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Encrypted Finite-Horizon Energy-to-Peak State Estimation for Time-Varying Systems Under Eavesdropping Attacks: Tackling Secrecy Capacity

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 985-996页

作者： Lei Zou Zidong Wang Bo Shen Hongli Dong Guoping Lu College of Information Science and Technology Donghua UniversityShanghai 201620 Engineering Research Center of Digitalized Textile and Fashion Technology Ministry of EducationShanghai 201620China College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China Department of Computer Science Brunel University LondonUxbridgeMiddlesex UB83PHUK Intelligence Energy Research Institute Northeast Petroleum UniversityDaqing 163318 Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum UniversityDaqing 163318 Sanya Offshore Oil&Gas Research Institute Northeast Petroleum UniversitySanya 572024China School of Electrical Engineering Nantong UniversityNantong 226019China

This paper is concerned with the problem of finitehorizon energy-to-peak state estimation for a class of networked linear time-varying *** to the inherent vulnerability of network-based communication,the measurement signals transmitted over a communication network might be intercepted by potential *** avoid information leakage,by resorting to an artificial-noise-assisted method,we develop a novel encryption-decryption scheme to ensure that the transmitted signal is composed of the raw measurement and an artificial-noise term.A special evaluation index named secrecy capacity is employed to assess the information security of signal transmissions under the developed encryption-decryption *** purpose of the addressed problem is to design an encryptiondecryption scheme and a state estimator such that:1)the desired secrecy capacity is ensured;and 2)the required finite-horizon–l_(2)-l_(∞)performance is *** conditions are established on the existence of the encryption-decryption mechanism and the finite-horizon state ***,simulation results are proposed to show the effectiveness of our proposed encryption-decryption-based state estimation scheme.

关键词： Artificial-noise-assisted technique eavesdropping encryption-decryption scheme energy-to-peak state estimation finitehorizon state estimation

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Design, Kinematic and Variable Stiffness Analysis of a Tensegrity-Based Joint

Design, Kinematic and Variable Stiffness Analysis of a Tense...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Wu, Jinlong Liu, Gang Li, Ke Zhang, Niansong Yu, Zhiyuan Wu, Haiteng Liu, Yixiang Li, Yibin School of Control Science and Engineering Shandong University Jinan250061 China School of Mechanical Engineering Nanjing University of Science and Technology Nanjing210094 China School of Mechatronics Engineering and Automation Harbin Institute of Technology Shenzhen Shenzhen518055 China Beijing Institute of Precision Mechatronics and Controls Laboratory of Aerospace Servo Actuation and Transmission Beijing100076 China Hangzhou Shenhao Technology Co. Ltd Zhejiang Key Laboratory of Intelligent Operation and Maintenance Robot Hangzhou311121 China Jilin University Key Laboratory of Bionic Engineering Ministry of Education Jilin130022 China

ISBN: (纸本)9781665481090

In this paper, a new compact, low-inertia, and flexible tensegrity joint is proposed, which aims to overcome the shortcomings of traditional collaborative robots and tendon-driven robots. The joint is composed of two circular frames, and is connected by three surrounding pneumatic muscles and an intermediate spring. The stiffness of the joint is changed by inflating and releasing air to the pneumatic muscles, which is also the principle of the joint's variable stiffness. Firstly, a detailed kinematic analysis of the proposed tensegrity joint was carried out to explore its position change in multi-axis motion. Secondly, the stiffness analysis was carried out to evaluate the deformation response and stiffness characteristics of the joint under different loads, which provided an important reference for its design optimization. Finally, the performance of the model is verified by simulation analysis, and the reliability and practicability of the model in dynamic work are verified by comparison with actual data. This study provides a theoretical and experimental basis for the promotion of new tensegrity joints in robot applications, and provides new design ideas and methods for the development and innovation of future robotics technology. © 2024 IEEE.

关键词： Collaborative robots

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Cooperative Trajectory Tracking control of Multiple Mobile Robots Under Motor Voltage Losses

Cooperative Trajectory Tracking Control of Multiple Mobile R...

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control Conference (ANZCC), Australian and New Zealand

作者： Zhao-Qing Liu Xiaohua Ge Hao Xie Qing-Long Han Jinchuan Zheng Xian-Ming Zhang School of Science Computing and Engineering Technologies Swinburne University of Technology Melbourne VIC Australia Shanghai Aerospace Control Technology Institute Shanghai China School of Automation Science and Electrical Engineering Beihang University Beijing China

This paper deals with the cooperative trajectory tracking (CTT) control problem of multiple mobile robot (MR) systems subject to motor voltage losses. To account for the adverse effect induced by motor voltage loss, the dc-motor dynamics are first introduced in the multiple MR system (multi-MRS). Then, to guarantee the successful completion of CTT missions even in the presence of motor voltage loss, unknown dynamics, and external disturbances, a resilient adaptive CTT control design approach, including the design of a virtual kinematic control law, a virtual current control law as well as a voltage control law, is developed. In addition, a CTT error dynamics is derived for multi-MRSs by incorporating the simultaneous effects of motor voltage loss, unknown dynamics, and external disturbances. After that, a formal theoretical analysis of the stability for the derived CTT error dynamics is provided. At last, an experimental example study is provided to substantiate the efficacy of the developed resilient adaptive CTT control design approach.

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An Online Strategy for Nonlinear Vector Autoregression

An Online Strategy for Nonlinear Vector Autoregression

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Robotics, control and automation engineering (RCAE), International Conference on

作者： Gang Fang Yiqi Liu Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science & Engineering South China University of Technology Guangzhou China

ISBN: (数字)9798350355642

ISBN: (纸本)9798350355659

Nonlinear vector autoregression (NVAR), as an effective alternative to traditional reservoir computing (RC), has garnered significant attention in the field of time series prediction in recent years. Unlike conventional RC, NVAR does not require the use of random sampling matrices to define the underlying recurrent neural network, and it features fewer hyperparameters. However, NVAR is an offline model, making it challenging to meet the real-time monitoring requirements of industrial processes. Inspired by the Woodbury matrix identity, this paper proposes an online NVAR that can update the model using data arriving in blocks. Subsequently, this study constructs a soft sensing model based on the online NVAR to perform real-time monitoring of industrial processes. Finally, the effectiveness of the proposed method is validated using a real-world dataset from a wastewater treatment plant.

关键词： Recurrent neural networks Soft sensors Time series analysis Reservoir computing Predictive models Robot sensing systems Vectors Real-time systems Data models Wastewater treatment

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Event-Triggered Neural Asynchronous control of Nonhomogeneous Markov Jump Power Systems with Hybrid Cyberattacks and Unknown States

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IEEE Transactions on Power Systems 2025年

作者： Luo, Wende Chen, Haiyang Zong, Guangdeng Zhao, Xudong Qufu Normal University School of Engineering Rizhao276826 China Tiangong University School of Control Science and Engineering Tianjin300387 China Nanjing Institute of Technology School of Automation Nanjing211167 China Dalian University of Technology Faculty of Electronic Information and Electrical Engineering Dalian116024 China

This paper studies the observer-based eventtriggered neural asynchronous control problem of nonhomogeneous Markov jump power systems (MJPSs) under hybrid cyberattacks. Both periodic denial-of-service attacks and deception attacks (DAs) are involved because of the openness of networks. An event-triggered mechanism is established to ease the network load. Besides, neural network (NN) approaches are adopted to suppress the adverse effects of DAs on nonhomogeneous MJPSs, and the hidden Markov model (HMM) is employed to capture the asynchronous phenomenon between the system mode and the controller mode. With NN approaches and HMM, an observer-based NN asynchronous controller is designed. By constructing the mode- and parameter-dependent Lyapunov function, sufficient criteria ensuring boundedness in probability for nonhomogeneous MJPSs are obtained. Then, a design algorithm is shown to simultaneously obtain the controller gains, observer gains, and event-triggering weight matrices based on the established conditions. Finally, the single-machine infinitebus power system and 3-machine 6-bus power system are applied to justify the validity of the proposed algorithm. © 1969-2012 IEEE.

关键词： Lyapunov functions

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Workspace Analysis and Cable Force Optimization of Cable-Driven Motion Simulation Platform 9

Workspace Analysis and Cable Force Optimization of Cable-Dri...

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9th International Conference on Fluid Power and Mechatronics, FPM 2023

作者： Huang, Haixiang Shang, Yaoxing Liu, Xiaochao Liu, Xiaoting Qian, Ran Bai, Ning School of Automation Science and Electrical Engineering Beihang University Beijing China Ningbo Institute of Technology Beihang University Ningbo China Tianmushan Laboratory Xixi Octagon City China Beihang University Science and Technology on Aircraft Control Laboratory Beijing China Research Institute for Frontier Science Beihang University Beijing China

ISBN: (纸本)9798350304947

The motion simulation platform is used to simulate the changes of vehicle attitude and position. The cable-driven motion simulation platform has a larger working space than the traditional rigidly connected motion simulation platform, but its configuration directly affects the system performance and working space range. In order to reveal the influence of the system configuration on the set of reachable positions of the motion platform, the solution of the force-closed working space and the force-feasible working space of the cable-driven motion simulation platform are carried out in this paper. For the over-constrained cable drive system, it is necessary to distribute the cable force to achieve the internal force, so this paper uses the minimum P-parameter of the relevant force as the optimized objective function to optimize the cable force solution of the motion simulation platform. The above work provides theoretical basis and reference for the design and application of the cable drive motion simulation platform. © 2023 IEEE.

关键词： Simulation platform

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Reinforcement Learning-Based Fault-Tolerant control of Uncertain Strict-Feedback Nonlinear Systems With Intermittent Actuator Faults

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IEEE Transactions on Neural Networks and Learning Systems 2025年第6期36卷 10464-10478页

作者： Qinmin Yang Huaying Li Zhengwei Ruan Bo Fan Shuzhi Sam Ge State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China Hangzhou Huawei Communication Technology Company Ltd. Hangzhou China School of Automation Science and Engineering Xi’an Jiaotong University Xi’an China Department of Electrical and Computer Engineering Institute for Functional Intelligent Materials National University of Singapore Queenstown Singapore

In this work, a novel reinforcement learning-based adaptive fault-tolerant control (FTC) scheme with actuator redundancy is presented for a nonlinear strict-feedback system with nonlinear dynamics and uncertainties. A learning-based switching function technique is established to steer different groups of actuators automatically and successively to mitigate the impact of faulty actuators by observing a switching performance index. The optimal tracking control problem (OTCP) of strict-feedback nonlinear systems is transformed into an equivalent optimal regulation problem of each affine subsystem via adaptive feedforward controllers. Subsequently, the designed objective functions associated with Hamilton–Jacobi–Bellman (HJB) estimate errors caused by neural network (NN) approximations can be minimized by the reinforcement learning algorithm without value or policy iterations. It is proved that the tracking objective can be achieved and all signals in the closed-loop system can be guaranteed to be bounded, as long as the minimum time interval between two successive failures is bounded. Theoretical results are verified by simulations.

关键词： Actuators Switches Fault tolerant systems control systems Optimal control Redundancy Nonlinear dynamical systems Adaptive control Regulation Industrial control

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H∞ Filter Based Cooperative Localization for Multi-Robot System

H∞ Filter Based Cooperative Localization for Multi-Robot Sy...

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第43届中国控制会议

作者： Guoliang Yang Jin Zeng Dengfeng Wei Yiyang Liu Heng Wang Key Laboratory of Aeronautical Science and Technology of Inertial AVIC XI'AN Flight Automatic Control Research Institute School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper addresses the problem of multi-robot cooperative localization in non-Gaussian noise environments. Traditionally, the Kalman filter（KF） based algorithms are used as solutions to cooperative localization（CL） problems. However,the KF algorithms cannot obtain accurate state estimation when noises are non-Gaussian. To deal with this issue, an H filter based cooperative localization algorithm is proposed. Unlike the KF algorithm, the H filter algorithm does not require the assumption of Gaussian noise, thus achieving better localization accuracy for non-Gaussian scenarios. The effectiveness of the proposed algorithm is demonstrated through simulation examples.

关键词： Cooperative Localization H_∞ filter Multi-Robot Systems

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USV Path Planning Based on ACO-SA Algorithm 42

USV Path Planning Based on ACO-SA Algorithm

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42nd Chinese control Conference, CCC 2023

作者： Luo, Chuanshang Tang, Yifeng Huang, Zhihui Xu, Yifan Liu, Bin Zhang, Hai-Tao School of Artificial Intelligence and Automation Huazhong University of Science and Technology The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Laboratory of Digital Manufacturing Equipment and Technology Wuhan430074 China

ISBN: (纸本)9789887581543

This paper solves USV path planning problem constrained by multiple factors via ant-colony optimization algorithm. First, this paper uses the ways of multi-objective optimization to model the USV path planning problem. An improved ant colony algorithm named ACO-SA is put forward afterwards to effectively solve the problem. The algorithm is a combination of ACO algorithm(ant colony algorithm) and SA algorithm(simulated annealing algorithm), which has three improments: change the initial distribution of pheromone to guide the search when the algorithm has just started running;change the heuristic function and state transition probability taking three factors into consideration;change the pheromone update rule and make the ants compete for the right to update pheromone by simulated annealing algorithm, and update the best solution by the same algorithm. Finally, simulation experiment and field experiment are conducted to check the validity of ACO-SA algorithm. © 2023 Technical Committee on control Theory, Chinese Association of automation.

关键词： Simulated annealing

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Resilient observer-based event-triggered control for cyber-physical systems under asynchronous denial-of-service attacks

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science China(Information sciences) 2022年第4期65卷 182-196页

作者： Yifang ZHANG Zheng-Guang WU Zongze WU Deyuan MENG State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University School of Automation Guangdong University of Technology Seventh Research Division Beihang University (BUAA) School of Automation Science and Electrical Engineering Beihang University (BUAA)

We develop the resilient observer-based event-triggered control update strategy in this *** is utilized to achieve the input-to-state stability（ISS） of cyber-physical systems（CPSs） when there is an asynchronous denial-of-service（DoS） attack, which is launched by malicious adversaries both on measurement channel and control channel in a random attack strategy. To estimate the unmeasurable states while saving the limited networked bandwidth, an H∞observer-based event-triggered control scheme is first designed to guarantee the ISS of CPSs with economic communication. Moreover, the occurrence of Zeno behavior can be eliminated by providing the existence of a lower positive bound of any two inter-event times. Then, a recursive model of asynchronous DoS attacks is introduced. A resilient control update strategy is proposed and further analyzed to derive the stability criterion of CPSs. At last, a numerical simulation example is given to demonstrate the effectiveness of the introduced control update policy.

关键词： cyber-physical systems input-to-state stability asynchronous DoS attacks H ∞ observer event-triggered control

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