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 t...
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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.
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 i...
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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.
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...
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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.
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 ...
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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.
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 i...
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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 m...
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.
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 ine...
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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 framewo...
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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 t...
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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 reconst...
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