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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 trajectory tracking control for multiple nonholonomic mobile robots

Distributed trajectory tracking control for multiple nonholo...

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作者： Yang, Qingkai Fang, Hao Cao, Ming Chen, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China Faculty of Mathematics and Natural Sciences University of Groningen Groningen AG9747 Netherlands

In this paper, the distributed tracking problem for multiple nonholonomic mobile robots is investigated, in which the nonholonomic models are transformed into chained-form systems. By utilizing the dynamic oscillator strategy, the distributed controllers are constructed such that all the mobile robots' trajectories converge to the desired reference asymptotically. One advantage of the chained-form system solution that we propose is that it requires no other variable transformations, which could help reducing the system's complexity and broadening the proposed controller's practical applications. Simulations are presented to show the effectiveness of the proposed control algorithms. © 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multi agent systems

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Energy consumption analysis in multi-legged robots based on gait planning

Energy consumption analysis in multi-legged robots based on ...

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Chinese control Conference (CCC)

作者： Xiaolong Du Shoukun Wang Xiaoyan Zong Junzheng Wang State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China

ISBN: (纸本)9781509009107

Currently, the multi-legged robots have to confront the problem of low energy utilization that restricts the moving radius of robots. Aimed at the problem of energy consumption for mobile robots, this paper provides the analysis in terms of the gait planning. Firstly, two kinds of gait curves Respectively, cycloid curve and Bezier curve are introduced and the main difference of two gait patterns is that the Bezier curve can achieve the swing leg retraction (SLR). The length of step (S), the height of step (H) and the duty ratio of gait cycle (β) are set as the primary research points about the gait of mobile robot. In this work, we formulate two indexes to quantitatively describe the performance of the quadruped robot and related simulations are carried out for gait parameters. Finally, the results provide some recommendations for the gait planning of the quadruped robot, that is, the changes of gait parameters influence the index of energy consumption and SLR can effectively reduce energy consumption.

关键词： Three-dimensional displays

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LAR Routing Stability Protocol Based on Mobility Prediction

LAR Routing Stability Protocol Based on Mobility Prediction

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第35届中国控制会议

作者： Tang Chao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Alongside advancements in communication technology,Ad Hoc networks have grown considerably in *** high-relative-velocity environments,however,air nodes often have supersonic velocity but ground nodes are nearly *** this case,traditional protocols do not satisfy the necessary link stability though this type of node usually has clear purpose or *** this effect,node activity can be forecast to a certain *** this study,a motion model was developed to describe aircraft flying in high-relative-velocity *** also investigated methods of maximizing link lifetime and network stability by designing an improved LARl *** simulation results showed that the proposed LAR1 protocol has superior performances in terms of link lifetime,but may increase the number of hops in data transmission.

关键词： Ad Hoc high-relative velocity motion model link lifetime

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An Improved Part-based Compressive Tracking Method

An Improved Part-based Compressive Tracking Method

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第35届中国控制会议

作者： Qiwen Hou Wenjie Chen HuiLin Gao School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

In this paper,we propose an improved part-based tracking method based on compressive *** traditional compressive tracking can hardly deal with occlusion and scale variation,which is not robust enough in these *** our part-based method,the occluded image patches which are selected by K-means are not able to participate in determining the location of the target in order to increase tracking *** solve the problem of scale variation,an algorithm is proposed to estimate the size of target with the information of the whole *** addition,we also use the positions of every part to help us to get a precise size of the *** the combination of two methods,the scale of the target is *** compared with five state-of-the-arts have been done to prove the effectiveness and robustness of our method.

关键词： compressive sensing part-based tracking occlusion handling scale estimation

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Discrete-time Networked control systems under Stochastic Scheduling Constraints

Discrete-time Networked Control Systems under Stochastic Sch...

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第35届中国控制会议

作者： Kun Liu Xia Pan Yang Liu Yuanqing Xia School of Automation and National Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781509009107

This paper extends the time-delay approach to discrete-time networked control systems with multiple sensor nodes that are subject to time-varying transmission intervals,time-varying transmission delays and communication *** system sensor nodes are supposed to be distributed over a *** scheduling of sensor communication is ruled by an independent and identically-distributed stochastic *** activation probability of each sensor node is a given constant,whereas it is assumed that collisions occur with a certain *** closed-loop system is modelled as a discrete-time stochastic hybrid system with time-varying delays in the dynamics and in the reset *** Lyapunov method a new condition is derived for the exponential mean-square stability of the delayed hybrid systems with respect to the full state and not only to the partial *** communication delays are allowed to be greater than the sampling *** efficiency of the proposed method is illustrated on the example of cart-pendulum.

关键词： Discrete-time networked control multiple sensors large communication delays stochastic protocol Lyapunov method

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Disturbance prediction based active disturbance rejection control approach

Disturbance prediction based active disturbance rejection co...

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第35届中国控制会议

作者： Chongling Li Tao Cai Zeyu Han School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

Disturbance widely exists in control *** disturbance rejection control(ADRC) has been proved to be an efficient way to deal with disturbance and achieves great success in *** most important part of ADRC is extended state observer(ESO),which estimates the states of system and total *** regards internal disturbance and external disturbance as a total disturbance,estimates it and eliminates it in the *** faster ESO estimates total disturbance,the more quickly controller eliminates *** paper focuses on the discrete linear extended state observer(DLESO),and presents discrete predictive linear extended state observer(DPLESO).Stability and performances are *** result shows that DPLESO has better performances for disturbance rejection than DLESO.

关键词： disturbance discrete ADRC LESO predictive linear extended state observer

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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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Cloud control systems

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IEEE/CAA Journal of Automatica Sinica 2015年第2期2卷 134-142页

作者： Yuanqing Xia School of Automation Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

The concept of cloud control systems is discussed in this paper, which is an extension of networked control systems (NCSs). With the development of internet of things (IOT), the technology of NCSs has played a key role in IOT. At the same time, cloud computing is developed rapidly, which provides a perfect platform for big data processing, controller design and performance assessment. The research on cloud control systems will give new contribution to the control theory and applications in the near future. © 2014 Chinese Association of Automation.

关键词： Big data Cloud computing Computation theory control systems control theory controllers Data handling Distributed computer systems Embedded systems Internet of things

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Modified EKF-based Nonlinear Filtering over Wireless Channels with Transmission Failure and Fading

Modified EKF-based Nonlinear Filtering over Wireless Channel...

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第35届中国控制会议

作者： Luyu Li Zhen Li Xiangdong Liu Yongzhi Sheng School of Automation Beijing Institute of Technology Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781509009107

This paper addresses the stochastic stability problem of a modified extended Kalman filter(MEKF), targeted at the state estimation of the nonlinear system through wireless channel, where both transmission failure and channel fading are practically under consideration. For a class of nonlinear systems whose observation's Jacobi Matrix is always invertible, the sufficient conditions of the error covariance matrices are accordingly established. Moreover, the conditions for the stochastic stability of the estimation error are also derived, which is tighter than the conditions of boundedness of the error ***, a numerical example is given to demonstrate the feasibility of the proposed method.

关键词： Extended Kalman filter stochastic stability transmission failure fading

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