Pub Date : 2025-03-31DOI: 10.1109/TCNS.2025.3556478
Gewei Zuo;Lijun Zhu
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant sides over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in the literature; however, the controller must partially reside at the plant side where computation capacity is required. In this article, all controller components are moved to the controller side, and their dynamics use sampled states rather than continuous ones with the benefit of directly estimating the next triggering instance of some conditions and avoiding constantly checking the event condition at the controller side. However, these bring two major challenges. First, the virtual input designed in the dynamic filtering technique for stabilization is no longer differentiable. Second, the plant output is sampled to transmit at the plant side and sampled again at the controller side to construct the controller, and the two asynchronous samplings make the analysis more involved. This article solves these two issues by introducing a new state observer to simplify the adaptive law, a set of continuous companion variables for stability analysis, and a new lemma quantifying the error bound between the actual output signal and the sampled transmitted output. It is theoretically guaranteed that all internal signals in the closed-loop system are semiglobally bounded and the output is practically stabilized to the origin. Finally, the numerical simulation illustrates the effectiveness of the proposed scheme.
{"title":"Adaptive Event-Triggered Control With Sampled Transmitted Output and Controller Dynamics","authors":"Gewei Zuo;Lijun Zhu","doi":"10.1109/TCNS.2025.3556478","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3556478","url":null,"abstract":"The event-triggered control with intermittent output can reduce the communication burden between the controller and plant sides over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in the literature; however, the controller must partially reside at the plant side where computation capacity is required. In this article, all controller components are moved to the controller side, and their dynamics use sampled states rather than continuous ones with the benefit of directly estimating the next triggering instance of some conditions and avoiding constantly checking the event condition at the controller side. However, these bring two major challenges. First, the virtual input designed in the dynamic filtering technique for stabilization is no longer differentiable. Second, the plant output is sampled to transmit at the plant side and sampled again at the controller side to construct the controller, and the two asynchronous samplings make the analysis more involved. This article solves these two issues by introducing a new state observer to simplify the adaptive law, a set of continuous companion variables for stability analysis, and a new lemma quantifying the error bound between the actual output signal and the sampled transmitted output. It is theoretically guaranteed that all internal signals in the closed-loop system are semiglobally bounded and the output is practically stabilized to the origin. Finally, the numerical simulation illustrates the effectiveness of the proposed scheme.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2169-2179"},"PeriodicalIF":5.0,"publicationDate":"2025-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110288","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2025-03-31DOI: 10.1109/TCNS.2025.3556483
Baihao Peng;Junfeng Liu;Jun Zeng
Modeling and analysis play a crucial role in the prevention, safeguarding, and assessment of network security. However, existing literature on network security modeling overlooks the realistic convertibility between malware states. Thus, based on the susceptible–infected–susceptible compartmental model, this study proposes a susceptible–infected–exhausted–susceptible model that includes an enhanced transition pathway of the malware state. Subsequently, considering the potential heterogeneity of network topology and pulse wave attacks (PA), three additional models are expanded upon. Concurrently, the dynamic stability analyses of these four models have been conducted to verify the practicality of effective control by malicious attackers (MA) and network defenders (ND) within these frameworks to achieve their respective benefits. Finally, based on the framework of optimal control and game theory, we discuss and simulate attack–defense confrontation under various scenarios, including different objective functions, network topologies, control forms, and parameter combinations. Experimental results demonstrate that in most cases, MA refrained from launching malicious attacks but continued malware propagation. Under certain conditions, malware may remain in a dormant state indefinitely. Meanwhile, ND consistently engages in network repair regardless of MA's actions. MA's revenue peaks when launching continuous-time attacks in the financial network, while ND's revenue is at its lowest. In the majority of instances, under PA and higher operation costs, MA's efficacy is lower, while ND performs better.
{"title":"Propagation Dynamics of Network System in Response to the Resource-Consuming Attack","authors":"Baihao Peng;Junfeng Liu;Jun Zeng","doi":"10.1109/TCNS.2025.3556483","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3556483","url":null,"abstract":"Modeling and analysis play a crucial role in the prevention, safeguarding, and assessment of network security. However, existing literature on network security modeling overlooks the realistic convertibility between malware states. Thus, based on the susceptible–infected–susceptible compartmental model, this study proposes a susceptible–infected–exhausted–susceptible model that includes an enhanced transition pathway of the malware state. Subsequently, considering the potential heterogeneity of network topology and pulse wave attacks (PA), three additional models are expanded upon. Concurrently, the dynamic stability analyses of these four models have been conducted to verify the practicality of effective control by malicious attackers (MA) and network defenders (ND) within these frameworks to achieve their respective benefits. Finally, based on the framework of optimal control and game theory, we discuss and simulate attack–defense confrontation under various scenarios, including different objective functions, network topologies, control forms, and parameter combinations. Experimental results demonstrate that in most cases, MA refrained from launching malicious attacks but continued malware propagation. Under certain conditions, malware may remain in a dormant state indefinitely. Meanwhile, ND consistently engages in network repair regardless of MA's actions. MA's revenue peaks when launching continuous-time attacks in the financial network, while ND's revenue is at its lowest. In the majority of instances, under PA and higher operation costs, MA's efficacy is lower, while ND performs better.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2180-2193"},"PeriodicalIF":5.0,"publicationDate":"2025-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110329","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2025-03-31DOI: 10.1109/TCNS.2025.3556392
Tingting Ru;Chenxiao Cai;Hong Lin;Imre J. Rudas;Peng Shi
This article studies formation control for multiagent systems in the presence of denial-of-service (DoS) attacks. The challenge is to address secure formation tracking and communication bandwidth-saving issues simultaneously. To tackle this, we propose a switching-like event-triggered mechanism that reduces excessive bandwidth consumption during interactions among multiple followers under DoS attacks. The triggering condition is allowed to be switched during the intervals when attacks are activated, ensuring that triggering can normally occur throughout the overall time interval by introducing an auxiliary variable depending on the success of the latest trigger moment. Based on this approach, we construct an event-based time-varying formation control scheme. In addition, we establish sufficient conditions that reveal the relationship between exponential stability and the frequency/duration of the DoS attacks. Unlike other single-leader methods, a significant feature of the formation control scheme is its ability to achieve the desired formation tracking for multiagent systems with multiple leaders. Finally, the validity of the proposed method is demonstrated through simulation and experimental results.
{"title":"Switching-Like Event-Based Formation Control for Multiagent Systems Against Denial-of-Service Attacks","authors":"Tingting Ru;Chenxiao Cai;Hong Lin;Imre J. Rudas;Peng Shi","doi":"10.1109/TCNS.2025.3556392","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3556392","url":null,"abstract":"This article studies formation control for multiagent systems in the presence of denial-of-service (DoS) attacks. The challenge is to address secure formation tracking and communication bandwidth-saving issues simultaneously. To tackle this, we propose a switching-like event-triggered mechanism that reduces excessive bandwidth consumption during interactions among multiple followers under DoS attacks. The triggering condition is allowed to be switched during the intervals when attacks are activated, ensuring that triggering can normally occur throughout the overall time interval by introducing an auxiliary variable depending on the success of the latest trigger moment. Based on this approach, we construct an event-based time-varying formation control scheme. In addition, we establish sufficient conditions that reveal the relationship between exponential stability and the frequency/duration of the DoS attacks. Unlike other single-leader methods, a significant feature of the formation control scheme is its ability to achieve the desired formation tracking for multiagent systems with multiple leaders. Finally, the validity of the proposed method is demonstrated through simulation and experimental results.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2156-2168"},"PeriodicalIF":5.0,"publicationDate":"2025-03-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110324","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2025-03-24DOI: 10.1109/TCNS.2025.3554015
Qian Zhao;Haoyuan Xu;Yuzhe Li
Networked control systems, facilitating state estimation through wireless multisensor data transmission, encounter challenges with spatial out-of-order issues, where data transmitted to the fusion center lack identifiable sources. This scenario, analogous to post office boxes receiving letters without addresses, complicates state estimation and affects system accuracy and reliability. To address this, we explore two spatial out-of-order scenarios, focusing on enhancing state estimation precision. For the random out-of-order scenario, characterized by unpredictable sensor data sequences, we propose an accumulative measurement approach and introduce two algorithms to restore data order, thereby improving state estimation accuracy. In the fixed out-of-order scenario, where a consistent but unknown pattern exists, our two algorithms efficiently restore measurement order within a limited time frame. Numerical examples and simulations substantiate the effectiveness of our methods, confirming their utility in maintaining accurate system state estimation.
{"title":"State Estimation of Multisensor With Out-of-Order Measurements","authors":"Qian Zhao;Haoyuan Xu;Yuzhe Li","doi":"10.1109/TCNS.2025.3554015","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3554015","url":null,"abstract":"Networked control systems, facilitating state estimation through wireless multisensor data transmission, encounter challenges with spatial out-of-order issues, where data transmitted to the fusion center lack identifiable sources. This scenario, analogous to post office boxes receiving letters without addresses, complicates state estimation and affects system accuracy and reliability. To address this, we explore two spatial out-of-order scenarios, focusing on enhancing state estimation precision. For the random out-of-order scenario, characterized by unpredictable sensor data sequences, we propose an accumulative measurement approach and introduce two algorithms to restore data order, thereby improving state estimation accuracy. In the fixed out-of-order scenario, where a consistent but unknown pattern exists, our two algorithms efficiently restore measurement order within a limited time frame. Numerical examples and simulations substantiate the effectiveness of our methods, confirming their utility in maintaining accurate system state estimation.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2144-2155"},"PeriodicalIF":5.0,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110256","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2025-03-24DOI: 10.1109/TCNS.2025.3554005
Zicong Xia;Wenwu Yu;Wei Ren
This article formulates a predefined-time multiagent approach to distributed nonconvex constrained optimization and tackles the challenges caused by the nonconvexity and nonlinearly coupled information. The divergence caused by nonconvexity is handled by utilizing a momentum-based system, and the distributed computation of nonlinearly coupled optimization information, as well as the distributed comparison of global function values, is dealt with by introducing estimation state variables. Then, combined with time-base generators, the proposed multiagent system is proven to be stable at a local optimal solution within a predefined time. The simulations of a chiller system and a numerical example are elaborated to verify and demonstrate the enhanced stability, predefined-time convergence, and distributed computation capability of the proposed multiagent approach.
{"title":"A Predefined-Time Multiagent Approach to Distributed Nonconvex Optimization With Nonlinearly Coupled Information","authors":"Zicong Xia;Wenwu Yu;Wei Ren","doi":"10.1109/TCNS.2025.3554005","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3554005","url":null,"abstract":"This article formulates a predefined-time multiagent approach to distributed nonconvex constrained optimization and tackles the challenges caused by the nonconvexity and nonlinearly coupled information. The divergence caused by nonconvexity is handled by utilizing a momentum-based system, and the distributed computation of nonlinearly coupled optimization information, as well as the distributed comparison of global function values, is dealt with by introducing estimation state variables. Then, combined with time-base generators, the proposed multiagent system is proven to be stable at a local optimal solution within a predefined time. The simulations of a chiller system and a numerical example are elaborated to verify and demonstrate the enhanced stability, predefined-time convergence, and distributed computation capability of the proposed multiagent approach.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2128-2143"},"PeriodicalIF":5.0,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110306","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2025-03-24DOI: 10.1109/TCNS.2025.3554006
Yang Yang;Kaijie Yang;Wenbin Yue;Zhiyuan Li;Chao Deng
Sensitive information is critical in networked systems, and a differential privacy problem of dynamic average consensus (DAC) is reported for a class of multiagent systems that cannot communicate directly. With the help of a cloud repository, a cloud-based differentially private DAC control scheme is proposed. Agents' states are added noises, and combined states are constructed. With combined state errors, a self-triggered rule for a cloud access schedule is proposed in a cloud framework. With this proposed scheme, the related system consensus accuracy and privacy-preserving index are analyzed. Furthermore, the relationship, between the privacy-preserving index and parameters in a cloud access scheduling rule, is investigated. Finally, two examples are given to demonstrate the feasibility of the scheme.
{"title":"Differentially Private Dynamic Average Consensus of Multiagent Systems via Cloud Access With Self-Triggered Mechanism","authors":"Yang Yang;Kaijie Yang;Wenbin Yue;Zhiyuan Li;Chao Deng","doi":"10.1109/TCNS.2025.3554006","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3554006","url":null,"abstract":"Sensitive information is critical in networked systems, and a differential privacy problem of dynamic average consensus (DAC) is reported for a class of multiagent systems that cannot communicate directly. With the help of a cloud repository, a cloud-based differentially private DAC control scheme is proposed. Agents' states are added noises, and combined states are constructed. With combined state errors, a self-triggered rule for a cloud access schedule is proposed in a cloud framework. With this proposed scheme, the related system consensus accuracy and privacy-preserving index are analyzed. Furthermore, the relationship, between the privacy-preserving index and parameters in a cloud access scheduling rule, is investigated. Finally, two examples are given to demonstrate the feasibility of the scheme.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2115-2127"},"PeriodicalIF":5.0,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110239","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 : 2025-03-20DOI: 10.1109/TCNS.2025.3548567
{"title":"IEEE Control Systems Society Information","authors":"","doi":"10.1109/TCNS.2025.3548567","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3548567","url":null,"abstract":"","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"C2-C2"},"PeriodicalIF":4.0,"publicationDate":"2025-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10935611","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143676144","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-20DOI: 10.1109/TCNS.2025.3548568
{"title":"IEEE Control Systems Society Information","authors":"","doi":"10.1109/TCNS.2025.3548568","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3548568","url":null,"abstract":"","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"1199-1200"},"PeriodicalIF":4.0,"publicationDate":"2025-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10935291","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143667717","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2025-03-18DOI: 10.1109/TCNS.2025.3552395
Mehdi Davoudi;Mingyu Chen;Junjie Qin
This article studies the scheduling of a large population of nonpreemptive flexible electric loads, each of which has a flexible starting time but once started will follow a fixed load shape until completion. We first formulate the scheduling problem as a mixed-integer convex program (MICP), then propose an efficient polynomial time relaxation–adjustment–rounding algorithm for solving the problem. The key novelty of the proposed method lies in its adjustment step, which uses a graph-based algorithm to navigate within the set of optimal points of the convex relaxation while reducing the number of fractional entries in the solution. We establish mathematically that our algorithm yields solutions that are near optimal for a finite number of loads and with its suboptimality independent of the number of loads. Consequently, the proposed method is asymptotically optimal in a per-load cost sense when the number of loads increases. Despite the gap between the MICP and its convex relaxation, we establish that the solution of the proposed algorithm can be decentralized by marginal prices of the convex relaxation. We also develop and analyze variants of the proposed algorithm for settings with uncertainty and with time-varying realistic load shapes. Finally, we numerically evaluate the proposed algorithm in a case study for the nonpreemptive scheduling of electric vehicles charging loads.
{"title":"Nonpreemptive Scheduling of Flexible Loads in Smart Grids via Convex Optimization","authors":"Mehdi Davoudi;Mingyu Chen;Junjie Qin","doi":"10.1109/TCNS.2025.3552395","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3552395","url":null,"abstract":"This article studies the scheduling of a large population of nonpreemptive flexible electric loads, each of which has a flexible starting time but once started will follow a fixed load shape until completion. We first formulate the scheduling problem as a mixed-integer convex program (MICP), then propose an efficient polynomial time relaxation–adjustment–rounding algorithm for solving the problem. The key novelty of the proposed method lies in its adjustment step, which uses a graph-based algorithm to navigate within the set of optimal points of the convex relaxation while reducing the number of fractional entries in the solution. We establish mathematically that our algorithm yields solutions that are near optimal for a finite number of loads and with its suboptimality independent of the number of loads. Consequently, the proposed method is asymptotically optimal in a per-load cost sense when the number of loads increases. Despite the gap between the MICP and its convex relaxation, we establish that the solution of the proposed algorithm can be decentralized by marginal prices of the convex relaxation. We also develop and analyze variants of the proposed algorithm for settings with uncertainty and with time-varying realistic load shapes. Finally, we numerically evaluate the proposed algorithm in a case study for the nonpreemptive scheduling of electric vehicles charging loads.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2064-2076"},"PeriodicalIF":5.0,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315452","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This article deals with the centroid and formation control problem of multiagent robotic systems. The proposed solution is based on a leader–follower scheme, where only a subset of agents, i.e., the leaders, knows the desired trajectories for the centroid and the formation of the system, while the other agents, i.e., the followers, are required to estimate them through a dynamic consensus scheme. The leaders perform trajectory scaling in order to cope with the velocity limits of the single robots. Once the trajectories for the centroid and the formation are estimated, each agent can compute its own reference trajectory and a local control loop is designed to track it. An approach to mapping the velocity constraints of each agent to the velocity limits at the task level is developed. Then, a trajectory-scaling algorithm is adopted to ensure velocity constraint fulfillment. The stability and performance properties are rigorously analyzed under two different assumptions about the planned trajectories. Finally, both simulation and experiments are run on the Robotarium platform to show the effectiveness of the approach and the effect of parameter tuning on the achieved performance.
{"title":"A Novel Decentralized Leader–Follower Control Scheme for Centroid and Formation Tracking","authors":"Monica Sileo;Yiannis Karayiannidis;Francesco Pierri;Fabrizio Caccavale","doi":"10.1109/TCNS.2025.3552377","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3552377","url":null,"abstract":"This article deals with the centroid and formation control problem of multiagent robotic systems. The proposed solution is based on a leader–follower scheme, where only a subset of agents, i.e., the <italic>leaders</i>, knows the desired trajectories for the centroid and the formation of the system, while the other agents, i.e., the <italic>followers</i>, are required to estimate them through a dynamic consensus scheme. The leaders perform trajectory scaling in order to cope with the velocity limits of the single robots. Once the trajectories for the centroid and the formation are estimated, each agent can compute its own reference trajectory and a local control loop is designed to track it. An approach to mapping the velocity constraints of each agent to the velocity limits at the task level is developed. Then, a trajectory-scaling algorithm is adopted to ensure velocity constraint fulfillment. The stability and performance properties are rigorously analyzed under two different assumptions about the planned trajectories. Finally, both simulation and experiments are run on the Robotarium platform to show the effectiveness of the approach and the effect of parameter tuning on the achieved performance.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2040-2051"},"PeriodicalIF":5.0,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10930792","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315449","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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