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

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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Distributed Event-Triggered Quantized Fault-Tolerant control of Linear Multiagent Systems With External Disturbances and Parameter Uncertainties

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IEEE TRANSACTIONS ON CYBERNETICS 2024年第4期54卷 2099-2112页

作者： Liu, Shangkun Jiang, Bin Mao, Zehui Zhang, Youmin Nanjing Univ Aeronaut & Astronaut Coll Automation Engn Jiangsu Key Lab Internet Things & Control Technol Nanjing Peoples R China Concordia Univ Dept Mech Ind & Aerosp Engn Montreal PQ H3G 1M8 Canada

In this article, the issue of fault-tolerant leader-following consensus under a distributed dynamic event-triggered mechanism is addressed for linear multiagent systems (MASs) in the presence of unknown parameter uncertainties, external disturbances, and actuator faults, including loss of effectiveness and bias, in which the mechanism is with quantized state measurements. Due to the fact that information is transmitted via a bandwidth-limited communication network, a quantized control scheme with a uniform quantizer is introduced for leader-following consensus. In order to decrease the communication load and save the limited communication network resources, a distributed event-triggered mechanism is studied for leader-following consensus problem of linear MASs with quantized state measurements. In the presence of actuator faults, external disturbances, and unknown parameter uncertainties, an adaptive coupling gain for the controller is presented. Based on the Lyapunov function approach, the stability of the closed-loop system and the convergence of consensus errors are proved. Furthermore, the Zeno behavior is excluded for the triggering time sequences. Finally, simulation studies are given to verify the effectiveness of the proposed event-triggered fault-tolerant control scheme.

关键词： Fault tolerant systems Fault tolerance Actuators Protocols Uncertain systems Couplings Uncertainty Event-triggered control fault-tolerant control leader-following consensus multiagent systems (MASs)

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Delay-dependent and order-dependent asymptotic stability conditions for Riemann-Liouville fractional-order systems with time delays

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COMPUTATIONAL & APPLIED MATHEMATICS 2023年第3期42卷 1-18页

作者： Xiao-Chuang, Jin Jun-Guo, Lu Qing-Hao, Zhang Shanghai Jiao Tong Univ Dept Automation 800 Dongchuan Rd Shanghai 200240 Peoples R China Minist Educ China Key Lab Syst Control & Informat Proc 800 Dongchuan Rd Shanghai 200240 Peoples R China

In this paper, the asymptotic stability problem for Riemann-Liouville fractional-order systems with time delays is investigated. First, a new Lyapunov theorem for asymptotic stability is proved. Then, based on the Lyapunov theorem and fractional-order Jensen inequalities, two delay-dependent and order-dependent conditions for asymptotic stability of Riemann-Liouville fractional-order systems are derived by constructing new classes of Lyapunov functions. The derived criteria are described in terms of linear matrix inequalities, which are computationally efficient. Finally, an example is provided to demonstrate the effectiveness and less conservativeness of the proposed results.

关键词： Fractional-order system Time-delay system Fractional-order integral inequality Riemann-Liouville fractional-order derivative

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On Approximate Opacity of Stochastic control Systems

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IEEE Transactions on Automatic control 2024年第6期70卷 3846-3861页

作者： Liu, Siyuan Yin, Xiang Dimarogonas, Dimos V. Zamani, Majid Kth Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden Shanghai Jiao Tong University and Key Lab of System Control & Information Processing Ministry of Education Department of Automation Shanghai China University of Colorado Boulder Computer Science Department CO80309 United States Ludwig Maximilian University of Munich Computer Science Department Germany

This paper investigates an important class of information-flow security property called opacity for stochastic control systems. Opacity captures whether a system's secret behavior (a subset of the system's behavior that is considered to be critical) can be kept from outside observers. Existing works on opacity for control systems only provide a binary characterization of the system's security level by determining whether the system is opaque or not. In this work, we introduce a quantifiable measure of opacity that considers the likelihood of satisfying opacity for stochastic control systems modeled as general Markov decision processes (gMDPs). We also propose verification methods tailored to the new notions of opacity for finite gMDPs by using value iteration techniques. Then, a new notion called approximate opacity-preserving stochastic simulation relation is proposed, which captures the distance between two systems' behaviors in terms of preserving opacity. Based on this new system relation, we show that one can verify opacity for stochastic control systems using their abstractions (modeled as finite gMDPs). We also discuss how to construct such abstractions for a class of gMDPs under certain stability conditions. © 1963-2012 IEEE.

关键词： Stochastic control systems

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State Estimation of Discrete-Time T-S Fuzzy Systems Based on Robustness Ideas

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INTERNATIONAL JOURNAL OF FUZZY SYSTEMS 2023年第5期25卷 2007-2019页

作者： Zhang, Zhenglei Mao, Yao Gao, Junwei Liu, Huabo Qingdao Univ Sch Automation Qingdao 266071 Peoples R China Chinese Acad Sci Inst Opt & Elect Chengdu 610209 Peoples R China Shandong Key Lab Ind Control Technol Qingdao 266071 Peoples R China

In this paper, we investigate the state estimation problem of discrete-time T-S fuzzy systems with random parametric uncertainties and deterministic external inputs. Different from the traditional T-S fuzzy design method, we firstly rearrange the structure of the T-S fuzzy model and obtain a set of linear uncertain models to approximate the nonlinear system more accurately. Secondly, the robust state estimation method based on sensitivity penalty is used to estimate the state of the linear uncertain systems, and the estimated subsystem is weighted and fused by the membership function to obtain the state of the discrete-time T-S fuzzy systems. Thirdly, the steady-state analysis of the fuzzy state estimator is given, and its properties such as convergence and boundedness are discussed. Finally, some simulation results are presented to illustrate the effectiveness of the proposed approach.

关键词： Nonlinear systems State estimation T-S fuzzy model Robustness

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Adaptive guaranteed-performance consensus for high-order nonlinear multi-agent systems with switching topologies

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INTERNATIONAL JOURNAL OF ADAPTIVE control AND SIGNAL PROCESSING 2023年第5期37卷 1135-1150页

作者： Yan, Ke-Xing Han, Tao Xiao, Bo Yang, Qingsheng Yan, Huaicheng Hubei Normal Univ Sch Elect Engn & Automation Huangshi 435005 Hubei Peoples R China East China Univ Sci & Technol Key Lab Adv Control & Optimizat Chem Proc Minist Educ Shanghai Peoples R China

This article investigates the adaptive guaranteed-performance consensus problem for high-order nonlinear multi-agent systems (MASs) with switching topologies, and briefly analyzes the special leader-following situation. To further handle the problem of adaptive guaranteed-performance consensus for higher-order nonlinear MASs with switching topologies, two novel distributed control protocols are introduced, which are applied to the leaderless and leader tracking cases, respectively. In addition, the methods based on the linear matrix inequality (LMI) and Riccati inequality provide the judgment basis for the stability of Lyapunov function theorem. Eventually, the theoretical results are efficiently and successfully validated by numerical simulations.

关键词： adaptive control guaranteed-performance consensus high-order nonlinear multi-agent systems switching topology

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Impact factors on friction induced vibration of shaft-bearing system considering stick-slip behavior

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MARINE STRUCTURES 2022年第0期84卷 1页

作者： Huang, Qianwen Liu, Huaiguang Ding, Zhe Wuhan Univ Sci & Technol Sch Machinery & Automation Hubei Key Lab Mech Transmiss & Mfg Engn Wuhan 430081 Peoples R China Wuhan Univ Sci & Technol Sch Machinery & Automation Key Lab Met Equipment & Control Technol Minist Educ Wuhan 430081 Peoples R China

An appropriate assessment of dynamical response of the marine propeller shaft is essential to enable optional power delivery to propeller and to minimize the dispensable mechanical friction of supporting bearings. The interaction behavior of the shaft-bearing system affects the stability of propulsion system seriously. An applicable numerical model regarding the friction induced vibration with velocity-dependent and stick-slip friction is proposed. The effect of smoothing factor, control factor, stick factor and slip factor which obtained with experimental data on the friction coefficient is analyzed separately. A cooperative Newton-Raphson & Newmark-fl solving method is validated by experimental tests to be suitable to solve the proposed nonlinear model. To capture the nature of shaft-bearing interaction, the response of dynamic friction coefficient, relative velocity and reaction force with various model parameters are obtained. The residual of iteration which defined in the proposed solving method is also analyzed for each case to certificate the reliability of the numerical calculation. The stability analysis regarding various impact factor of the proposed shaft-bearing system is discussed with multiple scales method. An optimized design for propeller shaft and supporting bearing caused by friction induced by friction properties is thus realized based on proposed numerical model.

关键词： Friction induced vibration Stick-slip behavior Marine propeller shaft Water-lubricated stern bearings Newton-raphson & newmark-? method

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Bootstrapping Autonomous Lane Changes with Self-supervised Augmented Runs 17th

Bootstrapping Autonomous Lane Changes with Self-supervised ...

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17th European Conference on Computer Vision, ECCV 2022

作者： Xiang, Xiang Key Lab of Image Processing and Intelligent Control Ministry of Education School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9783031250682

In this paper, we want to strengthen an autonomous vehicle’s lane-change ability with limited lane changes performed by the autonomous system. In other words, our task is bootstrapping the predictability of lane-change feasibility for the autonomous vehicle. Unfortunately, autonomous lane changes happen much less frequently in autonomous runs than in manual-driving runs. Augmented runs serve well in terms of data augmentation: the number of samples generated from augmented runs in a single one is comparable with that of samples retrieved from real runs in a month. In this paper, we formulate the Lane-Change Feasibility Prediction problem and also propose a data-driven learning approach to solve it. Experimental results are also presented to show the effectiveness of learned lane-change patterns for the decision making. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Autonomous vehicles

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Detection of Stealthy False Data Injection Attacks Against Cyber-Physical Systems:A Stochastic Coding Scheme

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Journal of Systems Science & Complexity 2022年第5期35卷 1668-1684页

作者： GUO Haibin PANG Zhonghua SUN Jian LI Jun State Key Lab of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongging Innovation Center Chongqing 401120China Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of TechnologyBeijing 100144China China Industrial Control Systems Cyber Emergency Response Team Beijing 100040China

This paper,from the view of a defender,addresses the security problem of cyber-physical systems(CPSs)subject to stealthy false data injection(FDI)attacks that cannot be detected by a residual-based anomaly detector without other defensive *** detect such a class of FDI attacks,a stochastic coding scheme,which codes the sensor measurement with a Gaussian stochastic signal at the sensor side,is proposed to assist an anomaly detector to expose the FDI *** order to ensure the system performance in the normal operational context,a decoder is adopted to decode the coded sensor measurement when received at the controller *** this detection scheme,the residual under the attack can be significantly different from that in the normal situation,and thus trigger an *** design condition of the coding signal covariance is derived to meet the constraints of false alarm rate and attack detection *** minimize the trace of the coding signal covariance,the design problem of the coding signal is converted into a constraint non-convex optimization problem,and an estimation-optimization iteration algorithm is presented to obtain a numerical solution of the coding signal covariance.A numerical example is given to verify the effectiveness of the proposed scheme.

关键词： Attack detection cyber-physical systems(CPSs) stealthy FDI attacks stochastic coding

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Local Navigation System for a Robot Based on a Network of BLE Beacons

Local Navigation System for a Robot Based on a Network of BL...

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2024 International Russian automation Conference, RusAutoCon 2024

作者： Yukhimets, D.A. Naidanova, I.E. Andrukhovsky, N.V. Institute of Automation and Control processes Robotic Lab. Vladivostok Russia Marine State University Vladivostok Russia Marine State University Named after Admiral G.I. Nevelskoy Uav and Marine Aviation Lab Vladivostok Russia Far East Federal University Department of automation and robotics Vladivostok Russia

The report presents a method for constructing a navigation system for a mobile robot in indoor environments based on a network of beacons using Bluetooth Low Energy (BLE) technology. To determine the position of the mobile robot inside the premises, a network of ESP32 microcontrollers, located at predefined points within the space and operating in BLE beacon mode, is utilized. The position of the robot is calculated based on the analysis of the signal strength from these beacons. This strength is determined by a controller installed on the robot through sequential polling of beacons within its visibility range. To enhance the accuracy of the proposed system, a model was developed using experimental data and constructed with a neural network to describe the dependence of the signal strength (RSSI - received signal strength indicator) on the robot's position relative to the beacon. The resulting model is then used in the Levenberg-Marquardt method for optimal estimation of the robot's position. The main advantages of the system include high accuracy, low energy consumption, affordability, and scalability to environments of various configurations. © 2024 IEEE.

关键词： Mobile robots

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