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检索条件"机构=Key Laboratory of System Control and Signal Processing"

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Underwater Noncooperative Target Localization and Tracking Using Range-Only Measurements

Underwater Noncooperative Target Localization and Tracking ...

引用

International Conference on Guidance, Navigation and control, ICGNC 2022

作者： Yang, Yang Li, Yichen Yu, Wenbin Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

ISBN: (纸本)9789811966125

In this article, noncooperative target localization and tracking using multiple autonomous underwater vehicles (AUVs) are investigated. The main goal is to improve the target localization accuracy and tracking performance with the range-based information and to solve the problem of unobservability. A pose-based region-optimal (PBRO) algorithm is designed using range-only measurements in the scenario where three AUVs track and locate a noncooperative target. PBRO improves the target localization accuracy by modifying the target pose estimation using range-only measurements and enables the AUVs to have the optimal tracking performance in the obtained uncertainty region by the target motion constraints. Moreover, the proposed tracking strategy can get the maximum observability of the target. The simulation results validate the advantages of PBRO as compared with the alternative algorithm. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Autonomous underwater vehicles

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Learning-Based Defense Against Prediction-Based Displacement Attacks on Formation control

Learning-Based Defense Against Prediction-Based Displacement...

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2024 China Automation Congress, CAC 2024

作者： Chen, Bingtong Li, Yushan Wu, Shukun Fang, Chongrong He, Jianping Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Student Innovation Center Shanghai Jiao Tong University China

ISBN: (纸本)9798350368604

Formation control is a widely performed task in multi-agent systems. However, agents under formation control are susceptible to attacks, and how to defend against the attack is important for system security. This paper aims to design a new method to protect the system from prediction-based displacement attack, which predicts the movement of agents, diverts them from their original tracks and drives them to a preset trap. The defense is challenging due to the robustness of the attacker’s prediction mechanism. Also, undermining the attack can be costly and harm the system’s performance. To address this issue, we first build obstacle-avoidance and formation control models of the holonomic and non-holonomic agents and specify the prediction-based attacks to limit the cases where the defense strategy can be effective. Then, we propose a learning-based defense strategy, which learns the prediction mechanism of the attackers. It modifies the control input based on self-adaptive fuzzy methods to reduce prediction accuracy and guarantee that the agents can reach the goal. Simulation results demonstrate that our method is better than the previous noise-based one at reducing the accuracy of the attacker’s prediction. © 2024 IEEE.

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Unilateral payoff control is infeasible in network attack-defense interactions

Unilateral payoff control is infeasible in network attack-de...

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2024 China Automation Congress, CAC 2024

作者： Zhao, Kaiwen Xia, Yu Su, Qi Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350368604

Network resilience generally refers to the ability of a network to maintain normal operation in the face of various failures and disturbances, which has many applications in social, financial, communication, and transportation systems. There is a large amount of research on designing strategies to disrupt the network from the perspective of attack and to protect the network from the defense standpoint. However, attacks and defenses in the real world often occur simultaneously and repeatedly. The study of network resilience should not be limited to the structural characteristics but should consider the functional characteristics of the network. We develop a general game-theoretic framework to study attack-defense repeated interactions on complex networks and examine the possibility of achieving precise control over the payoffs of attackers and defenders. Our findings reveal that neither the attacker nor the defender can unilaterally control their own payoff, the opponent’s payoff, or any linear combination thereof. This work highlights the limitations of unilateral payoff control in real-world interaction scenarios, a consideration often overlooked in numerous theoretical studies. © 2024 IEEE.

关键词： Economic and social effects

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Traffic Pricing Based on Network Congestion Games with Player and Resource Failures 43

Traffic Pricing Based on Network Congestion Games with Playe...

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43rd Chinese control Conference, CCC 2024

作者： Liu, Shuqi Wang, Jinhuan Wang, Lin Hebei University of Technology Institute of Mathematics School of Science Tianjin300401 China Shanghai Jiaotong University Key Laboratory of System Control and Information Processing Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9789887581581

This paper investigates the pricing problem of transportation based on a framework of network congestion game with both player and resource failures. Firstly, the traffic pricing problem is modeled as a network congestion game by redefining the player's cost function in the event of player and resource failures. Secondly, by using the method of semi-tensor product of matrices, the game with player and resource failures is algebraized and verified to be a weighted potential game. The weighted potential function is also obtained. Then, the impact of player and resource failures on Nash equilibria (NEs) is studied, and the condition on keeping the NE of the original game unchanged is discussed. Finally, the theoretical results are verified by numerical examples. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Tensors

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Bearing-Based Containment control of Multi-agent systems with Disturbances 7th

Bearing-Based Containment Control of Multi-agent Systems wi...

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7th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2023

作者： Duan, Mengmeng Yang, Ziwen Zhu, Shanying Chen, Cailian Department of Automation Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789819733392

In this paper, a bearing-based containment control problem of multi-agent systems with disturbances is studied. The nonlinearity of the bearing results in the existence of nonlinear time-varying parameters in the closed-loop system. When the leaders are stationary, under the sufficient conditions on the disturbances and the connectivity of the directed sensing graph, the boundedness of the nonlinear time-varying parameters is rigorously proved, with which it is shown that the containment error converges to zero asymptotically. When the leaders are moving, by using the properties of the bearing and the projection, it is proved that the containment error is uniformly ultimately bounded and can be reduced by adjusting the edge weight. Numerical examples illustrate the effectiveness of the proposed controller. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Multi agent systems

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ST-Petri: A Visual Executable Semantic Model for PLC Structured Text Language 22

ST-Petri: A Visual Executable Semantic Model for PLC Structu...

引用

22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Hu, Xiaoyu Liang, Yonghui Zhu, Shibo Li, Hui Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (纸本)9798331527471

As very important controllers in automated factories, the correctness and safety of Programmable Logic controller (PLC) and their programs determine the stability of the production process. Structured Text (ST) is one of the most widely used PLC programming languages. However, there are not enough formal semantics and different venders may have their own implementations. In this work, a visual executable semantic model ST-Petri for ST has been proposed. The model uses Petri nets to formally represent ST semantics while using graphs to visualise program control flow. To validate the correctness of the semantic model, we use programs from Github and mutations of existing source programs as a test set to execute and compare the results with the open source OpenPLC platform. Experimental results show that ST-Petri has significant advantages in terms of compilation pass rate and error indication as a semantic model and a ST program compiler. © 2024 IEEE.

关键词： Petri nets

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Penetration-Free Collision Detection and Response Algorithm Based on Extended Position-Based Dynamics 6

Penetration-Free Collision Detection and Response Algorithm ...

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6th International Conference on Industrial Artificial Intelligence, IAI 2024

作者： Wang, Minghui Ding, Fan Liao, Chengye Pan, Yangyang Yang, Tao He, Jianping Pingtan Center of Quality Metrology and Testing Pingtan350400 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Department of Automation Shanghai200240 China Northeastern University Key Laboratory of Synthetical Automation for Process Industries Shenyang110819 China

ISBN: (纸本)9798350356618

In the virtual simulation platform, frequent physical interactions between the robot and the environment poses extremely high demands on the handling of collisions and contacts in the simulation. Current mainstream virtual simulation platforms, in pursuit of real-time performance, have sacrificed some accuracy in simulation algorithms, leading to control strategies obtained in training that are difficult to directly transfer to actual physical machines. This virtual-physical discrepancy has significantly impacted the efficiency and effectiveness of mobile robot simulation. Existing work has attempted to use more accurate mathematical modeling and design more realistic solvers, but at the cost of uncontrollable problem scale and extremely high computational complexity. Starting from this perspective, this paper designs a non-penetration simulation algorithm based on extended Position-Based Dynamics (XPBD), which improves the physical processing accuracy during the simulation while ensuring real-time performance, enhances the fidelity of the simulation, and reduces the virtual-physical discrepancy. Simulation experiments have been conducted to validate the reliability of our proposed algorithm. © 2024 IEEE.

关键词： Virtual environments

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Equilibrium analysis of networked game under best-response dynamics 43

Equilibrium analysis of networked game under best-response d...

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43rd Chinese control Conference, CCC 2024

作者： Xia, Yu Su, Qi Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9789887581581

Both coordination, a behavioral pattern where individuals adopt the same behavior as the majority, and anticoordination, a behavioral pattern where individuals choose a behavior different from the majority, are prevalent in social and engineering scenarios. Examples include the spread of social norms or innovations for coordination and the division of labor and traffic congestion for anti-coordination. Exploring the large-scale interacting systems driven by coordination and anticoordination is of great significance in understanding, predicting, and optimizing the evolutionary outcomes. While existing studies have primarily focused on analyzing the convergence of networked systems and evaluating the time to reach equilibrium, our investigation delves into all possible states of a networked system and scrutinizes all equilibrium states. Notably, we observe that the number of equilibrium states increases exponentially with the network size. Accounting for network structure properties, homogeneous networks exhibit more equilibrium states than heterogeneous networks. Furthermore, for specific behavioral switching thresholds, the number of equilibrium states is surprisingly higher than at neighboring switching thresholds. Our work reveals the intricate interplay between evolutionary dynamics, system structure, and behavioral switching thresholds. © 2024 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Traffic congestion

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H8 Consensus control for High-Order Fully Actuated Multi-Agent systems with External Disturbances 3

H8 Consensus Control for High-Order Fully Actuated Multi-Age...

引用

3rd Conference on Fully Actuated system Theory and Applications, FASTA 2024

作者： Zhang, Qing-Hao Lu, Jun-Guo Shanghai Jiao Tong University Department of Automation Shanghai200240 China Ministry of Education of China Key Laboratory of System Control and Information Processing Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai200240 China

ISBN: (纸本)9798350373691

This paper investigates the problems of H8 consensus control for high-order fully actuated multi-agent systems (HOFAMASs) with external disturbances. By utilizing the characteristics of high-order fully actuated systems (HOFASs), the distributed control protocols are designed, eliminating all nonlinear characteristics of open loop systems while establishing new closed-loop dynamic characteristics. Then, the H8 consensus problems of HOFAMASs are addressed. The corresponding parameters to be designed in the distributed control protocols are given by using linear matrix inequalities (LMIs). A novel multi-spacecraft attitude model is proposed based on HOFASs. An illustrative example of the multi-spacecraft attitude model is given, in order to demonstrate the effectiveness and application of the results proposed in this paper. © 2024 IEEE.

关键词： Multi agent systems

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Energy-Efficient Safety-Aware Scheduling of Real-Time control systems with Burst Tasks 22

Energy-Efficient Safety-Aware Scheduling of Real-Time Contro...

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22nd IEEE International Conference on Industrial Informatics, INDIN 2024

作者： Cheng, Ting Liang, Yonghui Xu, Qimin Zhu, Shanying Department of Automation Shanghai Jiao Tong University Shanghai 200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 China

ISBN: (纸本)9798331527471

In industrial sites, multiple real-time control systems often share computing resources. However, burst computing tasks may lead to the random dropping of control computing subtasks, resulting in control failures and potential hazards. To address this issue, we propose an energy-efficient safety-aware task scheduling scheme based on mixed-integer programming. When burst computing tasks are triggered, this scheduling scheme adaptively releases resources from low-criticality control computing subtasks and adjusts the processor speed based on the dynamic voltage and frequency scaling technology (DVFS), ensuring the timely completion of burst computing tasks and keeping the control system state deviation within a safe threshold. To achieve the scheduling scheme, we propose an efficient algorithm called EESASA. Simulation results show that EESASA can minimize the overall cost of control and processor energy while ensuring the safety of the control system and the timely completion of burst computing tasks. © 2024 IEEE.

关键词： Dynamic frequency scaling

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