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Time-Varying Formation Tracking control of Heterogeneous Multi-Agent Systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers Science Center for Intelligent Autonomous System of Ministry of Education the College of Electronic and Information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced Control and Optimization for Chemical Processes of Ministry of Education the School of Information Science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory autonomous systems Stability

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Deep-Learning-Based Uncertainty-Estimation Approach for Unknown Traffic Identification

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2025年第3期6卷 533-548页

作者： Le, Siqi Lai, Yingxu Wang, Yipeng He, Huijie Beijing University of Technology Faculty of Information Technology Beijing100124 China Ministry of Education Engineering Research Center of Intelligent Perception and Autonomous Control Beijing100124 China

Real open network environments include the traffic generated by known applications or protocols, which have been previously identified and labeled, and unknown network traffic that cannot be identified based on existing knowledge. Accurately identifying unknown traffic is critical to network management and security, not only to help managers allocate bandwidth appropriately for all types of applications and ensure quality of service but also to prevent security breaches that may result from unknown applications or protocols. Notably, the unknown network traffic has been increasing with the emergence of new applications or protocols, which further increases the difficulty in identifying them. Existing unknown traffic classification methods based on Softmax output confidence values cause bias in the prediction probability due to overconfidence of the model during the training process, thus decreasing the identification accuracy. Thus, for unknown traffic identification, this study proposes a deep-learning-based uncertainty-estimation (EUE) approach. EUE introduces the theory of evidence to the task of identifying unknown traffic by inferring traffic uncertainty directly from traffic evidence without the need for a Softmax layer, thus avoiding overconfidence in the model. Thus, the EUE can accurately identify unknown traffic while classifying known traffic at the application level. We construct two experimental scenarios simulating the real network environments with different proportions of unknown traffic to evaluate EUE. The experimental results show that the proposed approach EUE exhibits excellent classification accuracy. © 2024 IEEE. All rights reserved.

关键词： Internet protocols

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Counteracting New Attacks in CPS: A Few-shot Class-incremental Adaptation Strategy for Intrusion Detection System

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IEEE Transactions on Network and Service Management 2025年第3期22卷 2473-2488页

作者： Dong, Xinrui Lai, Yingxu Zhang, Xiao Xu, Xinyu Beijing University of Technology College of Computer Science Beijing100124 China Ministry of Education Engineering Research Center of Intelligent Perception and Autonomous Control Beijing100124 China

The deep integration of physical devices and communication networks has increased the security risks of cyber-physical systems (CPSs) compared to traditional control systems. Deep learning-based intrusion detection systems (IDSs) play a crucial role in ensuring CPSs security. However, the existing IDSs often rely on known attack features, rendering them unable to withstand emerging new attacks arising from the dynamic evolution of intrusion behaviors. This paper aims to develop an IDSs with high adaptability and strong generalization capabilities, which is capable of rapidly adapting to new attack classes with only a few new samples. To achieve this objective, we propose CAT-IDS, a few-shot class-incremental adaptation strategy for an IDS to counteract new attacks on CPSs. We design a highly symmetric classifier structure for CAT-IDS that can flexibly adjust the classification space to adapt to new attacks. Furthermore, we calibrate the biased distribution formed by a few training samples through statistical feature transfer. In order to prevent the model from forgetting old attack information during the adaptation process, we devise hybrid features for attack detection. These features contain essential information for both old and new class classifications. We demonstrate the effectiveness of CAT-IDS through multiple experiments on three CPSs datasets. The results show that CAT-IDS achieves an average accuracy improvement of approximately 4. 5% compared to the state-of-the-art methods, demonstrating its superior ability to adapt to new attacks while maintaining high performance in classifying existing attacks. © 2004-2012 IEEE.

关键词： Network intrusion

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Geometric attitude tracking control of quadrotor UAVs with adaptive extended state observers

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ISA Transactions 2025年 160卷 289-297页

作者： Wang, Liping Chen, Jiapeng Huang, Yuyuan Zhu, Yongbin Pei, Hailong Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong School of Automation Science and Engineering South China University of Technology Guangzhou510640 China

This paper studies a geometric attitude tracking control problem of quadrotor unmanned aerial vehicles (UAVs) with adaptive extended state observers (AESOs). Through coordinate transformation, the error dynamic of AESO can be transformed into a canonical form which is easier to analyze by linear time-varying theory. In the presence of unknown disturbances and system uncertainties, the estimated error and stability of AESO can be analyzed. Simultaneously, a geometric tracking controller is developed on SO(3) with AESOs which guarantees that the error exponentially converges to a bounded set related to the estimated error. Some examples and a flight test are given to verify the availability of the control scheme. © 2025

关键词： Unmanned aerial vehicles (UAV)

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Event-triggered consensus control of heterogeneous multi-agent systems: model-and data-based approaches

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Science China(Information Sciences) 2023年第9期66卷 151-167页

作者： Xin WANG Jian SUN Fang DENG Gang WANG Jie CHEN School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This article addresses the model-and data-based event-triggered consensus of heterogeneous leader/follower multi-agent systems(MASs). A dynamic periodic transmission protocol is developed to alleviate the communication and computational burden, where the followers can interact locally with neighbors to approach the dynamics of the leader. Capitalizing on a discrete-time looped-functional, a model-based consensus condition for the closed-loop MASs is derived as linear matrix inequalities(LMIs), along with a design method for obtaining distributed event-triggered controllers and the associated triggering *** collecting noise-corrupted state-input measurements in offline open-loop experiments, a data-based leader/follower MAS representation is derived and employed to address the data-driven consensus control problem without explicit MAS models. This result is subsequently generalized to guarantee an H∞-consensus control performance. Finally, a simulation example is given to corroborate the efficiency of the proposed distributed triggering scheme and the data-driven consensus controller.

关键词： data-driven control multi-agent system consensus looped-functional LMI

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Higher-order properties and extensions for indirect MRAC and APPC of linear systems

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Science China(Information Sciences) 2024年第4期67卷 218-238页

作者： Yanjun ZHANG Zhipeng ZHANG Jian SUN Lei WANG Kangkang ZHANG National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology School of Automation Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center College of Control Science and Engineering Zhejiang University Department of Electrical and Electronic Engineering Imperial College London KIOS Research and Innovation Center of Excellence University of Cyprus

Recently, a reference derived some new higher-order output tracking properties for direct model reference adaptive control（MRAC） of linear time-invariant（LTI） systems: limt→∞ e（i）（t） = 0, i = 1,..., n*-1, where n*and e（i）（t） denote the relative degree of the system and the i-th derivative of the output tracking error, respectively. However, a naturally arising question involves whether indirect adaptive control（including indirect MRAC and indirect adaptive pole placement control） of LTI systems still has higher-order tracking properties. Such properties have not been reported in the literature. Therefore, this paper provides an affirmative answer to this question. Such higher-order tracking properties are new discoveries since they hold without any additional design conditions and, in particular, without the persistent excitation condition. Given the higher-order properties, a new adaptive control system is developed with stronger tracking features.（1） It can track a reference signal with any order derivatives being unknown.（2） It has higher-order exponential or practical output tracking properties.（3） Finally, it is different from the usual MRAC system, whose reference signal's derivatives up to the n*order are assumed to be known. Finally, two simulation examples are provided to verify the theoretical results obtained in this paper.

关键词： higher-order tracking indirect adaptive control model reference adaptive control adaptive pole placement control

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All-Fabric Bi-directional Actuators for Multi-joint Assistance of Upper Limb

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Journal of Bionic engineering 2023年第6期20卷 2661-2669页

作者： Junlin Ma Diansheng Chen Zhe Liu Jie Wei Xianglin Zhang Zihan Zeng Yongkang Jiang Institute of Robotics Beihang UniversityBeijing100191China Department of Control Science and Engineering Tongji UniversityShanghai201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai201210China

According to clinical studies,upper limb robotic suits are vital to reduce therapist fatigue and accelerate patient *** pneumatic actuators have drawn increasing attention for the development of wearable robots due to their low weight,flexibility,and high power-to-weight ***,most of current actuators were designed for the flexion assistance of a specific joint,and that for joint extension requires further ***,designing an actuator for diverse working scenarios remains a *** this paper,we propose an all-fabric bi-directional actuator to assist the flexion and extension of the elbow,wrist,and fingers.A mathematical model is presented that predicts the deformation and guides the design of the proposed bi-directional *** further validate the applicability and adaptability of the proposed actuator for different joints,we developed a 3-DOF soft robotic *** results show that the robotic suit can assist the motion of the elbow,wrist,and finger of the subject.

关键词： Soft robotic suits Fabric-based actuators Multi-DOF motion Upper limb rehabilitation

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State and parameter identification of linearized water wave equation via adjoint method

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Science China(Information Sciences) 2024年第10期67卷 283-297页

作者： Yang YU Cheng-Zhong XU Hai-Long PEI Jinpeng YU School of Automation Qingdao University LAGEP Batiment CPE University Claude Bernard-Lyon 1 School of Automation Science and Engineering Key Laboratory of Autonomous Systems and Networked ControlMinistry of Education Guangdong Engineering Technology Research Center of Unmanned Aerial Vehicle SystemSouth China University of Technology

In this paper, we focus on the state and parameter identification problem of a hydrodynamical system. This system is modeled as a linearized water wave equation(LWWE), a hyperbolic state-space model coupled with a Laplace equation. We assume that the wave elevation at two distinct points is the only measurement of water waves. We show that the state and water depth can be reconstructed from this point measurement records. The identification problem is recast as an optimization problem over an infinite-dimensional space. We propose the adjoint method-based identification algorithm to generate an estimated state and water depth. We then performed a numerical simulation to show the effectiveness of our designed algorithm by comparing it with existing studies.

关键词： linearized water wave equation (LWWE) point observation state estimation parameter identification adjoint method numerical simulation

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Data-driven consensus control of fully distributed event-triggered multi-agent systems

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Science China(Information Sciences) 2023年第5期66卷 147-161页

作者： Yifei LI Xin WANG Jian SUN Gang WANG Jie CHEN School of Automation Beijing Institute of Technology The State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing Institute of Technology Chongqing Innovation Center Department of Control Science and Engineering Tongji University

This study investigates the consensus control issue in discrete-time linear multi-agent systems(MASs) using data-driven control under undirected communication networks. To alleviate the communication burden, an adaptive event-triggered control strategy involving only local information is proposed and a model-based stability condition is derived that guarantees the asymptotic consensus of MASs. Furthermore,a data-based consensus condition for unknown MASs is established by combining a data-based system representation with the model-based stability condition, using only pre-collected noisy input-state data instead of the accurate system information a priori. Specifically, both model-based and data-driven event-triggered controllers can be utilized without requiring any global information. The validity and correctness of the controllers and associated theoretical results are demonstrated via numerical simulations.

关键词： distributed control event-triggered control data-driven control discrete-time MASs

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Cooperative Output Regulation of Heterogeneous Systems over Directed Graphs:A Dynamic Adaptive Event-Triggered Strategy

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Journal of Systems Science & Complexity 2023年第3期36卷 909-921页

作者： SU Hang CHENG Bin LI Zhongkui State Key Laboratory for Turbulence and Complex Systems and Department of Mechanics and Engineering Science College of EngineeringPeking UniversityBeijing 100871China Department of Control Science and Engineering College of Electronics and Information EngineeringTongji UniversityShanghai 201804China Frontiers Science Center for Intelligent Autonomous Systems Shanghai 201210China

This paper investigates the cooperative output regulation problem of heterogeneous linear multi-agent systems over directed graphs with the constraint of communication *** that there exists an exosystem whose state information is not available to all agents,the authors develop distributed adaptive event-triggered observers for the followers based on relative information between neighboring *** should be pointed out that,two kinds of time-varying gains are introduced to avoid relying on any global information associated with the network,and dynamic triggering conditions are designed to get rid of continuous *** the basis of the designed observers,the authors devise a local controller for each *** with the existing related works,the main contribution of the current paper is that the cooperative output regulation problem for general directed graphs is solved requiring neither global information nor continuous communications.

关键词： Adaptive control consensus cooperative output regulation directed graph event-triggered control multi-agent systems

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