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distributed control of Unmanned Marine Vehicles for Target Circumnavigation in Communication-Denied Environments

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2025年第1期30卷 345-356页

作者： Yan, Zhiyu Zheng, Huarong Jiang, Zixiang Xu, Wen Zhejiang Univ Key Lab Ocean Observat Imaging Testbed Zhejiang Pr Zhoushan 316021 Peoples R China Zhejiang Univ Hainan Inst Sanya 813099 Peoples R China Zhejiang Univ Coll Informat Sci & Elect Engn Hangzhou 310013 Peoples R China

This article considers the problem of target circumnavigation using multiple unmanned marine vehicles in the communication-denied environment. The vehicles are required to circumnavigate the target maintaining a desired radius and evenly spaced positions relying solely on local relative range measurements. A novel distributed control strategy with a saturation function design is proposed for cooperatively circumnavigating both static and dynamic targets. Via the Lyapunov control theory and the input-to-state property, the closed-loop stability with only the relative range information is achieved. The steady-state circumnavigation error converges to zero and is uniformly ultimately bounded for the static and dynamic targets, respectively. In addition, a second-order sliding mode observer is developed to estimate the range rate information. The observer incorporates linear and nonlinear correction terms and is proven to be global asymptotically stable. The finite time convergence property also contributes to the control performance. Finally, numerical simulations and real experiments involving three unmanned surface vehicles are conducted. Compared with the existing approach, the proposed method shows convenience in implementations and better circumnavigation control performance especially for dynamic targets.

关键词： Marine vehicles Observers Vehicle dynamics Surges Kinematics Sea measurements Convergence Communication-denied environment distributed control relative range measurements target circumnavigation unmanned marine vehicles

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distributed control Scheme for the Coordination of Interlinking Converters in Islanded Hybrid AC/DC Multi-Microgrids

IEEE OPEN JOURNAL OF THE INDUSTRIAL ELECTRONICS SOCIETY

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IEEE OPEN JOURNAL OF THE INDUSTRIAL ELECTRONICS SOCIETY 2025年 6卷 358-379页

作者： Martinez-Gomez, Manuel Orchard, Marcos E. Bozhko, Serhiy Wheeler, Patrick Burgos-Mellado, Claudio Univ Ohiggins Inst Ciencias Ingn Rancagua 2841959 Chile Univ Nottingham Power Elect Machines & Control PEMC Grp Nottingham NG7 2RD England Univ Chile Dept Elect Engn Santiago 8370451 Chile

Multiple interconnected ac and dc microgrids (MGs) are being studied by academia and industry because of their benefits despite their operational challenges. Coordinating distributed generators (DGs) is complex, so communication-based controllers are proliferating in the literature. Then, this work proposes a distributed control strategy for islanded ac/dc multi-MGs interconnected by interlinking converters (ILCs). The proposed scheme is implemented in the ILCs and consists of distributed controllers that equalize global generation costs, allowing secondary control in each MG. control actions that safeguard the saturated operation of MGs and ILCs are included in the control designs. The simultaneous operation with multiple objectives is possible due to adjusting control parameters according to a prioritization criterion. Experiments are conducted through an extensive simulated environment. The results show the proposed multiobjective controllers could maintain global optimal costs during normal operation while not overloading DGs, ILCs, subgrids, and clusters of ILCs. Furthermore, the strategy may reduce operational costs in the long term by protecting the lifetime of critical MG components. Desynchronization of incremental costs is enforced at 15% at most under demanding conditions. Also, it is possible to operate against considerable (>250 [ms]) time delays in the tests.

关键词： Costs Topology Microgrids Industrial electronics Decentralized control Hybrid power systems Load flow Generators Power system reliability Power quality AC/DC microgrid (MG) distributed control economic dispatch interlinking converter (ILC) multi-MG multiobjective control

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Morphology Transformation of Underwater Self-Reconfigurable Modular Robots via Heterogeneous Decomposition and distributed control

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 10698-10712页

作者： Lu, Wenjie Hu, Manman Harbin Inst Technol Shenzhen Sch Mech Engn & Automat Guangdong Prov Key Lab Intelligent Morphing Mech & Shenzhen 518055 Guangdong Peoples R China Univ Hong Kong Dept Civil Engn Hong Kong Peoples R China

This paper addresses the morphology transformation problem of an underwater self-reconfigurable modular robotic system. Morphology decomposition and reconnections are reduced to mitigate transformation failures and the overhead of underwater wireless communication, giving rise to subgraph matching problems. We propose an efficient probabilistic decomposition method by constraining the search depth of maximal common subgraphs of the initial and goal morphologies. The computational complexity reduces from O(n(2)) to O(n) . The decomposition yields a swarm of heterogeneous clusters, which are interconnected modular robots of varying quantities. The heterogeneity makes the exchange of clusters' designated positions in the goal morphology not immediately feasible. Subsequently, we present distributed control with minimal In-situ task Refinement (DCIR). DCIR is proven to ensure collision-free and deadlock-free morphology transformation. The numerical simulations involving up to 641 modular robots and experiments on 6 robots have shown that DCIR scales well with the number of modular robots, runs in real time, and reduces traveling distances by at least 14% and communication costs by about half, compared to the distributed control with homogeneous task exchange and the modified surface sliding method. Note to Practitioners-This paper presents a distributed control approach to transform the morphologies. Considering the limited communication bandwidth, the disconnections between modular robots are minimized. The proposed distributed control approach refines tasks locally to transform the morphologies, and it scales well to the number of modular robots. This effort is orthogonal to the existing studies on the structures of the modular system. However, the positioning of the underwater robots in this study was assumed known or given by an underwater motion capture system, and it should be further investigated.

关键词： Morphology Robots Decentralized control Robot sensing systems Planning Geometry Transforms Sensors Automation System recovery Self-reconfigurable modular robot morphology transformation underwater robot distributed control subgraph matching morphology decomposition

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Assignment and distributed control of laplacian null space in multiagent systems

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INTERNATIONAL JOURNAL OF control 2025年

作者： Tran, Dzung Yucelen, Tansel Kurtoglu, Deniz Sarsilmaz, S. Burak Univ Dayton Res Inst Dept UAS & Embedded Syst Dayton OH USA Univ S Florida Dept Mech Engn Tampa FL USA Utah State Univ Dept Elect & Comp Engn Logan UT USA

The benchmark consensus protocol is used by the most notable distributed algorithms for controlling multiagent systems through local interaction rules, where it yields to the well-known Laplacian matrix whose null space is fixed and is spanned by the vector of ones provided that the underlying graph is connected. Since this protocol is the key building block for a wide range of other existing distributed algorithms, its extensions are likewise based on this Laplacian matrix. However, the fixed nature of the null space of this Laplacian matrix limits the composition of complex (i.e. reconfigurable) cooperative behaviours for multiagent systems. Motivated by this standpoint, the contribution of this paper is threefold: (i) For undirected and connected graphs, we introduce a new Laplacian matrix, whose null space is spanned by a user-assigned vector composed of nonzero elements. We give its mathematical definition and show that it inherits key properties of the aforementioned well-known Laplacian matrix. (ii) We next present distributed control architectures for convergence to the desired null space as well as for convergence to a specific vector within that null space. (iii) We finally multiplex information networks to distributively control the null space of this new Laplacian matrix, where this is the most important contribution of this paper. We specifically show that the resulting null space can vary through local interaction rules as desired between the spans of two or more user-assigned vectors to pave the way for composing complex cooperative behaviours for multiagent systems.

关键词： Multiagent systems distributed control Laplacian null space stability and convergence

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A Decentralized-distributed control Framework for Configurable Networked Microgrids

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2025年第1期72卷 959-968页

作者： Guo, Fanghong Li, Zhuocheng Wu, Jinhui Huang, Zhen Ni, Hongjie Zhejiang Univ Technol Dept Automat Hangzhou 310023 Peoples R China UCL Dept Elect & Elect Engn London WC1E 6BT England

Networked microgrids (NMGs) have emerged to tackle the intricate challenge posed by today's increasing power demands. However, the configuration of NMGs is subject to change due to revamping, faults, or privacy issues within each microgrid (MG), and existing control mechanisms cannot realize configurable control with a privacy guarantee. To address this control problem, we offer a fresh perspective on the control framework by proposing a configurable decentralized-distributed control strategy using directed graphs with minimal communication and less privacy disclosure risk. Specifically, one distributed generator (DG) in each MG is designated as the leader to ensure complete privacy protection in a decentralized manner, eliminating the need to exchange information among other NMGs. Follower DGs communicate exclusively with their leader DGs within clusters, enhancing the control performance. Furthermore, by introducing a novel leaky integral control law, the proposed configurable control framework can adapt to different NMG configurations without redesigning controllers. The stability of the entire NMG system is analyzed rigorously. Finally, the effectiveness of the proposed control framework is demonstrated in solving secondary frequency restoration and active power-sharing problems of NMGs. The experimental test system is built on the OPALRT system, and the results show the superiority of our proposed control method under decentralized, distributed, and hybrid NMG configurations.

关键词： Privacy Frequency control Microgrids Decentralized control Accuracy Transmission line matrix methods Synchronization Configurable networked microgrid directed graph distributed control secondary control

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A Carrier Self-Synchronization Method for distributed control Units in Multithree-Phase Permanent Magnet Synchronous Motor

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2025年第5期72卷 4353-4363页

作者： Liao, Wu Tong, Yongsen Huang, Sheng Liang, Ge Feng, Congqi Wu, Xuan Huang, Shoudao Hunan Univ Coll Elect & Informat Engn Changsha 410082 Peoples R China

The multithree-phase permanent magnet synchronous motor (MTP-PMSM) has garnered significant attention due to its advantages, including reduced torque oscillations, lower power rating per phase, and improved fault tolerance. The control architecture of MTP-PMSM can be categorized into a centralized and distributed structure depending on the number of controllers used. The distributed control architecture proves increasingly advantageous as the number of phases in MTP-PMSM increases, owing to its modular configuration. However, minor differences in crystal oscillator frequencies among controllers may lead to pulse width modulation (PWM) carrier phase desynchronization, resulting in increased current harmonics. Conventional methods for synchronizing carrier phases in controllers rely on hardware communication systems, which not only increase the complexity of the controller, but also degrade the reliability of system. In response, our article proposes a carrier phase self-synchronization method devoid of hardware synchronization devices. The proposed method utilizes the amplitude difference between upper and lower sideband harmonic currents sampled by distributed controllers for synchronization. This carrier self-synchronization method was validated through experimentation with the dual three-phase permanent magnet synchronous motor (DTP-PMSM).

关键词： Carrier self-synchronization distributed control harmonic current multithree-phase permanent magnet synchronous motor (MTP-PMSM)

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Virtual Agents-Based Attack-Resilient distributed control for Islanded AC Microgrid

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IEEE ACCESS 2025年 13卷 15825-15839页

作者： Zhang, Jun Mohiuddin, Sheik M. Qi, Junjian South Dakota State Univ McComish Dept Elect Engn & Comp Sci Brookings SD 57007 USA Pacific Northwest Natl Lab Energy & Environm Directorate Richland WA 99354 USA

Due to its dependence on a communication network, distributed secondary control of microgrids is susceptible to denial-of-service (DoS) attacks in channel shutdown mode, which may negatively impact the network connectivity and thus deteriorate the coordination and power sharing among distributed generators (DGs). Honeypot is a common method for cyber deception by introducing fake targets. However, in the context of microgrid, the misleading information spread by honeypots will also impact the system performance. This paper proposes an attack-resilient distributed control for AC microgrids utilizing virtual agents (VAs) to counteract both DoS edge and node attacks. The VAs are designed to not impact the system's steady state during normal operation but to share information among neighboring real agents and serve as dummy targets for DoS attacks. The control with VAs is implemented by a primal-dual gradient-based distributed algorithm to efficiently obtain a practical solution for voltage/frequency regulation and power sharing. The simulation results on a 4-DG test system and a modified IEEE 34-bus system show that 1) VAs do not impact the normal functionality of the test system, and 2) deploying VAs can enhance the resilience of the microgrid control against DoS edge and node attacks.

关键词： Microgrids Decentralized control Voltage control Reactive power Frequency control Denial-of-service attack Communication networks Steady-state Network topology Laplace equations AC microgrid cooperative control denial-of-service (DoS) attack distributed algorithm distributed control primal-dual gradient resilience virtual agent

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Detection and mitigation against false data injection attacks using SHT and ANN in distributed control of DC microgrid

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ELECTRIC POWER SYSTEMS RESEARCH 2025年 241卷

作者： Alankrita Pati, Avadh Adhikary, Nabanita Natl Inst Technol Silchar Silchar India

This article explores the susceptibility of network-connected DC Microgrids (MGs) to cyber threats, specifically focusing on combating false data injection attacks (FDIAs). It introduces a collaborative model that merges FDIA detection using Sequential Hypothesis Testing (SHT) with countermeasures derived from Artificial Neural Network (ANN) based control. Employing distributed control via adaptive droop, the proposed model integrates a detector that scrutinizes input currents for anomalies by comparing them with forecasted values provided by an ANN-based estimator. Upon detecting any deviation from the anticipated state, a countermeasure is activated, adjusting the adaptive droop control to utilize alternative measurements, thus minimizing the impact of an attack. To assess the efficacy of this approach, the study conducts dynamic simulations across diverse operational scenarios and tolerance thresholds. The findings demonstrate that the proposed method adeptly identifies falsely injected data and compensates for it even amidst severe attacks and prediction inaccuracies, thereby fortifying the security, reliability, and stability of DC MGs.

关键词： Cyberattack mitigation Cyber security distributed control False data injection attack Microgrid Sequential hypothesis testing

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H∞ distributed control for large systems and its application to coupled inverted pendulum

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JOURNAL OF control AND DECISION 2025年

作者： Deng, Cheng Anhui Vocat Coll Grain Engn Dept Mech & Elect Engn Hefei 230011 Peoples R China

This work studies H-infinity distributed control for a collection of large systems that are made up of numerous interconnected subsystems. Firstly, arbitrary topological interconnections among subsystems are considered to better reflect practical application scenarios. Secondly, a distributed control strategy is designed, which distinguishes between decentralised and centralised control strategies. One advantage of this distributed control technique is that it only needs neighbour information to perform local controller calculations. Another advantage is the ability to achieve plug-and-play functionality for subsystems. Then, some sufficient criteria are derived and expressed as linear matrix inequalities. Based on these criteria, a set of H-infinity distributed controllers built at the subsystem level can be solved. Finally, a numerical example and an inverted pendulum are presented to verify the effectiveness of the control strategy used.

关键词： distributed control inverted pendulum systems H-infinity performance local controller

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Data-driven distributed control of input-coupled interconnected systems based on Nash optimality

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International Journal of Industrial and Systems Engineering 2025年第2期49卷 186-205页

作者： Zhang, Dawei Gao, Shouli Xia, Rui Zhao, Dongya Shandong Qingdao266400 China

This paper introduces a data-driven distributed controller for interconnected systems with input coupling of unknown models. The estimation of input coupling terms does not depend on historical data. The complex interconnected systems with input couplings are decomposed into individual subsystems. The proposed strategy not only alleviates computational load, but also optimises the interaction between subsystems, effectively addressing the output oscillations of the system during abrupt reactions of input couplings. The convergence of the control algorithm and the stability of the closed-loop system response are examined, and the efficacy of the proposed control method is validated by comparative simulations. Copyright © 2025 Inderscience Enterprises Ltd.

关键词： data-driven control distributed control dynamic linearisation method input couplings Nash optimality

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