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Secure-by-Construction Synthesis for control systems

IEEE Transactions on Automatic control 2025年第6期70卷 4170-4177页

作者： Zhong, Bingzhuo Liu, Siyuan Caccamo, Marco Zamani, Majid Thrust of Artificial Intelligence Information Hub The Thrust of Intelligent Transportation System Hub China KTH Royal Institute of Technology Division of Decision and Control Systems Stockholm Sweden Technical University of Munich TUM School of Engineering and Design Germany University of Colorado Boulder Department of Computer Science United States Ludwig Maximilian University Department of Computer Science Munich Germany

In this note, we present the synthesis of secure-by-construction controllers that address safety and security properties simultaneously in cyber-physical systems. Our focus is on studying a specific security property called opacity, which characterizes the system's ability to maintain plausible deniability of its secret behavior in the presence of an intruder. These controllers are synthesized based on a concept of so-called (augmented) control barrier functions. We propose conditions that facilitate the construction of the desired (augmented) control barrier functions and their corresponding secure-by-construction controllers. To compute these functions, we propose an iterative scheme that leverages iterative sum-of-square programming techniques. This approach enables efficient computation of these functions, particularly for polynomial systems. Finally, we validate the effectiveness of our results through a case study of a vehicle. © 1963-2012 IEEE.

关键词： Iterative methods

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Fractional-order binary bat algorithm for feature selection on high-dimensional microarray data

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Journal of Ambient Intelligence and Humanized Computing 2023年第6期14卷 7453-7467页

作者： Esfandiari, Ahmad Farivar, Faezeh Khaloozadeh, Hamid Department of Computer and Mechatronics Engineering Science and Research Branch Islamic Azad University Tehran Iran Department of Systems and Control Faculty of Electrical Engineering K. N. Toosi University of Technology Seyed-Khandan Shariati Ave. Tehran16317-14191 Iran

High-dimensional microarray data suffer from the confounding effects of irrelevant, redundant and noisy genes on the scalability and efficiency of classification algorithms. In order for an effective dimensionality reduction and the selection of informative genes, this paper introduces a novel approach using fractional calculus concepts. This study proposes a modified version of binary the bat algorithm named fractional-order binary bat algorithm (FBBA) able to control the convergence process using more historical memory of bat behaviors. The gene selection technique contains a two-stage hybrid filter/wrapper method which employs a new correlation-based feature clustering (CFC) algorithm in the filter stage and the FBBA in the wrapper stage. The CFC-FBBA is evaluated on ten microarray gene expression datasets by employing the support vector machine classifier with a k-fold Monte Carlo cross validation data partitioning model. Furthermore, the results show that the CFC-FBBA, while minimizing the size of the gene subset, achieves the highest classification accuracy in most cases compared to several state-of-art hybrid techniques. © 2022, The Author(s), under exclusive licence to Springer-Verlag GmbH Germany, part of Springer Nature.

关键词： Classification (of information)

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Model Predictive control for Autonomous Driving: Comparing Kinematic and Dynamic Models of Tractor-Trailer systems 27

Model Predictive Control for Autonomous Driving: Comparing K...

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27th IEEE International Conference on Intelligent Transportation systems, ITSC 2024

作者： Vallinder, Gustav Martensson, Jonas Lima, Pedro F. Bhat, Sriharsha Scania Cv Ab SödertäljeSE-15132 Sweden School of Electrical Engineering and Computer Science Kth Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden

ISBN: (纸本)9798331505929

Investigations of kinematic and dynamic models of tractor-trailer systems have historically been performed for stability analysis or state estimation. In this work, we present and evaluate kinematic and dynamic tractor-trailer models for model predictive control (MPC). We show in open-loop simulations that a kinematic and a dynamic model are equivalent at low speeds and short discretization time steps. A zero speed singularity and stiff dynamics prevents the usage of the dynamic model in control design, where discretization time steps are longer. A method of discretization is proposed to resolve the low speed feasibility of the dynamic model. In closed-loop simulations, the real-time applicability of the kinematic and dynamic models in a nonlinear MPC is verified. © 2024 IEEE.

关键词： Predictive control systems

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Unpredictable Switching for Cyber-Physical Security Against Worst-case Attackers 63

Unpredictable Switching for Cyber-Physical Security Against ...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Kanellopoulos, Aris Fotiadis, Filippos Vamvoudakis, Kyriakos G. Sandberg, Henrik Kth Royal Institute of Technology Division of Decision and Control Systems School of Electrical Engineering and Computer Science Stockholm10044 Sweden Georgia Institute of Technology Daniel Guggenheim School of Aerospace Engineering AtlantaGA30332 United States

ISBN: (纸本)9798350316339

In this paper, we investigate the problem of securing a system against actuator attacks. Specifically, we employ an unpredictability-based defense algorithm according to the principles of Moving Target Defense, while explicitly considering the worst-case attack that can be launched into the system. Consequently, we allow the system to alternate between different actuating modes, but also between optimal and robust control schemes. Via game-theoretic methods, we derive mixed strategies dictating the probabilities of utilizing different controllers for a given mode of operation, whereas an entropy-augmented optimization problem gives the probabilities of using these different modes. Finally, the overall stability of the system is analyzed, and simulation results showcase the efficacy of our proposed method. © 2024 IEEE.

关键词： Cyber attacks

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Risk-Aware Real-Time Task Allocation for Stochastic Multi-Agent systems under STL Specifications

arXiv

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arXiv 2024年

作者： Engelaar, Maico H.W. Zhang, Zengjie Vlahakis, Eleftherios E. Dimarogonas, Dimos V. Lazar, Mircea Haesaert, Sofie Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden

This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with real-time allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specifications into sub-specifications on the individual agent level. To leverage the efficiency of task allocation, a heuristic filter evaluates potential task allocation based on STL robustness, and subsequently, an auctioning algorithm determines the definitive allocation of specifications. Finally, a control strategy is synthesized for each agent-specification pair using tube-based model predictive control (MPC), ensuring provable probabilistic satisfaction. We demonstrate the efficacy of the proposed methods using a multi-shuttle scenario that highlights a promising extension to automated driving applications like vehicle routing. © 2024, CC BY-NC-ND.

关键词： Stochastic systems

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Risk-Aware Real-Time Task Allocation for Stochastic Multi-Agent systems under STL Specifications

Risk-Aware Real-Time Task Allocation for Stochastic Multi-Ag...

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IEEE Conference on Decision and control

作者： M. H. W. Engelaar Z. Zhang E. E. Vlahakis D.V. Dimarogonas M. Lazar S. Haesaert Department of Electrical Engineering (Control Systems Group) Eindhoven University of Technology The Netherlands Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

This paper addresses the control synthesis of heterogeneous stochastic linear multi-agent systems with realtime allocation of signal temporal logic (STL) specifications. Based on previous work, we decompose specifications into subspecifications on the individual agent level. To leverage the efficiency of task allocation, a heuristic filter evaluates potential task allocation based on STL robustness, and subsequently, an auctioning algorithm determines the definitive allocation of specifications. Finally, a control strategy is synthesized for each agent-specification pair using tube-based model predictive control (MPC), ensuring provable probabilistic satisfaction. We demonstrate the efficacy of the proposed methods using a multi-shuttle scenario that highlights a promising extension to automated driving applications like vehicle routing.

关键词： Vehicle routing Stochastic processes Probabilistic logic Prediction algorithms Real-time systems Robustness Resource management Vehicle dynamics Multi-agent systems Predictive control

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Hidden Markov Models:Inverse Filtering,Belief Estimation and Privacy Protection

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Journal of systems Science & Complexity 2021年第5期34卷 1801-1820页

作者： LOURENCO Ines MATTILA Robert ROJAS Cristian R. HU Xiaoming WAHLBERG Bo Division of Decision and Control Systems School of Electrical Engineering and Computer ScienceKTH Royal Institute of TechnologyStockholmSweden Division of Optimizations and Systems Theory School of Engineering SciencesKTH Royal Institute of TechnologyStockholmSweden

A hidden Markov model(HMM)comprises a state with Markovian dynamics that can only be observed via noisy *** paper considers three problems connected to HMMs,namely,inverse filtering,belief estimation from actions,and privacy enforcement in such a ***,the authors discuss how HMM parameters and sensor measurements can be reconstructed from posterior distributions of an HMM ***,the authors consider a rational decision-maker that forms a private belief(posterior distribution)on the state of the world by filtering private *** authors show how to estimate such posterior distributions from observed optimal actions taken by the *** the setting of adversarial systems,the authors finally show how the decision-maker can protect its private belief by confusing the adversary using slightly sub-optimal *** range from financial portfolio investments to life science decision systems.

关键词： Belief estimation counter-adversarial systems hidden Markov models inverse decision making inverse filtering

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Distributed Nash equilibrium for pursuit-evasion game with one evader and multiple pursuers

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Science China(Information Sciences) 2025年

作者： Libing WANG Zhixin LIU Shuo YUAN Zhiqiang PU Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences Department of Electrical and Computer Engineering Wayne State University Institute of Automation Chinese Academy of Sciences

This paper investigates the pursuit-evasion problem involving one evader and multiple pursuers with limited sensing capability, where the evader tries to maximize the distance with the pursuers, while the pursuers have different objectives based on whether they can receive the information of the evader. The subgroup of pursuers who can observe the evader(called leaders) tries to be close to the evader, and the other subgroup of pursuers(called followers) tries to synchronize with their neighbors. When the subgraph formed by all leaders is complete, sufficient conditions are given to guarantee that the pursuers capture the evader and the pursuit-evasion game composed of the evader and leaders reaches Nash equilibrium. Furthermore, for the incomplete subgraph case, the distributed observers are proposed to estimate the relative positions between the evader and all leaders. It is shown that the distributed control strategy based on the observers converges exponentially to the Nash equilibrium solution, and makes the pursuers capture the evader. Finally, simulation examples are provided to verify the effectiveness of the proposed strategies.

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Automatic Generation of Examinations in the Automatic control Courses: Decision Support Matlab/L A TEX Toolkit for Stepwise Constructive Alignment ⁎

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IFAC-PapersOnLine 2024年第16期58卷 47-52页

作者： Alexander Stotsky Torsten Wik Division of Systems & Control Department of Electrical Engineering Chalmers University of Technology SE-412 96 Gothenburg Sweden

Final written examination is the most important part of summative assessment in automatic control courses. Preparation of the examinations with a given number of points according to the concept of Constructive Alignment (which could be the main concept in future automatic control education) takes significant amount of time of the educator and motivates development of a toolkit for automatic compilation of examination problems. A decision support Matlab/L A TEX toolkit based on random number generators for selection of examination problems is proposed in this paper to facilitate the alignment. The toolkit allows application of Stepwise Constructive Alignment (a new method proposed in this paper), where the alignment is achieved by a number of software runs associated with random trials. In each step the educator manually selects suitable problems before each run based on evaluation of the random choice from the previous run. Automatic generation of the examination together with solutions for the course ‘Process control and measurement techniques’ is presented as an example.

关键词： Constructive Alignment in Automatic control Education computer Aided Development of Educational Materials Automatic Generation of Examinations with Desired Indices of Difficulty Stepwise Constructive Alignment Decision Support Matlab/L A T E X Toolkit

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A 8Gb/s PAM-4/NRZ Dual-Mode Transmitter for Panel Interfaces with Run-length Limited Maximum Transition 37

A 8Gb/s PAM-4/NRZ Dual-Mode Transmitter for Panel Interfaces...

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37th IEEE International System-on-Chip Conference, SOCC 2024

作者： Kim, Goeun Chang, Younghwan Jeong, YongUn Kim, Suhwan S.LSI Business Division Samsung Electronics Korea Republic of Seoul National University Deparment of Electrical and Computer Engineering Korea Republic of Sejong University Department of Semiconductor Systems Engineering Korea Republic of

ISBN: (纸本)9798350377569

This paper presents a 8Gb/s four-level pulse amplitude modulation (PAM-4) /non-return-to-zero (NRZ) dual-mode transmitter. The transmitter implements a 8B/5S PAM-4 run-length limited maximum transition avoidance (RLL-MTA) encoding method for panel interfaces. RLL-MTA encoding eliminates maximum transitions and restricts run-length to 4 to reduce DC wander in PAM-4 signaling, which is employed in the clock data recovery (CDR) used on the receiver. The transmitter utilizes a 4-tap feedforward equalizer (FFE) for NRZ and a 2-tap FFE for PAM-4. Implemented in 28nm CMOS technology, the transmitter occupies a 0.0506mm2 active area and exhibits power efficiency, with 2.17pJ/b for PAM-4 and 3.23pJ/b for NRZ. © 2024 IEEE.

关键词： Transmitters

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