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":null,"pages":null},"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
{"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":"https://doi.org/10.1109/tcst.2024.3387588","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.8,"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
{"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":"https://doi.org/10.1109/tcst.2024.3387788","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.8,"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
{"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":"https://doi.org/10.1109/tcst.2024.3385632","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.8,"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
{"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":"https://doi.org/10.1109/tcst.2024.3386062","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.8,"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}
Pub Date : 2024-04-16DOI: 10.1109/tcst.2024.3387228
Mirko Leomanni, Francesco Ferrante, Alberto Dionigi, Gabriele Costante, Paolo Valigi, Mario Luca Fravolini
{"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":"https://doi.org/10.1109/tcst.2024.3387228","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.8,"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}
Pub Date : 2024-04-09DOI: 10.1109/tcst.2024.3381810
Ninad Manerikar, Minh-Duc Hua, Tarek Hamel, Claude Samson
{"title":"Deterministic Riccati Observers for Homography Decomposition","authors":"Ninad Manerikar, Minh-Duc Hua, Tarek Hamel, Claude Samson","doi":"10.1109/tcst.2024.3381810","DOIUrl":"https://doi.org/10.1109/tcst.2024.3381810","url":null,"abstract":"","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.8,"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.2024.3378990
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":null,"pages":null},"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.2024.3377949
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":null,"pages":null},"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.2024.3378988
Yacoub Hanna;Mumin Cebe;Juan Leon;Kemal Akkaya
Recent developments in low-rate wide-area wireless technologies will enable the deployment of publish–subscribe architectures that can span larger geographical areas in the smart grid. In such a setting, typically, there is a lot of data exchange due to the increased number of multicasts/broadcasts among any device. Thus, using technologies such as long range wide area network (LoRaWAN) will leave very limited bandwidth to perform critical security management operations such as key creation and updates. If security management overhead cannot be minimized, eventually, it may risk meeting the real-time requirements for critical control messages and weakening the resilience of smart grid systems. In this article, we propose a new protocol for group key generation and renewal that not only reduces the number of messages but also minimizes the total delay of the process. The approach integrates classical Diffie–Hellman (DH) key exchange with Shamir’s secret sharing to generate a group key by initiating random pairing points and applying Lagrange interpolation. The hash-chain concept is employed to renew the group key without requiring further message exchanges, essentially achieving key renewal in a single message. The evaluation results show that our approach reduces the number of messages and the setup delay significantly compared to the alternative approaches.
{"title":"Efficient Group Key Management for Resilient Operation of LoRaWAN-Based Smart Grid Applications","authors":"Yacoub Hanna;Mumin Cebe;Juan Leon;Kemal Akkaya","doi":"10.1109/TCST.2024.3378988","DOIUrl":"10.1109/TCST.2024.3378988","url":null,"abstract":"Recent developments in low-rate wide-area wireless technologies will enable the deployment of publish–subscribe architectures that can span larger geographical areas in the smart grid. In such a setting, typically, there is a lot of data exchange due to the increased number of multicasts/broadcasts among any device. Thus, using technologies such as long range wide area network (LoRaWAN) will leave very limited bandwidth to perform critical security management operations such as key creation and updates. If security management overhead cannot be minimized, eventually, it may risk meeting the real-time requirements for critical control messages and weakening the resilience of smart grid systems. In this article, we propose a new protocol for group key generation and renewal that not only reduces the number of messages but also minimizes the total delay of the process. The approach integrates classical Diffie–Hellman (DH) key exchange with Shamir’s secret sharing to generate a group key by initiating random pairing points and applying Lagrange interpolation. The hash-chain concept is employed to renew the group key without requiring further message exchanges, essentially achieving key renewal in a single message. The evaluation results show that our approach reduces the number of messages and the setup delay significantly compared to the alternative approaches.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":null,"pages":null},"PeriodicalIF":4.9,"publicationDate":"2024-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140576349","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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