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Detection of Stealthy False Data Injection Attacks Against Cyber-Physical Systems:A Stochastic Coding Scheme

Journal of Systems Science & Complexity 2022年第5期35卷 1668-1684页

作者： GUO Haibin PANG Zhonghua SUN Jian LI Jun State Key Lab of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China Beijing Institute of Technology Chongging Innovation Center Chongqing 401120China Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of TechnologyBeijing 100144China China Industrial Control Systems Cyber Emergency Response Team Beijing 100040China

This paper,from the view of a defender,addresses the security problem of cyber-physical systems(CPSs)subject to stealthy false data injection(FDI)attacks that cannot be detected by a residual-based anomaly detector without other defensive *** detect such a class of FDI attacks,a stochastic coding scheme,which codes the sensor measurement with a Gaussian stochastic signal at the sensor side,is proposed to assist an anomaly detector to expose the FDI *** order to ensure the system performance in the normal operational context,a decoder is adopted to decode the coded sensor measurement when received at the controller *** this detection scheme,the residual under the attack can be significantly different from that in the normal situation,and thus trigger an *** design condition of the coding signal covariance is derived to meet the constraints of false alarm rate and attack detection *** minimize the trace of the coding signal covariance,the design problem of the coding signal is converted into a constraint non-convex optimization problem,and an estimation-optimization iteration algorithm is presented to obtain a numerical solution of the coding signal covariance.A numerical example is given to verify the effectiveness of the proposed scheme.

关键词： Attack detection cyber-physical systems(CPSs) stealthy FDI attacks stochastic coding

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Coalition formation problem: a capability-centric analysis and general model

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Science China(Information Sciences) 2024年第11期67卷 180-193页

作者： Jie CHEN Miao GUO Bin XIN Qing WANG Shengyu LU Yipeng WANG Yulong DING School of Automation Beijing Institute of Technology National Key Lab of Autonomous Intelligent Unmanned Systems Department of Control Science and Engineering Tongji University

Coalition formation(CF) refers to reasonably organizing robots and/or humans to form coalitions that can satisfy mission requirements, attracting more and more attention in many fields such as multirobot collaboration and human-robot collaboration. However, the analysis on CF problems remains *** provide a valuable study reference for researchers interested in CF, this paper proposed a capabilitycentric analysis of the CF problem. The key problem elements of CF are firstly extracted by referencing the concepts of the 5W1H method. That is, objects(who) form coalitions(what) to accomplish missions(why) by aggregating capabilities(how) in a specific environment(where-when). Then, a multi-view analysis of these elements and their correlation in terms of capabilities is proposed through various logic diagrams, structure charts, etc. Finally, to facilitate a deeper understanding of capability-centric CF, a general mathematical model is constructed, demonstrating how the different concepts discussed in this analysis contribute to the overall model.

关键词： coalition formation capability aggregation capability metric mission requirement environmental effect

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Adaptive PI Control Based Stability Margin Configuration of Aircraft Control Systems with Unknown System Parameters and Time Delay

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Journal of Systems Science & Complexity 2024年第4期37卷 1507-1525页

作者： ZHANG Zhibing ZHOU Dapeng WANG Yeguang GAO Wanxin ZHANG Yanjun AVIC Shenyang Aircraft Design and Research Institute Shenyang 110035China School of Automation Beijing Institute of TechnologyBeijing 100081China State Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of TechnologyBeijing 100081China

The stability margin is a vital indicator for assessing the safety level of aircraft control *** should maintain sufficient stability margin to ensure safety during flight,especially in the process of large maneuver *** stability margin is generally quantified by the Bode diagram,which strictly depends on the system parameters and the open-loop transfer ***,due to the uncertain flight environments,transmission delays of sensors and mode switchings,etc.,there exist large parameter and structure uncertainties in the aircraft control systems,which make it difficult to precisely configure the stability margin to the desired value by the usual control *** address this problem,an indirect adaptive control strategy is proposed in this paper,where an adaptive PI control law with the capability of self-configuration of stability margin is *** developed control law not only achieves stable time-varying command tracking in the time domain,but also is able to automatically configure the phase margin and gain margin in the frequency ***,the simulation of the one-degree-of-freedom roll rate control model of the air vehicle verifies the validity of the proposed control method.

关键词： Adaptive control aircraft control parameter uncertainty stability margin configuration

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Comparison of Three Data-Driven Networked Predictive Control Methods for a Class of Nonlinear Systems

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1714-1716页

作者： Zhong-Hua Pang Xue-Ying Zhao Jian Sun Yuntao Shi Guo-Ping Liu the Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of TechnologyBeijing 100144China the State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of TechnologyBeijing 100081China the Center for Control Science and Technology Southern University of Science and TechnologyShenzhen 518055China

Dear Editor,In this letter,in order to deal with random network delays and packet losses in a class of networked nonlinear systems,three data-driven networked predictive control methods are *** closed-loop systems and... 详细信息

关键词： letter Nonlinear nonlinear

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Synchronous Control of Multi-Motor Systems Using an Improved Relative Coupling Control Structure 11

Synchronous Control of Multi-Motor Systems Using an Improved...

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11th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2022

作者： Zheng, Yong Qu, Hao Zhao, Yijing Pang, Zhonghua Key Lab of Fieldbus Technology and Automation of Beijing North China University of Technology Beijing100144 China

ISBN: (数字)9781665496759

ISBN: (纸本)9781665496759

In this paper, an improved relative coupled control structure (IRCCS) is proposed to suppress the overshoot and decrease the synchronization error of multi-motor synchronous control systems (MMSCSs). Different from the relative coupled control structure (RCCS), the IRCCS simplifies the speed compensator and combines with the idea of differential tracking controller, as well as introduces an improved differential negative feedback signal to speed loop controller which makes the speed controller desaturate in advance thus effectively suppressing the overshoot of the system. In addition, since the electromagnetic time constant is much smaller than the mechanical time constant, the synchronous error of MMSCSs can be decreased by introducing a compensation with the same synchronous compensation information as the speed loop controller to current loop controller. Finally, simulation analysis of the IRCCS is carried out on three-motor control system, and simulation results show that the IRCCS has better synchronization performance than the RCCS. © 2022 IEEE.

关键词： Feedback

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Multi-Order Neighborhood Fusion Based Multi-View Deep Subspace Clustering

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Computers, Materials & Continua 2025年第3期82卷 3873-3890页

作者： Kai Zhou Yanan Bai Yongli Hu Boyue Wang Department of Automation Tsinghua UniversityBeijing100084China National Center of Technology Innovation for Intelligentization of Politics and Law Beijing100000China Beijing Key Lab of Intelligent Telecommunication Software and Multimedia Beijing University of TechnologyBeijing100124China

Existing multi-view deep subspace clustering methods aim to learn a unified representation from multi-view data,while the learned representation is difficult to maintain the underlying structure hidden in the origin samples,especially the high-order neighbor relationship between *** overcome the above challenges,this paper proposes a novel multi-order neighborhood fusion based multi-view deep subspace clustering *** creatively integrate the multi-order proximity graph structures of different views into the self-expressive layer by a multi-order neighborhood fusion *** this design,the multi-order Laplacian matrix supervises the learning of the view-consistent self-representation affinity matrix;then,we can obtain an optimal global affinity matrix where each connected node belongs to one *** addition,the discriminative constraint between views is designed to further improve the clustering performance.A range of experiments on six public datasets demonstrates that the method performs better than other advanced multi-view clustering *** code is available at https://***/songzuolong/MNF-MDSC(accessed on 25 December 2024).

关键词： Multi-view subspace clustering subspace clustering deep clustering multi-order graph structure

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Evolutionary State Estimation-Based Multi-Strategy Jellyfish Search Algorithm for Multi-UAV Cooperative Path Planning

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-19页

作者： Meng, Kai Chen, Chen Wu, Tongyu Xin, Bin Liang, Minmin Deng, Fang State Key Lab of Autonomous Intelligent Unmanned Systems School of Automation Beijing Institute of Technology Beijing China School of Materials Science and Engineering Beijing Institute of Technology Beijing China

Path planning is crucial for the successful mission execution of unmanned aerial vehicles (UAVs). However, planning feasible paths becomes challenging due to constraints imposed by complex environments and the inherent maneuverability of UAVs, particularly in large-scale scenarios involving multiple UAVs ( multi-UAV). This paper addresses the multi-UAV cooperative path planning problem, formulating it as a constrained optimization problem and proposing the evolutionary state estimation-based multi-strategy jellyfish search (ESE-MSJS) algorithm to search for high-quality paths. In the proposed algorithm, a switching framework based on evolutionary state estimation is constructed to prevent ineffective searches and enhance suitability for path planning. Within this framework, three distinct update modes are developed for each individual, enabling a more efficient and flexible selection of appropriate learning strategies. In addition, a neighborhood topology-based elite example learning strategy is employed to increase population diversity, and a best information guiding-driven adaptive scaling factor strategy exploits the surrounding space, strengthening local search capabilities. The Gaussian barebone mechanism is introduced to balance exploration and exploitation. To effectively cope with intricate constraints, a dynamic $\alpha$-level comparison strategy is incorporated into the individual update stage of the ESE-MSJS. Experimental results demonstrate that ESE-MSJS outperforms state-of-the-art algorithms regarding accuracy, feasibility, and stability, proving to be an effective method for multi-UAV cooperative path planning in complex environments. IEEE

关键词： Heuristic algorithms

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Design of multi-section luffing apple pruning equipment and cutting test of the key components

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International Journal of Agricultural and Biological Engineering 2024年第1期17卷 109-117页

作者： Siyuan Tong Wenbin Li Yaxiong Wang Lei Zhang Feng Kang School of Technology Beijing Forestry UniversityKey Lab of State Forestry and Grassland Administration for Forestry Equipment and AutomationBeijing 100083China

In order to reduce the labor intensity and improve the efficiency of pruning,this study designed a multi-section luffing apple pruning equipment suitable for apple orchards in hilly and mountainous areas of *** the essay,the structure and working principle of the equipment are expounded,the cutter was analyzed,and the parameters were *** the self-made test bench to simulate the field experiment,this study selected the ratio of cutting speed to feeding speed and feeding speed as the influencing factors and took the cut-off rate,cutting efficiency and cutting power as the objectives to carry out single factor experiment and quadratic regression orthogonal *** test results show that the cutting power increases with the increase of ratio of cutting speed to feeding speed,and the cut-off rate and cutting efficiency first increase and then *** the feeding speed increases,the cutting efficiency and power increase,and the cut-off rate *** the cutoff rate was greater than 80%,the optimal combination of operating parameters was the feeding speed of 0.55 m/s and ratio of cutting speed to feeding speed of *** this combination,the cut-off rate was 84.9%,the cutting efficiency was 13.1,and the cutting power was 175.7 *** error between the predicted target value of the model and the average measured target value was less than 7%,so the test results are *** to the obtained optimal operating parameters,the actual cutting experiment of the pruning equipment in the field was carried out,and the cutting rate was 96.3%,which meet the design *** study can also meet the needs of mechanized pruning of fruit trees with different crown shapes,improve the applicability of pruning equipment,and provide support for the development of mechanized pruning equipment in China.

关键词： apple pruning equipment cutting test optimal parameters regression analysis

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Data-Driven Adaptive PID Tracking Control of a Class of Nonlinear Systems

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IEEE/CAA Journal of Automatica Sinica 2025年第6期12卷 1292-1294页

作者： Tong Mu Haibin Guo Chuandong Bai Zhong-Hua Pang Key Laboratory of Fieldbus Technology and Automation of Beijing North China University of Technology Beijing China

Dear Editor, This letter investigates a low-complexity data-driven adaptive proportional-integral-derivative (APID) control scheme to address the output tracking problem of a class of nonlinear systems. First, the relationship between PID parameters is established to reduce the number of adjustable parameters to one. Then, based on the incremental triangular data model, a data-driven APID tracking control (DD-APIDTC) method is proposed to adjust only one controller parameter and one model parameter online, both of which have clear physical meaning. Subsequently, sufficient conditions are derived for the boundedness of the system tracking error. Finally, simulation results are given to illustrate the effectiveness of the proposed method.

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Composite Anti-Disturbance Control of Hidden Semi-Markov Jump Systems via Disturbance Observer

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Journal of Systems Science & Complexity 2023年第6期36卷 2255-2273页

作者： MEN Yunzhe SUN Jian National Key Lab of Autonomous Intelligent Unmanned Systems School of AutomationBeijing Institute of TechnologyBeijing100081China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120China

This paper focuses on the disturbance suppression issue of hidden semi-Markov jump systems leveraging composite *** system consists of a semi-Markov layer and an observed mode sequence layer,and it is subject to a matched disturbance generated by an exogenous system and a mismatched disturbance that is norm *** proposal is to design a composite controller based on a disturbance observer to counteract and attenuate the disturbances *** constructing a special Lyapunov function comparison point,the exponential stability is analyzed with the stability criterion in the form of linear matrix inequality is *** simulation examples are provided to demonstrate the practical merits of the composite controller relative to the single H_(∞)control.

关键词： Composite control disturbance observer ε-error hidden semi-Markov jump systems

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