Adaptive Parameter Adjustment Research Articles

Fuzzy Extended State Observer-Based Sliding Mode Control for an Agricultural Unmanned Helicopter

In the context of agricultural unmanned helicopters, the complex wind disturbances over crop fields and structural perturbations due to variations in pesticide container weights present substantial challenges to flight safety. To address these issues, this paper proposes an innovative fuzzy extended state observer-based sliding mode control (FESO-SMC) methodology aimed at enhancing the aircraft’s resilience against such disturbances. Initially, this study adopts a state expansion strategy to integrate both wind and structural disturbances into a comprehensive disturbance model applicable to the agricultural unmanned helicopter. Following this, a sliding mode control law is formulated with consideration for unknown total disturbances, employing specific sliding mode functions alongside exponential reaching laws. An extended state observer is simultaneously implemented within the sliding mode control framework to estimate and mitigate these disturbances, thereby augmenting the disturbance rejection capabilities of the flight control system. Additionally, the integration of fuzzy logic facilitates adaptive parameter adjustment for the extended state observer, leading to more accurate disturbance estimation. Consequently, a trajectory tracking control system tailored specifically for the agricultural unmanned helicopter has been developed, and its performance was evaluated through simulation experiments. The results indicate that, under certain disturbances, the attitude control error of the FESO-SMC controller is reduced to one-fifth that of traditional sliding mode controllers, while position control accuracy is enhanced more than twofold, thus demonstrating that the proposed FESO-SMC controller not only exhibits superior anti-disturbance capability and robustness but also achieves higher tracking accuracy compared to conventional sliding mode controller.

Spatio-Temporal Joint Trajectory Planning for Autonomous Vehicles Based on Improved Constrained Iterative LQR.

With advancements in autonomous driving technology, the coupling of spatial paths and temporal speeds in complex scenarios becomes increasingly significant. Traditional sequential decoupling methods for trajectory planning are no longer sufficient, emphasizing the need for spatio-temporal joint trajectory planning. The Constrained Iterative LQR (CILQR), based on the Iterative LQR (ILQR) method, shows obvious potential but faces challenges in computational efficiency and scenario adaptability. This paper introduces three key improvements: a segmented barrier function truncation strategy with dynamic relaxation factors to enhance stability, an adaptive weight parameter adjustment method for acceleration and curvature planning, and the integration of the hybrid A* algorithm to optimize the initial reference trajectory and improve iterative efficiency. The improved CILQR method is validated through simulations and real-vehicle tests, demonstrating substantial improvements in human-like driving performance, traffic efficiency improvement, and real-time performance while maintaining comfortable driving. The experiment's results demonstrate a significant increase in human-like driving indicators by 16.35% and a 12.65% average increase in traffic efficiency, reducing computation time by 39.29%.

A two-stage hybrid NSGA-III with BWO for path planning and task allocation in agricultural land preparation.

Automated large-scale farmland preparation operations face significant challenges related to path planning efficiency and uniformity in resource allocation. To improve agricultural production efficiency and reduce operational costs, an enhanced method for planning land preparation paths is proposed. In the initial stage, unmanned aerial vehicles (UAVs) are employed to collect data from the field, which is then used to construct accurate farm models. For single-field operations, a path planning approach is developed that minimizes energy consumption. The approach combines the selection of optimal operational angles with the implementation of efficient turning strategies, aiming to achieve full coverage. In addressing the issue of scheduling multiple machines across multiple fields, a two-stage optimization method, referred to as the BNSGA-III algorithm, is introduced. This algorithm integrates the NSGA-III algorithm with Beluga Whale Optimization (BWO), adaptive parameter adjustment, and Adaptive Inversion Crossover (AIC). The proposed method tackles the inherent complexity of agricultural environments, balancing operational efficiency and resource allocation through multi-objective optimization. Experimental results demonstrate that, compared to random operation directions, the proposed method reduces the path length by 1.9% to 3.1%, decreases the turning frequency by 19.5% to 24.0%, and improves coverage by 1.0% to 1.4%. In the context of multi-machine scheduling, the BNSGA-III algorithm outperforms the NSGA-II, NSGA-III, and MOEA/D algorithms, achieving improvements in total travel distance (12.3% to 34.4%), path balance (60.9% to 66.2%), and workload distribution (78.7% to 92.9%). Further evaluation shows that BNSGA-III excels in key metrics such as convergence (IGD), solution quality (HV), and diversity (Spread), thereby confirming its superiority in solution quality, convergence, and diversity. The findings of this study provide strong support for the advancement of intelligent agriculture.

Distributed adaptive event-triggered formation fault-tolerant control for multiple quadrotors

In the present paper, addressing the challenges of model uncertainty, actuator faults, and wind disturbances in quadrotor UAV formation systems, this study proposes an adaptive super-twisting integral terminal sliding mode control (ASTITSMC) strategy. This strategy integrates the “leader-follower” formation control approach with adaptive parameter adjustment to optimize the sliding mode controller, effectively estimating the upper bound of unknown disturbances and ensuring system stability. Additionally, based on the leader-follower structure, we design a distributed adaptive event-triggered formation control protocol that does not rely on global network information, thus reducing computational load and conserving communication resources, while strictly proving the avoidance of the Zeno phenomenon. Analysis based on Lyapunov stability theory demonstrates that the proposed algorithm ensures the convergence of the multi-UAV formation tracking error to zero. Simulation results indicate that the proposed control algorithm performs superiorly in terms of fault tolerance compared to two other algorithms and exhibits stronger robustness.

New Metaheuristics to Solve the Internet Shopping Optimization Problem with Sensitive Prices

In this research, two new methods for solving the Internet shopping optimization problem with sensitive prices are proposed, incorporating adaptive adjustment of control parameters. This problem is classified as NP-hard and is relevant to current electronic commerce. The first proposed solution method corresponds to a Memetic Algorithm incorporating improved local search and adaptive adjustment of control parameters. The second proposed solution method is a particle swarm optimization algorithm that adds a technique for diversification and adaptive adjustment of control parameters. We assess the effectiveness of the proposed algorithms by comparing them with the Branch and Bound algorithm, which presents the most favorable outcomes of the state-of-the-art method. Nine instances of three different sizes are used: small, medium, and large. For performance validation, the Wilcoxon and Friedman non-parametric tests are applied. The results show that the proposed algorithms exhibit comparable performance and outperform the Branch and Bound algorithm.

Competitive Elimination Improved Differential Evolution for Wind Farm Layout Optimization Problems

The wind farm layout optimization problem (WFLOP) aims to maximize wind energy utilization efficiency under different wind conditions by optimizing the spatial layout of wind turbines to fully mitigate energy losses caused by wake effects. Some high-performance continuous optimization methods, such as differential evolution (DE) variants, exhibit limited performance when directly applied due to WFLOP’s discrete nature. Therefore, metaheuristic algorithms with inherent discrete characteristics like genetic algorithms (GAs) and particle swarm optimization (PSO) have been extensively developed into current state-of-the-art WFLOP optimizers. In this paper, we propose a novel DE optimizer based on a genetic learning-guided competitive elimination mechanism called CEDE. By designing specialized genetic learning and competitive elimination mechanisms, we effectively address the issue of DE variants failing in the WFLOP due to a lack of discrete optimization characteristics. This method retains the adaptive parameter adjustment capability of advanced DE variants and actively enhances population diversity during convergence through the proposed mechanism, preventing premature convergence caused by non-adaptiveness. Experimental results show that under 10 complex wind field conditions, CEDE significantly outperforms six state-of-the-art WFLOP optimizers, improving the upper limit of power generation efficiency while demonstrating robustness and effectiveness. Additionally, our experiments introduce more realistic wind condition data to enhance WFLOP modeling.

Lower limb exoskeleton for gait rehabilitation with adaptive nonsingular sliding mode control

Abstract This paper introduces a lower limb exoskeleton for gait rehabilitation, which has been designed to be adjustable to a wide range of patients by incorporating an extension mechanism and series elastic actuators (SEAs). This configuration adapts better to the user’s anatomy and the natural movements of the user’s joints. However, the inclusion of SEAs increases actuator mass and size, while also introducing nonlinearities and changes in the dynamic response of the exoskeletons. To address the challenges related to the human–exoskeleton dynamic interaction, a nonsingular terminal sliding mode control that integrates an adaptive parameter adjustment strategy is proposed, offering a practical solution for trajectory tracking with uncertain exoskeleton dynamics. Simulation results demonstrate the algorithm’s ability to estimate unknown parameters. Experimental tests analyze the performance of the controller against uncertainties and external disturbances.

Adaptive stochastic resonance enhanced weak linear frequency modulated signal perception in low signal-to-noise ratio environments

Abstract The linear frequency modulated (LFM) signal has gained extensive utilization in radar, sonar and covert communication system due to its large time-bandwidth product, high-precision distance measurement and low detection probability. The perception of weak LMF signals holds significant importance yet encounters substantial challenges within the increasing complexity of the electromagnetic environments. Consequently, this paper proposes an adaptive stochastic resonance (ASR) enhanced approach for perceiving weak LFM signals in low signal-to-noise ratio (SNR) conditions. This approach initially commences a pioneering study on the quantitative synergistic resonance mechanism among LFM signals, random noise, and nonlinear stochastic resonance (SR) systems. Subsequently, the ASR system’s implementation becomes straightforward through the adaptive adjustment of SR system parameters according to the LFM signal and noise characteristics. This implementation leverages the inherent property of noise energy transfer to signal energy, facilitating the enhancement of ordered weak signals via random noise. Following the enhancement of the output signal by the ASR system, the Wigner–Ville distribution (WVD) transform’s time-frequency concentration property is employed to extract the time-frequency characteristics. Building on the WVD transform, the Radon transform with linear integral projection is applied to further harness the time-frequency domain energy concentration, thereby achieving the effective perception of weak LFM signals. Finally, the effectiveness of the proposed method in improving the perception performance of weak LFM signal in very low SNR conditions is verified through numerical simulations. It is anticipated that this method will have potential application value in fields such as radar, sonar, and communication under complex electromagnetic environments.

Chaotic laser time series prediction based on an improved logistic mapping algorithm echo state network

Chaos synchronization plays vital functions in the fields of optical chaos secure communication. The synchronization performance can be significantly degraded by parameter mismatches between the chaotic transmitter and receiver. In this paper, the Deep-Logistical Mapping Echo State Network (D-LMESN) is proposed to enhance the performance of chaos synchronization. The network is upgraded by using an improved logical mapping algorithm and a deep reserve pool structure with phase space reconstruction. Results show that D-LMESN exhibits better performance in the prediction of chaotic time series, thanks to the adaptive parameter adjustment, which increases the ability to capture the dynamic characteristics of complex systems. Compared with ESN, the mean square error of this model is reduced by 55% and 72%, respectively, in chaotic laser simulation and actual data experiments. This provides a new possibility, to our knowledge, for the development of chaotic secure communication.

Adaptive linear active disturbance-rejection control strategy reduces the impulse current of compressed air energy storage connected to the grid

The merits of compressed air energy storage (CAES) include large power generation capacity, long service life, and environmental safety. When a CAES plant is switched to the grid-connected mode and participates in grid regulation, using the traditional control mode with low accuracy can result in excess grid-connected impulse current and junction voltage. This occurs because the CAES output voltage does not match the frequency, amplitude, and phase of the power grid voltage. Therefore, an adaptive linear active disturbance-rejection control (A-LADRC) strategy was proposed. Based on the LADRC strategy, which is more accurate than the traditional proportional integral controller, the proposed controller is enhanced to allow adaptive adjustment of bandwidth parameters, resulting in improved accuracy and response speed. The problem of large impulse current when CAES is switched to the grid-connected mode is addressed, and the frequency fluctuation is reduced. Finally, the effectiveness of the proposed strategy in reducing the impact of CAES on the grid connection was verified using a hardware-in-the-loop simulation platform. The influence of the k value in the adaptive- adjustment formula on the A-LADRC was analyzed through simulation. The anti-interference performance of the control was verified by increasing and decreasing the load during the presynchronization process.

Adaptive QP algorithm for depth range prediction and encoding output in virtual reality video encoding process.

In order to reduce the encoding complexity and stream size, improve the encoding performance and further improve the compression performance, the depth prediction partition encoding is studied in this paper. In terms of pattern selection strategy, optimization analysis is carried out based on fast strategic decision-making methods to ensure the comprehensiveness of data processing. In the design of adaptive strategies, different adaptive quantization parameter adjustment strategies are adopted for the equatorial and polar regions by considering the different levels of user attention in 360 degree virtual reality videos. The purpose is to achieve the optimal balance between distortion and stream size, thereby managing the output stream size while maintaining video quality. The results showed that this strategy achieved a maximum reduction of 2.92% in bit rate and an average reduction of 1.76%. The average coding time could be saved by 39.28%, and the average reconstruction quality was 0.043, with almost no quality loss detected by the audience. At the same time, the model demonstrated excellent performance in sequences of 4K, 6K, and 8K. The proposed deep partitioning adaptive strategy has significant improvements in video encoding quality and efficiency, which can improve encoding efficiency while ensuring video quality.

Multi-radio fast routing recovery protocol based on spectrum situation awareness

UAV networks often encounter jamming attacks, under which multi-radio protocols have to switch radios to accelerate communication recovery. However, the existing protocols rely on exchange of hello messages to detect jamming, leading to long sensing time and thus slow routing recovery. To address the issues raised by jamming attacks, we propose a new routing protocol, Electromagnetic Spectrum situation awareness Optimized Link State Routing (ESOLSR) protocol, to improve the existing OLSRv2 protocol. ESOLSR utilizes the spectrum situation awareness capability from the physical layer, and adopts joint-updating of link status, updating of interface functions, and adaptive adjustment of parameters. Our simulation results show that the improved protocol, ESOLSR, can recover routing and resume normal communication 26.6% faster compared to the existing protocols.

Adaptive adjustment method of segment linear frequency modulation excitation for wideband dipole logging

Abstract Wideband dipole signal is the basis for dipole dispersion correction and near-borehole imaging. Segment linear frequency modulation (SLFM) sound source signal is an effective method to broaden the dipole frequency band. In the actual logging process, the formation environment changes in real time, and the SLFM sound source with fixed parameters cannot compensate the bending wave excitation intensity curve at any time, which affects the quality of logging. This paper presents a method for adaptive adjustment of the SLFM sound source signal. Adaptive parameter adjustment can be made according to the change of downhole environment, so that the signal can be adapted to the changing downhole geological environment.

Efficient mask optimization for enhanced digital maskless lithography quality by improved particle swarm optimization algorithm

In this paper, an efficient mask optimization method for enhanced digital micromirror device lithography quality based on improved particle swarm optimization (PSO) is proposed, which greatly improves the quality of lithography. First, the traditional PSO algorithm is improved by introducing adaptive parameter adjustment to enhance its search ability in complex problems. In addition, in order to avoid premature convergence of the algorithm, a simulated annealing operation is introduced to make it accept the different solution with a certain probability and jump out of the local optimal better. The numerical simulation experiment results showed that the pattern errors between the print image and target pattern were reduced by 93.5%, 95.8%, and 95.6%, respectively. Compared with traditional optimization methods, the proposed algorithm significantly improves the image quality, especially in the aspects of edge contour and pattern fidelity.

Novel multifractal-based classification model for the quality grades of surrounding rock within tunnels

Understanding the variation patterns of tunnel boring machine (TBM) operational parameters is crucial for assessing engineering geological conditions and quality grades of surrounding rock within tunnels. Studying the multifractal characteristics of the TBM operational parameters can help identify the patterns, but the relevant research has not yet been explored. This paper proposed a novel classification model for quality grades of surrounding rock in TBM tunnels based on multifractal analysis theory. Initially, the statistical characteristics of eight TBM cycle data with different grades of surrounding rock were explored. Subsequently, the method of calculating and analyzing the multifractal characteristic parameters of the TBM operational data was deduced and summarized. The research results showed that the TBM operational parameters of cutterhead torque, total thrust, advance rate, and cutterhead rotation speed have significant multifractal characteristics. Its multifractal dimension, midpoint slope of the generalized fractal spectrum, and singularity strength range can be used to evaluate the surrounding rock grades of the tunnel. Finally, a novel classification model for the tunnel surrounding rocks based on the multifractal characteristic parameters was proposed using the multiple linear regression method, and the model was verified through four TBM cycle data containing different surrounding rock grades. The results showed that the proposed multifractal-based classification model for tunnel surrounding rocks has high accuracy and applicability. This study not only achieves multifractal feature representation and surrounding rock classification for TBM operational parameters but also holds the potential for adaptive adjustment of TBM operational parameters and automated tunneling applications.

Research on Vehicle Stability Control Based on a Union Disturbance Observer and Improved Adaptive Unscented Kalman Filter

This paper considers external disturbances imposed on vehicle systems. Based on a vehicle dynamics model of the vehicle with three degrees of freedom (3-DOFs), a union disturbance observer (UDO) composed of a nonlinear disturbance observer (NDO) and an extended state observer (ESO) was designed to obtain external disturbances and unmodeled items. Meanwhile, an improved adaptive unscented Kalman filter (iAUKF) with anti-disturbance and anti-noise properties is proposed, based on the UDO and the unscented Kalman filter (UKF) method, to evaluate the sideslip angle of vehicle systems. Finally, a vehicle yaw stability controller was designed based on UDO and the global fast terminal sliding mode control (GFTSMC) method. The results of co-simulation demonstrated that the proposed UDO was effectively able to observe external disturbances and unmodeled items. The proposed iAUKF, which considers external disturbances, not only achieves adaptive updating and adjustment of filtering parameters under different sensor noise intensities but can also resist external disturbances, improving the estimation accuracy and robustness of the UKF. In the anti-disturbance performance test, the maximum estimation error of the sideslip angle of the iAUKF under the three working conditions was less than 0.1°, 0.02°, and 0.5°, respectively. Based on the UDO and the GFTSMC, a vehicle yaw stability controller is described, which improves the accuracy of control and the robustness of the vehicle’s stability control system and greatly strengthens the driving safety of the vehicle.

Memetic discrete differential evolution with domain knowledge for blocking scheduling distributed flow shop with lot-streaming constraints

This article addresses the blocking distributed flow shop scheduling problem with lot-streaming (BDFSPL) with the objective of minimizing the maximum completion time, or makespan. In many realistic conditions, a job is divided into multiple continuous processed sublots. This pattern achieves operation overlap on consecutive machines and decreases the completion time of the whole job. Moreover, there are no buffers between machines, potentially causing finished sublots to be blocked on the current machine until the downstream machine is available. This is the first study to consider distributed production, blocking constraints, and lot-streaming together. To address this problem, we formulate a mathematical model for BDFSPL and propose a memetic discrete differential evolution (MDDE) algorithm. First, the MDDE algorithm partitions the entire population into three subpopulations based on solution quality, and each subpopulation evolves independently through adaptive scale and parameter adjustment. Second, four discrete mathematical operators are proposed to generate new individuals, and based on these operators, discrete mutation, crossover, and selection operations of MDDE are designed. Additionally, a crucial path-based local search strategy, informed by the domain knowledge of the best individual, is embedded into MDDE to enhance the exploitation capacity. To validate MDDE’s effectiveness, comprehensive experiments with several related algorithms on extensive testing instances are carried out, and the parameters of the MDDE algorithm are calibrated by employing a design of experiments. The comparison results demonstrate the effectiveness and efficiency of the proposed MDDE algorithm for the BDFSPL.

Application of Local Search Particle Swarm Optimization Based on the Beetle Antennae Search Algorithm in Parameter Optimization

Intelligent control algorithms have been extensively utilized for adaptive controller parameter adjustment. While the Particle Swarm Optimization (PSO) algorithm has several issues: slow convergence speed requiring a large number of iterations, a tendency to get trapped in local optima, and difficulty escaping from them. It is also sensitive to the distribution of the solution space, where uneven distribution can lead to inefficient contraction. On the other hand, the Beetle Antennae Search (BAS) algorithm is robust, precise, and has strong global search capabilities. However, its limitation lies in focusing on a single individual. As the number of iterations increases, the step size decays, causing it to get stuck in local extrema and preventing escape. Although setting a fixed or larger initial step size can avoid this, it results in poor stability. The PSO algorithm, which targets a population, can help the BAS algorithm increase diversity and address its deficiencies. Conversely, the characteristics of the BAS algorithm can aid the PSO algorithm in finding the optimal solution early in the optimization process, accelerating convergence. Therefore, considering the combination of BAS and PSO algorithms can leverage their respective advantages and enhance overall algorithm performance. This paper proposes an improved algorithm, W-K-BSO, which integrates the Beetle Antennae Search strategy into the local search phase of PSO. By leveraging chaotic mapping, the algorithm enhances population diversity and accelerates convergence speed. Additionally, the adoption of linearly decreasing inertia weight enhances algorithm performance, while the coordinated control of the contraction factor and inertia weight regulates global and local optimization performance. Furthermore, the influence of beetle antennae position increments on particles is incorporated, along with the establishment of new velocity update rules. Simulation experiments conducted on nine benchmark functions demonstrate that the W-K-BSO algorithm consistently exhibits strong optimization capabilities. It significantly improves the ability to escape local optima, convergence precision, and algorithm stability across various dimensions, with enhancements ranging from 7 to 9 orders of magnitude compared to the BAS algorithm. Application of the W-K-BSO algorithm to PID optimization for the Pointing and Tracking System (PTS) reduced system stabilization time by 28.5%, confirming the algorithm’s superiority and competitiveness.

An Approach of BIM-Based Dynamic Adaptive Zoning for Group Piles Construction Multi-Work Areas

In large-scale pile foundation drilling projects, the absence of digital work area management hampers dynamic construction management, affecting efficiency. This article explores multi-work area management during pile foundation drilling using a BIM parameterized model, focusing on informatization. The results indicate the following: (i) A dynamic zoning method for pile foundation construction using BIM models was developed to support information management systems and address resource allocation challenges amid dynamic construction team changes. (ii) Adaptive zoning methods were proposed, incorporating the dynamic adjustment of construction work areas, including the division of virtual work areas and adaptive adjustment of pile foundation partition parameters. (iii) Work area modeling and zoning were applied on site, with pile foundation modeling aligning with engineering design distribution, and work area zoning accurately reflecting the on-site construction status. (iv) This method enables adaptive synchronization between pile foundation model attributes and work area information, integrating zoning management into the information system to enhance the construction unit’s information management system and digital management level.

Multi-objective Evolutionary Algorithm based on Decomposition with Adaptive Adjustment of Control Parameters to Solve the Bi-objective Internet Shopping Optimization Problem (MOEA/D-AACPBIShOP)

Multi-objective Evolutionary Algorithm based on Decomposition with Adaptive Adjustment of Control Parameters to Solve the Bi-objective Internet Shopping Optimization Problem (MOEA/D-AACPBIShOP)