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Secure State Estimation against Sparse Attacks on a Time-varying Set of Sensors

IFAC-PapersOnLine 2023年第2期56卷 270-275页

作者： Zishuo Li Muhammad Umar B. Niazi Changxin Liu Yilin Mo Karl H. Johansson Department of Automation Tsinghua University Beijing 100084 China Division of Decision and Control Systems Digital Futures School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm SE-100 44 Sweden Laboratory for Information and Decision Systems Massachusetts Institute of Technology 77 Massachusetts Avenue Cambridge MA 02139 USA

This paper studies the problem of secure state estimation of a linear time-invariant (LTI) system with bounded noise in the presence of sparse attacks on an unknown, time-varying set of sensors. At each time, the attacker has the freedom to choose an arbitrary set of no more than p sensors and manipulate their measurements without restraint. To this end, we propose a secure state estimation scheme and guarantee a bounded estimation error irrespective of the attack signals subject to 2p-sparse observability and a mild, technical assumption that the system matrix has no degenerate eigenvalues. The proposed scheme comprises a design of decentralized observers for each sensor based on the local observable subspace decomposition. At each time step, the local estimates of sensors are fused by a median operator to obtain a secure estimation, which is then followed by a local detection-and-resetting process of the decentralized observers. The estimation error is shown to be upper-bounded by a constant which is determined only by the system parameters and noise magnitudes. Moreover, we design the detector threshold to ensure that the benign sensors never trigger the detector. The efficacy of the proposed algorithm is demonstrated by its application on a benchmark example of IEEE 14-bus system. We show that our proposed scheme can effectively tolerate sparse attacks on an unknown set of sensors, ensuring a bounded estimation error and effectively detecting and resetting the attacked sensors.

关键词： Estimation and filtering Design of fault tolerant/reliable systems Estimation and fault detection

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A Speech Cryptosystem Using the New Chaotic System with a Capsule-Shaped Equilibrium Curve

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Computers, Materials & Continua 2023年第6期75卷 5987-6006页

作者： Mohamad Afendee Mohamed Talal Bonny Aceng Sambas Sundarapandian Vaidyanathan Wafaa Al Nassan Sen Zhang Khaled Obaideen Mustafa Mamat Mohd Kamal Mohd Nawawi Faculty of Informatics and Computing Universiti Sultan Zainal AbidinMalaysia Department of Computer Engineering University of SharjahSharjah26666UAE Department of Mechanical Engineering Universitas Muhammadiyah TasikmalayaIndonesia Research and Development Centre Vel Tech UniversityAvadiChennaiIndia School of Artificial Intelligence and Automationand Key Laboratory of Image Processingand Intelligent Control of Education Ministry of ChinaHuazhong University of Scienceand TechnologyWuhan430074China Institute of Strategic Industrial Decision Modeling School of Quantitative SciencesUniversiti Utara Malaysia06010UUM SintokKedahMalaysia

In recent years,there are numerous studies on chaotic systems with special equilibrium curves having various shapes such as circle,butterfly,heart and *** paper describes a new 3-D chaotic dynamical system with a capsule-shaped equilibrium *** proposed chaotic system has two quadratic,two cubic and two quartic nonlinear *** is noted that the proposed chaotic system has a hidden attractor since it has an infinite number of equilibrium *** is also established that the proposed chaotic system exhibits multi-stability with two coexisting chaotic attractors for the same parameter values but differential initial states.A detailed bifurcation analysis with respect to variations in the system parameters is portrayed for the new chaotic system with capsule equilibrium *** have shown MATLAB plots to illustrate the capsule equilibrium curve,phase orbits of the new chaotic system,bifurcation diagrams and *** an engineering application,we have proposed a speech cryptosystem with a numerical algorithm,which is based on our novel 3-D chaotic system with a capsule-shaped equilibrium *** proposed speech cryptosystem follows its security evolution and implementation on Field Programmable Gate Array(FPGA)*** results show that the proposed encryption system utilizes 33%of the FPGA,while the maximum clock frequency is 178.28 MHz.

关键词： Chaos chaotic systems hidden attractors multi-stability bifurcation speech cryptosystem FPGA design

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Individual pitch controller with static inverted decoupling for periodic blade load reduction on monopile offshore wind turbines

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Ocean engineering 2025年 334卷

作者： Lara, Manuel Ruz, Mario L. Mulders, Sebastiaan Paul Vázquez, Francisco Garrido, Juan Department of Electrical Engineering and Automation University of Cordoba Campus of Rabanales Cordoba14071 Spain Department of Mechanics University of Cordoba Campus of Rabanales Cordoba14071 Spain Delft Center for Systems and Control Faculty of Mechanical Engineering Delft University of Technology Mekelweg 2 Delft2628 CD Netherlands

Individual pitch control (IPC) is a technique used to reduce periodic blade loads in wind turbines. It generally uses the multiblade coordinate transformation to convert blade load measurements from a rotating frame into a two-axes non-rotating frame. Although these non-rotating axes are assumed to be decoupled, studies reveal persistent interactions. Reducing this coupling, such as by introducing an azimuth offset, enhances IPC performance. This study explores the impact of static inverted decoupling, which decouples the process in the steady state, on IPC performance. The proposed IPCs are adaptive, scheduling controller and decoupling gains based on operational conditions. In such IPC designs, the integral gains of the diagonal controllers and the decoupling elements can either be the same or different. These methods were validated on a simulated 15 MW wind turbine. controller parameter optimization was accomplished through genetic algorithms to minimize blade fatigue loads, measured via the damage equivalent load (DEL). Results indicate that incorporating static inverted decoupling into IPC improves blade load reduction without increasing pitch actuator effort. IPCs with similar integral gains and matching absolute values in decoupling elements achieved the best balance between DEL reduction and complexity with minimal actuator effort, while additional optimization parameters provided negligible improvements. © 2025 Elsevier Ltd

关键词： Genetic algorithms

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Detection-Triggered Recursive Impact Mitigation against Secondary False Data Injection Attacks in Microgrids

arXiv

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arXiv 2024年

作者： Liu, Mengxiang Zhang, Xin Zhang, Rui Zhou, Zhuoran Zhang, Zhenyong Deng, Ruilong The Department of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom The National Grid ESO Wokingham United Kingdom The State Key Laboratory of Industrial Control Technology The College of Control Science and Engineering Zhejiang University Hangzhou China

The cybersecurity of microgrid has received widespread attentions due to the frequently reported attack accidents against distributed energy resource (DER) manufactures. Numerous impact mitigation schemes have been proposed to reduce or eliminate the impacts of false data injection attacks (FDIAs). Nevertheless, the existing methods either requires at least one neighboring trustworthy agent or may bring in unacceptable cost burdens. This paper aims to propose a detection-triggered recursive impact mitigation scheme that can timely and precisely counter the secondary FDIAs (SFDIAs) against the communication links among DERs. Once triggering attack alarms, the power line current readings will be utilised to observe the voltage bias injections through the physical interconnections among DERs, based on which the current bias injections can be recursively reconstructed from the residuals generated by unknown input observers (UIOs). The attack impacts are eliminated by subtracting the reconstructed bias from the incoming compromised data. The proposed mitigation method can work even in the worst case where all communication links are under SFDIAs and only require extra current sensors. The bias reconstruction performance under initial errors and system noises is theoretically analysed and the reconstruction error is proved to be bounded regardless of the electrical parameters. To avoid deploying current sensors on all power lines, a cost-effective deployment strategy is presented to secure a spanning tree set of communication links that can guarantee the secondary control performance. Extensive validation studies are conducted in MATLAB/SIMULINK and hardware-in-the-loop (HIL) testbeds to validate the proposed method’s effectiveness against single/multiple and continuous/discontinuous SFDIAs. Copyright © 2024, The Authors. All rights reserved.

关键词： Cost effectiveness

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Multi-Condition Fault Diagnosis of Dynamic systems: A Survey, Insights, and Prospects

arXiv

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arXiv 2024年

作者： Han, Pengyu Liu, Zeyi He, Xiao Ding, Steven X. Zhou, Donghua The Department of Automation Tsinghua University Beijing100084 China The Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg47057 Germany The College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao266000 China

With the increasing complexity of industrial production systems, accurate fault diagnosis is essential to ensure safe and efficient system operation. However, due to changes in production demands, dynamic process adjustments, and complex external environmental disturbances, multiple operating conditions frequently arise during production. The multi-condition characteristics pose significant challenges to traditional fault diagnosis methods. In this context, multi-condition fault diagnosis has gradually become a key area of research, attracting extensive attention from both academia and industry. This paper aims to provide a systematic and comprehensive review of existing research in the field. Firstly, the mathematical definition of the problem is presented, followed by an overview of the current research status. Subsequently, the existing literature is reviewed and categorized from the perspectives of single-model and multi-model approaches. In addition, standard evaluation metrics and typical real-world application scenarios are summarized and analyzed. Finally, the key challenges and prospects in the field are thoroughly discussed. Copyright © 2024, The Authors. All rights reserved.

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Joint Moment Estimation for Hip Exoskeleton control: A Generalized Moment Feature Generation Method

arXiv

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arXiv 2024年

作者： Zhang, Yuanwen Xiong, Jingfeng Xian, Haolan Chen, Chuheng Chen, Xinxing Fu, Chenglong Leng, Yuquan Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China The Key Laboratory of Image Processing and Intelligent Control The Hubei Key Laboratory of Brain-inspired Intelligent Systems School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

Hip joint moments during walking are the key foundation for hip exoskeleton assistance control. Most recent studies have shown estimating hip joint moments instantaneously offers a lot of advantages compared to generating assistive torque profiles based on gait estimation, such as simple sensor requirements and adaptability to variable walking speeds. However, existing joint moment estimation methods still suffer from a lack of personalization, leading to estimation accuracy degradation for new users. To address the challenges, this paper proposes a hip joint moment estimation method based on generalized moment features (GMF). A GMF generator is constructed to learn GMF of the joint moment which is invariant to individual variations while remaining decodable into joint moments through a dedicated decoder. Utilizing this well-featured representation, a GRU-based neural network is used to predict GMF with joint kinematics data, which can easily be acquired by hip exoskeleton encoders. The proposed estimation method achieves a root mean square error of 0.1180 ± 0.0021 Nm/kg under 28 walking speed conditions on a treadmill dataset, improved by 6.5% compared to the model without body parameter fusion, and by 8.3% for the conventional fusion model with body parameter. Furthermore, the proposed method was employed on a hip exoskeleton with only encoder sensors and achieved an average 20.5% metabolic reduction (p Copyright © 2024, The Authors. All rights reserved.

关键词： Exoskeleton (Robotics)

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Improving Disturbance-Rejection Performance Using Combination of Sliding-Mode control and Equivalent-Input-Disturbance Approach 48

Improving Disturbance-Rejection Performance Using Combinatio...

引用

48th Annual Conference of the IEEE Industrial Electronics Society, IECON 2022

作者： Wang, Zewen She, Jinhua Sato, Daiki School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Ministry of Education Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China Kanagawa Yokohama226-8503 Japan Tokyo University of Technology School of Engineering Tokyo Hachioji192-0982 Japan

ISBN: (数字)9781665480253

ISBN: (纸本)9781665480253

This paper combines the equivalent-input-disturbance (EID) approach with the sliding-mode control (SMC) approach that improves disturbance-rejection performance. A novel equivalent-input-disturbance (NEID) approach is presented, which considers the disturbance estimation in the state observer. A sliding surface is designed based on the internal model principle, which is called internal-model sliding-mode control (IMSMC). A stability condition is devised for the SMC-EID-based control system. The parameters are designed based on the stability condition. Simulation results show the validity of the NEID approach. © 2022 IEEE.

关键词： Sliding mode control

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Robust optimization-based fusion of GNSS and Visual-Inertial-Wheel Odometry

Robust optimization-based fusion of GNSS and Visual-Inertial...

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2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022

作者： Hou, Jake Jie Wu, Xinrui Shan, Jiwei Li, Dun Wang, Hesheng Shanghai Jiao Tong University Department of Automation China Shanghai Karlang Industrial Nantong Intelligent Technology Co. Ltd China Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

SLAM is significant to autonomous mobile robots. In order to realize drift-free state estimation and provide accurate localization results for the subsequent navigation, we develop an optimization-based framework consisting of a high-frequency Inertial-Wheel Odometry(IWO), Visual-Inertial-Wheel Odometry(VIWO) and a global fusion module. To fuse the local state with the position provided by GNSS, we perform ternary edge in factor graph optimization to estimate the transformation between the local frame and ENU coordinate. Thanks to the tightly-coupled VIWO, the localization property of the odometry presents more robustness, and improve the accuracy of global fusion. A noise repropagation strategy is introduced to ensure the consistency of the IMU and wheel odometer. We evaluate the proposed system on public datasets and test it in real-world scenario. The experimental results show that our system achieves accurate pose estimation in outdoor environments. © 2022 IEEE.

关键词： Frequency estimation

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On Improved Commutation for Moving-Magnet Planar Actuators

arXiv

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arXiv 2023年

作者： Broens, Yorick Butler, Hans Tóth, Roland The Department of Electrical Engineering Eindhoven University of Technology Eindhoven Netherlands ASML Veldhoven Netherlands The Systems and Control Laboratory Institute for Computer Science and Control Hungary

The demand for high-precision and high-throughput motion control systems has increased significantly in recent years. The use of moving-magnet planar actuators (MMPAs) is gaining popularity due to their advantageous characteristics, such as complete environmental decoupling and reduction of stage mass. Nonetheless, model-based commutation techniques for MMPAs are compromised by misalignment between the mover and coil array and mismatch between the ideal electromagnetic model and the physical system, often leading to decreased system performance. To address this issue, a novel improved commutation approach is proposed in this paper, which is applicable for general planar motor applications, by means of dynamic regulation of the position dependence of the ideal model-based commutation algorithm, which allows for attenuation of magnetic misalignment, manufacturing inaccuracies and other unmodelled phenomena. The effectiveness of the proposed approach is validated through experiments using a state-of-the-art moving-magnet planar actuator *** Codes 37M15 © 2023, CC BY.

关键词： Alignment

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An Event-Triggered Tracking control Scheme Based on Predictive control Method and its Application

An Event-Triggered Tracking Control Scheme Based on Predicti...

引用

Chinese control Conference (CCC)

作者： Lei Cao Erhan Yumuk Clara-Mihaela Ionescu Guo-Ping Liu Department of Control Science and Engineering Harbin Institute of Technology Harbin P. R. China Department of Electromechanical Systems and Metal Engineering Dynamical Systems and Control Research Group Ghent University Ghent Belgium Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey Center for Control Science and Technology Southern University of Science and Technology Shenzhen P. R. China

In this paper, the tracking control problem for networked control system (NCS) under communication delays is investigated. In order to realize the tracking of the NCS, an event-triggered predictive control strategy is provided to compensate for the delays and achieve stability. Both tracking performance and input increments are considered in the proposed cost function. Based on the incremental inputs, an event-triggered mechanism is established to reduce the communication costs. The efforts of different parameters are illustrated through the results of the simulation, and the effectiveness of the proposed control scheme is also validated from the application of the networked lighting setup.

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