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American control Conference

作者： Shuang Wu Ziyang Guo Dawei Shi Karl Henrik Johansson Ling Shi Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Kowloon Hong Kong State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology 100081 China ACCESS Linnaeus Centre School of Electrical Engineering KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9781509045839

The security issue in cyber-physical systems has attracted growing interests in the last decades. This paper considers how false data injection attack can degrade the estimation quality of a remote state estimation system. In this system, smart sensors measure a dynamic process and send preprocessed data through a communication network to a remote estimator to estimate the process. It is assumed that there are malicious attackers in the communication network, who are able to obtain and falsify all the data sent by the sensors. It is common that the remote estimator is equipped with a residue-based detector to detect potential attacks. We propose a class of deception attack and analyze its feasibility. We show that the proposed attack enables the attacker to inject false data into the remote estimator without being detected. We derive a criterion to judge the optimality of performance of this type of attack in the sense of maximizing the estimation error covariance. Furthermore, we find that a simple linear attack strategy, which flips the sign of intercepted signal, satisfies the optimality criterion. We present numerical examples to illustrate our theoretical results.

关键词： Cyber-physical systems (CPS) deception attack remote state estimation

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Distributed Event-Triggered Algorithm for Convex Optimization with Coupled Constraints

arXiv

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arXiv 2022年

作者： Huang, Yi Zeng, Xianlin Meng, Ziyang Sun, Jian School of Automation Beijing Institute of Technology Beijing100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Department of Precision Instrument Tsinghua University Beijing100084 China Chongqing Innovation Center Beijing Institute of Technology Chongqing401120 China

This paper develops a distributed primal-dual algorithm via event-triggered mechanism to solve a class of convex optimization problems subject to local set constraints, coupled equality and inequality constraints. Different from some existing distributed algorithms with the diminishing step-sizes, our algorithm uses the constant step-sizes, and is shown to achieve an exact convergence to an optimal solution with an O(1/k) convergence rate for general convex objective functions, where k > 0 is the iteration number. Moreover, by applying event-triggered communication mechanism, the proposed algorithm can effectively reduce the communication cost without sacrificing the convergence rate. Finally, a numerical example is presented to verify the effectiveness of the proposed algorithm. Copyright © 2022, The Authors. All rights reserved.

关键词： Convex optimization

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Integrated 3-D Flight Trajectory Tracking control with Aerodynamic Constraints on Attitude and control Surfaces

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Asian Journal of control 2017年第5期20卷

作者： Xueyuan Wang Hao Fang Lihua Dou Jie Chen Bin Xin Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing 100081 China

In this paper, a new 3-D trajectory tracking problem for an uncertain high fidelity six-degree-of-freedom (6-DOF) aerodynamic system is considered. Instead of designing controllers for each subsystem separately, an integrated trajectory tracking control algorithm is proposed to exploit beneficial relationships among interacting subsystems. The high-order aerodynamic model is first transformed into a quasi-strict-feedback form. Then, backstepping technique is utilized to resolve the coupling effect problem of three control channels resulting from the bank-to-turn (BTT) control mode. In addition, command filters are introduced to handle state and actuator constraints caused by the physical limitations and the coordinated turn requirement. Furthermore, the uncertain aerodynamic force and moment coefficients are reconstructed by using the B-spline neural network approximation and adaptive learning approaches. With Lyapunov stability analysis, all the states in the closed-loop system are shown to be semi-globally uniformly ultimately bounded (SUUB), and the tracking errors will asymptotically converge into a small compact set around zero by properly adjusting the control parameters. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed algorithm.

关键词： Trajectory tracking high-order nonlinear system backstepping B-spline neural network

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Cooperative transportation control of multiple mobile manipulators through distributed optimization

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Science China. Information Sciences 2018年第12期61卷 120201-1--120201-1--120201-17页

作者： Chen Jie Kai Shixiong School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex SystemsMOE Beijing 100081

This paper investigates the problem of distributed control of multiple redundant mobile manipulators to collectively transport an object tracking a desired trajectory with energy and manipulability optimized. To solve this optimization problem, formation control tasks are introduced as equality constraints with the variables being the velocities. In this paper, we propose a distributed proximal gradient algorithm searching for the optimal solution, with which the stability of the closed-loop system is proved. Simulations demonstrate the effectiveness of the proposed distributed optimization scheme and proximal algorithm.

关键词： multiple mobile manipulators cooperative transportation control motion planning energy and manipulability distributed optimization

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Hierarchical Task Impedance control of a Serial Manipulator for Minimally Invasive Surgery

Hierarchical Task Impedance Control of a Serial Manipulator ...

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IEEE International Conference on Human-Machine systems

作者： Hang Su Chenguang Yang Jiehao Li Yiming Jiang Giancarlo Ferrigno Elena De Momi Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Milan Italy Bristol Robotics Laboratory University of the West of England Bristol United Kingdom State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China National Engineering Laboratory for Robot Visual Perception and Control Hunan University Changsha China Dipartimento di Elettronica Informazione e Bioingegneria Politecnico di Milano Milano Italy

ISBN: (数字)9781728158716

ISBN: (纸本)9781728158723

Flexibility and robustness have become key points in the development of surgical robot controller for physical interactions. However, the conventional impedance control schemes unaware of the actual surgical scenario, including complex physical interaction on the robot arm, lead to the loss of accuracy. In this paper, a hierarchical task impedance control scheme is proposed for Minimally Invasive Surgery (MIS) based on an operational space formulation of a 7 DoFs redundant robot. Its redundancy is exploited to guarantee a remote center of motion (RCM) constraint and to provide a flexible workspace for the medical staff to assist physicians. In addition to the achievement of the classical whole-body impedance control, the issue of uncertain disturbances will be addressed by a decoupled adaptive approximation based on a radial basis function neural network (RBFNN) within the control framework. Task performances under the hierarchical task impedance controller were validated and compared with previous work in the literature. Experimental results showed its improved performance in terms of positional error and RCM constraint, regardless of the existing uncertain physical interaction.

关键词： Task analysis Impedance Manipulators Tools Surgery Jacobian matrices

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A Guide for Human Walking Model and control — Insights from Mechanical Property Analysis of Human Walking

A Guide for Human Walking Model and Control — Insights from...

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Chinese control and decision Conference, CCDC

作者： Guangrong Chen Bowen Hou Sheng Guo Junzheng Wang Robotics Research Center Beijing Jiaotong University Beijing P.R. China Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention Beijing P.R. China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P.R. China

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

This paper aims to establish the simplest human walking model and provide a guide for controlling biped robots. Firstly, a human motion capture system was utilized to sample the motion data of human walking and a representative subject was selected. Secondly, one of the simplest human walking model was set up. The mechanical property analysis of human walking was done based on the established walking model via fitting. Thirdly, the feasibility and effectiveness of proposed walking model were validated by numerical simulations. Finally, the intrinsical relationships among human walking, biped walking model and control were discussed to provide a guide and insight for controlling biped robots.

关键词： Legged locomotion Numerical models Force Analytical models Numerical simulation

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Fuzzy rate analysis of operators and its applications in linear spaces

arXiv

引用

arXiv 2020年

作者： Zhang, Yijin Li, Honggang Jin, Maoming Lin, Zongbing Key Lab of Intelligent Analysis and Decision on Complex Systems Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education Chongqing University of Posts and Telecommunications Chongqing400065 China Pass College of Chongqing Technology and Business University Chongqing401520 China Institute of Nonlinear Analysis Research Changjiang Normal University Chongqing400803 China School of Mathematics and Computer Science Panzhihua University Panzhihua617000 China

In this paper, a new concept, the fuzzy rate of an operator in linear spaces is proposed for the very first time. Some properties and basic principles of it are studied. Fuzzy rate of an operator B which is specific i... 详细信息

关键词： Membership functions

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Robust Output Synchronization of Discrete-Time Linear-Time-Invariant Multi-Agent systems Using Phase Tool

Robust Output Synchronization of Discrete-Time Linear-Time-I...

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European control Conference (ECC)

作者： Xin Mao Dan Wang Wei Chen Li Qiu School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Department of Mechanics and Engineering Science State Key Laboratory for Turbulence and Complex Systems Peking University Beijing China Southern University of Science and Technology Shenzhen China Hong Kong University of Science and Technology Hong Kong S.A.R. China

ISBN: (数字)9783907144107

ISBN: (纸本)9798331540920

In this paper, the output synchronization in large-scale discrete-time networks is examined by utilizing the novel phase tool, where the agent dynamics are allowed to be significantly heterogeneous. The synchronization synthesis problem is formulated and thoroughly investigated, with the goal of characterizing the allowable heterogeneity among the agents to ensure synchronization under a uniform controller. The solvability condition is provided in terms of the phases of the residue matrices of the agents at the persistent modes. When the condition is satisfied, a design procedure is given, producing a low-gain synchronizing controller. Numerical examples are given to illustrate the results.

关键词： Sufficient conditions Europe Heterogeneous networks Synchronization Multi-agent systems

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Distributed stochastic proximal algorithm with random reshuffling for non-smooth finite-sum optimization

arXiv

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arXiv 2021年

作者： Jiang, Xia Zeng, Xianlin Sun, Jian Chen, Jie Xie, Lihua Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology Chongqing Innovation Center Chongqing401120 China School of Electronic and Information Engineering Tongji University Shanghai200082 China Ministry of Education Beijing100081 China School of Electrical and Electronic Engineering Nanyang Technological University Singapore639798 Singapore

The non-smooth finite-sum minimization is a fundamental problem in machine learning. This paper develops a distributed stochastic proximal-gradient algorithm with random reshuffling to solve the finite-sum minimization over time-varying multi-agent networks. The objective function is a sum of differentiable convex functions and non-smooth regularization. Each agent in the network updates local variables by local information exchange and cooperates to seek an optimal solution. We prove that local variable estimates generated by the proposed algorithm achieve consensus and are attracted to a neighborhood of the optimal solution with an (formula presented) convergence rate, where T is the total number of iterations. Finally, some comparative simulations are provided to verify the convergence performance of the proposed algorithm. © 2021, CC BY.

关键词： Optimal systems

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Stability analysis of switched nonlinear delay systems with sampled-data inputs

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International Journal of Robust and Nonlinear control 2019年第14期29卷

作者： Zhichuang Wang Jian Sun Guoliang Chen Jie Chen School of Automation Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

This study addresses the uniformly globally asymptotically stability (UGAS) problem of switched nonlinear delay systems (SNDSs) with sampled-data inputs (SDIs). By using multiple Lyapunov functionals (MLFs) method, mode-dependent average dwell times, and the total activating time length of MLFs, some stability criteria are explicitly obtained for SNDSs with SDIs. Meanwhile, the UGAS property for SNDSs with some or all unstable modes is investigated. For unstable modes and stable modes, we adopt different switching signals. Besides, we establish some sufficient stability conditions in the form of an upper bound on the sum of dwell times and sampling intervals. Simulation examples are adopted to illustrate and verify the effectiveness of our proposed methods.

关键词： multiple Lyapunov functionals sampled-data inputs stability switched nonlinear delay systems

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