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This paper aims to study a neural network-based fault-tolerant controller to improve the tracking control performance of an unmanned autonomous helicopter with system uncertainty, external disturbances and sensor faults, using the prescribed performance method.

To ensure that the tracking error satisfies the prescribed performance, the authors adopt an error transformation function method. A control scheme based on the neural network and high-order disturbance observer is designed to guarantee the boundedness of the closed-loop system. A simulation is performed to prove the validity of the control scheme.

The developed adaptive fault-tolerant control method makes the system with sensor fault realize tracking control. The error transformation function method can effectively handle the prescribed performance requirements. Sensor fault can be regarded as a type of system uncertainty. The uncertainty can be approximated accurately using neural networks. A high-order disturbance observer can effectively suppress compound disturbances.

The tracking performance requirements of unmanned autonomous helicopter system are considered in the design of sensor fault-tolerant control. The inequality constraint that the output tracking error must satisfy is transformed into an unconstrained problem by introducing an error transformation function. The fault state of the velocity sensor is considered as the system uncertainty, and a neural network is used to approach the total uncertainty. Neural network estimation errors and external disturbances are treated as compound disturbances, and a high-order disturbance observer is constructed to compensate for them.

The purpose of this paper aims to investigate the adaptive impedance control and its optimized PSO algorithm for force tracking of a dual-arm cooperative robot. Because the dual-arm robot is directly in contact with external environment, controlling the mutual force between robot and external environment is of great importance. Besides, a high compliance of the robot should be guaranteed.

An impedance control based on Particle Swarm Optimization (PSO) algorithm is designed to track the mutual force and achieve compliance control of the robot end.

The experimental results show that the impedance control coefficients can be automatically tuned converged by PSO algorithm.

The system can reach a steady state within 0.03 s with overshoot convergence, and the force fluctuation range at the steady state decreases to about ±0.08 N even under the force mutation condition.

The purpose of this paper is to solve the challenging problem of automatic carrier landing with the presence of environmental disturbances. Therefore, a global fast terminal sliding mode control (GFTSMC) method is proposed for automatic carrier landing system (ACLS) to achieve safe carrier landing control.

First, the framework of ACLS is established, which includes flight glide path model, guidance model, approach power compensation system and flight controller model. Subsequently, the carrier deck motion model and carrier air-wake model are presented to simulate the environmental disturbances. Then, the detailed design steps of GFTSMC are provided. The stability analysis of the controller is proved by Lyapunov theorems and LaSalle’s invariance principle. Furthermore, the arrival time analysis is carried out, which proves the controller has fixed time convergence ability.

The numerical simulations are conducted. The simulation results reveal that the proposed method can guarantee a finite convergence time and safe carrier landing under various conditions. And the superiority of the proposed method is further demonstrated by comparative simulations and Monte Carlo tests.

The GFTSMC method proposed in this paper can achieve precise and safe carrier landing with environmental disturbances, which has important referential significance to the improvement of ACLS controller designs.

The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for multiple unmanned aerial vehicles (UAVs) during actuator failures and external perturbations.

First, this study developed the formation tracking protocol for each follower using UAV formation members, defining the tracking inaccuracy of the UAV followers’ location. Subsequently, this study designed the multilayer event-triggered controller based on the backstepping method framework within finite time. Then, considering the actuator failures, and added self-adaptive thought for fault-tolerant control within finite time, the event-triggered closed-loop system is subsequently shown to be a finite-time stable system. Furthermore, the Zeno behavior is analyzed to prevent infinite triggering instances within a finite time. Finally, simulations are conducted with external disturbances and actuator failure conditions to demonstrate formation tracking controller performance.

It achieves improved performance in the presence of external disturbances and system failures. Combining limited-time adaptive control and event triggering improves system stability, increase robustness to disturbances and calculation efficiency. In addition, the designed formation tracking controller can effectively control the time-varying formation of the leader and followers to complete the task, and by adding a fixed-time observer, it can effectively compensate for external disturbances and improve formation control accuracy.

A formation-following controller is designed, which can handle both external disturbances and internal actuator failures during formation flight, and the proposed method can be applied to a variety of formation control scenarios and does not rely on a specific type of UAV or communication network.

This paper aims to propose a novel control scheme and offer a control parameter optimizer to achieve better automatic carrier landing. Carrier landing is a challenging work because of the severe sea conditions, high demand for accuracy and non-linearity and maneuvering coupling of the aircraft. Consequently, the automatic carrier landing system raises the need for a control scheme that combines high robustness, rapidity and accuracy. In addition, to exploit the capability of the proposed control scheme and alleviate the difficulty of manual parameter tuning, a control parameter optimizer is constructed.

A novel reference model is constructed by considering the desired state and the actual state as constrained generalized relative motion, which works as a virtual terminal spring-damper system. An improved particle swarm optimization algorithm with dynamic boundary adjustment and Pareto set analysis is introduced to optimize the control parameters.

The control parameter optimizer makes it efficient and effective to obtain well-tuned control parameters. Furthermore, the proposed control scheme with the optimized parameters can achieve safe carrier landings under various severe sea conditions.

The proposed control scheme shows stronger robustness, accuracy and rapidity than sliding-mode control and Proportion-integration-differentiation (PID). Also, the small number and efficiency of control parameters make this paper realize the first simultaneous optimization of all control parameters in the field of flight control.

The design goal for the tracking interval of high-speed railway trains in China is 3 min, but it is difficult to achieve, and it is widely believed that it is mainly limited by the tracking interval of train arrivals. If the train arrival tracking interval can be compressed, it will be beneficial for China's high-speed railway to achieve a 3-min train tracking interval. The goal of this article is to study how to compress the train arrival tracking interval.

By simulating the process of dense train groups arriving at the station and stopping, the headway between train arrivals at the station was calculated, and the pattern of train arrival headway was obtained, changing the traditional understanding that the train arrival headway is considered the main factor limiting the headway of trains.

When the running speed of trains is high, the headway between trains is short, the length of the station approach throat area is considerable and frequent train arrivals at the station, the arrival headway for the first group or several groups of trains will exceed the headway, but the subsequent sets of trains will have a headway equal to the arrival headway. This convergence characteristic is obtained by appropriately increasing the running time.

According to this pattern, there is no need to overly emphasize the impact of train arrival headway on the headway. This plays an important role in compressing train headway and improving high-speed railway capacity.

This study proposes a predictive neural network model reference decoupling control method for the coupling problem between the leg joints of hydraulic quadruped robots, and verifies its decoupling effect..

The machine–hydraulic cross-linking coupling is studied as the coupling behavior of the hydraulically driven quadruped robot, and the mechanical dynamics coupling force of the robot system is controlled as the disturbance force of the hydraulic system through the Jacobian matrix transformation. According to the principle of multivariable decoupling, a prediction-based neural network model reference decoupling control method is proposed; each module of the control algorithm is designed one by one, and the stability of the system is analyzed by the Lyapunov stability theorem.

The simulation and experimental research on the robot joint decoupling control method is carried out, and the prediction-based neural network model reference decoupling control method is compared with the decoupling control method without any decoupling control method. The results show that taking the coupling effect experiment between the hip joint and knee joint as an example, after using the predictive neural network model reference decoupling control method, the phase lag of the hip joint response line was reduced from 20.3° to 14.8°, the amplitude attenuation was reduced from 1.82% to 0.21%, the maximum error of the knee joint coupling line was reduced from 0.67 mm to 0.16 mm and the coupling effect between the hip joint and knee joint was reduced from 1.9% to 0.48%, achieving good decoupling.

The prediction-based neural network model reference decoupling control method proposed in this paper can use the neural network model to predict the next output of the system according to the input and output. Finally, the weights of the neural network are corrected online according to the predicted output and the given reference output, so that the optimization index of the neural network decoupling controller is extremely small, and the purpose of decoupling control is achieved.

This paper explores Lean Six Sigma principles and the DMAIC (define, measure, analyze, improve, control) methodology to propose a new Lean Six Sigma 4.0 (LSS 4.0) framework for employee occupational exams and address the real-world issue of high-variability exams that may arise.

This study uses mixed methods, combining qualitative and quantitative data collection. A detailed case study assesses the impact of LSS interventions on the exam management process and tests the applicability of the proposed LSS 4.0 framework for employee occupational exams.

The results reveal that changing the health service supplier in the explored organization caused a substantial raise in occupational exams, leading to increased costs. By using syntactic interoperability, lean, six sigma and DMAIC approaches, improvements were identified, addressing process deviations and information requirements. Implementing corrective actions improved the exam process, reducing the number of exams and associated expenses.

It is important to acknowledge certain limitations, such as the specific context of the case study and the exclusion of certain exam categories.

The practical implications of this research are substantial, providing organizations with valuable managerial insights into improving efficiency, reducing costs and ensuring regulatory compliance while managing occupational exams.

This study fills a research gap by applying LSS 4.0 to occupational exam management, offering a practical framework for organizations. It contributes to the existing knowledge base by addressing a relatively novel context and providing a detailed roadmap for process optimization.

This study aims to investigate limited partners’ (LPs) influence on venture capital (VC) fund returns.

We merge data from Preqin and SDC’s VentureXpert spanning from 1993 to 2014 and conduct multiple regression analysis to examine the influence of LPs on VC fund performance. Additionally, we conduct three distinct robustness tests to verify the credibility of our findings.

Our empirical analysis demonstrates that newbie LPs consistently exert a significant positive influence on VC fund returns.

VC and LP data is self-reported, and there is no comprehensive dataset as some LPs prefer to maintain anonymity.

Extant literature on LPs’ contribution to VC fund performance is limited. The general assumption is that the role of LPs in VC fund performance is confined to funding. We introduce a new variable, LP track record, as a proxy for LP experience to examine if this variable influences VC performance.

This study aims to explore an emerging collection of smart building technologies, known as smart workplace solutions (SWS), in the context of facilities management (FM).

This study is based on semi-structured interviews with facility managers in Finland, Norway and Sweden who have deployed SWSs in their organizations. SWS features, based on empirical data from a previous study, were also used to further analyse the interviews.

It analyses the benefits that SWSs bring from the facility management point of view. It is clear that the impetus for change and for deploying SWS in the context of FM is primarily driven by cost savings related to reductions in office space.

This research has been conducted with a focus on office buildings only. However, other building types can learn from the benefits that facility managers receive in the area of user-centred smart buildings.

SWSs are often seen as employee experience solutions that are only related to “soft” elements such as collaboration, innovation and learning. Understanding the FM business case can help make a more practical case for their deployment.

SWSs are an emerging area, and this study has collected data from facility managers who use them daily.