This paper proposes a modular control framework for high-order nonlinear multi-agent systems (MASs) to achieve distributed finite-time formation tracking with a prescribed performance. The design integrates two modules to address uncertainties and safety constraints simultaneously. Module I—Prescribed Performance-Based Trajectory Generation: A virtual signal generator constructs collision/connectivity-aware reference trajectories by encoding time-varying performance bounds into formation errors. It ensures network rigidity and optimal formation convergence through dynamic error transformation. Module II—Anti-disturbance Tracking Control: A finite-time extended state observer (FTESO) estimates and compensates for uncertainties within a finite time, while a time-varying surface controller drives tracking errors into predefined performance funnels. This module guarantees rapid error convergence without violating the transient constraints from Module I. The simulations verified the accelerated formation reconfiguration under disturbances, and thus, demonstrated improved robustness and convergence over asymptotic approaches. The framework offers a systematic solution for safety-critical MAS coordination with heterogeneous high-order dynamics.

The vision system provides an important way for construction robots to obtain the type and spatial location information of the object. The characteristics of the construction environment, construction object, and robot structure are jointly examined in this paper to propose an approach of object segmentation by spraying the robot based on multi-layer perceptron. Firstly, the hand-eye system experimental platform is built through establishing the mathematical model of the system and calibrating the parameters of the model. Secondly, effort is made to carry out research on image preprocessing algorithms and related experiments, and compare the effects of different binocular stereo-matching algorithms in the actual engineering environment. Finally, research and an experiment are conducted to identify the applicability and effect of the depth image object segmentation algorithm based on multi-layer perceptron. The experimental results prove that the application of multi-layer perceptron to object segmentation by spraying robots can meet the requirement on solution accuracy and is suitable for the object segmentation of complex projects in real life. This approach not only overcomes the shortcomings of the existing recognition methods that are poor in accuracy and difficult to be used widely, but also provides basic data for the subsequent three-dimensional reconstruction, thus making a significant contribution to the research of image processing by spraying robots.

It is of great significance to introduce the conception of a sharing economy into the electricity industry, which can promote the dispatch of multiple integrated energy systems. On the one hand, it is difficult to reveal the behaviors of complex players with multi-energy coupling through the traditional centralized optimization method of single electric energy. On the other hand, the uncertain fluctuations of renewable energy, such as wind power and photovoltaic, have posed great challenges to market transactions. First, the relationship and the functions of all stakeholders in the system are described in this paper, followed by the establishment of flexible resource models such as demand response and energy storage devices. On this basis, a low-carbon dispatching framework of multiple regional gas–electric integrated energy systems is then constructed under the guidance of cooperative game theory. The contribution indexes are established to measure the degree of energy sharing among the subsystems, and the method of asymmetric Nash bargaining is used to settle the interests of each subsystem. Second, a robust optimization model of multiple regional systems is established in response to multiple uncertainties from renewable energy and load. Finally, the numerical example proves that the proposed mechanism can increase the benefits of each integrated energy system player. Moreover, it helps the system to yield optimal benefits in the face of uncertainties and provides a reference on how to realize energy sharing under uncertainties from source load.

Urban rail transit (URT) systems frequently face operational challenges arising from temporal and spatial imbalances in passenger demand, resulting in inefficiencies in train scheduling and resource utilization. To address these issues, this study proposes a multi-objective optimization model that jointly plans short-turn and full-length train services. The objectives of the model are to minimize total passenger waiting time and train mileage while improving passenger load distribution across the rail line, subject to practical constraints such as departure frequency limitations, rolling stock availability, and coverage of short-turn services. To efficiently solve this model, an improved Pelican Optimization Algorithm (POA) is developed, incorporating techniques such as Tent chaotic mapping, nonlinear weight adjustment, Cauchy mutation, and the sparrow alert mechanism, significantly enhancing convergence accuracy and computational efficiency. A real-world case study based on Nanjing Metro Line 1 demonstrates that the proposed framework substantially reduces average passenger waiting times and overall train mileage, achieving a more balanced distribution of passenger loads. In addition, the study reveals that flexible-ratio dispatching strategies, representing theoretically optimal solutions, outperform integer-ratio dispatching schemes that reflect real-world operational constraints. This finding underscores that investigating the practical feasibility and optimization potential of flexible-ratio scheduling strategies constitutes a valuable direction for future research. The outcomes of this study provide a scalable and intelligent decision-support framework for train scheduling in URT systems, effectively contributing to the sustainable and intelligent development of rail operations.

Under the constraint of the AC power flow architecture considering reactive power regulation, the examination of integrated energy distributed transactions among multiple subsystems can promote the research in the field of energy sharing. It is difficult to fully cover the consideration of AC power flow, demand response, integrated energy, and other factors in traditional related research. In response, a study is therefore conducted in this paper on integrated energy sharing in the distribution network. First, this paper introduces the system operation framework of the proposed distribution network model, and explains the interaction between all the players. Secondly, a distribution network power flow model and an integrated energy subsystem model are respectively. In particular, the subsystem model specifically considers new energy, demand response, integrated energy, and other factors. Then, a cooperative game model is constructed based on the cooperative relationship among subsystems in the distribution network system, followed by the analysis of the benefits brought by cooperation to the distribution network and the subsystems themselves. Finally, a distributed solution flow is established for the model based on the Alternating Direction Method of Multipliers (ADMM) algorithm. The results of the example analysis reveal the effectiveness of the model proposed in increasing the degree of energy utilization and further absorbing new energy in the distribution network system, each subsystem can generate up to 12% more absorption capacity than it would otherwise operate separately to accommodate more renewable energy in the distribution system.

With increasing attention to sustainability and energy efficiency in transportation systems, advanced intelligent algorithms provide promising solutions for optimizing urban rail transit operations. This study addresses the challenge of optimizing train operation plans for urban rail transit systems characterized by spatiotemporal passenger flow imbalance. By exploring a combined short-turning and unpaired train operation mode, a three-objective optimization model was established, aiming to minimize operational costs, reduce passenger waiting times, and enhance load balancing. To effectively solve this complex problem, an Improved GOOSE (IGOOSE) algorithm incorporating elite opposition-based learning, probabilistic exploration based on elite solutions, and golden-sine mutation strategies were developed, significantly enhancing global search capability and solution robustness. A case study based on real operational data adjusted for confidentiality was conducted, and comparative analyses with Genetic Algorithm (GA), Particle Swarm Optimization (PSO), and Grey Wolf Optimizer (GWO) demonstrated the superiority of IGOOSE. Furthermore, an ablation study validated the effectiveness of each enhancement strategy within the IGOOSE algorithm. The optimized operation planning model reduced passenger waiting times by approximately 12.72%, improved load balancing by approximately 39.30%, and decreased the overall optimization objective by approximately 10.25%, highlighting its effectiveness. These findings provide valuable insights for urban rail transit operation management and indicate directions for future research, underscoring the significant potential for energy savings and emission reductions toward sustainable urban development.