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Resilient and Event-Triggered Control for Linear systems:A Looped-Functional Approach

Journal of Beijing Institute of technology 2024年第6期33卷 570-581页

作者： Yihao Xu Alexandre Seuret Senchun Chai Kun Liu School of Automation Beijing Institute of TechnologyBeijing 100081China Department of Systems Engineering and Automation University of Seville41092Spain

This paper discusses the design of resilient and event-triggered control for linear aperiodic sampled-data *** stability and stabilization problem of the aperiodic sampled-data systems under a dynamic event-triggered scheme and against a stochastic deception attack is addressed in a novel looped-functional framework.A quadratic event-triggered scheme with a discrete-time dynamic variable is proposed in which the system states are only evaluated at aperiodic sampling instants so that the Zeno phenomenon can be avoided *** system is assumed to be intruded by a deception attack signal which is determined by a Bernoulli random *** objective in this paper is to derive the stability conditions firstly and then provide the resilient and event-triggered controller design for the aperiodic sampled-data *** a certain H∞attack and the control updates can be obviously reduced by the proposed dynamic event-triggered scheme,which means the system performance,the limited communication resources,and the system security can be well balanced in our ***,the validity and effectiveness of the proposed method is demonstrated by the simulations.

关键词： event-triggered control looped-functional sampled-data systems deception attacks

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Chattering-Free Fault-Tolerant Cluster Control and Fault Direction Identification for HIL UAV Swarm With Pre-Specified Performance

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 183-197页

作者： Pei-Ming Liu Xiang-Gui Guo Jian-Liang Wang Daniel Coutinho Lihua Xie the Beijing Engineering Research Center of Industrial Spectrum Imaging School of Automation and Electrical Engineering University of Science and Technology Beijing the Shunde Graduate School of University of Science and Technology Beijing IEEE Autonomous Intelligent Systems Department Hangzhou Innovation Institute of Beihang University the Department of Automation and Systems Universidade Federal de Santa Catarina the School of Electrical and Electronic Engineering Nanyang Technological University

In this paper, the problem of pre-specified performance fault-tolerant cluster consensus control and fault direction identification is solved for the human-in-the-loop(HIL) swarm unmanned aerial vehicles(UAVs) in the presence of possible nonidentical and unknown direction faults(NUDFs) in the yaw *** control strategy begins with the design of a pre-specified performance event-triggered observer for each individual *** observers estimate the outputs of the human controlled UAVs, and simultaneously achieve the distributed design of actual control signals as well as cluster consensus of the observer *** is worth mentioning that these observers require neither the high-order derivatives of the human controlled UAVs' output nor a priori knowledge of the initial conditions. The fault-tolerant controller realizes the pre-specified performance output regulation through error transformation and the Nussbaum function. It should be pointed out that there are no chattering caused by the jump of the Nussbaum function when a reverse fault occurs. In addition, to provide a basis for further solving the problem of physical malfunctions, a fault direction identification algorithm is proposed to accurately identify whether a reverse fault has occurred. Simulation results verify the effectiveness of the proposed control and fault direction identification strategies when the reverse faults occur.

关键词： Chattering-free cluster consensus fault direction identification human-in-the-loop (HIL) nonidentical and unknown direction faults (NUDFs) pre-specified performance swarm unmanned aerial vehicles (UAVs)

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Coalition formation problem: a capability-centric analysis and general model

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Science China(Information Sciences) 2024年第11期67卷 180-193页

作者： Jie CHEN Miao GUO Bin XIN Qing WANG Shengyu LU Yipeng WANG Yulong DING School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Department of Control Science and Engineering Tongji University

Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collaboration and human-robot collaboration. However, the analysis on CF problems remains *** provide a valuable study reference for researchers interested in CF, this paper proposed a capabilitycentric analysis of the CF problem. The key problem elements of CF are firstly extracted by referencing the concepts of the 5W1H method. That is, objects(who) form coalitions(what) to accomplish missions(why) by aggregating capabilities(how) in a specific environment(where-when). Then, a multi-view analysis of these elements and their correlation in terms of capabilities is proposed through various logic diagrams, structure charts, etc. Finally, to facilitate a deeper understanding of capability-centric CF, a general mathematical model is constructed, demonstrating how the different concepts discussed in this analysis contribute to the overall model.

关键词： coalition formation capability aggregation capability metric mission requirement environmental effect

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Control valve simulation method integrable into the global gradient algorithm

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ISH Journal of Hydraulic Engineering 2025年第1期31卷 1-7页

作者： Sivakumar, P. Gorev, N.B. Gorev, V.N. Kodzhespirova, I.F. Shedlovsky, I.A. Itanagar India Department for Functional Elements of Control Systems Institute of Technical Mechanics Dnipro Ukraine Department of Physics Dnipro University of Technology Dnipro Ukraine Department of Automation and Computer Systems Dnipro University of Technology Dnipro Ukraine

This paper presents a refinement of a method that simulates flow- and pressure-regulating valves by replacing them with pipes and adjusting the resistances (diameters) of those pipes to meet the valve settings. The method, referred to as the replacing pipe method (RPM), is readily integrable into the global gradient algorithm, which is the heart of the commonly used EPANET 2 water distribution system modeling software. The RPM proved to be more robust, yet slower than the EPANET 2 valve handling heuristics. In this work, the RPM was modified to increase its computational speed. The modification involved the RPM check valve handling algorithm and condition for updating the diameters of the valve-replacing pipes. The modified RPM was tested as part of a hybrid simulator, which switches from the EPANET 2 valve handling heuristics to the RPM when the former fails. The test networks included a large network with thousands of nodes, pipes, and valves, and a case of an ill-posed problem. As the testing showed, the modified RPM offers a significant reduction in the number of iterations compared to its previous version. © 2024 Indian Society for Hydraulics.

关键词： Safety valves

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Data-driven output regulation control for constrained linear systems

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Science China(Information Sciences) 2025年第3期68卷 338-353页

作者： Chaoyu XIA Yi DONG Chaoli WANG Shengyuan XU Shanghai Research Institute for Intelligent Autonomous Systems Tongji University College of Electronic and Information Engineering Shanghai Research Institute for Intelligent Autonomous SystemsTongji University Department of Control Science and Engineering School of Optical-Electrical and Computer EngineeringUniversity of Shanghai for Science and Technology Department of Automation Nanjing University of Science and Technology

This study introduces a data-driven approach for state and output feedback control addressing the constrained output regulation problem in unknown linear discrete-time systems. Our method ensures effective tracking performance while satisfying the state and input constraints, even when system matrices are not available. We first establish a sufficient condition necessary for the existence of a solution pair to the regulator equation and propose a data-based approach to obtain the feedforward and feedback control gains for state feedback control using linear programming. Furthermore, we design a refined Luenberger observer to accurately estimate the system state, while keeping the estimation error within a predefined set. By combining output regulation theory, we develop an output feedback control strategy. The stability of the closed-loop system is rigorously proved to be asymptotically stable by further leveraging the concept of λ-contractive sets.

关键词： output regulation constrained system data-driven.

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Reinforcement learning-based unknown reference tracking control of HMASs with nonidentical communication delays

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Science China(Information Sciences) 2023年第7期66卷 46-57页

作者： Yong XU Zheng-Guang WU Wei-Wei CHE Deyuan MENG School of Automation Beijing Institute of Technology Institute of Cyber-Systems and Control Zhejiang University College of Mathematics and Computer Science Zhejiang Normal University Department of Automation Qingdao University School of Automation Science and Electrical Engineering Beihang University(BUAA)

This paper focuses on the optimal output synchronization control problem of heterogeneous multiagent systems(HMASs) subject to nonidentical communication delays by a reinforcement learning *** with existing studies assuming that the precise model of the leader is globally or distributively accessible to all or some of the followers, the leader's precise dynamical model is entirely inaccessible to all the followers in this paper. A data-based learning algorithm is first proposed to reconstruct the leader's unknown system matrix online. A distributed predictor subject to communication delays is further devised to estimate the leader's state, where interaction delays are allowed to be nonidentical. Then, a learning-based local controller, together with a discounted performance function, is projected to reach the optimal output synchronization. Bellman equations and game algebraic Riccati equations are constructed to learn the optimal solution by developing a model-based reinforcement learning(RL) algorithm online without solving regulator equations, which is followed by a model-free off-policy RL algorithm to relax the requirement of all agents' dynamics faced by the model-based RL algorithm. The optimal tracking control of HMASs subject to unknown leader dynamics and communication delays is shown to be solvable under the proposed RL algorithms. Finally, the effectiveness of theoretical analysis is verified by numerical simulations.

关键词： heterogeneous multiagent systems HMAS reinforcement learning RL optimal output synchronization communication delays

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Data-Driven Fault-Tolerant Bipartite Consensus Tracking for Multi-Agent systems With a Non-Autonomous Leader

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 279-281页

作者： Yan Zhou Guanghui Wen Jialing Zhou Tao Yang the Department of Systems Science Southeast University the State Key Laboratory of CNS/ATM Beijing Institute of Technology the Beijing Institute of Technology (Zhuhai) the State Key Laboratory of Synthetical Automation for Process Industries Northeastern University

Dear Editor,This letter studies the bipartite consensus tracking problem for heterogeneous multi-agent systems with actuator faults and a leader's unknown time-varying control input. To handle such a problem, the continuous fault-tolerant control protocol via observer design is developed. In addition, it is strictly proved that the multi-agent system driven by the designed controllers can still achieve bipartite consensus tracking after faults occur.

关键词： Time varying control systems

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A CFD study on the hydrodynamic response of a small-scale ice floe induced by a passing ship

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Journal of Hydrodynamics 2024年第2期36卷 290-299页

作者： Zongyu Jiang Spyros Hirdaris Sasan Tavakoli Mikko Suominen Pentti Kujala Marine and Arctic Technology Department of Mechanical EngineeringAalto UniversityEspooFinland Global Ship Systems Centre ABS Hellenic SM LLC.AthensGreece Department of Infrastructure Engineering The University of MelbourneMelbourneAustralia

A Reynolds averaged Navier-Stokes(RANS)computational fluid dynamics(CFD)model is built to investigate the hydrodynamic response of a circular ice floe under the influence of a passing ship in calm *** ship,mirroring the KRISO Container Ship’s hull design,progresses near an ice floe whose diameter is 30%of the ship’s length and its thickness is 3 *** ship advances at a constant speed,which is handled by using the overset mesh *** study focuses on the ice floe’s motions and the hydrodynamic forces induced by three speeds and three transverse distances of the passing *** reveal that ship-generated wakes notably influence the ice floe’s motions,with a greater influence on sway than ***,the ship’s speed and proximity distinctly affect the ice floe’s motions.

关键词： Hydrodynamics ship-ice interactions ice floe Reynolds averaged Navier-Stokes(RANS)computational fluid dynamics(CFD)

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AL – A PROTOTYPE AUTONOMOUS SHIP MODEL FOR NAVIGATING IN ICE CONDITIONS 43

AL – A PROTOTYPE AUTONOMOUS SHIP MODEL FOR NAVIGATING IN IC...

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ASME 2024 43rd International Conference on Ocean, Offshore and Arctic Engineering, OMAE 2024

作者： Bolbot, Victor Sandru, Andrei Saarniniemi, Ture Freter, Jan Hendrik Puolakka, Otto Kujala, Pentti Valdez Banda, Osiris A. Aalto University Espoo Finland Department of Electrical Engineering and Automation Aalto University Espoo Finland Estonian Maritime Academy Tallinn University of Technology Tallinn Estonia

ISBN: (纸本)9780791887820

This paper introduces a scaled-down model of an Unmanned Surface Vessel (USV) named "AL," designed specifically for navigating ice-covered waters. The development involved utilizing Computer-Aided Design and Computer-Aided Manufacturing (CAD CAM) tools, employing 3D printing in a modular fashion, and assembling the components into an icebreaking hull prototype. Watertightness examinations ensured the vessel's integrity. AL was then equipped with advanced electronics, sensors, and state-of-the-art positioning algorithms in the ROS 2 environment. Systematic model tests identified critical ship hull parameters, enabling the establishment of basic controllers. These controllers contributed to the development of a basic navigation and control system for AL. The result is a ship model capable of autonomously following a predefined trajectory, guided by waypoints, while maintaining the desired speed in ice channels. The AL model serves as a platform for future research in autonomous navigation within ice-covered environments. © 2024 by ASME.

关键词： Ship models

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Mechanical and Tribological Properties of CrCN, CrAlN, and CrAlCN Coatings Deposited on Tungsten Carbide Substrates by High-Power Impulse Magnetron Sputtering technology

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Journal of Materials Engineering and Performance 2024年第24期33卷 14495-14512页

作者： Kao, W.H. Su, Y.L. Zhang, H.Y. Department of Automation Engineering and Institute of Mechatronoptic Systems Chienkuo Technology University Changhua Taiwan Department of Mechanical Engineering National Cheng Kung University Tainan Taiwan

CrCN, CrAlN, and CrAlCN series coatings were deposited on WC substrates using a high-power impulse magnetron sputtering (HiPIMS) system with various nitrogen, aluminum, and carbon flow rates. The effects of the aluminum, nitrogen, and carbon contents on the microstructures, mechanical properties, and tribological properties of the coatings were systematically explored. The results showed that the CrC5N30, CrAl150N30, and CrAl150C5N30 coatings exhibited the best mechanical and tribological properties within their respective series. Among all the coatings, the CrAl150C5N30 coating, with the lowest Al content of 2.4 at.%, showed the highest hardness (46.6 GPa) and adhesion strength (Lc2 > 100 N) and the best tribological performance. Notably, the CrAl150C5N30 coating demonstrated a better wear resistance than the uncoated WC substrate, thereby indicating its potential as an effective coating material for the protection of WC substrates and cutting tools in industrial practice. © ASM International 2023.

关键词： Chromium compounds

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