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Observer-Based Asynchronous Event-Triggered Bipartite Consensus of Multiagent Systems Under False Data Injection Attacks

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IEEE TRANSACTIONS ON CONTROL OF NETWORK SYSTEMS 2023年第3期10卷 1603-1615页

作者： Wang, Zhengxin Shi, Sangli He, Wangli Xiao, Min Cao, Jinde Gorbachev, Sergey Nanjing Univ Posts & Telecommun Sch Sci Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China East China Univ Sci & Technol Key Lab Smart Mfg Energy Chem Proc Minist Educ Shanghai 200237 Peoples R China Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210023 Peoples R China Southeast Univ Sch Math Nanjing 210096 Peoples R China Southeast Univ Frontiers Sci Ctr Mobile Informat Commun & Secur Nanjing Peoples R China Purple Mt Labs Nanjing 211111 Peoples R China Yonsei Univ Yonsei Frontier Lab Seoul 03722 South Korea Natl Res Tomsk State Univ Dept Innovat Technol Tomsk 634050 Russia

This article investigates bipartite consensus of multiagent systems under unknown false data injection attacks. Attacks are launched in the channels from the controller to the actuator. To compensate for the impact of attacks, an extended observer including the absolute output information is first constructed, and then an observer-based event-triggered controller is designed to save resources. Moreover, an observer-based fully asynchronous event-triggered controller is proposed. Sufficient criteria are deduced to guarantee bipartite consensus, and Zeno behavior is further ruled out. Finally, numerical examples are given to illustrate the effectiveness of the derived results.

关键词： Protocols Control systems Multi-agent systems Symmetric matrices Network systems Telecommunications Synchronization Absolute output information extended observer bipartite consensus false data injection attacks observer-based event-triggered controller

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Fixed-Time Algorithms for Time-Varying Convex Optimization

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IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS 2023年第2期70卷 616-620页

作者： Hong, Huifen Yu, Wenwu Jiang, Guo-Ping Wang, He Nanjing Univ Posts & Telecommun Coll Automation Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IOT Intelligent Robots Nanjing 210023 Peoples R China Linyi Univ Sch Automat & Elect Engn Linyi 276005 Peoples R China Southeast Univ Frontiers Sci Ctr Mobile Informat Commun & Secur Sch Math Nanjing 210096 Peoples R China Purple Mt Labs Nanjing 211111 Peoples R China Nantong Univ Dept Elect Engn Nantong 226019 Peoples R China Southeast Univ Sch Math Nanjing 210096 Peoples R China

To resolve the time-varying convex optimization problems with the cost function, the constraints or both being time dependent, in this brief we investigate a novel type of fixed-time algorithms. First, with the unconstrained time-varying optimization problem considered, a general framework algorithm is developed for tracking its optimal trajectory within fixed time, which contains the gradient flow-based scheme and Newton-type method as its special cases. Then, considering the equality constraint being involved in the time-varying optimization problem, we design another algorithm with fixed-time convergence, which includes Newton-type scheme as its special case. To verify that the given approach achieves fixed-time convergence, the simulation result is given with first-order Euler discretization.

关键词： Fixed-time stability time-varying optimization equality constraint nonlinear system

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Synchronization of Stochastic Multiplex Networks With Impulsive Effects

Synchronization of Stochastic Multiplex Networks With Impuls...

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第33届中国控制与决策会议

作者： Zhengxin Wang Xin Jin Yanling Lu Yuanzhen Feng School of Science Nanjing University of Posts and Telecommunications Jiangsu Engineering Laboratory for IoT Intelligent Robots Nanjing University of Posts and Telecommunications

This paper investigates synchronization of the stochastic multiplex networks with impulsive ***,compared with the single-layer networks,multiplex networks can express more ***,stochastic perturbations and impulses are ubiquitous and both can affect ***,a multiplex network with stochastic perturbations and impulses is ***,in order to solve the effect of impulses,the average impulsive interval method is *** on the Lyapunov function method,Ito's formula and exponential martingale inequality,the sufficient conditions for the multiplex networks to achieve almost sure exponential synchronization are ***,a numerical example of a two-layer multiplex network is given to illustrate the effectiveness of the theoretical results.

关键词： Multiplex networks stochastic perturbations impulsive effects average impulsive interval Ito's formula exponential martingale inequality

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Soft Actuator Model for a Soft Robot With Variable Stiffness by Coupling Pneumatic Structure and Jamming Mechanism

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IEEE ACCESS 2020年 8卷 26356-26371页

作者： Xu, Feng-Yu Jiang, Feng-You Jiang, Quan-Sheng Lu, Yu-Xuan Nanjing Univ Posts & Telecommun Coll Automat Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210003 Jiangsu Peoples R China Suzhou Univ Sci & Technol Sch Mech Engn Suzhou 215009 Peoples R China Nanjing Nanyou Inst Informat Technovat Co Ltd Nanjing 210003 Jiangsu Peoples R China Changshu Inst Technol Jiangsu Key Lab Elevator Intelligent Safety Changshu 215500 Jiangsu Peoples R China

Current research into soft robots not only needs to improve their compliance, but also requires consideration of the real-time controllability of rigidity and flexibility. By combining the advantages of Pneu-Net structure and the driven jamming mechanism, we developed a soft actuator model for a soft robot with real-time variable stiffness. Firstly, the model of the soft actuator coupled with pneumatic structure and jamming mechanism was built. Secondly, we analyzed the pneumatically-driven structure by using the finite element method and researched the influences of pressure in cavities as well as shape and size of cavities on the performance of bending motion. On this basis, the pneumatically-driven structure was optimized. Finally, a prototype of the soft robot arm with variable stiffness was designed to carry out the experiment for verifying the variable stiffness of the soft actuator. Theoretical analysis and experimental results demonstrate that the soft robot can withstand a variable stiffness of between 0.025 & x2013;0.138N/mm. In addition, the maximum elongation of the designed coupling mechanism can reach 25mm.

关键词： Soft actuator robot with variable stiffness particle jamming three-dimensional printing

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Leader-following quasi-bipartite synchronization of coupled heterogeneous harmonic oscillators via event-triggered control

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APPLIED MATHEMATICS AND COMPUTATION 2022年 427卷

作者： Shi, Sangli Wang, Zhengxin Song, Qiang Xiao, Min Jiang, Guo-Ping Nanjing Univ Posts & Telecommun Sch Sci Nanjing 210023 Jiangsu Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Jiangsu Peoples R China Nantong Univ Sch Elect Engn Nantong 226019 Jiangsu Peoples R China Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210023 Jiangsu Peoples R China

This paper investigates the leader-following quasi-bipartite synchronization problem of coupled heterogeneous harmonic oscillators under an undirected communication topology. To save limited resources and alleviate communication burden, two asynchronous event triggered protocols are proposed. Some sufficient criteria are derived to ensure quasi bipartite synchronization by utilizing differential equation theory, inequality theory and Lyapunov stability method. Meanwhile, it is shown that there is no Zeno behavior for the proposed event-triggered protocols. Furthermore, an upper bound of quasi-bipartite synchronization errors is explicitly provided. Finally, numerical examples are given to illustrate the effectiveness of the theoretical results. (C) 2022 Elsevier Inc. All rights reserved.

关键词： Leader-following Quasi-bipartite synchronization Heterogeneous Harmonic oscillators Asynchronous event-triggered protocols

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Event-triggered synchronization of a two-layer heterogeneous neural network via hybrid control

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COMMUNICATIONS IN NONLINEAR SCIENCE AND NUMERICAL SIMULATION 2023年 123卷

作者： Sun, Sijiao Wang, Zhengxin Jin, Chongfang Feng, Yuanzhen Xiao, Min Zheng, Cong Nanjing Univ Posts & Telecommun Sch Sci Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China Changzhou Univ Student Affairs Off Changzhou 213164 Peoples R China Nanjing Univ Posts & Telecommun Sch Automat Nanjing 210023 Peoples R China

Multi-layer network contains multiple subsystems and different types of interaction, which is more practical than traditional single-layer network. On this observation, this paper explores point-to-point quasi-synchronization in a two-layer heterogeneous neural network system. The sufficient conditions for global exponential synchronization in the driving layer are given a coupling term. Based on the global exponential synchronization in the driver layer, this paper further studies the global point-to-point quasi-synchronization between the driver layer and the response layer of the twolayer neural network under the hybrid control and event-triggered control. Under this hybrid control strategies, the event can be activated if and only if the trigger condition is violated and the dynamical adaptive control is also involved. Moreover, the Zeno behavior under this strategy is eliminated by Lyapunov method and matrix theory. Finally, a numerical example is given to verify the theoretical results.(c) 2023 Elsevier B.V. All rights reserved.

关键词： Two -layer neural network Dynamic event -triggered control Hybrid control Point-to-point Synchronization

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Effect of Thermal and Mechanical Training in Twisted and Coiled Polymer Fiber (TCPF) Artificial Muscle for Improved Actuation Consistency 23rd

Effect of Thermal and Mechanical Training in Twisted and Coi...

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23rd IFToMM China International Conference on Mechanism and Machine Science and engineering, IFToMM CCMMS 2022

作者： Li, Bo Zhang, Yakun Zhang, Yu Wang, Yanjie Formin, Alexey Chen, Guimin Zhang, Yong Shaanxi Key Lab of Intelligent Robots School of Mechanical Engineering Xi’an Jiaotong University Xi’an710049 China Key Laboratory of Shaanxi Province for Craniofacial Precision Medicine Research College of Stomatology Xi’an Jiaotong University Xi’an710049 China Jiangsu Provincial Key Laboratory of Special Robot Technology Hohai University Changzhou Campus Jiangsu Changzhou213022 China Moscow101000 Russia Department of Thoracic Surgery The First Affiliated Hospital of Xi’an Jiaotong University Xi’an710061 China

ISBN: (纸本)9789811993978

Twisted and coiled polymer fiber (TCPF) is a new type of artificial muscles featuring large stroke and high loading capacity that can be benefited in soft robotic actuation. However, due to the multi-step fabrication process with various parameter, the existed TCPF suffers from an inconsistent actuation performance, which hinders its further application. The current paper studies the mechanics of TCPF actuation, revealing the significance of coiling and annealing procedure. Effect of twisting weight, annealing temperature and pre-stretch as mechanical and thermal training, are experimentally investigated, and the contraction forces are characterized. With these mechanical and thermal training, consistent and hysteresis-free contraction force is attain. The findings offer a guidance for the high-performance artificial muscle in compliant structures and tensegrity robot. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Muscle

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Particle filtering-based recursive identification for controlled auto-regressive systems with quantised output

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IET CONTROL THEORY AND APPLICATIONS 2019年第14期13卷 2181-2187页

作者： Ding, Jie Chen, Jiazhong Lin, Jinxing Jiang, Guoping Nanjing Univ Posts & Telecommun Sch Automat & Artificial Intelligence Jiangsu Engn Lab IOT Intelligent Robots Nanjing 210023 Jiangsu Peoples R China

Recursive prediction error method is one of the main tools for analysis of controlled auto-regressive systems with quantised output. In this study, a recursive identification algorithm is proposed based on the auxiliary model principle by modifying the standard stochastic gradient algorithm. To improve the convergence performance of the algorithm, a particle filtering technique, which approximates the posterior probability density function with a weighted set of discrete random sampling points is utilised to correct the linear output estimates. It can exclude those invalid particles according to their corresponding weights. The performance of the particle filtering technique-based algorithm is much better than that of the auxiliary model-based one. Finally, results are verified by examples from simulation and engineering.

关键词： stochastic processes parameter estimation least squares approximations filtering theory gradient methods autoregressive processes recursive estimation probability particle filtering (numerical methods) auxiliary model principle standard stochastic gradient algorithm novel particle filtering technique posterior probability density function discrete random sampling points linear output estimates invalid particles particle filtering technique-based algorithm auxiliary model-based particle filtering-based recursive identification controlled auto-regressive systems quantised output recursive prediction error method main tools novel recursive identification algorithm

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Partially Measured State Estimation of Complex Dynamical Networks with Random Data Loss

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MATHEMATICAL PROBLEMS IN engineering 2022年第1期2022卷

作者： Zhang, Ke Wang, Nan Hua, Xingdong Wang, Xinwei Wu, Xu Jiangsu Univ Technol Sch Comp Engn Changzhou 213001 Peoples R China Nanjing Univ Posts & Telecommun Coll Automat Nanjing 210023 Peoples R China Nanjing Univ Posts & Telecommun Coll Artificial Intelligence Nanjing 210023 Peoples R China Jiangsu Engn Lab IOT Intelligent Robots IOTRobot Nanjing 210023 Peoples R China

The state estimation problem is a very important and interesting issue in the field of complex dynamical networks. Yet, the constructions of the state estimators in most existing literature studies all need to measure the output information of all nodes. However, the practical situation is that not all nodes could be measured to obtain the output information. Thus, in this paper, the state estimation is realized while only measuring the output data of partial nodes for a complex dynamical network with random data loss existing on its external communication links to the observers, where the lost data are compensated by the corresponding observer data. Depending on whether the network possesses the root strongly connected components that have a perfect matching, the choice problem of measured nodes and the construction problem of specific output matrices are discussed. By applying the Lyapunov stability theory and stochastic analysis method, a sufficient condition for state estimation is given. Through simulation experiments, the effectiveness of the proposed state estimation scheme is demonstrated.

关键词： State estimation

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Design and Experiment of a Pneumatic Soft Climbing Robot

Design and Experiment of a Pneumatic Soft Climbing Robot

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Fengyu Xu Yuxuan Lu Zhenjiang Jiang Guoping Jiang Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot) College of Automation Nanjing University of Posts and Telecommunications Nanjing China Nanjing Nanyou Institute of Information Technovation Co. Ltd

This paper designed a pneumatic soft climbing robot by utilizing the high flexibility of soft materials. Capabilities of climbing and creeping through small spaces would rarely possible with a method based only on rigid links. At first, according to the drive mode of pneumatic networks, a model for soft climbing robots with different section having their independent stiffness was designed; afterwards, the analysis of visco-mechanical properties of robots at the contact surface were provided by using the method of minimum potential energy; on the basis, finite element analysis and experiment are given to analyze the climbing behaviors of the robot; finally, by employing 3-d printing and layer-by-layer casting, a prototype soft climbing robot was prepared to perform climbing experiments. The research is expected to provide a new method for monitoring complex unstructured environments.

关键词： Visualization Force Pneumatic systems Climbing robots Finite element analysis Clamps robots

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