检索结果-内蒙古大学图书馆

Switching LPV Approach for Analysis and control of TCP-based Cyber-Physical Systems under DoS Attack

IFAC-PapersOnLine 2024年第4期58卷 711-716页

作者： Soheila Barchinezhad Vicenç Puig Marcin Witczak Automatic Control Group Institute of Robotics (IRI) UPC-CSIC Barcelona Spain Institute of Control and Computation Engineering University of Zielona Góra Poland

Cyber-physical systems (CPSs) integrate controllers, sensors, actuators, and communication networks. Tight integration with communication networks makes CPSs vulnerable to cyberattacks. In this paper, we investigate the impact of denial of service (DoS) attack on the stability of cyber physical systems by considering the transmission control protocol (TCP) and extract a sufficient stability condition in linear matrix inequality (LMI) form. To this end, we model the TCP-CPS under DoS attack as a switching LPV time-delay system by using the Markov jump model. Then, we design a parameter-dependent stabilizing controller for CPS under DoS attack, by considering the network parameters. Finally, we prove efficiency and the feasibility of our findings through a well-known case study in the networked control systems literature.

关键词： Cyber Physical System Transmission control Protocol Denial of Service Stability Analysis Markov Jump Model Linear Parameter Varying

来源：评论

学校读者我要写书评

暂无评论

Interrupting Companion Robot Activities

Interrupting Companion Robot Activities

引用

International Workshop on Robot Motion and control (RoMoCo)

作者： Cezary Zieliński Warsaw University of Technology Institute of Control and Computation Engineering Warsaw Poland

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

The paper presents the organisation of a companion robot control system enabling external interruption of its activities. The fundamental problem is: how should a companion robot act when the currently executed task is not completed yet, however a next request arrives. The new request might not be yet serviced while a new request arrives and so on. The question is how should the control system be organised so that the robot will be able to reasonably handle those multiple interrupts? The paper suggests a formal specification of a controller solving the thus posed problem. As interrupts are well established within computer science the paper shows that the there proposed solution is not well suited to robotics.

关键词： Torso Robot motion Robot vision systems Switches Scheduling Planning Complexity theory

来源：评论

学校读者我要写书评

暂无评论

Fault-tolerant iterative learning control of distributed systems via reservoir computing

Fault-tolerant iterative learning control of distributed sys...

引用

IEEE Conference on Decision and control

作者： Krzysztof Patan Maciej Patan Institute of Control and Computation Engineering University of Zielona Góra Poland

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

Fault-tolerant control for a wide spectrum of lumped processes is well established. Therefore, there is strong interest in developing designs that would produce similar flexibility for classes of distributed-parameter systems. This paper develops an iterative control design for application to repetitive systems capable of effective actuator fault accommodation using the echo-state neural network. The spatio-temporal dynamics in a multidimensional domain are reconstructed based on the measured system response, then the control is applied via an actuating field using a specific sensor/actuator network. Imposing a proper partitioning of the spatial domain, it is possible to delegate the complex system dynamics to an echo-state network with a dedicated structure. Then, the fault-tolerant control design is embedded into an iterative learning control scheme driven by measurement data to properly update the control inputs to adapt to possible actuator fault states. The new design is applied to displacement control of the elastic plate.

关键词： Fault tolerance Actuators control design Displacement control Fault tolerant systems Neural networks Reservoir computing Process control Complex systems Iterative learning control

来源：评论

学校读者我要写书评

暂无评论

Exploring the Benefits of Alternative Cost Functions for Nonlinear Model Predictive control

Exploring the Benefits of Alternative Cost Functions for Non...

引用

International Conference on control, Mechatronics and Automation (ICCMA)

作者： Robert Nebeluk Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

ISBN: (数字)9798331517519

ISBN: (纸本)9798331517526

Quadratic cost functions are commonly used in Nonlinear Model Predictive control (NMPC) and the algorithms based on them offer excellent control quality for nonlinear processes. The desired control performance can be achieved by properly modifying the values of cost function parameters. The tuning method is often not straightforward and requires a lot of offline simulation experiments, which makes it time-consuming. This work proposes a different, much simpler approach where alternative cost functions are used in place of the classic quadratic one to increase control quality. Simulation experiments were carried out in which the control performance obtained for sixteen NMPC algorithms was evaluated in detail. Each NMPC algorithm had a different cost function and was tested in ideal and noisy environments. The presented benefits of using several alternative cost functions are such as faster control or less wear and tear on the actuator of the controlled system.

关键词： Mechatronics Costs Automation Predictive models Cost function Prediction algorithms control systems Noise measurement Tuning Predictive control

来源：评论

学校读者我要写书评

暂无评论

Simplification of Robotic System Model Analysis by Petri Net Meta-Model Property Transfer

arXiv

引用

arXiv 2024年

作者： Figat, Maksym Zielinski, Cezary Warsaw University of Technology Institute of Control and Computation Engineering Warsaw Poland

This paper presents a simplification of robotic system model analysis due to the transfer of Robotic System Hierarchical Petri Net (RSHPN) meta-model properties onto the model of a designed system. Key contributions include: 1) analysis of RSHPN meta-model properties;2) decomposition of RSHPN analysis into analysis of individual Petri nets, thus the reduction of state space explosion;and 3) transfer of RSHPN meta-model properties onto the produced models, hence elimination of the need for full re-analysis of the RSHPN model when creating new robotic systems. Only task-dependent parts of the model need to be analyzed. This approach streamlines the analysis thus reducing the design time. Moreover, it produces a specification which is a solid foundation for the implementation of the system. The obtained results highlight the potential of Petri nets as a valuable formal framework for analyzing robotic system properties. © 2024, CC BY.

关键词： Petri nets

来源：评论

学校读者我要写书评

暂无评论

SRPB: a benchmark for the quantitative evaluation of a social robot navigation

SRPB: a benchmark for the quantitative evaluation of a socia...

引用

International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Jarosław Karwowski Wojciech Szynkiewicz Institute of Control and Computation Engineering Warsaw University of Technology

In recent years, social robots have gained popularity and many human-aware navigation approaches have emerged. This work presents SRPB – a comprehensive benchmark for the quantitative evaluation of robot navigation methods. It is intended to assist the system designer in selecting the best method for the application. We tested traditional and human-aware trajectory planners with the TIAGo robot in simulated and real-world environments (Fig. 1). We assessed robot behaviour using state-of-the-art task performance scores and novel social metrics regarding robot motion naturalness and the perceived safety of humans surrounding the robot. Our social metrics take human tracking reliability into account. An open-source implementation of our benchmark, compatible with the Robot Operating System, is provided.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Integration of Fault-Tolerant Design and Fault-Tolerant control of Automated Guided Vehicles 21st

Integration of Fault-Tolerant Design and Fault-Tolerant Cont...

引用

21st Polish control Conference, PCC 2023

作者： Stetter, Ralf Witczak, Marcin Germany and Steinbeis Transfer Center Automotive Systems Ravensburg Germany Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora65-246 Poland

ISBN: (纸本)9783031351693

Both fault-tolerant design (FTD) and fault-tolerant control (FTC) are receiving increasing attention from the scientific community. Both intend to develop and implement solutions for accommodating faults which are inevitable in complex technical systems. However, up to no, little scientific activity was aimed at integrating those two promising approaches. This paper describes a detailed investigation of common aspects and interfaces between FTD and FTC as well as a sensible combined process. This investigation was based on the development of automated guided vehicles (AGVs) together with the appropriate control and diagnosis algorithms and systems. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Fault tolerance

来源：评论

学校读者我要写书评

暂无评论

Supervisory control of Cyber-Physical Systems Subject to Actuator Jamming Attacks 20

Supervisory Control of Cyber-Physical Systems Subject to Act...

引用

20th IEEE International Conference on Networking, Sensing and control, ICNSC 2023

作者： Duo, Wenli Wang, Shouguang Zhou, MengChu You, Dan Wisniewski, Remigiusz Bazydlo, Grzegorz Macau University of Science and Technology Institute of System Engineering China Zhejiang Gongshang University School of Information and Electronic Engineering Hangzhou China University of Zielona Góra Institute of Control and Computation Engineering Zielona Góra Poland

ISBN: (纸本)9798350369502

In this paper, we examine the supervisory control problem for cyber-physical systems vulnerable to actuator jamming attacks, which cause control command loss during transmission. We study this issue within the framework of discrete event systems. First, an attack structure is constructed by analyzing the closed-loop control behavior under jamming attacks. We then explore a solution to the supervisory control problem by introducing a concept of dynamically controllable language. In particular, an existence condition for a robust and nonblocking supervisor is obtained, and an algorithm deriving a supervisor capable of defending against actuator jamming attacks is proposed. An automated guided vehicle system is used as an example to demonstrate the proposed concepts and algorithm. © 2023 IEEE.

关键词： Cyber Physical System

来源：评论

学校读者我要写书评

暂无评论

A Majorization-Minimization Algorithm for Optimal Sensor Location in Distributed Parameter Systems 21st

A Majorization-Minimization Algorithm for Optimal Sensor Loc...

引用

21st Polish control Conference, PCC 2023

作者： Ucmski, Dariusz Institute of Control and Computation Engineering University of Zielona Gora Ul. prof. Z. Szafrana 2 Zielona Gora65-516 Poland

ISBN: (纸本)9783031351693

The wide availability of effective and efficient convex optimization algorithms makes convex relaxation of optimum sensor location problems enjoy high popularity. The main drawback of this approach, however, is that the performance gap between the optimal solution of the original combinatorial problem and the heuristic solution of the corresponding relaxed continuous problem can hardly be neglected. As a countermeasure, the original design criterion is often extended by addition of some kind of sparsity-enforcing penalty term. Unfortunately, the appealing problem convexity is then lost and the question of how to control the influence of this penalty so as not to excessively deteriorate the optimal relaxed solution remains open. This is why an alternative problem formulation is proposed here, in which the sparsity-promoting term is directly minimized subject to the constraint that the efficiency of the sensor configuration with respect to the employed design criterion is no less than an arbitrarily set threshold. This brings the degree of optimality of the produced solution under direct control. An efficient majorization-minimization algorithm is then employed in combination with generalized simplicial decomposition to produce sparse relaxed solu-tions. The attendant computations boil down to solving a sequence of low-dimensional convex optimization problems, which constitutes a clear advantage of the proposed technique. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Convex optimization

来源：评论

学校读者我要写书评

暂无评论

Fault diagnosis of the vibrating beam system via multimodel neural ensembles 14

Fault diagnosis of the vibrating beam system via multimodel ...

引用

14th Asian control Conference, ASCC 2024

作者： Patan, Krzysztof Patan, MacIej Balik, Piotr Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland The Doctoral School of Exact and Technical Sciences University of Zielona Góra Zielona Góra Poland

ISBN: (纸本)9789887581598

This paper develops an effective approach to model design and fault diagnosis for the deflections of the actuated cantilever beam under the regime of repetitive non-linear loads. In particular, the problems of reconstruction of non-linear actuation and linear dynamics of the beam are covered in terms of multi-model neural ensembles with dedicated data fusion rule. Taking advantage of the repetitive character of the control task and available measurement data, the uncertainty related to a potential faults of actuators can be properly addressed using a data-driven iterative learning scheme for modeling and controller synthesis. Then, applying the bank of available models for normal and faulty system states embedded in extension of dedicated observer scheme it is possible to effectively detect and isolate the potential actuator faults. The resulting approach is flexible enough to accurately model the faults occurring on nonlinear actuators and, additionally, take into account the disturbances and noise acting upon the system. The potential of the new design is illustrated via physically relevant real-world application of dynamic displacement control and actuator fault diagnosis for an actuated vibrating beam system. © 2024 Asian control Association.

关键词： Adaptive control systems

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：