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Distributed Platooning Control of Automated Vehicles Subject to Replay Attacks Based on Proportional Integral Observers 被引量:1
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作者 Meiling Xie Derui Ding +3 位作者 Xiaohua Ge Qing-Long Han Hongli Dong Yan Song 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第9期1954-1966,共13页
Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities.This paper focuses on the distributed secure control issu... Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities.This paper focuses on the distributed secure control issue of automated vehicles affected by replay attacks.A proportional-integral-observer(PIO)with predetermined forgetting parameters is first constructed to acquire the dynamical information of vehicles.Then,a time-varying parameter and two positive scalars are employed to describe the temporal behavior of replay attacks.In light of such a scheme and the common properties of Laplace matrices,the closed-loop system with PIO-based controllers is transformed into a switched and time-delayed one.Furthermore,some sufficient conditions are derived to achieve the desired platooning performance by the view of the Lyapunov stability theory.The controller gains are analytically determined by resorting to the solution of certain matrix inequalities only dependent on maximum and minimum eigenvalues of communication topologies.Finally,a simulation example is provided to illustrate the effectiveness of the proposed control strategy. 展开更多
关键词 Automated vehicles platooning control proportional-integral-observers(PIOs) replay attacks TIME-DELAYS
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Control of 2-D Semi-Markov Jump Systems:A View from Mode Generation Mechanism
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作者 Yunzhe Men Jian Sun Jie Chen 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第1期258-260,共3页
Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-... Dear Editor,Two-dimensional(2-D) systems have wide applications in image data processing,gas absorption and fluid dynamics analysis [1]-[3].When there exist abrupt changes in 2-D systems,they are usually modeled by 2-D Markov jump systems(MJSs) or 2-D semi-Markov jump systems(SMJSs).This letter investigates the control of 2-D SMJSs based on a novel mode generation mechanism,which could avoid mode ambiguousness phenomenon caused by the evolution of system mode in two different directions.The criterion that guarantees the almost surely exponential stability of the system is obtained.A thermal process is studied to demonstrate the availability of the proposed method. 展开更多
关键词 MARKOV MODE system
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Data-Driven Control of Distributed Event-Triggered Network Systems 被引量:7
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作者 Xin Wang Jian Sun +2 位作者 Gang Wang Frank Allgower Jie Chen 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2023年第2期351-364,共14页
The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(a.k.a.network systems).To this end,we start by putting forth a novel distributed event-trigge... The present paper deals with data-driven event-triggered control of a class of unknown discrete-time interconnected systems(a.k.a.network systems).To this end,we start by putting forth a novel distributed event-triggering transmission strategy based on periodic sampling,under which a model-based stability criterion for the closed-loop network system is derived,by leveraging a discrete-time looped-functional approach.Marrying the model-based criterion with a data-driven system representation recently developed in the literature,a purely data-driven stability criterion expressed in the form of linear matrix inequalities(LMIs)is established.Meanwhile,the data-driven stability criterion suggests a means for co-designing the event-triggering coefficient matrix and the feedback control gain matrix using only some offline collected state-input data.Finally,numerical results corroborate the efficacy of the proposed distributed data-driven event-triggered network system(ETS)in cutting off data transmissions and the co-design procedure. 展开更多
关键词 Data-driven control distributed event-triggered network system(ETS) linear matrix inequalitie(LMI) looped-functional STABILITY
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Lyapunov-Based Output Containment Control of Heterogeneous Multi-Agent Systems With Markovian Switching Topologies and Distributed Delays 被引量:1
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作者 Haihua Guo Min Meng Gang Feng 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2023年第6期1421-1433,共13页
This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topolog... This paper considers the mean square output containment control problem for heterogeneous multi-agent systems(MASs)with randomly switching topologies and nonuniform distributed delays.By modeling the switching topologies as a continuous-time Markov process and taking the distributed delays into consideration,a novel distributed containment observer is proposed to estimate the convex hull spanned by the leaders'states.A novel distributed output feedback containment controller is then designed without using the prior knowledge of distributed delays.By constructing a novel switching Lyapunov functional,the output containment control problem is then solved in the sense of mean square under an easily-verifiable sufficient condition.Finally,two numerical examples are given to show the effectiveness of the proposed controller. 展开更多
关键词 Heterogeneous multi-agent systems Lyapunov method Markovian switching topologies output containment control time delays
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Intermittent Control for Fixed-Time Synchronization of Coupled Networks 被引量:1
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作者 Yongbao Wu Ziyuan Sun +1 位作者 Guangtao Ran Lei Xue 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2023年第6期1488-1490,共3页
Dear Editor, This letter deals with fixed-time synchronization(Fd-TS) of complex networks(CNs) under aperiodically intermittent control(AIC)for the first time. The average control rate and a new Lyapunov function are ... Dear Editor, This letter deals with fixed-time synchronization(Fd-TS) of complex networks(CNs) under aperiodically intermittent control(AIC)for the first time. The average control rate and a new Lyapunov function are proposed to overcome the difficulty of dealing with fixedtime stability/synchronization of CNs for AIC. 展开更多
关键词 SYNCHRONIZATION SYNCHRONIZATION OVERCOME
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Policy Gradient Adaptive Dynamic Programming for Model-Free Multi-Objective Optimal Control
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作者 Hao Zhang Yan Li +2 位作者 Zhuping Wang Yi Ding Huaicheng Yan 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2024年第4期1060-1062,共3页
Dear Editor,In this letter,the multi-objective optimal control problem of nonlinear discrete-time systems is investigated.A data-driven policy gradient algorithm is proposed in which the action-state value function is... Dear Editor,In this letter,the multi-objective optimal control problem of nonlinear discrete-time systems is investigated.A data-driven policy gradient algorithm is proposed in which the action-state value function is used to evaluate the policy.In the policy improvement process,the policy gradient based method is employed. 展开更多
关键词 POLICY GRADIENT OPTIMAL
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Consensus Control of Multi-Agent Systems Using Fault-Estimation-in-the-Loop:Dynamic Event-Triggered Case 被引量:21
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作者 Yamei Ju Derui Ding +2 位作者 Xiao He Qing-Long Han Guoliang Wei 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2022年第8期1440-1451,共12页
The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variabl... The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication resources.First,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed MASs.Subsequently,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability approaches.Furthermore,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,respectively.Finally,a simulation result is employed to verify the usefulness of the proposed design framework. 展开更多
关键词 Consensus control dynamic event-triggered protocol(DETP) fault compensation(FC) fault estimation multi-agent systems(MASs)
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H∞ Output Feedback Control of Constrained Systems via Moving Horizon Strategy 被引量:7
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作者 WANG Juan LIU Zhi-Yuan +2 位作者 CHEN Hong YU Shu-You PEI Run 《自动化学报》 EI CSCD 北大核心 2007年第11期1176-1181,共6页
这份报纸与致动器浸透为分离时间的系统处理 H 产量反馈控制问题。开始,一条抑制 H 输出反馈控制途径在线性矩阵不平等(LMI ) 的框架被介绍优化。在骚乱精力界限上的某些假设下面,靠近环的 H 性能被完成。而且,动人的地平线策略被用... 这份报纸与致动器浸透为分离时间的系统处理 H 产量反馈控制问题。开始,一条抑制 H 输出反馈控制途径在线性矩阵不平等(LMI ) 的框架被介绍优化。在骚乱精力界限上的某些假设下面,靠近环的 H 性能被完成。而且,动人的地平线策略被用于控制性能的一个联机管理以便靠近环的系统能在意外大骚乱的情况中满足控制限制。驱散限制被导出完成动人的地平线靠近环的系统消散。模拟结果证明抑制 H 控制器在骚乱假设下面有效地工作并且动人的地平线 H 控制器罐头交易自动地在令人满意的控制限制和提高的性能之间。 展开更多
关键词 H∞ 性能 输出反馈控制 线性矩阵不等式最优化 约束系统 移动水平控制
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LMI-based robust control of uncertain discrete-time piecewise affine systems 被引量:9
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作者 Zhiyuan LIU Yahui GAO Hong CHEN 《控制理论与应用(英文版)》 EI 2010年第4期496-502,共7页
The main contribution of this paper is to present stability synthesis results for discrete-time piecewise affine (PWA) systems with polytopic time-varying uncertainties and for discrete-time PWA systems with norm-bo... The main contribution of this paper is to present stability synthesis results for discrete-time piecewise affine (PWA) systems with polytopic time-varying uncertainties and for discrete-time PWA systems with norm-bounded uncertainties respectively.The basic idea of the proposed approaches is to construct piecewise-quadratic (PWQ) Lyapunov functions to guarantee the stability of the closed-loop systems.The partition information of the PWA systems is taken into account and each polytopic operating region is outer approximated by an ellipsoid,then sufficient conditions for the robust stabilization are derived and expressed as a set of linear matrix inequalities (LMIs).Two examples are given to illustrate the proposed theoretical results. 展开更多
关键词 Discrete-time systems Linear matrix inequality Piecewise affine systems Piecewise Lyapunov function Robust control
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The Indirect Shared Steering Control Under Double Loop Structure of Driver and Automation 被引量:10
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作者 Yantao Tian Yanbo Zhao +2 位作者 Yiran Shi Xuanhao Cao Ding-Li Yu 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2020年第5期1403-1416,共14页
Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this... Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation.In contrast to the tandem indirect shared control,the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles.Besides,the active disturbance rejection controller(ADRC)is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque,wind speed and ground interference etc.Eventually,we validated the advantages of double loop framework through three sets of double lane change and slalom experiments,respectively.Exactly as we expected,the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller,significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller. 展开更多
关键词 Active disturbance rejection controller(ADRC) authority allocation indirect shared control
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Nonlinear Adaptive Slewing Motion Control of Spacecraft Truss Driven by Synchronous V-gimbaled CMG Precession 被引量:4
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作者 Zhou Di Zhou Jingyang 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2007年第4期332-338,共7页
The slewing motion control of a truss arm driven by a V-gimbaled control-moment-gyro (CMG) is a nonlinear control problem. The V-gimbaled CMG consists of a pair of gyros that must precess synchronously. The moment o... The slewing motion control of a truss arm driven by a V-gimbaled control-moment-gyro (CMG) is a nonlinear control problem. The V-gimbaled CMG consists of a pair of gyros that must precess synchronously. The moment of inertia of the system, the angular momentum of the gyros and the external disturbances are not exactly known. With the help of feedback linearization and recursive Lyaptmov design method, an adaptive nonlinear controller is designed to deal with the unknown items. Performance of the proposed controller is verified by simulation. 展开更多
关键词 adaptive control attitude control feedback linearization CMG synchronization
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Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints 被引量:3
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作者 Hao Zhang Jianwen Sun Zhuping Wang 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2022年第2期354-364,共11页
This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage constraints.It is difficult for robots to obtain ... This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage constraints.It is difficult for robots to obtain accurate and stable global position information in many cases,such as when indoors,tunnels and any other environments where GPS(global positioning system)is denied,thus it is meaningful to overcome the dependence on global position information.Additionally,unknown slippage,which is hard to avoid for wheeled robots due to the existence of ice,sand,or muddy roads,can not only affect the control performance of wheeled robot,but also limits the application scene of wheeled mobile robots.To solve both problems,a fully distributed finite time state observer which does not require any global position information is proposed,such that each follower robot can estimate the leader’s states within finite time.The distributed adaptive controllers are further designed for each follower robot such that the desired formation can be achieved while overcoming the effect of unknown slippage.Finally,the effectiveness of the proposed observer and control laws are verified by simulation results. 展开更多
关键词 Adaptive control distributed formation control finite-time observer multi-robot systems SLIPPAGE
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Robust control with compensation of adaptive model for dual-stage inertially stabilized platform 被引量:3
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作者 SONG Jiang-peng ZHOU Di +1 位作者 SUN Guang-li QI Zhi-hui 《Journal of Central South University》 SCIE EI CAS CSCD 2018年第11期2615-2625,共11页
To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a sec... To achieve excellent tracking accuracy,a coarse-fine dual-stage control system is chosen for inertially stabilized platform.The coarse stage is a conventional inertially stabilized platform,and the fine stage is a secondary servo mechanism to control lens motion in the imaging optical path.Firstly,the dual-stage dynamics is mathematically modeled as a coupling multi-input multi-output(MIMO)control system.Then,by incorporating compensation of adaptive model to deal with parameter variations and nonlinearity,a systematic robust H∞control scheme is designed,which can achieve good tracking performance,as well as improve system robustness against model uncertainties.Lyapunov stability analysis confirmed the stability of the overall control system.Finally,simulation and experiment results are provided to demonstrate the feasibility and effectiveness of the proposed control design method. 展开更多
关键词 dual-stage control inertially stabilized platform robust H∞control adaptive model
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Decentralized adaptive neural network sliding mode position/force control of constrained reconfigurable manipulators 被引量:2
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作者 李元春 丁贵彬 赵博 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第11期2917-2925,共9页
A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooper... A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme. 展开更多
关键词 constrained reconfigurable manipulators position/force control model decomposition decentralized control neural network
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Delay-dependent stability and stabilization criteria of networked control systems with multiple time-delays 被引量:2
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作者 Huaicheng YAN Xinhan HUANG Min WANG 《控制理论与应用(英文版)》 EI 2006年第4期321-326,共6页
This paper deals with the problem of delay-dependent stability and stabilization for networked control systems(NCSs)with multiple time-delays. In view of multi-input and multi-output(MIMO) NCSs with many independe... This paper deals with the problem of delay-dependent stability and stabilization for networked control systems(NCSs)with multiple time-delays. In view of multi-input and multi-output(MIMO) NCSs with many independent sensors and actuators, a continuous time model with distributed time-delays is proposed. Utilizing the Lyapunov stability theory combined with linear matrix inequalities(LMIs) techniques, some new delay-dependent stability criteria for NCSs in terms of generalized Lyapunov matrix equation and LMIs are derived. Stabilizing controller via state feedback is formulated by solving a set of LMIs. Compared with the reported methods, the proposed methods give a less conservative delay bound and more general results. Numerical example and simulation show that the methods are less conservative and more effective. 展开更多
关键词 Networked control systems(NCSs) Delay-dependent stability Generalized Lyapunov matrix equation Linear matrix inequalities (LMIs) Networked-induced delay Maximum allowable delay bound(MADB)
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Feedback Control of Discrete Linear Switching Systems with Bounded State and Control Input in the Presence of Disturbances 被引量:2
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作者 FAN Guo-Wei LIU Zhi-Yuan CHEN Hong 《自动化学报》 EI CSCD 北大核心 2010年第8期1115-1121,共7页
关键词 反馈控制器 自动化系统 稳定性 动力学
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Encoding-Decoding-Based Control and Filtering of Networked Systems: Insights, Developments and Opportunities 被引量:3
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作者 Zidong Wang Licheng Wang +1 位作者 Shuai Liu Guoliang Wei 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2018年第1期3-18,共16页
In order to make the information transmission more efficient and reliable in a digital communication channel with limited capacity, various encoding-decoding techniques have been proposed and widely applied in many br... In order to make the information transmission more efficient and reliable in a digital communication channel with limited capacity, various encoding-decoding techniques have been proposed and widely applied in many branches of the signal processing including digital communications, data compression,information encryption, etc. Recently, due to its promising application potentials in the networked systems(NSs), the analysis and synthesis issues of the NSs under various encoding-decoding schemes have stirred some research attention. However, because of the network-enhanced complexity caused by the limited network resources, it poses new challenges to the design of suitable encoding-decoding procedures to meet certain control or filtering performance for the NSs. In this survey paper, our aim is to present a comprehensive review of the encoding-decodingbased control and filtering problems for different types of NSs.First, some basic introduction with respect to the coding-decoding mechanism is presented in terms of its engineering insights,specific properties and theoretical formulations. Then, the recent representative research progress in the design of the encodingdecoding protocols for various control and filtering problems is discussed. Some possible further research topics are finally outlined for the encoding-decoding-based NSs. 展开更多
关键词 Encoding-decoding-based communication mechanism encoding-decoding-based control encoding-decodingbased state estimation networked systems
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Delay-dependent robust stability of uncertain networked control systems with multiple state time-delays 被引量:1
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作者 Huaicheng YAN Xinhan HUANG Min WANG 《控制理论与应用(英文版)》 EI 2007年第2期164-170,共7页
In this paper, delay-dependent robust stability for a class of uncertain networked control systems (NCSs) with multiple state time-delays is investigated. Modeling of multi-input and multi-output (MIMO) NCSs with ... In this paper, delay-dependent robust stability for a class of uncertain networked control systems (NCSs) with multiple state time-delays is investigated. Modeling of multi-input and multi-output (MIMO) NCSs with networkinduced delays and uncertainties through new methods are proposed. Some new stability criteria in terms of LMIs are derived by using Lyapunov stability theory combined with linear matrix inequalities (LMIs) techniques. We analyze the delay-dependent asymptotic stability and obtain maximum allowable delay bound (MADB) for the NCSs with the proposed methods. Compared with the reported results, the proposed results obtain a much less conservative MADB which are more general. Numerical example and simulation is used to illustrate the effectiveness of the proposed methods. 展开更多
关键词 Networked control systems(NCSs) Delay-dependent robust stability Linear matrix inequalities (LMIs) Networked-induced delay Maximum allowable delay bound(MADB)
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Non-synchronized Observer-based Control of Discrete-time Piecewise Affine Systems: an LMI Approach 被引量:1
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作者 GAO Ya-Hui LIU Zhi-Yuan CHEN Hong 《自动化学报》 EI CSCD 北大核心 2009年第10期1341-1346,共6页
关键词 分段仿射系统 分段LYAPUNOV函数 控制器设计 观测器
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Self-organization of Reconfigurable Protocol Stack for Networked Control Systems 被引量:1
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作者 Chun-Jie Zhou Hui Chen Yuan-Qing Qin Yu-Feng Shi Guang-Can Yu 《International Journal of Automation and computing》 EI 2011年第2期221-235,共15页
In networked control systems (NCS),the control performance depends on not only the control algorithm but also the communication protocol stack.The performance degradation introduced by the heterogeneous and dynamic ... In networked control systems (NCS),the control performance depends on not only the control algorithm but also the communication protocol stack.The performance degradation introduced by the heterogeneous and dynamic communication environment has intensified the need for the reconfigurable protocol stack.In this paper,a novel architecture for the reconfigurable protocol stack is proposed,which is a unified specification of the protocol components and service interfaces supporting both static and dynamic reconfiguration for existing industrial communication standards.Within the architecture,a triple-level self-organization structure is designed to manage the dynamic reconfiguration procedure based on information exchanges inside and outside the protocol stack.Especially,the protocol stack can be self-adaptive to various environment and system requirements through the reconfiguration of working mode,routing and scheduling table.Finally,the study on the protocol of dynamic address management is conducted for the system of controller area network (CAN).The results show the efficiency of our self-organizing architecture for the implementation of a reconfigurable protocol stack. 展开更多
关键词 Networked control system (NCS) communication network SELF-ORGANIZATION protocol stack RECONFIGURATION
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