to realize the decoupling cooperative control of each agent. The Bounded L₂-Gain problem for the network coupling term is formulated into a multi-player zero-sum differential game. It is shown that the solution to the multi-player zero-sum differential game requires the solution to coupled Hamilton–Jacobi (HJ) equations. The coupled HJ equations are transformed into an algebraic Riccati equation (ARE), which can be solved to obtain the Nash equilibrium of a multi-player zero-sum game. It is shown that the bounded L₂-Gain for coupling attenuation can be realized by applying the zero-sum game solution as the control protocol and the ultimately uniform boundedness (UUB) of a local neighborhood error vector under conservative conditions is proved. A simulation example is provided to show the effectiveness of the proposed method. Full article