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An information theoretic vulnerability metric for data integrity attacks on smart grids

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arXiv 2022年

A novel metric that describes the vulnerability of the measurements in power systems to data integrity attacks is proposed. The new metric, coined vulnerability index (VuIx), leverages information theoretic measures to assess the attack effect on the fundamental limits of the disruption and detection tradeoff. The result of computing the VuIx of the measurements in the system yields an ordering of their vulnerability based on the level of exposure to data integrity attacks. This new framework is used to assess the measurement vulnerability of IEEE 9-bus and 30-bus test systems and it is observed that power injection measurements are overwhelmingly more vulnerable to data integrity attacks than power flow measurements. A detailed numerical evaluation of the VuIx values for IEEE test systems is provided. © 2022, CC BY.

关键词： Smart power grids

Pursuit-Evasion on a Sphere and When It Can Be Considered Flat

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arXiv 2024年

作者： Milutinović, Dejan Von Moll, Alexander Manyam, Satyanarayana G. Casbeer, David W. Weintraub, Isaac E. Pachter, Meir Electrical and Computer Engineering Dept. University of California Santa Cruz Santa CruzCA United States The Control Science Center Aerospace Systems Directorate Air Force Research Laboratory DaytonOH45435 United States DCS Corporation DaytonOH United States Dept. of Electrical Engineering Air Force Institute of Technology Wright-Patterson AFB OH United States

In classical works on a planar differential pursuit-evasion game with a faster pursuer, the intercept point resulting from the equilibrium strategies lies on the Apollonius circle. This property was exploited for the construction of the equilibrium strategies for two faster pursuers against one evader. Extensions for planar multiple-pursuer single-evader scenarios have been considered. We study a pursuit-evasion game on a sphere and the relation of the equilibrium intercept point to the Apollonius domain on the sphere. The domain is a generalization of the planar Apollonius circle set. We find a condition resulting in the intercept point belonging to the Apollonius domain, which is the characteristic of the planar game solution. Finally, we use this characteristic to discuss pursuit and evasion strategies in the context of two pursuers and a single slower evader on the sphere and illustrate it using numerical *** Codes 58E10, 86A30, 37D40, 91A23, 49L12, 49Q10 © 2024, CC BY-NC-ND.

关键词： Spheres

Feedforward control in the Presence of Input Nonlinearities: A Learning-based Approach

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arXiv 2022年

作者： van Hulst, Jilles Poot, Maurice Kostić, Dragan Yan, Kai Wa Portegies, Jim Oomen, Tom Control Systems Technology Section Dept. of Mechanical Engineering Eindhoven University of Technology Netherlands Center of Competency ASM Pacific Technology Netherlands CASA Dept. of Mathematics and Computer Science Eindhoven University of Technology Netherlands Delft Center for Systems and Control Delft University of Technology Netherlands

Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input nonlinearities, which are common in typical applications such as semiconductor back-end equipment. The developed method consists of parametric inverse-model feedforward that is optimized for tracking error reduction by exploiting ideas from iterative learning control. Results on a simulated set-up indicate improved performance over existing identification methods for systems with nonlinearities at the input. © 2022, CC BY-NC-ND.

关键词： Feedforward control

Study of the Influence of Rolling Modes on the Operation of Interconnected Electric Drives of a Rolling Mill

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Study of the Influence of Rolling Modes on the Operation of ...

Advanced Technology (KhPIWeek), IEEE KhPI Week on

作者： Valerii Tytiuk Alexey Kalinin Valeriy Druzhinin Victor Busher Oleksii Chornyi Dmytro Halushko Department of Electromechanics Kryvyi Rih National University Kryvyi Rih Ukraine Department of Informative computer systems Abylkas Saginov Karaganda Technical University NPJSC Karaganda The Republic of Kazakhstan Department of Power Engineering Karaganda Industrial University NPJSC Temirtau The Republic of Kazakhstan Dept. of Electrical Engineering and Electronics National University “Odessa Maritime Academy” Odessa Ukraine Institute of Electromechanics Energy Saving and Automatic Control Systems Kremenchuk Mykhailo Ostrogradskyi National University Kremenchuk Ukraine Dept. of Electrical Engineering Ukrainian State University of Science and Technologies Dnipro Ukraine

The paper is devoted to study of the influence of rolling modes on the performance of powerful interconnected electric drives of a hot rolling mill under the action of an electromagnetic coupling circuit between the electric drives of the roughing and finishing groups. The action of the electromagnetic coupling circuit manifests itself in the form of the influence of impact loads of synchronous electric drives on the angular velocity of direct current electric drives of the finishing group of the mill. The parameters of the electromagnetic coupling circuit are determined by the power supply scheme and equipment parameters. Values of impact loads applied to a synchronous motor depend on the rolling process parameters, in particular, the chemical composition of the rolled steel and the temperature of the ingot. The paper presents the results of calculating the rolling power for various rolling mode parameters. Using mathematical modeling in Simulink, numerical estimates of the influence of rolling modes on the magnitude of the voltage drop in the power supply unit and the drop in the angular velocity of the electric drive of the finishing group were obtained on the example of a wide-strip hot rolling mill 1700 of ArcelorMittal Temirtau JSC.

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A Visual Servoing Strategy for Coastline Tracking using an Unmanned Aerial Vehicle

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A Visual Servoing Strategy for Coastline Tracking using an U...

Mediterranean Conference on control and Automation (MED)

作者： Sotirios N. Aspragkathos George C. Karras Kostas J. Kyriakopoulos Control Systems Lab School of Mechanical Engineering National Technical University of Athens Athens Greece Dept. of Computer Science and Telecommunications University of Thessaly Lamia Greece

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

In this paper, an Image-based Visual Servo (IBVS) control strategy for the autonomous surveillance of coastlines using an octocopter aerial vehicle is proposed. The implemented strategy is focused on the vision-based detection and tracking of dynamic coastlines and in the presence of waves while flying in low altitudes. For this purpose, a Deep Neural Network (DNN) for the detection of the coastline is employed. The DNN is ac-companied by an analytical formulation of an Extended Kalman Filter (EKF), which considers an approximate periodical wave motion model to provide an online estimate of the coastline motion directly in image space. The estimated feedback is provided to an appropriately formulated IBVS tracking controller for the autonomous guidance of the octocopter along the coastline, ensuring the latter is always kept inside the camera’s field of view. The efficacy of the proposed scheme is demonstrated via a set of comparative outdoor experiments using an octocopter flying along the coastline on various weather and beach settings.

关键词： Visualization Tracking Trajectory planning Surveillance Neural networks Estimation Visual servoing

A Deep Reinforcement Learning Motion control Strategy of a Multi-rotor UAV for Payload Transportation with Minimum Swing

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A Deep Reinforcement Learning Motion Control Strategy of a M...

Mediterranean Conference on control and Automation (MED)

作者： Fotis Panetsos George C. Karras Kostas J. Kyriakopoulos School of Mechanical Engineering Control Systems Lab National Technical University of Athens Athens Greece Dept. of Computer Science and Telecommunications University of Thessaly Lamia Greece

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

This paper addresses the problem of controlling a multirotor UAV with a cable-suspended load. In order to ensure the safe transportation of the load, the swinging motion, induced by the strongly coupled dynamics, has to be minimized. Specifically, using the Twin Delayed Deep Deterministic Policy Gradient (TD3) Reinforcement Learning algorithm, a policy Neural Network is trained in a model-free manner which navigates the vehicle to the desired waypoints while, simultaneously, compensating for the load oscillations. The learned policy network is incorporated into the cascaded control architecture of the autopilot by replacing the common PID position controller and, thus, communicating directly with the inner attitude one. The performance of the proposed policy is demonstrated through a comparative simulation and experimental study while using an octorotor UAV.

关键词： Navigation Attitude control Transportation Reinforcement learning Water pollution Autopilot Sensors

Mitigating Epilepsy by Stabilizing Linear Fractional-Order systems

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Mitigating Epilepsy by Stabilizing Linear Fractional-Order S...

American control Conference (ACC)

作者： Emily A. Reed Guilherme Ramos Paul Bogdan Sérgio Pequito Ming Hsieh Electrical and Computer Engineering Department University of Southern California USA Dept. of Computer Science and Engineering Instituto Superior Técnico University of Lisbon Portugal and Instituto de Telecomunicações Lisbon Portugal Department of Information Technology Division of Systems and Control Uppsala University Uppsala Sweden

Epilepsy affects approximately 50 million people worldwide. Despite its prevalence, the recurrence of seizures can be mitigated only 70% of the time through medication. Furthermore, surgery success rates range from 30% - 70% because of our limited understanding of how a seizure starts. However, one leading hypothesis suggests that a seizure starts because of a critical transition due to an instability. Unfortunately, we lack a meaningful way to quantify this notion that would allow physicians to not only better predict seizures but also to mitigate them. Hence, in this paper, we develop a method to not only characterize the instability of seizures but also to leverage these conditions to stabilize the system underlying these seizures. Remarkably, evidence suggests that such critical transitions are associated with long-term memory dynamics, which can be captured by considering linear fractional-order systems. Subsequently, we provide for the first time tractable necessary and sufficient conditions for the global asymptotic stability of discrete-time linear fractional-order systems. Next, we propose a method to obtain a stabilizing control strategy for these systems using linear matrix inequalities. Finally, we apply our methodology to a real-world epileptic patient dataset to provide insight into mitigating epilepsy and designing future cyber-neural systems.

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Fail-Safe Decision Architecture for Positioning Failures on Automated Vehicles

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Fail-Safe Decision Architecture for Positioning Failures on ...

Smart World Congress (SWC), IEEE

作者： Mario Rodríguez-Arozamena Iñigo Aranguren-Mendieta Joshué Pérez Asier Zubizarreta TECNALIA Basque Research and Technology Alliance University of the Basque Country (UPV/EHU) Derio/Bilbao Spain Industry and Mobility Unit TECNALIA Basque Research and Technology Alliance Derio Spain Dept. of Automatic Control and Systems Engineering University of the Basque Country (UPV/EHU) Bilbao Spain

Precise localization is essential for the operation of Connected and Automated Vehicles (CAVs) in urban scenarios. Camera and LiDAR-based solutions are currently used in some of the CAVs around the world, but they entail an expensive performance in terms of computational time and economic cost. Due to this, Global Navigation Satellite System (GNSS) based solutions remains the preferred solution for positioning Automated Vehicles in different Operational Design Domains (ODDs). Although several improvements in system reliability have been made recently, in case of positioning failures most of the architectures rely on system redundancy or automation disengagements to achieve minimal risk conditions. This paper presents a fail-safe decision architecture for mitigating positioning failures of automated vehicles in urban scenarios. The proposed architecture utilizes a combination of sensor fusion localization and decision-making modules to ensure the safe and efficient operation of the vehicle in the event of a positioning failure. The proposed approach is evaluated through simulation in a representative urban scenario and is shown to effectively handle positioning failures, improving the localization accuracy provided by each information source.

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LPV Modeling of the Atmospheric Flight Dynamics of a Generic Parafoil Return Vehicle

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arXiv 2022年

作者： de Lange, Matthis H. Verhoek, Chris Preda, Valentin Tóth, Roland Control Systems Group Dept. of Electrical Engineering Eindhoven University of Technology Eindhoven5600MB Netherlands ESTEC European Space Agency Noordwijk2200AG Netherlands Systems and Control Lab Institute for Computer Science and Control Budapest1111 Hungary

Obtaining models that can be used for control is of utmost importance to ensure the guidance and navigation of spacecraft, like a Generic Parafoil Return Vehicle (GPRV). In this paper, we convert a nonlinear model of the atmospheric flight dynamics of an GPRV to a Linear Parameter-Varying (LPV) description, such that the LPV model is suitable for navigation control design. Automated conversion methods for nonlinear models can result in complex LPV representation, which are not suitable for controller synthesis. We apply several state-of-the-art techniques, including learning based approaches, to optimize the complexity and conservatism of the LPV embedding for an GPRV. The results show that we can obtain an LPV embedding that approximates the complex nonlinear dynamics sufficiently well, where the balance between complexity, conservatism and model performance is optimal. © 2022, CC BY-NC-SA.

关键词： Principal component analysis