In this article, we consider remotely maneuvered differential-drive robots whose tracking controller is implemented on-board while the desired reference signal is generated by a remote control center and transmitted using a wireless communication channel potentially prone to cyber-attacks. Here, we develop a novel networked control architecture that allows the robot to track a given reference signal while enabling, on the robot's side, the detection of false data injections on the setpoint (reference) signal. The proposed solution takes advantage of a feedback linearized model of the vehicle kinematic model, a detector unit, and the coupled actions of two distributed predictive command governor modules installed at the two ends of the communication channel. We show that the resulting architecture guarantees constraints fulfillment and the absence of stealthy setpoint attacks. Laboratory experiments on a Khepera IV robot testify to the effectiveness of the proposed solution.
{"title":"A Predictive Control Strategy for Remotely Maneuvered Wheeled Mobile Robots Enabling Setpoint Attack Detection","authors":"Cristian Tiriolo;Mattia Cersullo;Giuseppe Franzè;Walter Lucia","doi":"10.1109/TCNS.2025.3552474","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3552474","url":null,"abstract":"In this article, we consider remotely maneuvered differential-drive robots whose tracking controller is implemented on-board while the desired reference signal is generated by a remote control center and transmitted using a wireless communication channel potentially prone to cyber-attacks. Here, we develop a novel networked control architecture that allows the robot to track a given reference signal while enabling, on the robot's side, the detection of false data injections on the setpoint (reference) signal. The proposed solution takes advantage of a feedback linearized model of the vehicle kinematic model, a detector unit, and the coupled actions of two distributed predictive command governor modules installed at the two ends of the communication channel. We show that the resulting architecture guarantees constraints fulfillment and the absence of stealthy setpoint attacks. Laboratory experiments on a Khepera IV robot testify to the effectiveness of the proposed solution.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2077-2087"},"PeriodicalIF":5.0,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315450","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 : 2025-03-18DOI: 10.1109/TCNS.2025.3552468
Jingyi Huang;Chuanhai Yang;Shuang Wu;Qingshan Liu
This article investigates a distributed aggregative optimization problem, focusing on formation control within local constraint sets over a multirobot system. Each robot's local objective function is influenced by its specific decision variables and an aggregation information that incorporates the decision variables of all robots. In the multirobot system, each robot has messages pertaining to its individual constraints and objective function, along with the formation configuration information that interacts with the formation reference center. Drawing on gradient tracking technique and projection method, a fixed-step distributed optimization algorithm is proposed to solve the multirobot formation problem. Utilizing the Lyapunov method, the asymptotic convergence of the algorithm is rigorously analyzed. Furthermore, the proposed algorithm is integrated with the Hungarian algorithm to develop the distributed aggregative task assignment and formation (DA-TAF) algorithm, which addresses formation and task allocation problems in multirobot systems. Finally, the performance of the DA-TAF algorithm is demonstrated through numerical simulations and formation control experiments implemented using automated guided vehicle platforms.
{"title":"Distributed Aggregative Optimization Algorithm for Solving Multirobot Formation Problem","authors":"Jingyi Huang;Chuanhai Yang;Shuang Wu;Qingshan Liu","doi":"10.1109/TCNS.2025.3552468","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3552468","url":null,"abstract":"This article investigates a distributed aggregative optimization problem, focusing on formation control within local constraint sets over a multirobot system. Each robot's local objective function is influenced by its specific decision variables and an aggregation information that incorporates the decision variables of all robots. In the multirobot system, each robot has messages pertaining to its individual constraints and objective function, along with the formation configuration information that interacts with the formation reference center. Drawing on gradient tracking technique and projection method, a fixed-step distributed optimization algorithm is proposed to solve the multirobot formation problem. Utilizing the Lyapunov method, the asymptotic convergence of the algorithm is rigorously analyzed. Furthermore, the proposed algorithm is integrated with the Hungarian algorithm to develop the distributed aggregative task assignment and formation (DA-TAF) algorithm, which addresses formation and task allocation problems in multirobot systems. Finally, the performance of the DA-TAF algorithm is demonstrated through numerical simulations and formation control experiments implemented using automated guided vehicle platforms.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2102-2114"},"PeriodicalIF":5.0,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315436","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 : 2025-03-18DOI: 10.1109/TCNS.2025.3552471
Lifan Kang;Zhijian Ji;Yungang Liu;Chong Lin
The multiagent controllability of both node and edge dynamics depends on the communication topology, leader selection, as well as the weight adjustments. This article deals with the controllability relationship between node dynamics and edge dynamics using an edge dynamics model that describes the states of nodes and edges. According to the number of nodes $N$ and edges $M$, topology graphs are divided into three categories: $N>M$, $N=M$, and $N< M$. Sufficient and necessary conditions are derived for determining the controllability relationship between node and edge dynamics, under which a large number of general, special, and mixed topology graphs are analyzed and verified. In cases where $N>M$, the uncontrollable node and edge dynamics are converted to a controllable situation by adding leaders or adjusting weights. Finally, algorithms are provided to validate the effectiveness of the outcomes.
{"title":"Consensus Controllability for Node and Edge Multiagent Systems","authors":"Lifan Kang;Zhijian Ji;Yungang Liu;Chong Lin","doi":"10.1109/TCNS.2025.3552471","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3552471","url":null,"abstract":"The multiagent controllability of both node and edge dynamics depends on the communication topology, leader selection, as well as the weight adjustments. This article deals with the controllability relationship between node dynamics and edge dynamics using an edge dynamics model that describes the states of nodes and edges. According to the number of nodes <inline-formula><tex-math>$N$</tex-math></inline-formula> and edges <inline-formula><tex-math>$M$</tex-math></inline-formula>, topology graphs are divided into three categories: <inline-formula><tex-math>$N>M$</tex-math></inline-formula>, <inline-formula><tex-math>$N=M$</tex-math></inline-formula>, and <inline-formula><tex-math>$N< M$</tex-math></inline-formula>. Sufficient and necessary conditions are derived for determining the controllability relationship between node and edge dynamics, under which a large number of general, special, and mixed topology graphs are analyzed and verified. In cases where <inline-formula><tex-math>$N>M$</tex-math></inline-formula>, the uncontrollable node and edge dynamics are converted to a controllable situation by adding leaders or adjusting weights. Finally, algorithms are provided to validate the effectiveness of the outcomes.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2088-2101"},"PeriodicalIF":5.0,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315444","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 proposes a distributed safety-critical optimal flocking control algorithm for the multiagent system. In general, safety (i.e., collision avoidance) could be guaranteed by the use of a control barrier function (CBF) as constraints in the optimal control problem. However, the existence of conflicting safety constraints from multiple agents could lead to a feasibility problem (i.e., the absence of a feasible control command) in distributed optimal flocking control algorithms. To deal with this issue, we propose two effective feasibility enhancement approaches. First, we develop a high-order CBF associated with the collision risk to alleviate the burden of distributed safety constraints on agents with a high risk of collision. Second, to enhance feasibility, a relaxation method is used to enlarge the allowable control space of agents. In particular, to decrease the number of optimization variables in the relaxation method, a selective strategy is adopted. This involves applying the relaxation method only to specific CBF based on the decision variable related to the overlap of admissible control spaces among agents. Numerical simulations demonstrate the superiority and validity of the proposed optimal flocking algorithm compared with existing approaches.
{"title":"Distributed Safety-Critical Optimal Flocking Control Algorithm With Feasibility Enhancement of High-Order Control Barrier Function","authors":"Yeongho Song;Ngo Phong Nguyen;Hwi-Sung Park;Youngbin You;Min Lee;Hyondong Oh","doi":"10.1109/TCNS.2025.3552452","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3552452","url":null,"abstract":"This article proposes a distributed safety-critical optimal flocking control algorithm for the multiagent system. In general, safety (i.e., collision avoidance) could be guaranteed by the use of a control barrier function (CBF) as constraints in the optimal control problem. However, the existence of conflicting safety constraints from multiple agents could lead to a feasibility problem (i.e., the absence of a feasible control command) in distributed optimal flocking control algorithms. To deal with this issue, we propose two effective feasibility enhancement approaches. First, we develop a high-order CBF associated with the collision risk to alleviate the burden of distributed safety constraints on agents with a high risk of collision. Second, to enhance feasibility, a relaxation method is used to enlarge the allowable control space of agents. In particular, to decrease the number of optimization variables in the relaxation method, a selective strategy is adopted. This involves applying the relaxation method only to specific CBF based on the decision variable related to the overlap of admissible control spaces among agents. Numerical simulations demonstrate the superiority and validity of the proposed optimal flocking algorithm compared with existing approaches.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2052-2063"},"PeriodicalIF":5.0,"publicationDate":"2025-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315372","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 : 2025-03-16DOI: 10.1109/TCNS.2025.3570929
Hongxiao Hu;Hong Yang;Liguang Xu;Zhengtao Ding
In this article, the input-to-state stable (ISS) problem is addressed for nonlinear delayed coupled systems on networks (CSNs) with delay-dependent impulses. Utilizing graph theory and Lyapunov–Krasovskii method, an ISS Lyapunov function for the entire network is formulated built upon the ISS Lyapunov functions of individual vertex systems, and sufficient conditions of ISS for general nonlinear delayed impulsive CSNs are obtained. It is shown that, when every continuous vertex system is ISS, the nonlinear delayed impulsive coupled systems according to a directed graph can still maintain the ISS property provided destabilizing impulses occur infrequently. Compared with the existing results on impulsive CSNs, our results are more general and easier to verify. In addition, we provide a simulation example to demonstrate the usefulness of the obtained results.
{"title":"Input-to-State Stability of Nonlinear Time-Delay Coupled Systems on Networks With Delay-Dependent Impulses","authors":"Hongxiao Hu;Hong Yang;Liguang Xu;Zhengtao Ding","doi":"10.1109/TCNS.2025.3570929","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3570929","url":null,"abstract":"In this article, the input-to-state stable (ISS) problem is addressed for nonlinear delayed coupled systems on networks (CSNs) with delay-dependent impulses. Utilizing graph theory and Lyapunov–Krasovskii method, an ISS Lyapunov function for the entire network is formulated built upon the ISS Lyapunov functions of individual vertex systems, and sufficient conditions of ISS for general nonlinear delayed impulsive CSNs are obtained. It is shown that, when every continuous vertex system is ISS, the nonlinear delayed impulsive coupled systems according to a directed graph can still maintain the ISS property provided destabilizing impulses occur infrequently. Compared with the existing results on impulsive CSNs, our results are more general and easier to verify. In addition, we provide a simulation example to demonstrate the usefulness of the obtained results.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2437-2446"},"PeriodicalIF":5.0,"publicationDate":"2025-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110299","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 : 2025-03-16DOI: 10.1109/TCNS.2025.3570924
Kewei Xia;Jiahan Peng;Yao Zou;Zongyu Zuo
This article presents a distributed fault-tolerant control strategy that consists of a fully distributed position controller and an attitude constrained controller for the leader–follower formation of networked quadrotor autonomous aerial vehicle systems in the presence of actuator fault and external disturbance. A distributed position controller is first developed for each follower quadrotor to ensure the formation tracking to the leader, where cascade estimators consisting of a filter-based dynamics estimator and a fixed-time estimator are exploited to completely counteract the actuator fault and external disturbance. Then, based on the cascade estimators development, by introducing a nonlinear transformation, a robust attitude constrained controller is proposed to guarantee the command attitude tracking singularity free. Stability analysis demonstrates that the closed-loop systems are asymptotically stable. Experiment results further verify and assess the proposed control strategy.
{"title":"Distributed Fault-Tolerant Formation Tracking of Networked Quadrotors Using Cascade Estimators","authors":"Kewei Xia;Jiahan Peng;Yao Zou;Zongyu Zuo","doi":"10.1109/TCNS.2025.3570924","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3570924","url":null,"abstract":"This article presents a distributed fault-tolerant control strategy that consists of a fully distributed position controller and an attitude constrained controller for the leader–follower formation of networked quadrotor autonomous aerial vehicle systems in the presence of actuator fault and external disturbance. A distributed position controller is first developed for each follower quadrotor to ensure the formation tracking to the leader, where cascade estimators consisting of a filter-based dynamics estimator and a fixed-time estimator are exploited to completely counteract the actuator fault and external disturbance. Then, based on the cascade estimators development, by introducing a nonlinear transformation, a robust attitude constrained controller is proposed to guarantee the command attitude tracking singularity free. Stability analysis demonstrates that the closed-loop systems are asymptotically stable. Experiment results further verify and assess the proposed control strategy.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2416-2427"},"PeriodicalIF":5.0,"publicationDate":"2025-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110240","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}
Securing cyber-physical systems (CPS) is a critical concern, extensively explored in the literature. Traditional approaches involve developing detectors to identify cyber-attacks or implementing passive defense strategies, such as encrypting communication channels and using firewalls. Differently, in this article, we address the challenge of securing CPS against unauthorized observers, which aims to estimate the system states by eavesdropping on system input and output. An active defense strategy, called misleading unauthorized observer, that modifies input–output signals in order to mislead the unauthorized observer, is introduced. These modifications are additional signals undetectable by innovation-based or residual-based detectors and designed with the aim of arbitrarily increasing the estimation error at the unauthorized observer side. For this purpose, system properties required for guaranteeing the existence of such a defense strategy are stated. Then, the design of these additional signals is formulated as an optimization problem with undetectability constraints. The effectiveness of the proposed approach is validated through simulations of a moving body in the XY plane, demonstrating how the active defending system successfully misleads the unauthorized observer.
{"title":"Active Defense Strategy in Cyber-Physical Systems: Misleading Unauthorized Observers","authors":"Ghadeer Shaaban;Hassen Fourati;Alain Kibangou;Christophe Prieur","doi":"10.1109/TCNS.2025.3570931","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3570931","url":null,"abstract":"Securing cyber-physical systems (CPS) is a critical concern, extensively explored in the literature. Traditional approaches involve developing detectors to identify cyber-attacks or implementing passive defense strategies, such as encrypting communication channels and using firewalls. Differently, in this article, we address the challenge of securing CPS against unauthorized observers, which aims to estimate the system states by eavesdropping on system input and output. An active defense strategy, called misleading unauthorized observer, that modifies input–output signals in order to mislead the unauthorized observer, is introduced. These modifications are additional signals undetectable by innovation-based or residual-based detectors and designed with the aim of arbitrarily increasing the estimation error at the unauthorized observer side. For this purpose, system properties required for guaranteeing the existence of such a defense strategy are stated. Then, the design of these additional signals is formulated as an optimization problem with undetectability constraints. The effectiveness of the proposed approach is validated through simulations of a moving body in the <italic>XY</i> plane, demonstrating how the active defending system successfully misleads the unauthorized observer.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2404-2415"},"PeriodicalIF":5.0,"publicationDate":"2025-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110264","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 : 2025-03-16DOI: 10.1109/TCNS.2025.3570927
Shuai Liu;Haotian Xu
This article concerns the distributed observer for the descriptor linear system. Unlike centralized descriptor system observers, in the case of distributed observers, each agent either finds it difficult to independently eliminate impulses, or the observer dynamics after eliminating pulses cannot be implemented. To overcome this issue, this article develops the structure of the distributed observer in two different scenarios, and the observer parameters are presented through a novel design. Moreover, we provide two implementation methods for distributed observer in different scenarios. As a result, each local observer has the ability to reconstruct the states of the underlying system, including its impulse phenomenon. Finally, simulation results verify the validity of our results.
{"title":"Distributed Observer for Descriptor Linear System: The Luenberger Observer Method","authors":"Shuai Liu;Haotian Xu","doi":"10.1109/TCNS.2025.3570927","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3570927","url":null,"abstract":"This article concerns the distributed observer for the descriptor linear system. Unlike centralized descriptor system observers, in the case of distributed observers, each agent either finds it difficult to independently eliminate impulses, or the observer dynamics after eliminating pulses cannot be implemented. To overcome this issue, this article develops the structure of the distributed observer in two different scenarios, and the observer parameters are presented through a novel design. Moreover, we provide two implementation methods for distributed observer in different scenarios. As a result, each local observer has the ability to reconstruct the states of the underlying system, including its impulse phenomenon. Finally, simulation results verify the validity of our results.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2447-2459"},"PeriodicalIF":5.0,"publicationDate":"2025-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110244","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 : 2025-03-16DOI: 10.1109/TCNS.2025.3570932
Lei Xue;Jianfeng Ye;Yongbao Wu;Jian Liu;D. C. Wunsch
This article studies the prescribed-time Nash equilibrium (PTNE) seeking problem of the pursuit–evasion game (PEG) with second-order dynamics under the intermittent control (IC) strategy. To achieve Nash equilibrium (NE) in a user-defined prescribed time, a time-varying high-gain function is incorporated into the design. The core challenge lies in applying IC to NE seeking, which complicates the convergence analysis and control design. To address this sticking point, we construct an auxiliary function and propose a Lyapunov function considering second-order dynamics to solve the PTNE seeking problem of PEG. Building upon the results for undirected graphs, we further extend our findings to directed graphs, demonstrating that the proposed method can reach the NE of PEG under IC in the prescribed time. Moreover, we generalize the approach to noncooperative games, indicating that the prescribed-time IC framework can effectively solve the PTNE seeking problem in such competitive scenarios. The numerical simulations validate the practicality of the proposed method.
{"title":"Prescribed-Time Nash Equilibrium Seeking for Pursuit–Evasion Game Under Intermittent Control With Undirected/Directed Graph","authors":"Lei Xue;Jianfeng Ye;Yongbao Wu;Jian Liu;D. C. Wunsch","doi":"10.1109/TCNS.2025.3570932","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3570932","url":null,"abstract":"This article studies the prescribed-time Nash equilibrium (PTNE) seeking problem of the pursuit–evasion game (PEG) with second-order dynamics under the intermittent control (IC) strategy. To achieve Nash equilibrium (NE) in a user-defined prescribed time, a time-varying high-gain function is incorporated into the design. The core challenge lies in applying IC to NE seeking, which complicates the convergence analysis and control design. To address this sticking point, we construct an auxiliary function and propose a Lyapunov function considering second-order dynamics to solve the PTNE seeking problem of PEG. Building upon the results for undirected graphs, we further extend our findings to directed graphs, demonstrating that the proposed method can reach the NE of PEG under IC in the prescribed time. Moreover, we generalize the approach to noncooperative games, indicating that the prescribed-time IC framework can effectively solve the PTNE seeking problem in such competitive scenarios. The numerical simulations validate the practicality of the proposed method.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2428-2436"},"PeriodicalIF":5.0,"publicationDate":"2025-03-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110248","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 : 2025-03-15DOI: 10.1109/TCNS.2025.3570423
Kushal P. Singh;Aditya K. Rao;Twinkle Tripathy
In this article, we propose a distributed guidance law for the simultaneous interception of a stationary target. For a group of “n” heterogeneous pursuers, the proposed guidance law establishes the necessary conditions on static graphs that ensure simultaneous target interception, regardless of the initial conditions of the pursuers. Building on these results, we also establish the necessary conditions for achieving simultaneous interception in switching graph topologies as well. The major highlight of the work is that the target interception occurs in finite time for both static and switching graph topologies. We demonstrate all of these results through numerical simulations.
{"title":"Finite-Time Max-Consensus for Simultaneous Target Interception in Switching Graph Topologies","authors":"Kushal P. Singh;Aditya K. Rao;Twinkle Tripathy","doi":"10.1109/TCNS.2025.3570423","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3570423","url":null,"abstract":"In this article, we propose a distributed guidance law for the simultaneous interception of a stationary target. For a group of “<italic>n</i>” heterogeneous pursuers, the proposed guidance law establishes the necessary conditions on static graphs that ensure simultaneous target interception, regardless of the initial conditions of the pursuers. Building on these results, we also establish the necessary conditions for achieving simultaneous interception in switching graph topologies as well. The major highlight of the work is that the target interception occurs in finite time for both static and switching graph topologies. We demonstrate all of these results through numerical simulations.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2350-2360"},"PeriodicalIF":5.0,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110284","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}
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