In this brief, trajectory tracking for a fully actuated surface vessel while performing automated docking is addressed. Environmental disturbances, integral action, as well as physical actuator quantities are directly integrated into the approach, avoiding the need for additional control allocation. By employing a backstepping design, uniform local exponential stability is proven. The performance of the controller is demonstrated by full-scale experiments. Moreover, a comparison between the physical experiments and simulations is provided.
{"title":"Tracking Control of Docking Maneuvers for a Fully Actuated Surface Vessel Using Backstepping","authors":"Leticia Mayumi Kinjo;Tomas Ménard;Stefan Wirtensohn;Olivier Gehan;Johannes Reuter","doi":"10.1109/TCST.2024.3385666","DOIUrl":"10.1109/TCST.2024.3385666","url":null,"abstract":"In this brief, trajectory tracking for a fully actuated surface vessel while performing automated docking is addressed. Environmental disturbances, integral action, as well as physical actuator quantities are directly integrated into the approach, avoiding the need for additional control allocation. By employing a backstepping design, uniform local exponential stability is proven. The performance of the controller is demonstrated by full-scale experiments. Moreover, a comparison between the physical experiments and simulations is provided.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 5","pages":"1920-1927"},"PeriodicalIF":4.9,"publicationDate":"2024-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140628995","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-18DOI: 10.1109/TCST.2024.3387588
Xiangchen Cheng;Wei Tang;Ming Yang;Li Jin
Signal-free intersections are a representative application of smart and connected vehicle technologies. Although extensive results have been developed for trajectory planning and autonomous driving, the formulation and evaluation of vehicle sequencing have not been well understood. In this article, we consider theoretical guarantees of macroscopic performance (i.e., capacity and delay) of typical sequencing policies at signal-free intersections. We model intersection traffic as a piecewise-deterministic Markov process (PDMP). We analytically characterize the intersection capacity regions and provide upper bounds on travel delay under three typical policies, viz. first-in-first-out (FIFO), min-switchover (MS), and longer-queue-first (LQF). We obtain these results by constructing policy-specific Lyapunov functions and computing mean drift of the PDMP. We also validate the results via a series of micro-simulation-based experiments.
{"title":"Vehicle Sequencing at Signal-Free Intersections: Analytical Performance Guarantees Based on PDMP Formulation","authors":"Xiangchen Cheng;Wei Tang;Ming Yang;Li Jin","doi":"10.1109/TCST.2024.3387588","DOIUrl":"10.1109/TCST.2024.3387588","url":null,"abstract":"Signal-free intersections are a representative application of smart and connected vehicle technologies. Although extensive results have been developed for trajectory planning and autonomous driving, the formulation and evaluation of vehicle sequencing have not been well understood. In this article, we consider theoretical guarantees of macroscopic performance (i.e., capacity and delay) of typical sequencing policies at signal-free intersections. We model intersection traffic as a piecewise-deterministic Markov process (PDMP). We analytically characterize the intersection capacity regions and provide upper bounds on travel delay under three typical policies, viz. first-in-first-out (FIFO), min-switchover (MS), and longer-queue-first (LQF). We obtain these results by constructing policy-specific Lyapunov functions and computing mean drift of the PDMP. We also validate the results via a series of micro-simulation-based experiments.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2023-2036"},"PeriodicalIF":4.9,"publicationDate":"2024-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140629031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-17DOI: 10.1109/TCST.2024.3387788
Zhen Wu;Zhongyang Fei;Xuefang Lin-Shi;Xi-Ming Sun
In the aero-engine control, fast response capability is significant in transient performance, especially when aircraft work in emergency scenarios. To improve the response speed of aero-engines, this brief proposes a type of fixed-time control using the switched system approach. First, aero-engines are modeled as switched systems to better reflect the multimode characteristics under various operating tasks. Then, the fixed-time controller is proposed, which has advantages of small computation and easy implementation. Novel criteria are proposed for fixed-time stability analysis of the closed-loop system under restricted switchings. Furthermore, specific calculations are provided to derive the upper bound for the convergence time. Finally, superiorities of the proposed method are validated through experimental results.
{"title":"Fixed-Time Controller Design for Aero-Engines: A Switched System Approach","authors":"Zhen Wu;Zhongyang Fei;Xuefang Lin-Shi;Xi-Ming Sun","doi":"10.1109/TCST.2024.3387788","DOIUrl":"10.1109/TCST.2024.3387788","url":null,"abstract":"In the aero-engine control, fast response capability is significant in transient performance, especially when aircraft work in emergency scenarios. To improve the response speed of aero-engines, this brief proposes a type of fixed-time control using the switched system approach. First, aero-engines are modeled as switched systems to better reflect the multimode characteristics under various operating tasks. Then, the fixed-time controller is proposed, which has advantages of small computation and easy implementation. Novel criteria are proposed for fixed-time stability analysis of the closed-loop system under restricted switchings. Furthermore, specific calculations are provided to derive the upper bound for the convergence time. Finally, superiorities of the proposed method are validated through experimental results.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2394-2401"},"PeriodicalIF":4.9,"publicationDate":"2024-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140611623","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-16DOI: 10.1109/TCST.2024.3385632
Maurice Poot;Max van Haren;Dragan Kostić;Jim Portegies;Tom Oomen
The requirements for high accuracy and throughput in next-generation data-intensive motion systems lead to situations where position-dependent feedforward is essential. This article aims to develop a framework for interpretable and task-flexible position-dependent feedforward through systematic learning with automated experimental design. A data-driven and interpretable framework is developed by employing Gaussian process (GP) regression, enabling accurate modeling of feedforward parameters as a continuous function of position. The data is efficiently collected and illustrated through an iterative learning control (ILC) algorithm. Moreover, a framework for experimental design in the sense of automatically determining the training positions is presented by exploiting the uncertainty estimates of the GP and the specified first-principles knowledge. Two relevant case studies show the importance and significant performance improvement of the approach for position-dependent snap feedforward for a simplified 1-D wafer stage simulation and experimental application to position-dependent motor force constant compensation in an industrial wirebonder.
下一代数据密集型运动系统对高精度和高吞吐量的要求，使得位置相关前馈变得至关重要。本文旨在通过自动化实验设计的系统学习，开发一个可解释且任务灵活的位置相关前馈框架。通过采用高斯过程（GP）回归，开发了一个数据驱动和可解释的框架，使前馈参数的精确建模成为位置的连续函数。通过迭代学习控制（ILC）算法，可以有效地收集和说明数据。此外，通过利用 GP 的不确定性估计和指定的第一原理知识，提出了自动确定训练位置的实验设计框架。两个相关案例研究显示了该方法在简化的 1-D 晶圆平台仿真中用于位置依赖性快速前馈的重要性和显著的性能改进，以及在工业绕线机中用于位置依赖性电机力恒定补偿的实验应用。
{"title":"Position-Dependent Motion Feedforward via Gaussian Processes: Applied to Snap and Force Ripple in Semiconductor Equipment","authors":"Maurice Poot;Max van Haren;Dragan Kostić;Jim Portegies;Tom Oomen","doi":"10.1109/TCST.2024.3385632","DOIUrl":"10.1109/TCST.2024.3385632","url":null,"abstract":"The requirements for high accuracy and throughput in next-generation data-intensive motion systems lead to situations where position-dependent feedforward is essential. This article aims to develop a framework for interpretable and task-flexible position-dependent feedforward through systematic learning with automated experimental design. A data-driven and interpretable framework is developed by employing Gaussian process (GP) regression, enabling accurate modeling of feedforward parameters as a continuous function of position. The data is efficiently collected and illustrated through an iterative learning control (ILC) algorithm. Moreover, a framework for experimental design in the sense of automatically determining the training positions is presented by exploiting the uncertainty estimates of the GP and the specified first-principles knowledge. Two relevant case studies show the importance and significant performance improvement of the approach for position-dependent snap feedforward for a simplified 1-D wafer stage simulation and experimental application to position-dependent motor force constant compensation in an industrial wirebonder.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"1968-1982"},"PeriodicalIF":4.9,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140611494","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-16DOI: 10.1109/TCST.2024.3386062
Pablo Krupa;Rim Jaouani;Daniel Limon;Teodoro Alamo
Model predictive control (MPC) typically includes a terminal constraint to guarantee stability of the closed-loop system under nominal conditions. In linear MPC, this constraint is generally taken on a polyhedral set, leading to a quadratic optimization problem. However, the use of an ellipsoidal terminal constraint may be desirable, leading to an optimization problem with a quadratic constraint. In this case, the optimization problem can be solved using second-order cone (SOC) programming solvers, since the quadratic constraint can be posed as a SOC constraint, at the expense of adding additional slack variables and possibly compromising the simple structure of the solver ingredients. In this brief, we present a sparse solver for linear MPC subject to a terminal ellipsoidal constraint based on the alternating direction method of multipliers (ADMM) algorithm in which we directly deal with the quadratic constraints without having to resort to the use of a SOC constraint nor the inclusion of additional decision variables. The solver is suitable for its use in embedded systems, since it is sparse, has a small memory footprint, and requires no external libraries. We compare its performance against other approaches from the literature.
{"title":"A Sparse ADMM-Based Solver for Linear MPC Subject to Terminal Quadratic Constraint","authors":"Pablo Krupa;Rim Jaouani;Daniel Limon;Teodoro Alamo","doi":"10.1109/TCST.2024.3386062","DOIUrl":"10.1109/TCST.2024.3386062","url":null,"abstract":"Model predictive control (MPC) typically includes a terminal constraint to guarantee stability of the closed-loop system under nominal conditions. In linear MPC, this constraint is generally taken on a polyhedral set, leading to a quadratic optimization problem. However, the use of an ellipsoidal terminal constraint may be desirable, leading to an optimization problem with a quadratic constraint. In this case, the optimization problem can be solved using second-order cone (SOC) programming solvers, since the quadratic constraint can be posed as a SOC constraint, at the expense of adding additional slack variables and possibly compromising the simple structure of the solver ingredients. In this brief, we present a sparse solver for linear MPC subject to a terminal ellipsoidal constraint based on the alternating direction method of multipliers (ADMM) algorithm in which we directly deal with the quadratic constraints without having to resort to the use of a SOC constraint nor the inclusion of additional decision variables. The solver is suitable for its use in embedded systems, since it is sparse, has a small memory footprint, and requires no external libraries. We compare its performance against other approaches from the literature.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"2376-2384"},"PeriodicalIF":4.9,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140611629","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this article, we present a control design framework for autonomous visual tracking of a dynamic target by a quadrotor vehicle. The considered problem poses important challenges related to the scale ambiguity, which affects monocular vision systems, and the lack of knowledge of the target dynamic response. These are addressed by leveraging a modular architecture that combines a state-of-the-art visual object tracker with a robust output feedback controller. In particular, by relying on the $mu $ -synthesis technique, we design a controller providing suitable stability and performance guarantees. As opposed to previous solutions found in the literature, the proposed design does not require information about the target object depth or its geometry. The effectiveness of our approach is demonstrated through photorealistic simulations, showing that monocular tracking of aerial targets is consistently achieved.
{"title":"Quadrotor Control System Design for Robust Monocular Visual Tracking","authors":"Mirko Leomanni;Francesco Ferrante;Alberto Dionigi;Gabriele Costante;Paolo Valigi;Mario Luca Fravolini","doi":"10.1109/TCST.2024.3387228","DOIUrl":"10.1109/TCST.2024.3387228","url":null,"abstract":"In this article, we present a control design framework for autonomous visual tracking of a dynamic target by a quadrotor vehicle. The considered problem poses important challenges related to the scale ambiguity, which affects monocular vision systems, and the lack of knowledge of the target dynamic response. These are addressed by leveraging a modular architecture that combines a state-of-the-art visual object tracker with a robust output feedback controller. In particular, by relying on the \u0000<inline-formula> <tex-math>$mu $ </tex-math></inline-formula>\u0000-synthesis technique, we design a controller providing suitable stability and performance guarantees. As opposed to previous solutions found in the literature, the proposed design does not require information about the target object depth or its geometry. The effectiveness of our approach is demonstrated through photorealistic simulations, showing that monocular tracking of aerial targets is consistently achieved.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"1995-2008"},"PeriodicalIF":4.9,"publicationDate":"2024-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140613353","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
An approach to tackle the classical problem of homography decomposition is presented. The key novelty lies in the design of two deterministic Riccati observers tailored specifically the homography decomposition problem, departing from the conventional frame-by-frame solving approach employed in traditional algebraic methods. By leveraging the temporal correlation within image sequences and harnessing the inherent low-pass response of the observers, the resulting estimates are robust and less susceptible to measurement noise. Furthermore, a comprehensive analysis pointing out sufficient conditions of uniform observability ensuring local exponential stability is conducted. Simulation results demonstrate a broad convergence domain and showcase the effective performance of the proposed observers. Additionally, experimental evidence is provided to illustrate the improved performance compared to classical algebraic solutions.
{"title":"Deterministic Riccati Observers for Homography Decomposition","authors":"Ninad Manerikar;Minh-Duc Hua;Tarek Hamel;Claude Samson","doi":"10.1109/TCST.2024.3381810","DOIUrl":"10.1109/TCST.2024.3381810","url":null,"abstract":"An approach to tackle the classical problem of homography decomposition is presented. The key novelty lies in the design of two deterministic Riccati observers tailored specifically the homography decomposition problem, departing from the conventional frame-by-frame solving approach employed in traditional algebraic methods. By leveraging the temporal correlation within image sequences and harnessing the inherent low-pass response of the observers, the resulting estimates are robust and less susceptible to measurement noise. Furthermore, a comprehensive analysis pointing out sufficient conditions of uniform observability ensuring local exponential stability is conducted. Simulation results demonstrate a broad convergence domain and showcase the effective performance of the proposed observers. Additionally, experimental evidence is provided to illustrate the improved performance compared to classical algebraic solutions.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 6","pages":"1955-1967"},"PeriodicalIF":4.9,"publicationDate":"2024-04-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140588886","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-03DOI: 10.1109/TCST.2024.3377949
Lepeng Chen;Rongxin Cui;Weisheng Yan;Feiyu Ma;Hui Xu;Haitao Yu;Haoquan Li
The safety of ship hulls, reservoir dams, and bridge piers must be ensured through routine fracture detection and damage repair. An underwater robot with eight thrusters and six C-shaped legs has been built to be able to walk on these intricate underwater structures. In this article, a slip-regulated optimal walking control strategy is proposed while taking into account vehicle dynamics. The controller also produces the necessary longitudinal force and yaw moment, so that the robot follows the desired forward velocity and heading direction. It then equivalently transfers the needed force and moment to the contact points of all supporting legs. The suggested controller also includes appropriate constraints and a cost function to regulate the slippage of supporting legs. In addition to preventing longitudinal slippage and enabling lateral slippage, the proposed control framework enhances walking stability and steering ability. Finally, the effectiveness of the proposed method is verified through the Gazebo platform and the hexapod robot.
船体、水库大坝和桥梁桥墩的安全必须通过日常的断裂检测和损坏修复来确保。为了能够在这些错综复杂的水下结构上行走，我们制造了一个拥有八个推进器和六条 C 形腿的水下机器人。本文提出了一种滑移调节的最佳行走控制策略，同时考虑到了车辆动力学。该控制器还能产生必要的纵向力和偏航力矩，使机器人遵循所需的前进速度和航向。然后，它将所需的力和力矩等效地传递到所有支撑腿的接触点。建议的控制器还包括适当的约束条件和成本函数，用于调节支撑腿的滑动。除了防止纵向滑动和实现横向滑动外，建议的控制框架还增强了行走的稳定性和转向能力。最后，通过 Gazebo 平台和六足机器人验证了所提方法的有效性。
{"title":"Slip-Regulated Optimal Control for Hybrid-Driven Underwater Hexapod Robot With Thrusters and C-Shaped Legs","authors":"Lepeng Chen;Rongxin Cui;Weisheng Yan;Feiyu Ma;Hui Xu;Haitao Yu;Haoquan Li","doi":"10.1109/TCST.2024.3377949","DOIUrl":"10.1109/TCST.2024.3377949","url":null,"abstract":"The safety of ship hulls, reservoir dams, and bridge piers must be ensured through routine fracture detection and damage repair. An underwater robot with eight thrusters and six C-shaped legs has been built to be able to walk on these intricate underwater structures. In this article, a slip-regulated optimal walking control strategy is proposed while taking into account vehicle dynamics. The controller also produces the necessary longitudinal force and yaw moment, so that the robot follows the desired forward velocity and heading direction. It then equivalently transfers the needed force and moment to the contact points of all supporting legs. The suggested controller also includes appropriate constraints and a cost function to regulate the slippage of supporting legs. In addition to preventing longitudinal slippage and enabling lateral slippage, the proposed control framework enhances walking stability and steering ability. Finally, the effectiveness of the proposed method is verified through the Gazebo platform and the hexapod robot.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 5","pages":"1891-1903"},"PeriodicalIF":4.9,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140576546","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-03DOI: 10.1109/TCST.2024.3378990
Kush Khanna;Manimaran Govindarasu
As energy systems move into the larger domains of cyber–physical systems (CPSs), cyber threats on energy system infrastructure are likely to increase. Cybersecurity strategies must be evaluated and analyzed regularly to establish and maintain cyber resilience in CPS. With increased physical and cyber assaults on electrical grid power substations, it is critical to prioritize expenditures to enhance operational CPS resilience. An integrated cyber–physical paradigm for power system risk analysis and investment planning for power substations is presented in this article. To address and effectively manage cyber–physical risks, the proposed approach integrates power system resilience with cyber vulnerabilities capturing the maturity indicator level (MIL) concept. The defense strategies are analyzed for various attack scenarios using defender–attacker interactions. The defender’s strategies for no-information, full-information, and partial-information defender–attacker interactions are compared to obtain the best possible investment strategy for minimizing the overall risk. The presented framework is simulated and validated for PJM five-bus and IEEE 39 bus systems.
{"title":"Resiliency-Driven Cyber–Physical Risk Assessment and Investment Planning for Power Substations","authors":"Kush Khanna;Manimaran Govindarasu","doi":"10.1109/TCST.2024.3378990","DOIUrl":"10.1109/TCST.2024.3378990","url":null,"abstract":"As energy systems move into the larger domains of cyber–physical systems (CPSs), cyber threats on energy system infrastructure are likely to increase. Cybersecurity strategies must be evaluated and analyzed regularly to establish and maintain cyber resilience in CPS. With increased physical and cyber assaults on electrical grid power substations, it is critical to prioritize expenditures to enhance operational CPS resilience. An integrated cyber–physical paradigm for power system risk analysis and investment planning for power substations is presented in this article. To address and effectively manage cyber–physical risks, the proposed approach integrates power system resilience with cyber vulnerabilities capturing the maturity indicator level (MIL) concept. The defense strategies are analyzed for various attack scenarios using defender–attacker interactions. The defender’s strategies for no-information, full-information, and partial-information defender–attacker interactions are compared to obtain the best possible investment strategy for minimizing the overall risk. The presented framework is simulated and validated for PJM five-bus and IEEE 39 bus systems.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 5","pages":"1743-1754"},"PeriodicalIF":4.9,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140588975","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-04-03DOI: 10.1109/TCST.2024.3378991
Brien Croteau;Kiriakos Kiriakidis;Tracie A. Severson;Ryan Robucci;Saad Rahman;Riadul Islam
Sensor-estimator systems provide critical information on the state of cyber-physical plants. Often, these units operate in an environment of constrained computational resources. This condition makes them vulnerable to cyberattacks that aim especially to degrade their processing capability and effectively incapacitate them. In the event that computational nodes are lost, an approach to adapt the estimator’s algorithm and reprogram the adapted form on the surviving hardware is presented. To prepare the sensor-estimator system for degradation, the following co-design steps are developed: 1) the estimation algorithm, a bank of Kalman filters (KFs), is distributed so that multiple elemental filters are implemented on a collection of field-programmable gate arrays (FPGAs) and 2) the matrix operations of the conventional KF are programmed on the FPGAs using Faddeeva’s elimination. After the attack, adaptation of the filter bank is realized by leveraging dynamic partial reconfiguration (DPR) of the surviving FPGAs. A high-authority agent monitors the likelihood of all elemental filters, a measure of which filters currently provide the best estimates, and replaces the least likely elements of the bank with the most likely ones. The latter are loaded onto the freed-up fabric of the remaining FPGAs, while these units are running other elemental filters in order to process sensor data without interruption. We have demonstrated their method on a prototype system that uses a radar sensor to estimate the kinematics of a maneuvering unmanned surface vehicle (USV).
{"title":"State Estimation Adaptable to Cyberattack Using a Hardware Programmable Bank of Kalman Filters","authors":"Brien Croteau;Kiriakos Kiriakidis;Tracie A. Severson;Ryan Robucci;Saad Rahman;Riadul Islam","doi":"10.1109/TCST.2024.3378991","DOIUrl":"10.1109/TCST.2024.3378991","url":null,"abstract":"Sensor-estimator systems provide critical information on the state of cyber-physical plants. Often, these units operate in an environment of constrained computational resources. This condition makes them vulnerable to cyberattacks that aim especially to degrade their processing capability and effectively incapacitate them. In the event that computational nodes are lost, an approach to adapt the estimator’s algorithm and reprogram the adapted form on the surviving hardware is presented. To prepare the sensor-estimator system for degradation, the following co-design steps are developed: 1) the estimation algorithm, a bank of Kalman filters (KFs), is distributed so that multiple elemental filters are implemented on a collection of field-programmable gate arrays (FPGAs) and 2) the matrix operations of the conventional KF are programmed on the FPGAs using Faddeeva’s elimination. After the attack, adaptation of the filter bank is realized by leveraging dynamic partial reconfiguration (DPR) of the surviving FPGAs. A high-authority agent monitors the likelihood of all elemental filters, a measure of which filters currently provide the best estimates, and replaces the least likely elements of the bank with the most likely ones. The latter are loaded onto the freed-up fabric of the remaining FPGAs, while these units are running other elemental filters in order to process sensor data without interruption. We have demonstrated their method on a prototype system that uses a radar sensor to estimate the kinematics of a maneuvering unmanned surface vehicle (USV).","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 5","pages":"1730-1742"},"PeriodicalIF":4.9,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140576320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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