Wireless sensor and actor networks (WSANs) are service-oriented environments, where sensors request actors to service their detected events and actors move to deliver the desired services. Because of their openness an...
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Wireless sensor and actor networks (WSANs) are service-oriented environments, where sensors request actors to service their detected events and actors move to deliver the desired services. Because of their openness and unattended nature, these networks are vulnerable to various security attacks. In this paper we address service fraud attacks for the first time, whose objective is to stop the normal use of actor services by fake service requests and/or delivery. To mitigate this type of security attacks, we propose a novel cooperative authentication scheme. With the scheme, a sensor's service request is cooperatively authenticated by the sensors that witness the same event, and an actor's service delivery effort is cooperatively authenticated by the sensors that witness the actor's behavior. Considering the presence of compromised sensor/actor nodes, the trustworthiness of each authenticated service delivery process is subject to location consistency check and witness diversity check. It may then be taken into account to adjust the corresponding actor's trust rating so as to influence future actor service selection. We analyze the communication overhead and the security strength of the scheme. We show that our scheme ensures fraud-resistant actor services in our considered WSAN environment.
The exploration and three dimension map building of mobile robot tasks in an unknown environment are normally do not have any future reference information. The mobile robot has to estimate positions and poses itself. ...
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This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller for...
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This paper considers the problem of formation control for mobile robots which are subject to input constraints. The control strategy based on virtual robot tracking is proposed, which leads to a compact controller form in terms of two feedback parameters by Lyapunov method. The introduced elliptic approximation of input constraints brings much convenience to obtain suitable feedback parameters. It is show that the presented sufficient condition guarantees the existence of feasible feedback parameters. Moreover, guidelines for the selection of feedback parameters are provided with geometric analysis. Simulation results verify the effectiveness of the proposed control strategy.
Developing mathematical models and estimating their parameters are fundamental issues for studying dynamic behaviors of traffic systems. METANET model is one of the most applicable models in traffic modeling in which ...
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We propose a Lyapunov-based hybrid controller that ensures robust global asymptotic stability of a desired planar orientation, a task that is impossible by continuous or (non-hybrid) discontinuous state feedback due t...
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Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation met...
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Abstract In this paper, the relative position parameters of the target spacecraft are obtained by using the vision measurement and the target maneuver positions are calculated through the isochronous interpolation method. Furthermore, new switch control laws under constant thrust are designed for active collision avoidance maneuver of the chaser along a specified trajectory. The switch control laws are obtained based on the acceleration sequences and the working times of thrusters in three axes which can be respectively computed by the time series analysis method. The perturbations and fuel consumptions are addressed during the computation of the working times. The simulation results show that the constant thrust maneuver can effectively guarantee the chaser maneuvering along the specified trajectory.
Abstract In this paper, a risk-sensitive filter for a class of jump Markov nonlinear systems is proposed. By using a set of weighted cubature points to approximate the intractable risk-sensitive recursions, the propos...
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Abstract In this paper, a risk-sensitive filter for a class of jump Markov nonlinear systems is proposed. By using a set of weighted cubature points to approximate the intractable risk-sensitive recursions, the proposed filter could exhibit improved numerical stability with respect to the derivation of the square-root covariance, for which the unscented transform technique might halt the operations due to the presence of non-positive definite covariance. The performance of the proposed filter is illustrated through a simulation study of tracking a land vehicle with maneuvers.
Network controllers (NCs) are devices that are capable of converting dynamic, spatially extended, and functionally specialized modules into a taskable goal-oriented group called networked control system. This paper ex...
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In this paper, iterative learning control （ILC） design is studied for an iteration-varying tracking problem in which reference trajectories are generated by high-order internal models （HOLM）. An HOlM formulated as...
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In this paper, iterative learning control （ILC） design is studied for an iteration-varying tracking problem in which reference trajectories are generated by high-order internal models （HOLM）. An HOlM formulated as a polynomial operator between consecutive iterations describes the changes of desired trajectories in the iteration domain and makes the iterative learning problem become iteration varying. The classical ILC for tracking iteration-invariant reference trajectories, on the other hand, is a special case of HOlM where the polynomial renders to a unity coefficient or a special first-order internal model. By inserting the HOlM into P-type ILC, the tracking performance along the iteration axis is investigated for a class of continuous-time nonlinear systems. Time-weighted norm method is utilized to guarantee validity of proposed algorithm in a sense of data-driven control.
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