Intelligence and perception are two operative technologies in 6G scenarios.The intelligent wireless network and information perception require a deep fusion of artificial intelligence(AI)and wireless communications in...Intelligence and perception are two operative technologies in 6G scenarios.The intelligent wireless network and information perception require a deep fusion of artificial intelligence(AI)and wireless communications in 6G systems.Therefore,fusion is becoming a typical feature and key challenge of 6G wireless communication systems.In this paper,we focus on the critical issues and propose three application scenarios in 6G wireless systems.Specifically,we first discuss the fusion of AI and 6G networks for the enhancement of 5G-advanced technology and future wireless communication systems.Then,we introduce the wireless AI technology architecture with 6G multidimensional information perception,which includes the physical layer technology of multi-dimensional feature information perception,full spectrum fusion technology,and intelligent wireless resource management.The discussion of key technologies for intelligent 6G wireless network networks is expected to provide a guideline for future research.展开更多
Flat optical elements have attracted enormous attentions and act as promising candidates for the next generation of optical components.As one of the most outstanding representatives,liquid crystal(LC)has been widely a...Flat optical elements have attracted enormous attentions and act as promising candidates for the next generation of optical components.As one of the most outstanding representatives,liquid crystal(LC)has been widely applied in flat panel display industries and inspires the wavefront modulation with the development of LC alignment techniques.However,most LC elements perform only one type of optical manipulation and are difficult to realize the multifunctionality and light integration.Here,flat multifunctional liquid crystal elements(FMLCEs),merely composed of anisotropic LC molecules with space-variant orientations,are presented for multichannel information manipulation by means of polarization,space and wavelength multiplexing.Specifically,benefiting from the unique light response with the change of the incident polarization,observation plane,and working wavelength,a series of FMLCEs are demonstrated to achieve distinct near-and far-field display functions.The proposed strategy takes full advantage of basic optical parameters as the decrypted keys to improve the information capacity and security,and we expect it to find potential applications in information encryption,optical anti-counterfeiting,virtual/augmented reality,etc.展开更多
The learning status of learners directly affects the quality of learning.Compared with offline teachers,it is difficult for online teachers to capture the learning status of students in the whole class,and it is even ...The learning status of learners directly affects the quality of learning.Compared with offline teachers,it is difficult for online teachers to capture the learning status of students in the whole class,and it is even more difficult to continue to pay attention to studentswhile teaching.Therefore,this paper proposes an online learning state analysis model based on a convolutional neural network and multi-dimensional information fusion.Specifically,a facial expression recognition model and an eye state recognition model are constructed to detect students’emotions and fatigue,respectively.By integrating the detected data with the homework test score data after online learning,an analysis model of students’online learning status is constructed.According to the PAD model,the learning state is expressed as three dimensions of students’understanding,engagement and interest,and then analyzed from multiple perspectives.Finally,the proposed model is applied to actual teaching,and procedural analysis of 5 different types of online classroom learners is carried out,and the validity of the model is verified by comparing with the results of the manual analysis.展开更多
Succinonitrile(SN)-based polymer plastic crystal electrolytes(PPCEs)are regarded as promising candidates for lithium metal batteries but suffer from serious side reactions with Li metal.Herein,we propose a multi-dimen...Succinonitrile(SN)-based polymer plastic crystal electrolytes(PPCEs)are regarded as promising candidates for lithium metal batteries but suffer from serious side reactions with Li metal.Herein,we propose a multi-dimensional optimization strategy to alleviate the side reactions between SN and Li metal,and develop a highly stable poly-vinylethylene carbonate-based PPCE(PPCE-VEC).Moreover,we identify the intrinsic factors of multi-dimensional polymer structures on the electrolyte stability by three typical classes of polyesters.The PPCE-VEC constructed by in situ polymerization exhibits much better stability than poly-vinylene carbonate-based PPCE(PPCE-VCA)and poly-trifluoroethyl acrylate-based PPCE(PPCE-TFA),which is verified by its fewer SN-decomposition species in X-ray photoelectron spectroscopy(XPS)and outstanding full cell performance.The PPCE-VEC-enabled LiNi_(0.6)Co_(0.2)Mn_(0.2)O_(2)full cell achieve 73.7%capacity retention after 1400 cycles,which outperforms PPCE-VCA-and PPCE-TFA-enabled full cells(61.9%and 46.9%).Spectral analysis and theoretical calculation reveal that the high solvation ability of the carbonyl site,flexible polymer chain,and homogeneous electrolyte phase of PPCE-VEC are favorable to maximizing competition coordination with Li^(+)to weaken the Li^(+)–SN binding and shape an anion-rich solvation structure.This optimized polymer-involved Li^(+)solvation enhances SN stability and facilitates the formation of B/F enriched solid-electrolyte interphase(SEI),thus significantly improving PPCE stability.展开更多
High-dimensional data causes difficulties in machine learning due to high time consumption and large memory requirements.In particular,in amulti-label environment,higher complexity is required asmuch as the number of ...High-dimensional data causes difficulties in machine learning due to high time consumption and large memory requirements.In particular,in amulti-label environment,higher complexity is required asmuch as the number of labels.Moreover,an optimization problem that fully considers all dependencies between features and labels is difficult to solve.In this study,we propose a novel regression-basedmulti-label feature selectionmethod that integrates mutual information to better exploit the underlying data structure.By incorporating mutual information into the regression formulation,the model captures not only linear relationships but also complex non-linear dependencies.The proposed objective function simultaneously considers three types of relationships:(1)feature redundancy,(2)featurelabel relevance,and(3)inter-label dependency.These three quantities are computed usingmutual information,allowing the proposed formulation to capture nonlinear dependencies among variables.These three types of relationships are key factors in multi-label feature selection,and our method expresses them within a unified formulation,enabling efficient optimization while simultaneously accounting for all of them.To efficiently solve the proposed optimization problem under non-negativity constraints,we develop a gradient-based optimization algorithm with fast convergence.Theexperimental results on sevenmulti-label datasets show that the proposed method outperforms existingmulti-label feature selection techniques.展开更多
1 General information Journal of Geographical Sciences is an international academic journal that publishes papers of the highest quality in physical geography, natural resources, environmental sciences, geographic inf...1 General information Journal of Geographical Sciences is an international academic journal that publishes papers of the highest quality in physical geography, natural resources, environmental sciences, geographic information sciences, remote sensing and cartography. Manuscripts come from different parts of the world.展开更多
Slope units are divided according to the real topography and have clear geological characteristics,making them ideal units for evaluating the susceptibility to geological disasters.Based on the results of automaticall...Slope units are divided according to the real topography and have clear geological characteristics,making them ideal units for evaluating the susceptibility to geological disasters.Based on the results of automatically and manually corrected hydrological slope unit division,the Longhua District,Shenzhen City,Guangdong Province,was selected as the study area.A total of 15 influencing factors,namely Fluctuation,slope,slope aspect,curvature,topographic witness index(TWI),stream power index(SPI),topographic roughness index(TRI),annual average rainfall,distance to water system,engineering rock group,distance to fault,land use,normalized difference vegetation index(NDVI),nighttime light,and distance to road,were selected as evaluation indicators.The information volume model(IV)and random points were used to select non-geological disaster units,and then the random forest model(RF)was used to evaluate the susceptibility to geological disasters.The automatic slope unit and the hydrological slope unit were compared and analyzed in the random forest and information volume random forest models.The results show that the area under the curve(AUC)values of the automatic slope unit evaluation results are 0.931 for the IV-RF model and 0.716 for the RF model,which are 0.6%(IV-RF model)and 1.9%(RF model)higher than those for the hydrological slope unit.Based on a comparison of the evaluation methods based on the two types of slope units,the hydrological slope unit evaluation method based on manual correction is highly subjective,is complicated to operate,and has a low evaluation accuracy,whereas the evaluation method based on automatic slope unit division is efficient and accurate,is suitable for large-scale efficient geological disaster evaluation,and can better deal with the problem of geological disaster susceptibility evaluation.展开更多
With the growing advancement of wireless communication technologies,WiFi-based human sensing has gained increasing attention as a non-intrusive and device-free solution.Among the available signal types,Channel State I...With the growing advancement of wireless communication technologies,WiFi-based human sensing has gained increasing attention as a non-intrusive and device-free solution.Among the available signal types,Channel State Information(CSI)offers fine-grained temporal,frequency,and spatial insights into multipath propagation,making it a crucial data source for human-centric sensing.Recently,the integration of deep learning has significantly improved the robustness and automation of feature extraction from CSI in complex environments.This paper provides a comprehensive review of deep learning-enhanced human sensing based on CSI.We first outline mainstream CSI acquisition tools and their hardware specifications,then provide a detailed discussion of preprocessing methods such as denoising,time–frequency transformation,data segmentation,and augmentation.Subsequently,we categorize deep learning approaches according to sensing tasks—namely detection,localization,and recognition—and highlight representative models across application scenarios.Finally,we examine key challenges including domain generalization,multi-user interference,and limited data availability,and we propose future research directions involving lightweight model deployment,multimodal data fusion,and semantic-level sensing.展开更多
The internal flow fields within a three-dimensional inward-tunning combined inlet are extremely complex,especially during the engine mode transition,where the tunnel changes may impact the flow fields significantly.To...The internal flow fields within a three-dimensional inward-tunning combined inlet are extremely complex,especially during the engine mode transition,where the tunnel changes may impact the flow fields significantly.To develop an efficient flow field reconstruction model for this,we present an Improved Conditional Denoising Diffusion Generative Adversarial Network(ICDDGAN),which integrates Conditional Denoising Diffusion Probabilistic Models(CDDPMs)with Style GAN,and introduce a reconstruction discrimination mechanism and dynamic loss weight learning strategy.We establish the Mach number flow field dataset by numerical simulation at various backpressures for the mode transition process from turbine mode to ejector ramjet mode at Mach number 2.5.The proposed ICDDGAN model,given only sparse parameter information,can rapidly generate high-quality Mach number flow fields without a large number of samples for training.The results show that ICDDGAN is superior to CDDGAN in terms of training convergence and stability.Moreover,the interpolation and extrapolation test results during backpressure conditions show that ICDDGAN can accurately and quickly reconstruct Mach number fields at various tunnel slice shapes,with a Structural Similarity Index Measure(SSIM)of over 0.96 and a Mean-Square Error(MSE)of 0.035%to actual flow fields,reducing time costs by 7-8 orders of magnitude compared to Computational Fluid Dynamics(CFD)calculations.This can provide an efficient means for rapid computation of complex flow fields.展开更多
With the development of smart cities and smart technologies,parks,as functional units of the city,are facing smart transformation.The development of smart parks can help address challenges of technology integration wi...With the development of smart cities and smart technologies,parks,as functional units of the city,are facing smart transformation.The development of smart parks can help address challenges of technology integration within urban spaces and serve as testbeds for exploring smart city planning and governance models.Information models facilitate the effective integration of technology into space.Building Information Modeling(BIM)and City Information Modeling(CIM)have been widely used in urban construction.However,the existing information models have limitations in the application of the park,so it is necessary to develop an information model suitable for the park.This paper first traces the evolution of park smart transformation,reviews the global landscape of smart park development,and identifies key trends and persistent challenges.Addressing the particularities of parks,the concept of Park Information Modeling(PIM)is proposed.PIM leverages smart technologies such as artificial intelligence,digital twins,and collaborative sensing to help form a‘space-technology-system’smart structure,enabling systematic management of diverse park spaces,addressing the deficiency in park-level information models,and aiming to achieve scale articulation between BIM and CIM.Finally,through a detailed top-level design application case study of the Nanjing Smart Education Park in China,this paper illustrates the translation process of the PIM concept into practice,showcasing its potential to provide smart management tools for park managers and enhance services for park stakeholders,although further empirical validation is required.展开更多
A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source di...A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source disturbances are addressed according to their specific characteristics as follows:(A)an MTN data-driven model,which is used for uncertainty description,is designed accompanied with the mechanism model to represent the unmanned systems;(B)an adaptive MTN filter is used to remove the influence of the internal disturbance;(C)an MTN disturbance observer is constructed to estimate and compensate for the influence of the external disturbance;(D)the Extended Kalman Filter(EKF)algorithm is utilized as the learning mechanism for MTNs.Second,to address the time-delay effect,a recursiveτstep-ahead MTN predictive model is designed utilizing recursive technology,aiming to mitigate the impact of time-delay,and the EKF algorithm is employed as its learning mechanism.Then,the MTN predictive control law is designed based on the quadratic performance index.By implementing the proposed composite controller to unmanned systems,simultaneous feedforward compensation and feedback suppression to the multi-source disturbances are conducted.Finally,the convergence of the MTN and the stability of the closed-loop system are established utilizing the Lyapunov theorem.Two exemplary applications of unmanned systems involving unmanned vehicle and rigid spacecraft are presented to validate the effectiveness of the proposed approach.展开更多
文摘Intelligence and perception are two operative technologies in 6G scenarios.The intelligent wireless network and information perception require a deep fusion of artificial intelligence(AI)and wireless communications in 6G systems.Therefore,fusion is becoming a typical feature and key challenge of 6G wireless communication systems.In this paper,we focus on the critical issues and propose three application scenarios in 6G wireless systems.Specifically,we first discuss the fusion of AI and 6G networks for the enhancement of 5G-advanced technology and future wireless communication systems.Then,we introduce the wireless AI technology architecture with 6G multidimensional information perception,which includes the physical layer technology of multi-dimensional feature information perception,full spectrum fusion technology,and intelligent wireless resource management.The discussion of key technologies for intelligent 6G wireless network networks is expected to provide a guideline for future research.
基金the supports from the National Natural Science Foundation of China (61905073, 61835004, 62134001, 61905031, 62105263, 62275077)Fundamental Research Fund for the Central Universities (531118010189, 310202011qd002)+1 种基金the support from Xi’an Science and Technology Association Youth Talent Support Project (095920211306)the Postdoctoral Innovation Talent Support Program of China (BX20220388)
文摘Flat optical elements have attracted enormous attentions and act as promising candidates for the next generation of optical components.As one of the most outstanding representatives,liquid crystal(LC)has been widely applied in flat panel display industries and inspires the wavefront modulation with the development of LC alignment techniques.However,most LC elements perform only one type of optical manipulation and are difficult to realize the multifunctionality and light integration.Here,flat multifunctional liquid crystal elements(FMLCEs),merely composed of anisotropic LC molecules with space-variant orientations,are presented for multichannel information manipulation by means of polarization,space and wavelength multiplexing.Specifically,benefiting from the unique light response with the change of the incident polarization,observation plane,and working wavelength,a series of FMLCEs are demonstrated to achieve distinct near-and far-field display functions.The proposed strategy takes full advantage of basic optical parameters as the decrypted keys to improve the information capacity and security,and we expect it to find potential applications in information encryption,optical anti-counterfeiting,virtual/augmented reality,etc.
基金supported by the Chongqing Normal University Graduate Scientific Research Innovation Project (Grants YZH21014 and YZH21010).
文摘The learning status of learners directly affects the quality of learning.Compared with offline teachers,it is difficult for online teachers to capture the learning status of students in the whole class,and it is even more difficult to continue to pay attention to studentswhile teaching.Therefore,this paper proposes an online learning state analysis model based on a convolutional neural network and multi-dimensional information fusion.Specifically,a facial expression recognition model and an eye state recognition model are constructed to detect students’emotions and fatigue,respectively.By integrating the detected data with the homework test score data after online learning,an analysis model of students’online learning status is constructed.According to the PAD model,the learning state is expressed as three dimensions of students’understanding,engagement and interest,and then analyzed from multiple perspectives.Finally,the proposed model is applied to actual teaching,and procedural analysis of 5 different types of online classroom learners is carried out,and the validity of the model is verified by comparing with the results of the manual analysis.
基金supported by the National Natural Science Foundation of China(22072048)the Guangdong Provincial Department of Science and Technology(2021A1515010128 and 2022A0505050013).
文摘Succinonitrile(SN)-based polymer plastic crystal electrolytes(PPCEs)are regarded as promising candidates for lithium metal batteries but suffer from serious side reactions with Li metal.Herein,we propose a multi-dimensional optimization strategy to alleviate the side reactions between SN and Li metal,and develop a highly stable poly-vinylethylene carbonate-based PPCE(PPCE-VEC).Moreover,we identify the intrinsic factors of multi-dimensional polymer structures on the electrolyte stability by three typical classes of polyesters.The PPCE-VEC constructed by in situ polymerization exhibits much better stability than poly-vinylene carbonate-based PPCE(PPCE-VCA)and poly-trifluoroethyl acrylate-based PPCE(PPCE-TFA),which is verified by its fewer SN-decomposition species in X-ray photoelectron spectroscopy(XPS)and outstanding full cell performance.The PPCE-VEC-enabled LiNi_(0.6)Co_(0.2)Mn_(0.2)O_(2)full cell achieve 73.7%capacity retention after 1400 cycles,which outperforms PPCE-VCA-and PPCE-TFA-enabled full cells(61.9%and 46.9%).Spectral analysis and theoretical calculation reveal that the high solvation ability of the carbonyl site,flexible polymer chain,and homogeneous electrolyte phase of PPCE-VEC are favorable to maximizing competition coordination with Li^(+)to weaken the Li^(+)–SN binding and shape an anion-rich solvation structure.This optimized polymer-involved Li^(+)solvation enhances SN stability and facilitates the formation of B/F enriched solid-electrolyte interphase(SEI),thus significantly improving PPCE stability.
基金supported by Basic Science Research Program through the National Research Foundation of Korea(NRF)funded by the Ministry of Education(RS-2020-NR049579).
文摘High-dimensional data causes difficulties in machine learning due to high time consumption and large memory requirements.In particular,in amulti-label environment,higher complexity is required asmuch as the number of labels.Moreover,an optimization problem that fully considers all dependencies between features and labels is difficult to solve.In this study,we propose a novel regression-basedmulti-label feature selectionmethod that integrates mutual information to better exploit the underlying data structure.By incorporating mutual information into the regression formulation,the model captures not only linear relationships but also complex non-linear dependencies.The proposed objective function simultaneously considers three types of relationships:(1)feature redundancy,(2)featurelabel relevance,and(3)inter-label dependency.These three quantities are computed usingmutual information,allowing the proposed formulation to capture nonlinear dependencies among variables.These three types of relationships are key factors in multi-label feature selection,and our method expresses them within a unified formulation,enabling efficient optimization while simultaneously accounting for all of them.To efficiently solve the proposed optimization problem under non-negativity constraints,we develop a gradient-based optimization algorithm with fast convergence.Theexperimental results on sevenmulti-label datasets show that the proposed method outperforms existingmulti-label feature selection techniques.
文摘1 General information Journal of Geographical Sciences is an international academic journal that publishes papers of the highest quality in physical geography, natural resources, environmental sciences, geographic information sciences, remote sensing and cartography. Manuscripts come from different parts of the world.
文摘Slope units are divided according to the real topography and have clear geological characteristics,making them ideal units for evaluating the susceptibility to geological disasters.Based on the results of automatically and manually corrected hydrological slope unit division,the Longhua District,Shenzhen City,Guangdong Province,was selected as the study area.A total of 15 influencing factors,namely Fluctuation,slope,slope aspect,curvature,topographic witness index(TWI),stream power index(SPI),topographic roughness index(TRI),annual average rainfall,distance to water system,engineering rock group,distance to fault,land use,normalized difference vegetation index(NDVI),nighttime light,and distance to road,were selected as evaluation indicators.The information volume model(IV)and random points were used to select non-geological disaster units,and then the random forest model(RF)was used to evaluate the susceptibility to geological disasters.The automatic slope unit and the hydrological slope unit were compared and analyzed in the random forest and information volume random forest models.The results show that the area under the curve(AUC)values of the automatic slope unit evaluation results are 0.931 for the IV-RF model and 0.716 for the RF model,which are 0.6%(IV-RF model)and 1.9%(RF model)higher than those for the hydrological slope unit.Based on a comparison of the evaluation methods based on the two types of slope units,the hydrological slope unit evaluation method based on manual correction is highly subjective,is complicated to operate,and has a low evaluation accuracy,whereas the evaluation method based on automatic slope unit division is efficient and accurate,is suitable for large-scale efficient geological disaster evaluation,and can better deal with the problem of geological disaster susceptibility evaluation.
基金supported by National Natural Science Foundation of China(NSFC)under grant U23A20310.
文摘With the growing advancement of wireless communication technologies,WiFi-based human sensing has gained increasing attention as a non-intrusive and device-free solution.Among the available signal types,Channel State Information(CSI)offers fine-grained temporal,frequency,and spatial insights into multipath propagation,making it a crucial data source for human-centric sensing.Recently,the integration of deep learning has significantly improved the robustness and automation of feature extraction from CSI in complex environments.This paper provides a comprehensive review of deep learning-enhanced human sensing based on CSI.We first outline mainstream CSI acquisition tools and their hardware specifications,then provide a detailed discussion of preprocessing methods such as denoising,time–frequency transformation,data segmentation,and augmentation.Subsequently,we categorize deep learning approaches according to sensing tasks—namely detection,localization,and recognition—and highlight representative models across application scenarios.Finally,we examine key challenges including domain generalization,multi-user interference,and limited data availability,and we propose future research directions involving lightweight model deployment,multimodal data fusion,and semantic-level sensing.
文摘The internal flow fields within a three-dimensional inward-tunning combined inlet are extremely complex,especially during the engine mode transition,where the tunnel changes may impact the flow fields significantly.To develop an efficient flow field reconstruction model for this,we present an Improved Conditional Denoising Diffusion Generative Adversarial Network(ICDDGAN),which integrates Conditional Denoising Diffusion Probabilistic Models(CDDPMs)with Style GAN,and introduce a reconstruction discrimination mechanism and dynamic loss weight learning strategy.We establish the Mach number flow field dataset by numerical simulation at various backpressures for the mode transition process from turbine mode to ejector ramjet mode at Mach number 2.5.The proposed ICDDGAN model,given only sparse parameter information,can rapidly generate high-quality Mach number flow fields without a large number of samples for training.The results show that ICDDGAN is superior to CDDGAN in terms of training convergence and stability.Moreover,the interpolation and extrapolation test results during backpressure conditions show that ICDDGAN can accurately and quickly reconstruct Mach number fields at various tunnel slice shapes,with a Structural Similarity Index Measure(SSIM)of over 0.96 and a Mean-Square Error(MSE)of 0.035%to actual flow fields,reducing time costs by 7-8 orders of magnitude compared to Computational Fluid Dynamics(CFD)calculations.This can provide an efficient means for rapid computation of complex flow fields.
基金Under the auspices of National Natural Science Foundation of China(No.42330510)。
文摘With the development of smart cities and smart technologies,parks,as functional units of the city,are facing smart transformation.The development of smart parks can help address challenges of technology integration within urban spaces and serve as testbeds for exploring smart city planning and governance models.Information models facilitate the effective integration of technology into space.Building Information Modeling(BIM)and City Information Modeling(CIM)have been widely used in urban construction.However,the existing information models have limitations in the application of the park,so it is necessary to develop an information model suitable for the park.This paper first traces the evolution of park smart transformation,reviews the global landscape of smart park development,and identifies key trends and persistent challenges.Addressing the particularities of parks,the concept of Park Information Modeling(PIM)is proposed.PIM leverages smart technologies such as artificial intelligence,digital twins,and collaborative sensing to help form a‘space-technology-system’smart structure,enabling systematic management of diverse park spaces,addressing the deficiency in park-level information models,and aiming to achieve scale articulation between BIM and CIM.Finally,through a detailed top-level design application case study of the Nanjing Smart Education Park in China,this paper illustrates the translation process of the PIM concept into practice,showcasing its potential to provide smart management tools for park managers and enhance services for park stakeholders,although further empirical validation is required.
基金co-supported by the National Key R&D Program of China(No.2023YFB4704400)the Zhejiang Provincial Natural Science Foundation of China(No.LQ24F030012)the National Natural Science Foundation of China General Project(No.62373033)。
文摘A composite anti-disturbance predictive control strategy employing a Multi-dimensional Taylor Network(MTN)is presented for unmanned systems subject to time-delay and multi-source disturbances.First,the multi-source disturbances are addressed according to their specific characteristics as follows:(A)an MTN data-driven model,which is used for uncertainty description,is designed accompanied with the mechanism model to represent the unmanned systems;(B)an adaptive MTN filter is used to remove the influence of the internal disturbance;(C)an MTN disturbance observer is constructed to estimate and compensate for the influence of the external disturbance;(D)the Extended Kalman Filter(EKF)algorithm is utilized as the learning mechanism for MTNs.Second,to address the time-delay effect,a recursiveτstep-ahead MTN predictive model is designed utilizing recursive technology,aiming to mitigate the impact of time-delay,and the EKF algorithm is employed as its learning mechanism.Then,the MTN predictive control law is designed based on the quadratic performance index.By implementing the proposed composite controller to unmanned systems,simultaneous feedforward compensation and feedback suppression to the multi-source disturbances are conducted.Finally,the convergence of the MTN and the stability of the closed-loop system are established utilizing the Lyapunov theorem.Two exemplary applications of unmanned systems involving unmanned vehicle and rigid spacecraft are presented to validate the effectiveness of the proposed approach.
