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IEEE International Conference on Cyber Technology in automation, control, and Intelligent systems

作者： Qi Liu Bo Yang Yuxiang Liu Kai Ma Xinping Guan Department of Automation Ministry of Education Key Laboratory of System Control and Information Processing Shanghai Jiao Tong University Shanghai China School of Electrical Engineering Yanshan University Qinhuangdao China

Aiming at accurate identification of emerging new faults in PV systems, a novel PV fault diagnosis framework based on cloud-edge collaboration is designed. Model updates are deployed on the cloud servers, while real-time diagnosis is implemented at the edge devices. A multi-label learning model is developed to extract fault features efficiently, and a threshold scheme is further designed for feature enhancement. The obtained features are processed by K-Means clustering and the One-Class Support Vector Machine (OCSVM) methods, which can accurately diagnose existing types and identify unknown faults. For analysis and demonstration, the Principal Component Analysis (PCA) and t-Distributed Stochastic Neighbor Embedding (t-SNE) methods are used for dimensionality reduction and visualization. Numerical results validate the effectiveness of the proposed method.

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Enhancing Covert Communication in Relay systems Using Multi-Antenna Technique

arXiv

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arXiv 2024年

作者： Zhu, He Wu, Huihui Su, Wei Jiang, Xiaohong The School of System Information Science Future University Hakodate Hakodate041-8655 Japan Department of Automation Tsinghua University Beijing100084 China The School of Electronic and Information Engineering Beijing Jiaotong University Beijing100044 China

This paper exploits the multi-antenna technique to enhance the covert communication performance in a relay system, where a source S conducts covert communication with a destination D via a relay R, subjecting to the detections of transmissions in the two hops from a single-antenna warden W. To demonstrate the performance gain from adopting the multi-antenna technique, we first consider the scenario when S, R and D all adopt single antenna, and apply hypothesis testing and statistics theories to develop a theoretical framework for the covert performance modeling in terms of detection error probability (DEP) and covert throughput. We then consider the scenario when S, R and D all adopt multiple antennas, and apply the hypothesis testing, statistics and matrix theories to develop corresponding theoretical framework for performance modeling. We further explore the optimal designs of the target rate and transmit power for covert throughput maximization under above both scenarios, subjecting to the constraints of covertness, reliability and transmit power. To solve the optimization problems, we employ Karushi-Kuhn-Tucker (KKT) conditions method in the single antenna scenario and a search algorithm in the multi-antenna scenario. Finally, we provide extensive numerical results to illustrate how the multi-antenna technique can enhance the covert performance in two-hop relay systems. Copyright © 2024, The Authors. All rights reserved.

关键词： Antennas

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Distributed Event-Triggered Formation control for a Multi-robotic Fish system

Distributed Event-Triggered Formation Control for a Multi-ro...

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International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Dai, Shijie Wu, Zhengxing Tan, Min Yu, Junzhi School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100049 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China State Key Laboratory for Turbulence and Complex System Department of Advanced Manufacturing and Robotics BIC-ESAT College of Engineering Peking University Beijing100871 China

ISBN: (纸本)9789811966125

This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Tracking control for High-order Fully Actuated system with Input Constraints by Explicit Reference Governor

Tracking Control for High-order Fully Actuated System with I...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Lin Yang Yuanlong Li Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai P. R. China

This paper studies the tracking control problem of high-order fully actuated system subject to input constraints. Since there exist input constraints, an inappropriate reference signal being tracked may cause actuator saturation and further cause system instability. For solving the problem, we firstly design a generalized proportional differential controller to ensure the stability of the closed-loop system without input constraints. Then, an explicit reference governor is constructed to modify the reference signal such that the applied reference signal never exceeds the saturation limits, and the equilibrium of the resulting closed-loop system is globally asymptotically stable. Furthermore, we prove that the applied reference will converge to the original reference as much as possible. Therefore, the system output finally converges to the original reference by tracking the applied reference. A numerical example demonstrates the validity of the proposed method in this paper.

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Improved Adaptive Variable Impedance control for Contact Force Tracking

Improved Adaptive Variable Impedance Control for Contact For...

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IEEE International Conference on Real-time Computing and Robotics (RCAR)

作者： Feili Wei Chaochen Gu Kaijie Wu Hao Cheng Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

The utilization of impedance control is capable of achieving excellent force tracking performance. However, the balance between stability and flexibility is seldom considered in current methods. To address this issue, a novel adaptive variable impedance controller for contact force tracking is proposed in this study. Lyapunov theory is applied to develop an adaptive adjustment law of damping parameter in impedance control to enhance the robot’s adaptability to uncertain environment and dynamic desired force. Additionally, a force compensator is designed based on direct adaptive control to expedite the response of force tracking. What sets this proposed method apart is that it does not require an accurate understanding of environmental parameters. Instead, it dynamically modifies the impedance parameters based on the force error to guarantee the stability and coordination of the system. Simulation results indicate that the proposed controller improves the flexibility and robustness of the force tracking capability of the robot system when compared to existing variable impedance control methods and effectively diminishes force overshoot.

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Integrated Guidance and control Design Subject to Actuator Saturation Based on Fully Actuated system Approach

Integrated Guidance and Control Design Subject to Actuator S...

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Fully Actuated system Theory and Applications (CFASTA), Conference on

作者： Lin Yang Yuanlong Li Department of Automation Shanghai Jiao Tong University Shanghai P. R. China Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai P. R. China

ISBN: (数字)9798350373691

ISBN: (纸本)9798350373707

Based on fully actuated system approach, this paper proposes a design scheme for integrated guidance and control systems subject to actuator saturation. By elimination elevation-order way, the integrated guidance and control model in the pitch channel is transformed into a high-order fully actuated system with uncertain disturbances and actuator saturation. Firstly, a disturbance observer is constructed to estimate the disturbances generated by model nonlinearities, unknown target maneuvers, variations of aerodynamic parameters, etc. Then, an observer-based fully actuated controller is designed to stabilize the integrated guidance and control system and perform disturbance attenuation. Since the missile’s deflection angle for pitch control is constrained by actuator saturation, an anti-windup compensator is introduced into the designed fully actuated controller to reduce the negative impact of saturation. Moreover, the stability conditions of the closed-loop system are established by the Lyapunov stability theory and the invariant set principle. Finally, a numerical simulation is provided to verify the effectiveness of the proposed design scheme.

关键词： Actuators Missiles control design Estimation Numerical simulation Disturbance observers Stability analysis

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K-BMPC: Derivative-based Koopman Bilinear Model Predictive control for Tractor-Trailer Trajectory Tracking with Unknown Parameters

arXiv

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arXiv 2023年

作者： Wang, Zehao Zhang, Han Wang, Jingchuan Department of Automation Institute of Medical Robotics Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the original control-affine system. Further, we analyze the propagation and bounds of state prediction errors caused by the truncation in derivative order. The identified finite dimensional Koopman bilinear model would serve as predictive model in the next step. Koopman Bilinear Model Predictive control (K-BMPC) is proposed to solve the trajectory tracking problem. We linearize the bilinear model around the estimation of the lifted state and control input. Then the bilinear Model Predictive control problem is approximated by a quadratic programming problem. Further, the estimation is updated at each iteration until the convergence is reached. Moreover, we implement our algorithm on a tractor-trailer system, taking into account the longitudinal and side slip effects. The open-loop simulation shows the proposed Koopman bilinear model captures the dynamics with unknown parameters and has good prediction performance. Closed-loop tracking results show the proposed K-BMPC exhibits elevated tracking precision with the commendable computational efficiency. The experimental results demonstrate the feasibility of K-BMPC. © 2023, CC BY-NC-SA.

关键词： Model predictive control

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Enabling Stateful TCP Performance Profiling with Key Event Capturing

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IEEE Transactions on Network and Service Management 2025年

作者： Geng, Ruopeng Lu, Jianyuan Fang, Chongrong Zhang, Shaokai Zhao, Jiangu Zong, Zhigang Lyu, Biao Zhu, Shunmin Cheng, Peng Chen, Jiming Zhejiang University State Key Laboratory of Industrial Control Technology Hangzhou310027 China Alibaba Group Hangzhou310052 China Ministry of Education of China Key Laboratory of System Control and Information Processing China Shanghai Jiao Tong University Shanghai Engineering Research Center of Intelligent Control and Management Department of Automation Shanghai China Zhejiang University College of Control Science and Engineering Hangzhou310027 China

TCP ensures reliable transmission through its stateful implementation and remains crucial today. TCP performance profiling is essential for tasks like diagnosing network performance problems, optimizing transmission performance, and developing new TCP variants, etc. Existing profiling methods lack enough attention to TCP state transition to provide detailed insights on TCP performance. Thus, we build TcpSight, a tool focusing on TCP state transition throughout connection lifetimes. TcpSight conducts stateful analysis by capturing key events using an efficient per-connection lock-free data management mechanism. Besides, TcpSight enhances profiling by integrating application layer information collected from the TCP stack. With the profiling results, users can identify the culprit of TCP performance degradation, and evaluate the performance of TCP algorithms. We design optional modules and filtering mechanisms to reduce TcpSights overhead. Our evaluation presents that TcpSight incurs an additional CPU consumption of about 16.6% (without filtering) and 10.6% (with filtering) when the server's load is 55.7%, and generates storage consumption about 1.88 KB per connection on average. We also give application cases of TcpSight and the deployment experiences in Alibaba Cloud. TcpSight helps in revealing meaningful findings and insights into exploiting TCP in the production deployment. © 2004-2012 IEEE.

关键词： Information management

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BEARING-BASED TARGET ENTRAPPING control OF MULTIPLE UNCERTAIN AGENTS WITH ARBITRARY MANEUVERS

arXiv

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arXiv 2023年

作者： Su, Haifan Yang, Ziwen Zhu, Shanying Chen, Cailian Yu, Wenbin Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

This paper is concerned with bearing-based cooperative target entrapping control of multiple uncertain agents with arbitrary maneuvers including shape deformation, rotations, scalings, etc. A leader-follower structure is used, where the leaders move with the predesigned trajectories, and the followers are steered by an estimation-based control method, integrating a distance estimator using bearing measurements and a stress matrix-based formation controller. The signum functions are used to compensate for the uncertainties so that the agents’ accelerations can be piecewise continuous and bounded to track the desired dynamics. With proper design of the leaders’ trajectories and a geometric configuration, an affine matrix is determined so that the persistently exciting conditions of the inter-agent relative bearings can be satisfied since the bearing rates are related to different weighted combinations of the affine matrix vectors. The asymptotic convergence of the estimation error and control error is proved using Filipov properties and cascaded system theories. A sufficient condition for inter-agent collision avoidance is also proposed. Finally, simulation results are given to validate the effectiveness of the method in both 2D and 3D cases. Copyright © 2023, The Authors. All rights reserved.

关键词： Acceleration

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Preserving Location Privacy of IoT Devices in Heterogeneous Edge Computing Architecture Through Deniability-Based Authentication

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IEEE Transactions on Consumer electronics 2025年

作者： Ali, Ikram Li, Jianqiang Chen, Jie Chen, Yong Ullah, Shamsher Wakeel, Abdul Shenzhen University National Engineering Laboratory of Big Data System Computing Technology Shenzhen518060 China Shenzhen University College of Computer Science and Software Engineering Shenzhen518060 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China National University of Sciences and Technology Military College of Signals Department of Electrical Engineering Islamabad Pakistan

Edge computing moves cloud services closer to consumer Internet of Things (IoT) devices, reducing latency and bandwidth usage. This setup enables faster responses but also introduces new security challenges, particularly concerning location privacy when sender and receiver use different security techniques. The authentication process in such architectures can expose the location of IoT devices. To address this issue, researchers have proposed various privacy-preserving schemes. However, these are computationally heavy for IoT devices. To tackle this issue, we propose two novel heterogeneous deniable authentication schemes: HDA-IoT-I and HDA-IoT-II. These schemes use public-key infrastructure and identity-based cryptography to protect the location privacy of IoT devices in heterogeneous edge computing environments. Our schemes enable the designated edge device to verify the source of a message without being able to prove its origin to a third party, thus preserving privacy. Additionally, they incorporate a batch verification method, which speeds up the verification of multiple deniable authenticators. The proposed schemes are formally proven secure in the random oracle model based on the hardness assumption of elliptic curve inverse computational Diffie-Hellman problem. The performance evaluation demonstrate that our schemes significantly enhance computational and communication efficiency, making them suitable for IoT devices. © 2025 IEEE.

关键词： Differential privacy

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