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6th International Conference on control and computer Vision, ICCCV 2024

作者： Cao, Runxi Liu, Jia Du, Jiayi Zhang, Yunxi School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin China Tianjin Key Laboratory of Information Sensing and Intelligent Control School of Automation and Electrical Engineering Tianjin University of Technology and Education Tianjin China

ISBN: (纸本)9798400718045

This paper studies the formation control problem of heterogeneous multi-agent systems. We consider a heterogeneous multi-agent system with the first-order linear leaders and second-order nonlinear followers. A distributed formation control protocol is devised to make the system achieve formation control. Furthermore, using Lyapunov stability theory and linear matrix inequality method the stability analysis of the system is conducted, and the sufficient condition is presented for successful formation control in heterogeneous multi-agent systems. Finally, a numerical simulation example is provided to validate the obtained results. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Linear matrix inequalities

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Defense for Advanced Persistent Threat with Inadvertent and Malicious Insider Threats

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无人系统（英文） 2024年第2期12卷 341-358页

作者： Ziqin Chen Guanpu Chen Yiguang Hong Department of Control Science and Engineering and Shanghai Research Institute for Intelligent Autonomous Systems Tongji UniversityShanghaiP.R.China School of Electrical Engineering and Computer Science KTH Royal Institute of TechnologyStockholmSweden

In this paper,we propose a game theory framework to solve advanced persistent threat problems,especially considering two types of insider threats:malicious and *** this framework,we establish a unified three-player game model and derive Nash equilibria in response to different types of insider *** analyzing these Nash equilibria,we provide quantitative solutions to advanced persistent threat problems pertaining to insider ***,we have conducted a comparative assessment of the optimal defense strategy and corresponding defender's costs between two types of insider ***,our findings advocate a more proactive defense strategy against inadvertent insider threats in contrast to malicious ones,despite the latter imposing a higher burden on the *** theoretical results are substantiated by numerical results,which additionally include a detailed exploration of the conditions under which different insiders adopt risky *** conditions can serve as guiding indicators for the defender when calibrating their monitoring intensities and devising defensive strategies.

关键词： Security game advanced persistent threat insider threats Nash equilibrium

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Exponential Synchronization for Mobile Robotic Formation: A Hybrid Dynamic Event-Triggered Intermittent control Method

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-10页

作者： Chang, Zhenyu Guo, Ying Zong, Guangdeng Qi, Wenhai Zhao, Xudong School of Control Science and Engineering Tiangong University Tianjin China School of Computer Science Beijing University of Posts and Telecommunications Beijing China School of Engineering Qufu Normal University Rizhao China Faculty of Electronic Information and Electrical Engineering Dalian University of Technology Dalian China

To address the formation tracking issue of mobile robotic systems, this paper constructs a novel hybrid dynamic event-triggered intermittent control strategy, which can achieve the exponential synchronization of the systems. Considering the limited control resources, the intermittent control method is introduced into the distributed control strategy to save resources, and the existing intermittent control model is reconstructed to describe the system model better. A hybrid dynamic event-triggered mechanism is developed by combining the dynamic event-triggered method with the time sampling strategy, eliminating the Zeno phenomenon. The control time sequences in the developed intermittent control strategy are automatically selected by the hybrid dynamic event-triggered sequences, rather than artificially designed in advance, which reduces a certain degree of design complexity. The developed control strategy effectively saves control resources while alleviating the burden of network communication. Sufficient conditions for achieving exponential synchronization formation tracking are provided, and the exponential convergence of the formation error is demonstrated through the proposed lemma. Finally, a control task of multi-mobile robots formation is presented to verify the effectiveness of the theoretical analysis. IEEE

关键词： Synchronization

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Image-Based Fast Finite-Time Target Tracking control of Onboard Inertially Stabilized Camera Platform

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IEEE Transactions on Industrial Electronics 2024年第12期71卷 16409-16418页

作者： Sun, Xunhong Zhu, Wenwu Du, Haibo Chen, Weile Chen, Chih-Chiang Hefei University of Technology School of Electrical Engineering and Automation Hefei230009 China Southeast University Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China Southeast University School of Automation Nanjing210096 China National Cheng Kung University Department of Systems and Naval Mechatronic Engineering Tainan70101 Taiwan

In this article, we investigate the problem of fast finite-time target tracking control of the inertially stabilized platform (ISP) with a camera that mounted on a mobile robot. At first, the kinematics of the onboard ISP target tracking system is established by the geographic coordinate and pinhole camera model, which includes the state-dependent uncertainties and external disturbances. Then, based on the image information captured by camera, a continuous image-based fast finite-time control algorithm is designed for target tracking. Rigorous analysis proves that the target can be tracked at the center of camera's view in finite time in the absence of disturbances. In the presence of disturbances, the tracking error can converge to a region around the origin in finite time. Simulation and experimental comparisons are presented to confirm the efficiency of the proposed method. © 1982-2012 IEEE.

关键词： Mobile robots

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Autonomous WSNs node powered by a thermal energy harvester for temperature monitoring

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International Journal of Ambient Energy 2023年第1期44卷 1058-1066页

作者： Zhang, Zhijuan Ji, Xiaoming Zhang, Qunjun Hou, Liqun School of Electrical and Electronic Engineering North China Electric Power University Baoding China School of Control and Computer Engineering North China Electric Power University Baoding China

An autonomous wireless sensor networks (WSNs) node powered by a thermal energy harvester with MPPT is proposed in this paper for temperature monitoring. Two commercial TEG modules are used to build up the thermoelectric collector, while an energy management circuit with a DC/DC converter is employed to boost the TEG output voltage. The harvested energy is stored in a supercapacitor. The feasibility of the presented self-powered WSNs node is verified by a series of experiments with various node sleep periods and temperature differences across the thermoelectric generator (ΔT TEG). The results show that the proposed thermal energy harvester can work at its maximum power point and autonomously power a commercial WSN node when ΔT TEG is above 13.3°C and node sleep period is not less than 1.5 s. In addition, the designed self-powered WSNs node can monitor the temperature of industrial devices successfully. © 2023 Informa UK Limited, trading as Taylor & Francis Group.

关键词： Thermal energy

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Adaptive Trajectory Tracking control for Nonholonomic Wheeled Mobile Robots:A Barrier Function Sliding Mode Approach

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1007-1021页

作者： Yunjun Zheng Jinchuan Zheng Ke Shao Han Zhao Hao Xie Hai Wang the School of Mechanical Engineering Hefei University of TechnologyHefei 230009China the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyHawthorn VIC 3122Australia the School of Civil Aviation Northwestern Polytechnical UniversityXi’an 710072China the Shanghai Aerospace Control Technology Institute Shanghai 201109 the School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China the College of Science HealthEngineering and EducationMurdoch UniversityPerth WA6150Australia

The trajectory tracking control performance of nonholonomic wheeled mobile robots(NWMRs)is subject to nonholonomic constraints,system uncertainties,and external *** paper proposes a barrier function-based adaptive sliding mode control(BFASMC)method to provide high-precision,fast-response performance and robustness for *** with the conventional adaptive sliding mode control,the proposed control strategy can guarantee that the sliding mode variables converge to a predefined neighborhood of origin with a predefined reaching time independent of the prior knowledge of the uncertainties and disturbances *** advantage of the proposed algorithm is that the control gains can be adaptively adjusted to follow the disturbances amplitudes thanks to the barrier *** benefit is that the overestimation of control gain can be eliminated,resulting in chattering ***,a modified barrier function-like control gain is employed to prevent the input saturation problem due to the physical limit of the *** stability analysis and comparative experiments demonstrate that the proposed BFASMC can ensure the prespecified convergence performance of the NWMR system output variables and strong robustness against uncertainties/disturbances.

关键词： Adaptive sliding mode barrier function nonholonomic wheeled mobile robot(NWMR) trajectory tracking control

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Finite-Time Synchronization of Complex Networks With Intermittent Couplings and Neutral-Type Delays

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IEEE/CAA Journal of Automatica Sinica 2023年第10期10卷 2026-2028页

作者： Engang Tian Yi Zou Hongtian Chen School of Optical-Electrical and Computer Engineering University of Shanghai for Science and TechnologyShanghai 200093China Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China

Dear Editor, This letter focuses on the finite-time synchronization(FTS) of neutral-type complex networks with intermittent couplings. Different from most of the existing references concerning neutral-type systems,a delay-independent dynamical event-triggering controller is considered, operating the same way as the intermittent coupling and excluding the Zeno behavior naturally.

关键词： neutral letter concerning

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Resilient Cooperative Guidance for Leader-Follower Flight Vehicles Against Maneuvering Target

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IEEE Transactions on Aerospace and Electronic Systems 2025年第3期61卷 6310-6324页

作者： Li, Guofei Tang, Qingpu Zuo, Zongyu Wu, Yunjie Lu, Jinhu Northwestern Polytechnical University School of Astronautics Xi'an710072 China Northwestern Polytechnical University National Elite Institute of Engineering Xi'an710072 China Beihang University School of Automation Science and Electrical Engineering Science and Technology on Aircraft Control Laboratory Beijing100191 China

In this paper, we explore the cooperative guidance problem of leader-follower flight vehicles against the maneuvering target in the presence of false-data injection attacks (FDIAs). All the leader-follower flight vehicles including seeker-less followers are required to arrive at the target with specified terminal time and pre-set blockade configuration. A prescribed-time convergent guidance law is given to make the leader reach the maneuvering target at appointed arrival time. Since the seeker-less followers cannot acquire the target information, a radius-variable spherical formation configuration is presented, and a resilient cooperative guidance method leveraging actor-critic neural network is proposed for the followers to form the blockade configuration and reach the target simultaneously. By exploiting both the current and historical data, an improved trust factor is presented to identify and discard the communication links contaminated by the false data. The simulation results indicate that the flight vehicles governed by the proposed approach can achieve the simultaneous arrival successfully when encountering the false data injection attacks. © 1965-2011 IEEE.

关键词： Maneuverability

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Enhanced UAV Pursuit-Evasion Using Boids Modelling:A Synergistic Integration of Bird Swarm Intelligence and DRL

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computers, Materials & Continua 2024年第9期80卷 3523-3553页

作者： Weiqiang Jin Xingwu Tian Bohang Shi Biao Zhao Haibin Duan Hao Wu School of Information and Communications Engineering Faculty of Electronic and Information EngineeringXi’an Jiaotong UniversityXi’an710049China China Academy of Electronics and Information Technology China Electronics Technology Group Corporation(CETC)Beijing100041China Department ofAutomatic Control School of Automation Science and Electrical EngineeringBeihangUniversityBeijing100191China

TheUAV pursuit-evasion problem focuses on the efficient tracking and capture of evading targets using unmanned aerial vehicles(UAVs),which is pivotal in public safety applications,particularly in scenarios involving intrusion monitoring and *** address the challenges of data acquisition,real-world deployment,and the limited intelligence of existing algorithms in UAV pursuit-evasion tasks,we propose an innovative swarm intelligencebased UAV pursuit-evasion control framework,namely“Boids Model-based DRL Approach for Pursuit and Escape”(Boids-PE),which synergizes the strengths of swarm intelligence from bio-inspired algorithms and deep reinforcement learning(DRL).The Boids model,which simulates collective behavior through three fundamental rules,separation,alignment,and cohesion,is adopted in our *** integrating Boids model with the Apollonian Circles algorithm,significant improvements are achieved in capturing UAVs against simple evasion *** further enhance decision-making precision,we incorporate a DRL algorithm to facilitate more accurate strategic *** also leverage self-play training to continuously optimize the performance of pursuit *** experimental evaluation,we meticulously designed both one-on-one and multi-to-one pursuit-evasion scenarios,customizing the state space,action space,and reward function models for each *** simulations,supported by the PyBullet physics engine,validate the effectiveness of our proposed *** overall results demonstrate that Boids-PE significantly enhance the efficiency and reliability of UAV pursuit-evasion tasks,providing a practical and robust solution for the real-world application of UAV pursuit-evasion missions.

关键词： UAV pursuit-evasion swarm intelligence algorithm Boids model deep reinforcement learning self-play training

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Finite-region H∞ filtering of 2D Markov jump systems with deception attacks 24

Finite-region H∞ filtering of 2D Markov jump systems with d...

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2nd International Conference on Frontiers of Intelligent Manufacturing and automation, CFIMA 2024

作者： Wang, Guangyu Fang, Jiankang Ren, Chengcheng Wang, Longlong He, Shuping Zhang, Liang School of Computer Science and Technology Anhui University Hefei China School of Electrical Engineering and Automation Anhui University Hefei China

ISBN: (纸本)9798400710681

In this paper, we study the finite-region H∞ filtering problem for two dimensional (2D) Markov jump systems (MJSs) subject to deception attacks. First, the effect of deception attacks are considered and the filtering error is modeled. The sufficient conditions to ensure the stability of the filtering performance are obtained by using the Lyapunov function and linear matrix inequalities. Finally, the effectiveness of the method is verified by a numerical example on Darboux equation. © 2024 Copyright held by the owner/author(s).

关键词： Lyapunov functions

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