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Event-triggered leader-follower bipartite consensus control for nonlinear multi-agent systems under DoS attacks

science China(Information sciences) 2025年第3期68卷 286-301页

作者： Wei SU Chaoxu MU Song ZHU Ben NIU Changyin SUN School of Control Science and Engineering Tianjin University School of Mathematics China University of Mining and Technology School of Control Science and Engineering Dalian University of Technology School of Automation Southeast University

Aiming at the consensus control problem of nonlinear multi-agent systems(MASs) under directed topology, a leader-follower bipartite consensus control strategy is proposed. This strategy takes into account the potential for denial-of-service(DoS) attacks and completely unknown system dynamics. Specifically, the bipartite consensus dynamics describes the cooperation and competition relationship between followers and the leader, that is, the follower chooses to move in accordance with or opposite to the leader according to its trajectory. In order to optimize the communication bandwidth and mitigate the impact of DoS attacks, the proposed consensus control scheme integrates the DoS attack detection mechanism and event-triggered mechanism. In addition, neural networks(NNs) are used to solve the nonlinear problem, and a speed function is designed to achieve the desired tracking performance, ensuring that all agents' tracking errors converge to a predefined set in a finite time. With the help of backstepping, graph theory, and Lyapunov stability theory, sufficient conditions for achieving bipartite consensus without Zeno behavior are established. Finally, the accuracy and feasibility of the theoretical analysis are verified by simulation cases.

关键词： multi-agent systems neural networks bipartite consensus event-trigger denial-of-service attack

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Model Parameters Identification and Backstepping Control of Lower Limb Exoskeleton Based on Enhanced Whale Algorithm

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Chinese Journal of Mechanical engineering 2024年第2期37卷 100-114页

作者： Yan Shi Jiange Kou Zhenlei Chen Yixuan Wang Qing Guo School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China

Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction ***,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to ***,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model ***,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical *** a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative ***,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons *** knee joint motion achieves a steady-state response after 0.5 ***,the position error of hip joint response is less than 0.03 rad after 0.9 *** addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·*** research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model ***,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.

关键词： Parameter identification Enhanced whale optimization algorithm(EWOA) Backstepping Human-robot interaction Lower limb exoskeleton

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Swarm intelligence:A survey of model classification and applications

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Chinese Journal of Aeronautics 2025年第3期38卷 163-182页

作者： Chao WANG Shuyuan ZHANG Tianhang MA Yuetong XIAO Michael Zhiqiang CHEN Lei WANG School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Automation Nanjing University of Science and TechnologyNanjing 210094China

Swarm Intelligence (SI) is a collective behavior that emerges from interaction between individuals in a group. Typical SI includes fish schooling, ant foraging, bird migration, and so on. A great deal of models have been introduced to characterize the mechanism of SI. This article reviews several typical models and classifies them into four categories: self-driven particle models, with Boids model as the primary example;pheromone communication models, including the ant colony pheromone model which serves as the foundation for ant colony optimization;leadership decision models, utilizing the hierarchical dynamics model of pigeon flock as a prime instance;empirical research models, which employ the topological rule model of starling flock as a classic model. On this basis, each type of model is elaborated upon in terms of its typical model overview, applications, and model evaluation. More specifically, multi-agent swarm control, path optimization and obstacle avoidance, formation and consensus control, trajectory tracking in the dense crowd and social networks analysis are surveyed in the application of each category, respectively. Furthermore, the more precise and effective modeling techniques for leadership decision and empirical research models are described. Limitations and potential directions for further exploration in the study of SI are presented.

关键词： Swarm intelligence Ant colony optimization Self-driven particle models Pheromone communication models Leadership decision models Empirical research models

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A recover-then-discriminate framework for robust anomaly detection

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science China(Information sciences) 2025年第4期68卷 300-318页

作者： Peng XING Dong ZHANG Jinhui TANG Zechao LI School of Computer Science and Engineering Nanjing University of Science and Technology Department of Electronic and Computer Engineering The Hong Kong University of Science and Technology

Anomaly detection(AD) has been extensively studied and applied across various scenarios in recent years. However, gaps remain between the current performance and the desired recognition accuracy required for practical *** paper analyzes two fundamental failure cases in the baseline AD model and identifies key reasons that limit the recognition accuracy of existing approaches. Specifically, by Case-1, we found that the main reason detrimental to current AD methods is that the inputs to the recovery model contain a large number of detailed features to be recovered, which leads to the normal/abnormal area has not/has been recovered into its original state. By Case-2, we surprisingly found that the abnormal area that cannot be recognized in image-level representations can be easily recognized in the feature-level representation. Based on the above observations, we propose a novel recover-then-discriminate(ReDi) framework for *** takes a self-generated feature map(e.g., histogram of oriented gradients) and a selected prompted image as explicit input information to address the identified in Case-1. Additionally, a feature-level discriminative network is introduced to amplify abnormal differences between the recovered and input representations. Extensive experiments on two widely used yet challenging AD datasets demonstrate that ReDi achieves state-of-the-art recognition accuracy.

关键词： recovery network HOG prompt discriminative network self-correlation loss anomaly detection

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Finite-time fault-tolerant control of attitude control system of quadrotor UAV based on neural network disturbance observer

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Neural Computing and Applications 2025年第7期37卷 5597-5606页

作者： Li, Boning Chen, Ming Qi, Shuchang Peng, Kaixiang School of Electronic and Information Engineering University of Science and Technology Liaoning Liaoning Anshan China School of Automation University of Science and Technology Beijing Beijing China

This paper investigates a new finite-time fault-tolerant control scheme for a quadrotor unmanned aerial vehicle (UAV). Firstly, a novel neural network disturbance observer with an auxiliary system is designed to compensate for actuator faults and external disturbances. In addition, in order to ensure the system’s rapidity, the finite-time theory is incorporated into the observer design and the controller design. The hyperbolic tangent function is also introduced to process the input signals, which ensures that the UAV receives relatively the smooth input signals. The design scheme takes into account the rapidity and robustness of the system, which makes the performance of the UAV better. Finally, the advantages of the proposed scheme are demonstrated through comparative experiments and the feasibility of the scheme is further verified through actual physical experiments. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2025.

关键词： Hyperbolic functions

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Effective Tool Augmented Multi-Agent Framework for Data Analysis

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Data Intelligence 2024年第4期6卷 923-945页

作者： Xilin Zhang Zhixin Mao Ziwen Chen Shen Gao School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China School of Computer Science and Engineering(School of Cyber Security) University of Electronic Science and Technology of ChinaChengdu 611731China

Data analysis tasks aim to provide insightful analysis for given data by incorporating background knowledge of the represented phenomenon, which in turn supports decision-making. While existing large language models(LLMs) can describe data trends, they still lag behind human data analysts in terms of integrating external knowledge and in-depth data analysis. Therefore, we propose a multi-agent data analysis framework based on LLMs. The framework decomposes the data analysis task into subtasks by employing three different agents. By empowering agents with the ability to utilize data search tools, the framework enables them to search for arbitrary relevant knowledge during the analysis process, leading to more insightful analysis. Moreover, to enhance the quality of the analysis results, we propose a multi-stage iterative optimization method that iteratively performs data analysis to form more in-depth conclusions. To validate the performance of our framework, we apply it to three real-world problems in the research development of higher education in China data. Experimental results demonstrate that our approach can achieve more insightful data analysis results compared to directly using LLMs alone.

关键词： Exploratory data analysis Multi-agent Large language models

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A review of event-triggered consensus control in multi-agent systems

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Journal of Control and Decision 2025年第1期12卷 1-23页

作者： Yihang Dou Guansheng Xing Aohua Ma Guanwu Zhao School of Automation and Electronic Engineering Qingdao University of Science and TechnologyQingdaoPeople's Republic of China

Event-triggered control(ETC)of multi-agent systems(MASs)has been extensively investigated due to its advantages in conserving communication resources and reducing control *** paper provides a systematic review of ETC in MASs from three ***,the primary motivation for ETC mechanisms is to minimise resource *** summarise recent researches that focus on improving ETC schemes of MASs to reduce resource ***,excluding Zeno behaviour is crucial in the design of ETC for *** methods of excluding Zeno behaviour are summarised for various event-triggered ***,due to the importance of stabilisation time as a performance metric in evaluating control algorithms,research on finite-time ETC of MASs is a recent and ongoing *** summarise recent studies on finite-time event-triggered consensus,fixed-time event-triggered consensus and prescribed-time event-triggered consensus,and analyse the advantages and disadvantages of each control scheme through simulation experiments.

关键词： Event-triggered consensus multi-agent systems resource utilisation Zeno behaviour finite-time control

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New results on finite-time stability and instability theorems for stochastic nonlinear time-varying systems

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science China(Information sciences) 2025年第2期68卷 186-199页

作者： Weihai ZHANG Liqiang YAO College of Electrical Engineering and Automation Shandong University of Science and Technology School of Mathematics and Information Science Yantai University

This paper studies finite-time stability and instability theorems in the probability sense for stochastic nonlinear timevarying systems. Firstly, a new sufficient condition is proposed to guarantee that the considered system has a global ***, we propose new finite-time stability and instability criteria that relax the constraints on LV(the infinitesimal operator of Lyapunov function V) by the uniformly asymptotically stable function. On the one hand, these obtained results make up for the shortcomings of the existing results. On the other hand, the new finite-time stability theorems can be viewed as natural extensions of the existing results and also allow LV to be indefinite(negative or positive) rather than just only allow LV < ***, some simulation examples verify the validity of the theoretical results.

关键词： stochastic nonlinear systems finite-time stability finite-timeinstability uniformly asymptotically stable function

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Distributed dynamic event-based finite-time dissipative synchronization control for semi-Markov switched fuzzy cyber-physical systems against random packet losses

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Chinese Physics B 2023年第10期32卷 328-342页

作者：伍锡如张煜翀张畑畑张斌磊 School of Electronic Engineering and Automation Guilin University of Electronic TechnologyGuilin 541004China

This paper is concerned with the finite-time dissipative synchronization control problem of semi-Markov switched cyber-physical systems in the presence of packet losses, which is constructed by the Takagi–Sugeno fuzzy model. To save the network communication burden, a distributed dynamic event-triggered mechanism is developed to restrain the information update. Besides, random packet dropouts following the Bernoulli distribution are assumed to occur in sensor to controller channels, where the triggered control input is analyzed via an equivalent method containing a new stochastic variable. By establishing the mode-dependent Lyapunov–Krasovskii functional with augmented terms, the finite-time boundness of the error system limited to strict dissipativity is studied. As a result of the help of an extended reciprocally convex matrix inequality technique, less conservative criteria in terms of linear matrix inequalities are deduced to calculate the desired control gains. Finally, two examples in regard to practical systems are provided to display the effectiveness of the proposed theory.

关键词： cyber-physical systems finite-time synchronization distributed dynamic event-triggered mechanism random packet losses

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An Enhanced Augmented Coprime Array With Low Mutual Coupling and High DOFs

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IEEE Transactions on Vehicular technology 2025年第5期74卷 7676-7687页

作者： Han, Liang Zhao, Yijiu Mei, Sitao Zhao, Xinyi Wang, Houjun Zhang, Bo University of Electronic Science and Technology of China Shenzhen Institute for Advanced Study Shenzhen518110 China University of Electronic Science and Technology of China School of Automation Engineering Chengdu611731 China University of Electronic Science and Technology of China School of Optoelectronic Science and Engineering Chengdu611731 China

Coprime array (CA) has gained significant attention due to its high degrees of freedom (DOFs) and large array aperture. Previous researches have focused on improving coprime arrays, but few studies have successfully combined a large array aperture, low mutual coupling, and high DOFs with the number of array elements. In this paper, we propose a novel semi-symmetrical augmented coprime array (SSACA) that strategically positions sensors by arranging M-subarrays and symmetric N-subarrays. This design reduces redundancy lags, and increases DOFs, continuous DOFs, and array aperture, thereby mitigating mutual coupling effects and improving angular resolution for the direction of arrival (DOA) estimation. We derive closed-form expressions for the DOFs, continuous DOFs, and array aperture of SSACA. Simulation results demonstrate that the proposed SSACA outperforms the existing studies regarding higher DOFs, reduced mutual coupling effects, and lower root mean square error (RMSE) in similar application scenarios, particularly in strong mutual coupling scenarios. © 1967-2012 IEEE.

关键词： Sensor arrays Sensors Mutual coupling Array signal processing Direction-of-arrival estimation Estimation Vectors Apertures Couplings Signal processing algorithms

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