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synchronization control of cyber-physical systems with time-varying dynamics under denial-of-service attacks

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2024年第17期361卷

作者： Zhang, Daotong Shi, Peng Chambers, Jonathon Univ Adelaide Sch Elect & Elect Engn Adelaide SA 5005 Australia Univ Leicester Coll Sci & Engn Leicester LE1 7RH England

In this paper, the problem of synchronization control of cyber-physical systems with time- varying dynamics under Denial-of-Service attacks is studied. The communication channels of the synchronization protocol between the subsystems in the cyber-physical systems may be injected into DoS attacks. To counteract the adverse effects of these attacks on synchronization, a target reference model is initially created for each subsystem to mimic its standard operational dynamics. Subsequently, utilizing this reference model, an adaptive compensator is proposed. The unified synchronization protocol guarantees that the synchronization error remains minimal through the adjustment of specific parameters, even under DoS attacks. To showcase the efficiency of this approach, an illustrative numerical simulation example is conducted.

关键词： synchronization control Cyber-physical systems Time-varying dynamics Denial-of-service attacks

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synchronization control of complex networks with bit-rate constraint via dynamic event-triggered strategy

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2025年

作者： Guo, Jing Huang, Ling Li, Bing Harbin Univ Sci & Technol Sch Measurement & Commun Harbin Peoples R China Heilongjiang Prov Key Lab Complex Intelligent Syst Harbin Peoples R China Harbin Univ Sci & Technol Sch Automat Harbin 150080 Heilongjiang Peoples R China

A sampling-based dynamic event-triggered strategy is proposed for the synchronization control of continuous complex networks with uncertainties and delayed coupling, taking into account a bit-rate constraint in node communication. First, a synchronization error system is established by integrating the dynamics of complex networks with those of an isolated node. To conserve limited network bandwidth resources, a sampling-based dynamic event-triggered strategy is designed. By introducing bit-rate constraints to characterize the communication limitations of the system, the available bit rate for each node is allocated using an average allocation protocol. Subsequently, a binary encoding-decoding method is developed to transmit the triggered data, and the decoded signals are utilized to design the controller. Then, a closed-loop synchronization error system is derived. Given that coding errors are inevitable, an exponentially ultimately bounded definition of synchronization error is introduced. The coupling and transmission delays within the system are addressed by constructing Lyapunov-Krasovskii (L-K) functions. Utilizing Lyapunov stability theory and other technical theorems, the exponentially ultimately bounded condition for the closed-loop system is obtained. Based on this condition, the co-design of the controller gain and triggering parameters is achieved. In addition, the explicit relationship between synchronization error and bit rate is presented. Finally, the effectiveness of the proposed method is validated through three numerical examples.

关键词： Complex networks synchronization control dynamic event-triggered strategy bit-rate constraint exponentially ultimately bounded

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synchronization control of Networked Two-Timescale Dynamic Agents: A Singular Perturbation Approach

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IEEE TRANSACTIONS ON control OF NETWORK SYSTEMS 2024年第1期11卷 3-17页

作者： Liang, Kun He, Wangli Qian, Feng Chen, Guanrong Shanghai Univ Elect Power Sch Automat Engn Shanghai 200090 Peoples R China East China Univ Sci & Technol Key Lab Smart Mfg Energy Chem Proc Minist Educ Shanghai 200237 Peoples R China City Univ Hong Kong Dept Elect Engn Kowloon Hong Kong 999077 Peoples R China

This article is intended to solve the synchronization control problem for a group of agents with two-timescale characteristic, described by singularly perturbed systems (SPSs) with a small singular perturbation parameter epsilon . Three fundamental and yet challenging questions are addressed: 1) how to design a distributed controller to guarantee synchronization of coupled two-timescale agents for epsilon is an element of(0,epsilon(& lowast;)) , where the stability bound epsilon(& lowast;) has to be determined?;2) how to enlarge the stability bound epsilon & lowast;for a given feedback gain matrix?;and 3) how to cope with the situation when the singular perturbation parameter exceeds the prescribed stability bound epsilon(& lowast;) ? First, a decoupled method is applied to transfer the synchronization problem of networked two-timescale dynamic agents to the stability problem of SPSs associated with the eigenvalues of the network Laplacian matrix. Second, based on a specially constructed Lyapunov function, sufficient conditions are derived for simultaneously stabilizing the decoupled systems and computing epsilon(& lowast;) by utilizing a particle swarm optimization (PSO)-assisted method. Third, with the derived feedback gain matrix, some criteria are established to further enlarge the stability bound epsilon(& lowast;) . Then, an integrated algorithm is developed to design a distributed controller with an even larger stability bound epsilon & lowast;. Fourth, a novel network design method, incorporated with the concept of synchronization region, is proposed as a powerful solution to deal with the case when the feedback gain matrix is incapable of stabilizing the system. Finally, three examples are given to verify the theoretical results.

关键词： Networked two-timescale agents singularly perturbed system (SPS) stability bound problem synchronization control

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synchronization control DESIGN OF FRACTIONAL-ORDER JAFARI-SPROTT CHAOTIC SYSTEMS

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ROCKY MOUNTAIN JOURNAL OF MATHEMATICS 2024年第2期54卷 569-578页

作者： Shi, Min Cui, Zhoujin Nanjing Univ Posts & Telecommun Coll Automat Nanjing Peoples R China Jiangsu Maritime Inst Sch Econ & Management Nanjing Peoples R China

The synchronization problem for fractional -order Jafari-Sprott chaotic systems is investigated. Two primary synchronization control laws are proposed to achieve the chaotic synchronization of the system without/with uncertainties. For the simple fractional -order Jafari-Sprott chaotic system without considering uncertainties, active control is proposed to achieve chaotic synchronization. In addition, a robust synchronization control is realized for the corresponding chaotic system with uncertainties, by adopting a fractional -order sliding mode control strategy. The controller parameters could be adjusted based on the stability theory of the fractional -order system and the fractional -order sliding mode theory, respectively. As illustrated by numerical examples, the proposed active control law and slide mode control strategy could work well and accurately.

关键词： and phrases synchronization control fractional-order Jafari-Sprott chaotic system active control sliding mode control

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synchronization control of blanket remote maintenance robot based on MPC-CCC algorithm

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ROBOTICA 2023年第11期41卷 3380-3408页

作者： Li, Dongyi Lu, Kun Cheng, Yong Wu, Huapeng Handroos, Heikki Zhang, Xuanchen Guo, Xinpeng Yang, Songzhu Du, Liansheng Zhang, Yu Chinese Acad Sci Hefei Inst Phys Sci Inst Plasma Phys Hefei 230031 Peoples R China Univ Sci & Technol China Hefei 230026 Peoples R China Anhui Extreme Environm Robot Engn Lab Hefei 230031 Peoples R China Lappeenranta Univ Technol Lappeenranta Finland

This paper studies the synchronization control of the blanket remote maintenance robot (BRMR) of the China fusion engineering test reactor (CFETR). First, the general state space mathematical model of BRMR was established by using a physical-based method. Second, based on the receding horizon optimization of model predictive control (MPC) and cross-coupling error reduction in cross-coupling control (CCC), the innovative MPC-CCC controller was proposed to realize the single-system and multisystem error convergence and high accuracy transportation of blanket through the high accuracy synchronization control of BRMR. Third, to verify the control effectiveness of the MPC-CCC controller, two types of simulations and experiments were implied compared with the original proportional-integral (PI) controller in Mover. Results showed that simulation and experiments were highly consistent. It is found that the use of an MPC-CCC controller can result in up to a 70% reduction in displacement error and up to a 59% reduction in synchronization error compared to the PI controller. And the accuracy of the MPC-CCC controller satisfies the real requirement of the maintenance process of the blanket. This work provides the theoretical basis and practical experience for the highly stable, safe, and efficient maintenance of blankets in the future.

关键词： blanket remote maintenance robot Mover hydraulic system MPC-CCC synchronization control

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synchronization control With Adaptive Friction Compensation of Treadmill-Based Testing Apparatus for Wheeled Planetary Rover

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2022年第1期69卷 592-603页

作者： Yu, Haitao Gao, Haibo Deng, Huichao Yuan, Shuai Zhang, Lixian Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China Beihang Univ Spatial Mech & Robot Technol Lab Beijing 100191 Peoples R China Harbin Inst Technol Sch Astronaut Harbin 150001 Peoples R China

This article studies synchronization control of a novel devised treadmill-based testing apparatus for wheeled planetary rover roaming at low speed. To offer satisfactory tracking performance and to ameliorate internal conflicts amongst individual treadmills during rover-treadmill interaction, a decentralized synchronization control strategy integrating an adaptive friction compensation scheme is proposed. To overcome the nonlinear friction effect at low-velocity scenarios, the LuGre model based friction compensation scheme is constructed with a dual-observer structure that can handle parametric uncertainties without recourse to the high-resolution encoder-required parameter identification. With the proposed control design, asymptotic stability of the closed-loop system is guaranteed with the tracking error and synchronization error converging to zero in presence of parametric uncertainties. Experimental results demonstrate the effectiveness of the proposed control strategy, which significantly improves the tracking performance in comparison with the existing proportional differential (PD)-type controller and synchronization controller without friction compensation.

关键词： Testing Friction synchronization Wheels Adaptation models Robots Robot kinematics Adaptive friction compensation LuGre model mobile robot synchronization control wheeled planetary rover (WPR)

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synchronization control of Dual Motor Driving Steer by Wire System 19

Synchronization Control of Dual Motor Driving Steer by Wire ...

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20th IEEE Vehicle Power and Propulsion Conference (IEEE VPPC)

作者： Chung, Insu Lee, Sunyeop Nam, Kanghyun Seo, Younghoon Oh, Sehoon Yeungnam Univ Sch Mech Engn Gyongsan South Korea Daegu Gyeongbuk Inst Sci & Technol Dept Robot & Mech Engn Daegu South Korea

ISBN: (纸本)9798350344455

The Steer by Wire (SbW) system is a system that replaces the mechanical connection between the steering wheel and the vehicle's wheels with electrical signals to control steering. Dual motor driving SbW is designed with physical redundancy in case the SbW system does not operate normally. The system's mechanism requires synchronization control between the two motors to maintain driver safety in response to external disturbances and changes in driving conditions. This paper presents a position control scheme that utilizes the mean and difference of the two motor angles to directly control tracking performance and synchronization error. To apply the proposed method, the system's dynamics were theoretically analyzed, and a controller was designed based on that analysis. Finally, the proposed control scheme's performance is validated through experiments.

关键词： steer by wire synchronization control position control disturbance observer

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Event-Triggered synchronization control for Markov Jump Neural Networks With Partially Unknown Transition Probabilities

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2025年第6期35卷 2091-2100页

作者： Fan, Cheng Su, Lei Wang, Kang Fei, Xihong Anhui Univ Technol Sch Elect & Informat Engn Maanshan Peoples R China Huangshan Special Equipment Supervis & Inspect Ctr Huangshan Peoples R China

This article studies the problem of static output feedback synchronization control of Markov jump neural networks. Given the randomness of the neural network topology and the limitations in acquiring transition probabilities, a Markov model with partially unknown transition probabilities is adopted, which aligns more closely with practical applications. To enhance communication efficiency in resource-constrained environments, an event-triggered mechanism is introduced. Additionally, in contrast to previous studies, this article employs the technique of free-weighting matrix to address the decoupling issue in such neural networks, significantly reducing the conservativeness of the static output feedback control strategy. Finally, the theoretical findings are validated through simulation, demonstrating the practical applicability and effectiveness of the theoretical results.

关键词： event-triggered mechanism Neural networks synchronization control transition probabilities

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DISTURBANCE OBSERVER-BASED ADAPTIVE NETWORK EVENT-TRIGGERED BACKSTEPPING synchronization control FOR FRACTIONAL ORDER CHAOTIC SYSTEMS

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FRACTALS-COMPLEX GEOMETRY PATTERNS AND SCALING IN NATURE AND SOCIETY 2025年第4期33卷

作者： Lv, Hui Xiang, Wei Zhu, Jun Nanjing Univ Aeronaut & Astronaut State Key Lab Mech & Control Aerosp Struct Key Lab Math Modelling & High Performance Comp Air Minist Ind & Informat Technol MIIT Nanjing 210016 Peoples R China Huainan Normal Univ Sch Finance & Math Huainan 232038 Peoples R China

This paper supplies an event-triggered adaptive synchronization control scheme is proposed for fractional-order chaotic systems with unknown external disturbances. Neural networks are used to approximate unknown nonlinear functions. In order to solve the "complexity explosion" problem caused by the traditional backstepping program, a command filter is designed. A compensation signal is introduced to eliminate the influence of filtering error on the chaotic synchronization performance, and a disturbance observer is proposed to deal with external disturbances. A dynamic event triggering mechanism is established by using the linear relationship between the measurement error and the control input to effectively reduce the computing and communication resources. Based on stability analysis, the proposed event-triggered synchronization control scheme ensures that the synchronization error converges to a small neighborhood close to zero, and all signals in the closed-loop system are bounded without the Zeno phenomenon. Finally, two simulation experiments are conducted to verify the practicality and superiority of the proposed control method.

关键词： Fractional Order Chaotic System Neural Network synchronization control Event-Triggered Mechanism Disturbance Observer

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synchronization control for Coupled Delayed Neural Networks With Time-Varying Coupling Via Markov Pinning Strategy

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IEEE SYSTEMS JOURNAL 2022年第3期16卷 4071-4081页

作者： Peng, Hui Lu, Renquan Shi, Peng Guangdong Univ Technol Sch Automat Guangzhou 510006 Peoples R China Guangdong Prov Key Lab Intelligent Decis & Cooper Guangzhou 510006 Peoples R China Univ Adelaide Sch Elect & Elect Engn Adelaide SA 5005 Australia

In this article, a novel Markov pinning strategy, where each mode corresponds to a specific pinning strategy and the switches from one specific pinning strategy to another are governed by the transition probability matrix, is proposed for synchronization control problem of coupled delayed neural networks. With consideration that topological structures of networks are usually time-dependent, a general polytopic time-varying coupling model is studied. In coupled delayed neural networks, each node frequently exchanges information with its neighboring nodes so as to realize synchronization. Since communization network is with limited transmission resource, network congestion may occur, and thus information of neighboring nodes may not be available. Furthermore, as the amount of information that needs to be transmitted will change with the number of pinned nodes, packet dropout rate is considered to be random switching. By Lyapunov function method, a sufficient condition is obtained to globally synchronize the coupled delayed neural networks, and then the Markov pinning controller is designed. Finally, an illustrative example, where all nodes synchronize quickly under the control of Markov pinning controller, is used to demonstrate the advantages and potential of the new design strategy.

关键词： Couplings synchronization Markov processes Artificial neural networks Switches Time-varying systems Delays Coupled delayed neural networks Markov pinning control synchronization control time-varying coupling

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