This paper aims to investigate the security control problem of CPSs subject to joint sensor and actuator attacks. Different from most existing results, a more realistic situation for the CPSs is proposed by considerin...
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Short-term load forecasting of buildings plays a key role in demand management, however, when dealing with massive data, the prevalent practice of training and testing the system as a whole overlooks pattern variation...
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This paper reports a controller design methodology for a differential drive wheeled mobile robot (DDWMR) model which considers both safety and stability properties of the robot's operation. The proposed methodolog...
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ISBN:
(数字)9798331520038
ISBN:
(纸本)9798331520045
This paper reports a controller design methodology for a differential drive wheeled mobile robot (DDWMR) model which considers both safety and stability properties of the robot's operation. The proposed methodology first constructs a stabilizing controller using control Lyapunov Function (CLF) concept and then generates a polynomial function-type reference trajectory to seamlessly connect the initial and final poses of the DDWMR. Subsequently, a control Barrier Function (CBF) based scheme is used to ensure the safety of the DDWMR movement in avoiding moving obstacles while driving on the constructed reference trajectory. By the proposed CLF-CBF integration, the proposed approach offers an efficient solution for autonomous navigation of DDWMR in the presence of moving obstacles while also addresses the challenges posed by its nonholonomic constraint. The effectiveness of the proposed approach is shown through simulations which demonstrate the robot's ability to perform safe and stable collision-free movement and navigation.
This paper addresses the challenges of efficient coordination and safety assurance of moving block train platooning system. Conventional railway signaling method which relies on static block systems often fail to adap...
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ISBN:
(数字)9798331520038
ISBN:
(纸本)9798331520045
This paper addresses the challenges of efficient coordination and safety assurance of moving block train platooning system. Conventional railway signaling method which relies on static block systems often fail to adapt to high frequency scenarios and thereby limiting the railway system's operational flexibility and scalability. The moving block signaling approach through communication-based train control (CBTC) technology has recently been proposed and viewed as a potential solution alternative to address such limitations. To enhance railway system opearational performance and safety, this paper proposes a control strategy combining sliding mode control (SMC) and event-triggered control (ETC) for a multi-agent system representation of train convoy operating under moving block signaling scheme. The proposed SMC is used to ensure robust tracking and coordination of the train convoy in the presence of inter-train communication loss, while ETC scheme is used to minimize communication and computation overhead in each train by updating the individual train's control actions only when deemed necessary. The proposed approach improves coordination, safety, and resource efficiency within complex, multi-agent train systems. Simulation results demonstrate the effectiveness of the combined control strategy in maintaining inter-train spacing even when data transmission loss/drop occur on several time instances.
A carrier-based unmanned aerial vehicle (UAV) landing control system based on nonlinear expanded state observer (NESO) and model predictive controller (MPC) is designed. To compensate for the impact of uncertainty dis...
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Event-triggered control is a most popular paradigm for transferring feedback information in an economical"as needed"*** study of event-triggered control can be traced back to the *** significant advances on ...
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Event-triggered control is a most popular paradigm for transferring feedback information in an economical"as needed"*** study of event-triggered control can be traced back to the *** significant advances on the topic of control over networks and the topic of nonlinear control systems over the last two decades,event-triggered control has quickly emerged as a major theoretical subject in control *** of event-triggered control are wide-spread ranging from embedded control systems and industrial control processes to unmanned systems and cyber-physical transportation *** this paper,we first review developments in the synthesis of event-triggered sampling *** event triggering mechanisms,such as static event trigger,dynamic event trigger,time-regularized event trigger,and event trigger with positive threshold offsets,are systematically ***,we study how to design a stabilizing controller that is robust with respect to the sampling ***,we review some recent results in the directions of self-triggered control,event-triggered tracking control and cooperative control,and event-triggered control of stochastic systems and partial differential equation *** applications of event-triggered control are also discussed.
Considering the problem of robust optimal finite-time attitude tracking for spacecraft, a unique characteristic of two advanced control methods, nonlinear fractional order sliding mode control (FOSMC) and linear model...
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Blockchain-empowered end-edge collaborative computing is a promising technology for enhancing the timeliness and trustworthiness of Industrial Internet of Things (IIoT). However, integrating task offloading with block...
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Traditional face recognition techniques exhibit suboptimal accuracy when dealing with faces occluded by masks, particularly posing a challenge for masked face identification. Considering the application characteristic...
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Nowadays, Permanent Magnet Assisted Synchronous Reluctance Motor, is a favorable alternative for variable speed drive systems. It has the advantages of comparable costs, low maintenance requirements, and superior effi...
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