Pub Date : 2024-04-20DOI: 10.1177/01423312241242840
Jiacheng Huang, Zehua Ye, Hongjie Ni, Dan Zhang, Mohammed Abdulaal
This paper is concerned with resilient sliding mode control (SMC) of an unmanned marine vehicle (UMV) system in a finite-time stability (FTS) framework, where the networks designed for communication between an UMV and a land-based control station are subject to denial-of-service (DoS) attacks and the actuators are affected by stochastic failures. First, a Takagi–Sugeno (T-S) fuzzy approach is proposed to model a nonlinear UMV, and the stochastic actuator failure phenomenon is modeled as a continuous Markov process. Then, a new resilient SMC method is proposed to ensure the FTS of the UMV system subject to DoS attacks of different intensities. In addition, a partitioning strategy is introduced to ensure that the reaching motion and sliding mode motion satisfy the conditions of FTS. Theoretical analysis shows that the obtained closed-loop system can achieve FTS performance. Finally, the devised control strategy is confirmed by a simulated UMV system.
{"title":"Finite-time resilient sliding mode control of UMV systems with stochastic actuator failures and DoS attacks","authors":"Jiacheng Huang, Zehua Ye, Hongjie Ni, Dan Zhang, Mohammed Abdulaal","doi":"10.1177/01423312241242840","DOIUrl":"https://doi.org/10.1177/01423312241242840","url":null,"abstract":"This paper is concerned with resilient sliding mode control (SMC) of an unmanned marine vehicle (UMV) system in a finite-time stability (FTS) framework, where the networks designed for communication between an UMV and a land-based control station are subject to denial-of-service (DoS) attacks and the actuators are affected by stochastic failures. First, a Takagi–Sugeno (T-S) fuzzy approach is proposed to model a nonlinear UMV, and the stochastic actuator failure phenomenon is modeled as a continuous Markov process. Then, a new resilient SMC method is proposed to ensure the FTS of the UMV system subject to DoS attacks of different intensities. In addition, a partitioning strategy is introduced to ensure that the reaching motion and sliding mode motion satisfy the conditions of FTS. Theoretical analysis shows that the obtained closed-loop system can achieve FTS performance. Finally, the devised control strategy is confirmed by a simulated UMV system.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140681244","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-04-19DOI: 10.1177/01423312241241835
Jianjun Zhang, Pengyang Han, Qunpo Liu, Jinxian Yang, Shasha Li
To achieve versatile target grasping, ensure successful holding, and minimize potential damage to the target, we propose an adaptive impedance control method for underwater manipulators. This method entails establishing a force-tracking control system based on the position impedance model and identifying target impedance parameters using the recursive least squares method. By adjusting the grasping force’s desired value according to impedance parameters and manipulator characteristics, adaptive proportional–integral–derivative (PID) control is realized for the desired position. This adjustment process considers the error between the desired force and the environmental force, allowing the system to track different desired force signals while ensuring accurate position tracking. To validate the effectiveness of the proposed method, we conducted simulation with the MATLAB platform and experiment verification. The results demonstrate the adaptive impedance control method’s excellent position-tracking performance in both free and constrained spaces. The real-time adjustments of the desired force effectively accommodate various grasping targets, while the adaptive adjustment of the desired position enables precise tracking of the desired force value, eliminating static errors. Overall, the entire control system exhibits flexibility and robustness.
{"title":"The adaptive impedance control with desired force fuzzy adjustment for underwater manipulator-compliant operation","authors":"Jianjun Zhang, Pengyang Han, Qunpo Liu, Jinxian Yang, Shasha Li","doi":"10.1177/01423312241241835","DOIUrl":"https://doi.org/10.1177/01423312241241835","url":null,"abstract":"To achieve versatile target grasping, ensure successful holding, and minimize potential damage to the target, we propose an adaptive impedance control method for underwater manipulators. This method entails establishing a force-tracking control system based on the position impedance model and identifying target impedance parameters using the recursive least squares method. By adjusting the grasping force’s desired value according to impedance parameters and manipulator characteristics, adaptive proportional–integral–derivative (PID) control is realized for the desired position. This adjustment process considers the error between the desired force and the environmental force, allowing the system to track different desired force signals while ensuring accurate position tracking. To validate the effectiveness of the proposed method, we conducted simulation with the MATLAB platform and experiment verification. The results demonstrate the adaptive impedance control method’s excellent position-tracking performance in both free and constrained spaces. The real-time adjustments of the desired force effectively accommodate various grasping targets, while the adaptive adjustment of the desired position enables precise tracking of the desired force value, eliminating static errors. Overall, the entire control system exhibits flexibility and robustness.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140685578","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-04-19DOI: 10.1177/01423312241244554
Shixiang Sun, Xinjiang Wei, Huifeng Zhang, Xin Hu
In this paper, the issue of event-triggered finite-time pinning synchronization control for multi-layer networks is discussed. To reduce control costs and ensure that the networks under consideration synchronize to the intended trajectory in a finite amount of time, the finite-time pinning controller is first created for nodes of various sorts. The controller based on the event-triggered scheme is then suggested to lessen the pressure on the networks’ channels. We determine the prerequisite for the multi-layer network’s ability to accomplish finite temporal synchronization through the stability analysis of the Lyapunov function. Finally, a numerical analysis is used to confirm the validity of the suggested strategy.
{"title":"Event-triggered-based finite-time pinning synchronization control for multi-layer complex networks","authors":"Shixiang Sun, Xinjiang Wei, Huifeng Zhang, Xin Hu","doi":"10.1177/01423312241244554","DOIUrl":"https://doi.org/10.1177/01423312241244554","url":null,"abstract":"In this paper, the issue of event-triggered finite-time pinning synchronization control for multi-layer networks is discussed. To reduce control costs and ensure that the networks under consideration synchronize to the intended trajectory in a finite amount of time, the finite-time pinning controller is first created for nodes of various sorts. The controller based on the event-triggered scheme is then suggested to lessen the pressure on the networks’ channels. We determine the prerequisite for the multi-layer network’s ability to accomplish finite temporal synchronization through the stability analysis of the Lyapunov function. Finally, a numerical analysis is used to confirm the validity of the suggested strategy.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140682866","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Collision detection capabilities of industrial manipulator is essential for ensuring the human safety during human machine collaboration. The payload variations will significantly decrease the detection accuracy and sensitivity. However, difficulty in parameter tuning of time-variant threshold and time-consuming training procedure make existed collision detection methods not easily generalized to industrial manipulator systems with payload variation. This paper presents an adaptive collision detection algorithm for six-axis industrial manipulator with accurate payload estimation. Specifically, the unknown payload is estimated online through a generalized momentum-based indirect adaptation law. Compared to existed adaptive collision detection algorithms, the joint acceleration is not needed in the adaptation law, which makes the algorithm easy to be applied to industrial manipulator systems. Based on the estimated payload, a generalized momentum external force observer is developed to estimate the external collision force. Finally, the collision detection can be realized by comparing the estimated collision force with constant threshold values. Comparative simulations and experiments indicate that the proposed adaptive collision detection method can achieve accurate and robust detection under different loads.
{"title":"Adaptive collision detection algorithm design for six-axis industrial manipulator with accurate payload estimation","authors":"Shan Chen, Xinfu Zhang, Heng Zhang, Haijun Liu, Fangfang Dong, Jiang Han","doi":"10.1177/01423312241239375","DOIUrl":"https://doi.org/10.1177/01423312241239375","url":null,"abstract":"Collision detection capabilities of industrial manipulator is essential for ensuring the human safety during human machine collaboration. The payload variations will significantly decrease the detection accuracy and sensitivity. However, difficulty in parameter tuning of time-variant threshold and time-consuming training procedure make existed collision detection methods not easily generalized to industrial manipulator systems with payload variation. This paper presents an adaptive collision detection algorithm for six-axis industrial manipulator with accurate payload estimation. Specifically, the unknown payload is estimated online through a generalized momentum-based indirect adaptation law. Compared to existed adaptive collision detection algorithms, the joint acceleration is not needed in the adaptation law, which makes the algorithm easy to be applied to industrial manipulator systems. Based on the estimated payload, a generalized momentum external force observer is developed to estimate the external collision force. Finally, the collision detection can be realized by comparing the estimated collision force with constant threshold values. Comparative simulations and experiments indicate that the proposed adaptive collision detection method can achieve accurate and robust detection under different loads.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-04-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140690366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-04-15DOI: 10.1177/01423312241239380
Yu Cao, Yongyi Chen, Dan Zhang, Mohammed Abdulaal
Rotating machinery is one of the principal power equipment of unmanned surface vehicles (UVs). Considering the complex and harsh offshore working conditions of UVs, the health status of rotating machinery is highly to be affected, but it is often difficult to obtain enough fault samples. Accordingly, limited data fault diagnosis of rotating machinery holds great practical significance to increase the resilience and security of UVs. For limited data fault diagnosis, a novel few-shot learning model based on attention mechanism called adaptive long-term attention siamese network (ALTASN) is proposed. First, an efficient channel attention mechanism is combined with adaptive convolutional kernels to improve the spatial feature extraction capabilities of the convolutional neural network (CNN). To capture and assign higher weights to important long-term dependent information, long-term attention is introduced to improve the ability of long short-term memory networks (LSTM) temporal feature extraction. Finally, the siamese network is introduced to compare the features of different sample pairs to obtain the final fault type. In the case of limited data, the fault diagnosis performance and generalization ability of the proposed ALTASN are better compared with existing results. Experiments are carried out on the actual three-phase asynchronous motor experiment platform at the Zhejiang University of Technology to verify the effectiveness and generalization of the proposed method.
{"title":"ALTASN: A few-shot learning fault diagnosis method for rotating machinery of unmanned surface vehicles based on attention mechanism","authors":"Yu Cao, Yongyi Chen, Dan Zhang, Mohammed Abdulaal","doi":"10.1177/01423312241239380","DOIUrl":"https://doi.org/10.1177/01423312241239380","url":null,"abstract":"Rotating machinery is one of the principal power equipment of unmanned surface vehicles (UVs). Considering the complex and harsh offshore working conditions of UVs, the health status of rotating machinery is highly to be affected, but it is often difficult to obtain enough fault samples. Accordingly, limited data fault diagnosis of rotating machinery holds great practical significance to increase the resilience and security of UVs. For limited data fault diagnosis, a novel few-shot learning model based on attention mechanism called adaptive long-term attention siamese network (ALTASN) is proposed. First, an efficient channel attention mechanism is combined with adaptive convolutional kernels to improve the spatial feature extraction capabilities of the convolutional neural network (CNN). To capture and assign higher weights to important long-term dependent information, long-term attention is introduced to improve the ability of long short-term memory networks (LSTM) temporal feature extraction. Finally, the siamese network is introduced to compare the features of different sample pairs to obtain the final fault type. In the case of limited data, the fault diagnosis performance and generalization ability of the proposed ALTASN are better compared with existing results. Experiments are carried out on the actual three-phase asynchronous motor experiment platform at the Zhejiang University of Technology to verify the effectiveness and generalization of the proposed method.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140699642","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-04-15DOI: 10.1177/01423312241239367
Dong Li, Tianhu Xie, Guowe Li, Songming Hu, Jingfeng Yao
In the transportation process of a three-dimensional double-pendulum overhead crane, the system is significantly influenced by the pronounced coupling introduced by the double-pendulum effect, posing a considerable challenge for the development of effective anti-swing control strategies. Moreover, uncertainties in certain system parameters and errors in trolley positioning contribute to the complexity of anti-swing control strategy design. To address these practical issues, a control strategy is proposed: First, an S-shaped transport trajectory with minimal positioning error is introduced, incorporating more system parameters into the coupling signal design to enhance system coupling. Based on this, an error-coupled trajectory signal is introduced. Second, the error-coupled trajectory signal is integrated into the energy function, and leveraging adaptive principles, an adaptive coupled trajectory tracking anti-swing control strategy is proposed to estimate uncertain system parameters online. Subsequently, the asymptotic stability of the equilibrium point of the closed-loop system is verified using the Lyapunov techniques and the Barbalat lemma. Finally, through simulations and experiments, it is demonstrated that the proposed control strategy not only ensures precise positioning of the trolley and bridge but also effectively suppresses oscillations of the hook and load, exhibiting excellent control performance. Even in scenarios where system parameters undergo changes or external disturbances are introduced, the proposed control strategy exhibits strong robustness and holds significant practical potential.
在三维双摆桥式起重机的运输过程中，系统受到双摆效应带来的明显耦合的显著影响，这对开发有效的防摆动控制策略提出了相当大的挑战。此外，某些系统参数的不确定性和小车定位的误差也增加了防摆动控制策略设计的复杂性。针对这些实际问题，我们提出了一种控制策略：首先，引入定位误差最小的 S 型运输轨迹，在耦合信号设计中加入更多系统参数，以增强系统耦合。在此基础上，引入误差耦合轨迹信号。其次，将误差耦合轨迹信号集成到能量函数中，并利用自适应原理，提出了一种自适应耦合轨迹跟踪防摆动控制策略，以在线估计不确定的系统参数。随后，利用 Lyapunov 技术和 Barbalat Lemma 验证了闭环系统平衡点的渐进稳定性。最后，通过模拟和实验证明，所提出的控制策略不仅能确保小车和桥梁的精确定位，还能有效抑制吊钩和负载的振荡，表现出卓越的控制性能。即使在系统参数发生变化或引入外部干扰的情况下，所提出的控制策略也能表现出很强的鲁棒性，具有很大的实用潜力。
{"title":"Research on adaptive coupling trajectory tracking anti-swing control strategy for three-dimensional double-pendulum overhead crane","authors":"Dong Li, Tianhu Xie, Guowe Li, Songming Hu, Jingfeng Yao","doi":"10.1177/01423312241239367","DOIUrl":"https://doi.org/10.1177/01423312241239367","url":null,"abstract":"In the transportation process of a three-dimensional double-pendulum overhead crane, the system is significantly influenced by the pronounced coupling introduced by the double-pendulum effect, posing a considerable challenge for the development of effective anti-swing control strategies. Moreover, uncertainties in certain system parameters and errors in trolley positioning contribute to the complexity of anti-swing control strategy design. To address these practical issues, a control strategy is proposed: First, an S-shaped transport trajectory with minimal positioning error is introduced, incorporating more system parameters into the coupling signal design to enhance system coupling. Based on this, an error-coupled trajectory signal is introduced. Second, the error-coupled trajectory signal is integrated into the energy function, and leveraging adaptive principles, an adaptive coupled trajectory tracking anti-swing control strategy is proposed to estimate uncertain system parameters online. Subsequently, the asymptotic stability of the equilibrium point of the closed-loop system is verified using the Lyapunov techniques and the Barbalat lemma. Finally, through simulations and experiments, it is demonstrated that the proposed control strategy not only ensures precise positioning of the trolley and bridge but also effectively suppresses oscillations of the hook and load, exhibiting excellent control performance. Even in scenarios where system parameters undergo changes or external disturbances are introduced, the proposed control strategy exhibits strong robustness and holds significant practical potential.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140701789","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-04-15DOI: 10.1177/01423312241239165
Zhen Wang, Yan Gao, Wanqing Song, Hamid Reza Karimi, Deyu Qi, Ming Li
The proposed Remaining Useful Life (RUL) prediction framework utilizes several advanced techniques to accurately estimate the remaining service life of rolling bearings. The framework includes early failure assessment, adaptive failure threshold (FT) determination, and a multifractional generalized Cauchy model (MfGC). The early failure assessment is enabled by establishing early FTs and health indicator (HI) curves generated by the Mahalanobis distance cumulative sum (MD-CUSUM) technique. The proposed dynamic fault threshold update method uses the BOX-COX transformation and Chebyshev inequality to determine confidence intervals for evaluating the fault threshold time. The multifractional nature of the MfGC process is characterized by independent, time-varying Hurst indices and fractional dimensions, and the long-range dependence (LRD) characteristics and stochasticity of the process are explained by the diffusion terms generated from the MfGC differential time series. The MfGC model with adaptive drift is constructed for various degenerate trajectories, and a method for estimating the model’s parameters is proposed. The effectiveness of the proposed RUL prediction method is demonstrated using the XJTU-SY bearing dataset.
{"title":"Remaining useful life prediction of rolling bearings based on performance evaluation and multifractional generalized Cauchy model with adaptive drift","authors":"Zhen Wang, Yan Gao, Wanqing Song, Hamid Reza Karimi, Deyu Qi, Ming Li","doi":"10.1177/01423312241239165","DOIUrl":"https://doi.org/10.1177/01423312241239165","url":null,"abstract":"The proposed Remaining Useful Life (RUL) prediction framework utilizes several advanced techniques to accurately estimate the remaining service life of rolling bearings. The framework includes early failure assessment, adaptive failure threshold (FT) determination, and a multifractional generalized Cauchy model (MfGC). The early failure assessment is enabled by establishing early FTs and health indicator (HI) curves generated by the Mahalanobis distance cumulative sum (MD-CUSUM) technique. The proposed dynamic fault threshold update method uses the BOX-COX transformation and Chebyshev inequality to determine confidence intervals for evaluating the fault threshold time. The multifractional nature of the MfGC process is characterized by independent, time-varying Hurst indices and fractional dimensions, and the long-range dependence (LRD) characteristics and stochasticity of the process are explained by the diffusion terms generated from the MfGC differential time series. The MfGC model with adaptive drift is constructed for various degenerate trajectories, and a method for estimating the model’s parameters is proposed. The effectiveness of the proposed RUL prediction method is demonstrated using the XJTU-SY bearing dataset.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140701548","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-04-14DOI: 10.1177/01423312241239029
Xin Li, Ruiqi Gong, Liangkuan Zhu
In this paper, the problem of the distributed interval estimation is investigated for wireless sensor networks under the energy-limited attack and the stochastic communication protocol (SCP). A model with randomness and restrictions is constructed to describe the energy-limited attack, which is considered to occur in two positions, one is the transmission process of sensors and local estimators (LEs), and another is the transmission process of LEs and their neighbor nodes. Furthermore, to mitigate the communication burden, the SCP is adopted to distribute network access rights to sensor nodes. All in all, the objective of this paper is to develop a distributed interval estimator (DIE) which can use local and neighbor information to generate an interval that covers all potential estimation states when SCP, bounded noises, and energy-limited attacks are all present at the same time. To achieve this, the positive system theory and the stability analysis theory are used to obtain some sufficient conditions for the error dynamic system to be positive system and stable, and the needed DIE gains are achieved by solving the linear matrix inequality. Finally, an example is presented to demonstrate the effectiveness and superiority of the offered method.
本文研究了无线传感器网络在能量限制攻击和随机通信协议（SCP）下的分布式区间估计问题。本文构建了一个具有随机性和限制性的模型来描述能量限制攻击，认为攻击发生在两个位置，一个是传感器和本地估计器（LE）的传输过程，另一个是本地估计器和其邻居节点的传输过程。此外，为了减轻通信负担，还采用了 SCP 来向传感器节点分配网络访问权。总之，本文的目的是开发一种分布式区间估计器（DIE），当 SCP、有界噪声和能量受限攻击同时存在时，该估计器可利用本地和邻居信息生成一个覆盖所有潜在估计状态的区间。为此，利用正系统理论和稳定性分析理论获得了误差动态系统为正系统且稳定的一些充分条件，并通过求解线性矩阵不等式获得了所需的 DIE 增益。最后，通过一个实例证明了所提供方法的有效性和优越性。
{"title":"Distributed interval estimation for sensor networks with energy-limited attacks and stochastic communication protocols","authors":"Xin Li, Ruiqi Gong, Liangkuan Zhu","doi":"10.1177/01423312241239029","DOIUrl":"https://doi.org/10.1177/01423312241239029","url":null,"abstract":"In this paper, the problem of the distributed interval estimation is investigated for wireless sensor networks under the energy-limited attack and the stochastic communication protocol (SCP). A model with randomness and restrictions is constructed to describe the energy-limited attack, which is considered to occur in two positions, one is the transmission process of sensors and local estimators (LEs), and another is the transmission process of LEs and their neighbor nodes. Furthermore, to mitigate the communication burden, the SCP is adopted to distribute network access rights to sensor nodes. All in all, the objective of this paper is to develop a distributed interval estimator (DIE) which can use local and neighbor information to generate an interval that covers all potential estimation states when SCP, bounded noises, and energy-limited attacks are all present at the same time. To achieve this, the positive system theory and the stability analysis theory are used to obtain some sufficient conditions for the error dynamic system to be positive system and stable, and the needed DIE gains are achieved by solving the linear matrix inequality. Finally, an example is presented to demonstrate the effectiveness and superiority of the offered method.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140705767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-04-14DOI: 10.1177/01423312241235470
Xiaojing Wu, Zhenan Guo, Ran Zhen, Xiaoyuan Luo
The multi-group formation fault-tolerant control problem for high-order nonlinear multi-agent systems with parameter uncertainties, unknown external disturbances, switching topologies, and non-cooperative targets are investigated in this paper. A fully distributed formation tracking control protocol is proposed based on the total interaction information between subgroups being zero and the neighboring relative information of multi-agent in the subgroups. In addition, an algorithm is proposed to design the parameters of time-varying formation tracking control protocol. At the same time, it does not require knowing the bounds of actuator faults, parameter uncertainties, control inputs of the leaders, and unknown disturbances. Then, it is proved that the designed control protocols can make the high-order nonlinear multi-agent systems accomplish the desired time-varying multi-group formation, and the errors are uniformly asymptotically bounded stable. Finally, the effectiveness of the designed control protocol is demonstrated by simulation examples of three subgroups.
{"title":"Multi-group formation tracking fault-tolerant control for matched nonlinear multi-agent systems with switching topologies and unknown control inputs","authors":"Xiaojing Wu, Zhenan Guo, Ran Zhen, Xiaoyuan Luo","doi":"10.1177/01423312241235470","DOIUrl":"https://doi.org/10.1177/01423312241235470","url":null,"abstract":"The multi-group formation fault-tolerant control problem for high-order nonlinear multi-agent systems with parameter uncertainties, unknown external disturbances, switching topologies, and non-cooperative targets are investigated in this paper. A fully distributed formation tracking control protocol is proposed based on the total interaction information between subgroups being zero and the neighboring relative information of multi-agent in the subgroups. In addition, an algorithm is proposed to design the parameters of time-varying formation tracking control protocol. At the same time, it does not require knowing the bounds of actuator faults, parameter uncertainties, control inputs of the leaders, and unknown disturbances. Then, it is proved that the designed control protocols can make the high-order nonlinear multi-agent systems accomplish the desired time-varying multi-group formation, and the errors are uniformly asymptotically bounded stable. Finally, the effectiveness of the designed control protocol is demonstrated by simulation examples of three subgroups.","PeriodicalId":49426,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":null,"pages":null},"PeriodicalIF":1.8,"publicationDate":"2024-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140705755","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"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 : 2024-04-13DOI: 10.1177/01423312241232377
Xinru Gao, Yueqiao Han
In this present paper, the event-triggered sliding mode control (SMC) issue for a type of singular networked Markov jump systems with partly unknown transition probabilities (TPs) is mainly investigated, and it is modeled by discrete-time Takagi–Sugeno fuzzy systems. To save network resources, a mode-dependent event-triggered scheme (ETS) is applied to improve transmission efficiency. Subsequently, a common sliding surface is designed, which can effectively reduce the impact of the jumping process. Therein, the stochastic admissibility criterion for the system with [Formula: see text] performance [Formula: see text] is derived in the sense of partly unknown TPs. Moreover, a novel SMC law that guarantees the reachability of the quasi-sliding mode is given in view of the reaching condition. Finally, the validity of the presented theorems is demonstrated by a numerical example.
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