Homomorphic encryption (HE) enables computations to be carried out over encrypted data, ensuring data privacy during processing. This feature is lucrative in various fields, including general process control and netwo...
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Homomorphic encryption (HE) enables computations to be carried out over encrypted data, ensuring data privacy during processing. This feature is lucrative in various fields, including general process control and network controlsystems. However, there are some limitations to the applicability of modern noisy HE schemes, especially for computationally more challenging control techniques, such as Model Predictive control. One of the solutions to this problem is to use homomorphically encrypted neural networks trained to mimic the behavior of MPC. This paper showcases such a neural network and demonstrates its capabilities for data privacy preserving control of the laboratory pasteurization unit.
In this paper, we propose a strategy for detecting and isolating actuator faults in an overactuated Remotely Operated Vehicle (ROV) with six degrees of freedom. Fault detection and isolation are based on the Adaptive ...
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In this paper, we propose a strategy for detecting and isolating actuator faults in an overactuated Remotely Operated Vehicle (ROV) with six degrees of freedom. Fault detection and isolation are based on the Adaptive Extended Kalman Filter (AEKF), which is a recent extension of the well-known Kalman Filter designed for nonlinear dynamics and additive disturbances estimation. The residuals generated by the AEKF act as directional residuals, and fault isolation is performed by calculating the cosine similarity between the residuals and the columns of the control effectiveness matrix. The decision is then used in a simple fault-tolerant control allocation algorithm, without the need to alter the control law. Simulation results show the effectiveness of the estimation method in the presence of thruster failures. Copyright (c) 2024 The Authors.
This article presents a novel integrity cyberattack mitigation strategy within the unified control and detection framework. Specifically, an observer-based system configuration is leveraged to achieve resilient contro...
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This article presents a novel integrity cyberattack mitigation strategy within the unified control and detection framework. Specifically, an observer-based system configuration is leveraged to achieve resilient control under additive integrity attacks in the input and output channels. It is demonstrated that the integrity attacks can be systematically mitigated by feeding back the residual signals derived from the controller dynamics. The internal stability of the resulting feedback system is investigated. Subsequently, we study the resilient controller synthesis with both static and dynamic attack mitigation mechanisms. Finally, the proposed scheme is verified on a networked robot system. Copyright (c) 2024 The Authors.
This paper presents a fault tolerant control strategy for a bio-inspired small unmanned aerial vehicles (UAV). The vehicle model features a centrally located propeller engine. However, due to its biomimetic design, th...
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This paper presents a fault tolerant control strategy for a bio-inspired small unmanned aerial vehicles (UAV). The vehicle model features a centrally located propeller engine. However, due to its biomimetic design, this model lacks the conventional vertical tail fin found on typical aircraft. The proposed control system for this model combines a sliding mode controller and a control allocation mechanism to address actuator failure issues. To assess the system's performance, all the simulations are conducted on the non-linear model. The simulation results indicate that this control system can handle various control surface failures. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)
In this work, we provide a tutorial-style exposition of quadrotor dynamics model identification from experimental data collected in closed-loop. Our objective is to provide guidelines for the scientist who is approach...
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In this work, we provide a tutorial-style exposition of quadrotor dynamics model identification from experimental data collected in closed-loop. Our objective is to provide guidelines for the scientist who is approaching model-based flight control design for multirotor UAVs for which a model is not readily available, but also to provide instructors with pedagogical material that can be utilized to develop experiential learning opportunities complementing face-to-face lectures in the system identification and control engineering curricula. Copyright (C) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0)
Differential drive vehicles are an integral of industrial operations, where precise control is essential for safety and efficiency. These vehicles often employ encoders for precise maneuvering through closed-loop cont...
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Differential drive vehicles are an integral of industrial operations, where precise control is essential for safety and efficiency. These vehicles often employ encoders for precise maneuvering through closed-loop control. In this scenario, system failures can result in uncontrolled movements, posing significant risks to human operators. To address this issue, this paper proposes a robust and fail-safe controller model that ensures vehicle safety, even in the face of multiple failure scenarios. The proposed model provides a comprehensive solution to address various potential problems encountered in industrial environments. Based on fault tolerance and control theory principles, our model incorporates innovative strategies to mitigate encoder failures, sensor malfunctions, and other related system faults. The design and performance of the controller are thoroughly analyzed to demonstrate its effectiveness in preventing catastrophic failures in industrial environments. Copyright (c) 2024 The Authors.
The sliding mode control for the discrete-time systems subject to both matched and mismatched uncertainties are studied in this paper. By incorporating the past information of system states and control input, an impro...
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The sliding mode control for the discrete-time systems subject to both matched and mismatched uncertainties are studied in this paper. By incorporating the past information of system states and control input, an improved decoupled disturbance compensator is constructed, which enhances the robustness of the sliding mode controller. Compared to the traditional method, the tuning of the parameter of the decoupled disturbance compensator is very easy, as only one parameter need to be determined. The effectiveness of the proposed method is illustrated by the numerical examples. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)
Heterogeneous pedestrian groups can affect the operational efficacy of pedestrian infrastructure. Therefore, this study analyzes the impact of gender, age, and luggage possession on ascending railway platform staircas...
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Heterogeneous pedestrian groups can affect the operational efficacy of pedestrian infrastructure. Therefore, this study analyzes the impact of gender, age, and luggage possession on ascending railway platform staircases. Statistical analysis of video data from a railway platform shows no significant speed difference between men and women. However, older individuals and those with luggage ascend significantly slower. Implementing automated staircases improved speeds by 14.5% for those with luggage and 25.3% for older individuals. These findings highlight the potential of automated staircases to enhance pedestrian flow dynamics, particularly benefiting specific demographic groups. Copyright (C) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)
The proceedings contain 98 papers. The topics discussed include: Kernel-Based Particle Filtering for Scalable Inference in Partially Observed Boolean Dynamical systems;Bayesian system identification of a river;recursi...
The proceedings contain 98 papers. The topics discussed include: Kernel-Based Particle Filtering for Scalable Inference in Partially Observed Boolean Dynamical systems;Bayesian system identification of a river;recursive identification with regularization and on-line hyperparameters estimation;tensor train discrete grid-based filters: breaking the curse of dimensionality;Gaussian sum filtering for wiener state-space models with a class of non-monotonic piecewise nonlinearities;regularized iterative weighted total least squares for vehicle mass estimation;dynamics modeling of robot joints with asymmetric load-dependent friction;grey-box modelling and identification of the industrial oven of a shrink tunnel;regularized finite impulse response models versus Laguerre models: a comparison;and stochastic data-driven predictive control: regularization, estimation, and constraint tightening.
The increasing emphasis on system safety and reliability has heightened the demand for fault-tolerant ability of controlsystems. Fault-tolerant cooperative control (FTCC) is one of the safety issues in multi-agent sy...
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The increasing emphasis on system safety and reliability has heightened the demand for fault-tolerant ability of controlsystems. Fault-tolerant cooperative control (FTCC) is one of the safety issues in multi-agent systems (MASs). This paper studies the leader-following consensus control of MASs in the presence of actuator and sensor faults. A unified framework of active FTCC is proposed under a dynamic event-triggered mechanism (DETM) by employing the virtual actuator and virtual sensor approach. The proposed DETM serves to reduce the communication cost among agents. The FTCC issue is formulated by linear matrix inequalities (LMIs) and can be implemented in a distributed architecture. Without the need of re-tuning the pre-designed observer-based controller, the FTCC exhibits a notable efficiency for fault compensation and plant reconfiguration. Numerical simulations demonstrate the validity of the proposed methods. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)
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