Pub Date : 2025-03-15DOI: 10.1109/TCNS.2025.3570462
Alejandro J. Rojas
Systems with single input and multiple outputs (SIMOs) can be the result of output sensor redundancies and/or a spatially dependent system. In this article, we focus on a linear time-invariant SIMOs system and consider first the analysis of an SNR constrained additive white noise (AWN) channel with switched access, located between the controller(s) and the plant input. That is, a channel for which its use is switched between the multiple output feedback control loops. We then extend the study to the case of a signal-to-noise ratio (SNR) constrained transmission of the actuation signal through an AWN multiple access channel (MAC). For both channel approaches, we consider first the regulation problem (with setpoint set to zero) and then include in the analysis the potential effect of a nonzero setpoint signal on the resulting SNR constraints. We conclude that, in terms of the minimal required SNR, the AWN MAC channel option is, in general, preferable over the switched AWN channel option if linear co-design of the encoder and decoder is available.
{"title":"Signal-to-Noise Ratio Input Constrained Control of Single-Input Multiple-Output Systems","authors":"Alejandro J. Rojas","doi":"10.1109/TCNS.2025.3570462","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3570462","url":null,"abstract":"Systems with single input and multiple outputs (SIMOs) can be the result of output sensor redundancies and/or a spatially dependent system. In this article, we focus on a linear time-invariant SIMOs system and consider first the analysis of an SNR constrained additive white noise (AWN) channel with switched access, located between the controller(s) and the plant input. That is, a channel for which its use is switched between the multiple output feedback control loops. We then extend the study to the case of a signal-to-noise ratio (SNR) constrained transmission of the actuation signal through an AWN multiple access channel (MAC). For both channel approaches, we consider first the regulation problem (with setpoint set to zero) and then include in the analysis the potential effect of a nonzero setpoint signal on the resulting SNR constraints. We conclude that, in terms of the minimal required SNR, the AWN MAC channel option is, in general, preferable over the switched AWN channel option if linear co-design of the encoder and decoder is available.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2372-2380"},"PeriodicalIF":5.0,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11004630","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110291","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 : 2025-03-15DOI: 10.1109/TCNS.2025.3570473
Guilherme Ramos;Sérgio Pequito;Daniel Silvestre
Reputation-based consensus methods have gained significant attention in distributed systems to mitigate the impact of malicious agents and ensure reliable decision-making. However, privacy concerns arise when sensitive information is shared among participants. In this article, we propose a reputation-based consensus method that incorporates resilience and privacy guarantees, providing a balance between preserving participants' privacy and maintaining the accuracy of the resilient consensus process. Our approach leverages the notion of privacy to add noise to the agents' states, ensuring that individual contributions are masked while still enabling the detection of malicious behavior. We present a detailed analysis of the privacy–accuracy tradeoff and demonstrate the effectiveness of our method through simulations. The results show that our reputation-based consensus method with privacy guarantees offers robustness against attacks while preserving the privacy of participants, making it a promising solution for privacy-conscious resilient distributed systems.
{"title":"Reputation-Based Resilient Consensus With Privacy Guarantees","authors":"Guilherme Ramos;Sérgio Pequito;Daniel Silvestre","doi":"10.1109/TCNS.2025.3570473","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3570473","url":null,"abstract":"Reputation-based consensus methods have gained significant attention in distributed systems to mitigate the impact of malicious agents and ensure reliable decision-making. However, privacy concerns arise when sensitive information is shared among participants. In this article, we propose a reputation-based consensus method that incorporates resilience and privacy guarantees, providing a balance between preserving participants' privacy and maintaining the accuracy of the resilient consensus process. Our approach leverages the notion of privacy to add noise to the agents' states, ensuring that individual contributions are masked while still enabling the detection of malicious behavior. We present a detailed analysis of the privacy–accuracy tradeoff and demonstrate the effectiveness of our method through simulations. The results show that our reputation-based consensus method with privacy guarantees offers robustness against attacks while preserving the privacy of participants, making it a promising solution for privacy-conscious resilient distributed systems.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2381-2391"},"PeriodicalIF":5.0,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110298","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.2025.3570454
Angel I. Paredes;Emmanuel Nuño;Antonio Loría
We provide a solution to the consensus-based formation control problem of multiagent nonholonomic vehicles, under the assumption that the magnitudes of control inputs must satisfy certain preimposed bounds, to avoid saturation of the actuators. We consider that the communications are affected by time-varying delays and the vehicles lack velocity measurements. The desired control objective is that all the vehicles converge to a given desired formation and that they reach a consensus on the localization of the center of such formation and on their orientations. The control architecture exploits several features. From a control viewpoint, the systems’ dynamics are split into their angular-motion and linear-motion parts, so each of these is driven by a separate distributed dynamic output-feedback controller, passively interconnected to the plant via a virtual spring. From a network-topology viewpoint, the overall networked system contains two layers of interconnections with undirected graphs. Finally, from an analytical viewpoint, each vehicle-controller closed-loop system may be regarded as a cascade with a $boldsymbol{delta }$-persistently exciting interconnection, which ensures the achievement of the control goal, in spite of the nonholonomic constraints.
{"title":"Output-Feedback Consensus-Formation Control of Nonholonomic Vehicles With Input Constraints and Time-Varying Delays","authors":"Angel I. Paredes;Emmanuel Nuño;Antonio Loría","doi":"10.1109/TCNS.2025.3570454","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3570454","url":null,"abstract":"We provide a solution to the consensus-based formation control problem of multiagent nonholonomic vehicles, under the assumption that the magnitudes of control inputs must satisfy certain preimposed bounds, to avoid saturation of the actuators. We consider that the communications are affected by time-varying delays and the vehicles lack velocity measurements. The desired control objective is that all the vehicles converge to a given desired formation and that they reach a consensus on the localization of the center of such formation and on their orientations. The control architecture exploits several features. From a control viewpoint, the systems’ dynamics are split into their angular-motion and linear-motion parts, so each of these is driven by a separate distributed dynamic output-feedback controller, passively interconnected to the plant via a virtual spring. From a network-topology viewpoint, the overall networked system contains two layers of interconnections with undirected graphs. Finally, from an analytical viewpoint, each vehicle-controller closed-loop system may be regarded as a cascade with a <inline-formula><tex-math>$boldsymbol{delta }$</tex-math></inline-formula>-persistently exciting interconnection, which ensures the achievement of the control goal, in spite of the nonholonomic constraints.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2361-2371"},"PeriodicalIF":5.0,"publicationDate":"2025-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145110274","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 : 2025-03-07DOI: 10.1109/TCNS.2025.3549067
Zhenghong Jin;Hua Li;Zhengyan Qin;Yufeng Tian
In this article, the distributed disturbance feedback optimization problem of the heterogeneous linear multiagent systems is studied. In order to achieve the objective of driving all agents with disturbance to the optimal solution of the global nonconvex objective function, momentum-based distributed feedback optimization coordinators are designed, where the nonconvex objective function and the general dynamics of an agent, and the external disturbance are considered simultaneously. Compared to existing results, which require the form of the gradient function to be known, the proposed distributed feedback optimization coordinators considered only need partial information related to the actual input–output of the local objective functions. This partial information is used to estimate the gradient values at each moment. The overall closed-loop system is an interconnected system involving the module of optimal coordinators and the heterogeneous linear multiagent systems with different timescales and thus is studied by using singular perturbation theory. Finally, the effectiveness and superiority of the proposed method are illustrated by a numerical example and a firefighting robot simulation.
{"title":"Momentum-Based Distributed Disturbance Feedback Optimization of Heterogeneous Multiagent Systems: A Timescale Separation Approach","authors":"Zhenghong Jin;Hua Li;Zhengyan Qin;Yufeng Tian","doi":"10.1109/TCNS.2025.3549067","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3549067","url":null,"abstract":"In this article, the distributed disturbance feedback optimization problem of the heterogeneous linear multiagent systems is studied. In order to achieve the objective of driving all agents with disturbance to the optimal solution of the global nonconvex objective function, momentum-based distributed feedback optimization coordinators are designed, where the nonconvex objective function and the general dynamics of an agent, and the external disturbance are considered simultaneously. Compared to existing results, which require the form of the gradient function to be known, the proposed distributed feedback optimization coordinators considered only need partial information related to the actual input–output of the local objective functions. This partial information is used to estimate the gradient values at each moment. The overall closed-loop system is an interconnected system involving the module of optimal coordinators and the heterogeneous linear multiagent systems with different timescales and thus is studied by using singular perturbation theory. Finally, the effectiveness and superiority of the proposed method are illustrated by a numerical example and a firefighting robot simulation.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2004-2015"},"PeriodicalIF":5.0,"publicationDate":"2025-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315375","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 : 2025-03-07DOI: 10.1109/TCNS.2025.3549065
Omar Juarez-Alvarez;Alessio Franci
The theory of mixed-feedback systems provides an effective framework for the design of robust and tunable oscillations in nonlinear systems characterized by interleaved fast positive and slow negative feedback loops. The goal of this article is to extend the mixed-feedback oscillation design framework to networks. To this aim, we introduce a network model of coupled mixed-feedback systems, ask under which conditions it exhibits a collective oscillatory rhythm, and if, and how, this rhythm can be shaped by network design. In the proposed network model, node dynamics are nonlinear and defined by a tractable realization of the mixed-feedback structure. Coupling between nodes is also nonlinear and defined by a tractable abstraction of synaptic coupling between neurons. We derive constructive conditions under which the spectral properties of the network adjacency matrix fully and explicitly determine both the emergence of a stable network rhythm and its detailed rhythmic profile, i.e., the pattern of relative oscillation amplitudes and phase differences. Our theoretical developments are grounded on ideas from dominant systems and bifurcation theory. They provide a new framework for the analysis and design of nonlinear network rhythms.
{"title":"Collective Rhythm Design in Coupled Mixed-Feedback Systems Through Dominance and Bifurcations","authors":"Omar Juarez-Alvarez;Alessio Franci","doi":"10.1109/TCNS.2025.3549065","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3549065","url":null,"abstract":"The theory of mixed-feedback systems provides an effective framework for the design of robust and tunable oscillations in nonlinear systems characterized by interleaved fast positive and slow negative feedback loops. The goal of this article is to extend the mixed-feedback oscillation design framework to networks. To this aim, we introduce a network model of coupled mixed-feedback systems, ask under which conditions it exhibits a collective oscillatory rhythm, and if, and how, this rhythm can be shaped by network design. In the proposed network model, node dynamics are nonlinear and defined by a tractable realization of the mixed-feedback structure. Coupling between nodes is also nonlinear and defined by a tractable abstraction of synaptic coupling between neurons. We derive constructive conditions under which the spectral properties of the network adjacency matrix fully and explicitly determine both the emergence of a stable network rhythm and its detailed rhythmic profile, i.e., the pattern of relative oscillation amplitudes and phase differences. Our theoretical developments are grounded on ideas from dominant systems and bifurcation theory. They provide a new framework for the analysis and design of nonlinear network rhythms.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"1992-2003"},"PeriodicalIF":5.0,"publicationDate":"2025-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315415","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 : 2025-03-07DOI: 10.1109/TCNS.2025.3549064
Jingjing Xie;Weiyao Lan;Feng Tong;Xiao Yu
This article investigates the circular formation control problem of networked dynamic autonomous underwater vehicles (AUVs) in a directed network. The objective is to make dynamic AUVs encircle a given target with specific a radius and velocity. The network topology among all AUVs is modeled by a directed graph containing a spanning tree, and the target is only known to one AUV. Estimator-based approaches with the backstepping technique are proposed for cases with or without communication. First, in communication-based networks, AUVs are allowed to transmit information via communication devices. A dynamic control law consisting of a distributed estimator is proposed. By analyzing with the perturbed system method, the multivehicle system achieves global exponential stability instead of asymptotic stability. Second, in communication-denied networks, AUVs depend only on the relative measurements from the onboard sensors. A dynamic control law consisting of a decentralized estimator is proposed. By small-gain analysis, the global asymptotic stability for the multivehicle system is established. To demonstrate effectiveness, simulation results are presented.
{"title":"Circular Formation Control for Networked Dynamic Autonomous Underwater Vehicles: Estimator-Based Approaches","authors":"Jingjing Xie;Weiyao Lan;Feng Tong;Xiao Yu","doi":"10.1109/TCNS.2025.3549064","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3549064","url":null,"abstract":"This article investigates the circular formation control problem of networked dynamic autonomous underwater vehicles (AUVs) in a directed network. The objective is to make dynamic AUVs encircle a given target with specific a radius and velocity. The network topology among all AUVs is modeled by a directed graph containing a spanning tree, and the target is only known to one AUV. Estimator-based approaches with the backstepping technique are proposed for cases with or without communication. First, in communication-based networks, AUVs are allowed to transmit information via communication devices. A dynamic control law consisting of a distributed estimator is proposed. By analyzing with the perturbed system method, the multivehicle system achieves global exponential stability instead of asymptotic stability. Second, in communication-denied networks, AUVs depend only on the relative measurements from the onboard sensors. A dynamic control law consisting of a decentralized estimator is proposed. By small-gain analysis, the global asymptotic stability for the multivehicle system is established. To demonstrate effectiveness, simulation results are presented.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"2016-2028"},"PeriodicalIF":5.0,"publicationDate":"2025-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315435","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 : 2025-03-07DOI: 10.1109/TCNS.2025.3549094
Changran He;Kwok Wai Samuel Au
In this article, we study the leader-following attitude consensus problem of multiple rigid body systems by bounded distributed attitude feedback control. The desired reference attitude and the desired reference angular velocity are assumed to be generated by a leader system. To estimate the reference attitude and the reference angular velocity, we establish a nonlinear distributed observer for the leader system that generates a priori bounded estimates of the system matrix, the output matrix, and the state variables of the leader system. We further synthesize a bounded distributed attitude feedback control law to solve the leader-following consensus problem over a jointly connected switching network based on the distributed observer. A numerical example is provided to demonstrate the effectiveness of our approach.
{"title":"Leader-Following Consensus of Multiple Rigid Body Systems by Bounded Attitude Feedback","authors":"Changran He;Kwok Wai Samuel Au","doi":"10.1109/TCNS.2025.3549094","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3549094","url":null,"abstract":"In this article, we study the leader-following attitude consensus problem of multiple rigid body systems by bounded distributed attitude feedback control. The desired reference attitude and the desired reference angular velocity are assumed to be generated by a leader system. To estimate the reference attitude and the reference angular velocity, we establish a nonlinear distributed observer for the leader system that generates a priori bounded estimates of the system matrix, the output matrix, and the state variables of the leader system. We further synthesize a bounded distributed attitude feedback control law to solve the leader-following consensus problem over a jointly connected switching network based on the distributed observer. A numerical example is provided to demonstrate the effectiveness of our approach.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 2","pages":"1406-1414"},"PeriodicalIF":4.0,"publicationDate":"2025-03-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144331581","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 : 2025-03-05DOI: 10.1109/TCNS.2025.3548158
Siyu Zou;Ting Li;Jiandong Zhu
This article investigates the intracluster synchronization problem for linear networks over finite fields. By using the technique of linear transformations and novel invariant subspaces of linear systems over finite fields, several necessary and sufficient conditions for the intracluster synchronization of linear networks over finite fields are proposed. In particular, the obtained results are applicable to verify the complete synchronization of linear networks over finite fields. Finally, some numerical examples are given to illustrate our theoretical results.
{"title":"Intracluster Synchronization of Linear Networks Over Finite Fields","authors":"Siyu Zou;Ting Li;Jiandong Zhu","doi":"10.1109/TCNS.2025.3548158","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3548158","url":null,"abstract":"This article investigates the intracluster synchronization problem for linear networks over finite fields. By using the technique of linear transformations and novel invariant subspaces of linear systems over finite fields, several necessary and sufficient conditions for the intracluster synchronization of linear networks over finite fields are proposed. In particular, the obtained results are applicable to verify the complete synchronization of linear networks over finite fields. Finally, some numerical examples are given to illustrate our theoretical results.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 2","pages":"1324-1331"},"PeriodicalIF":4.0,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144331576","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 : 2025-03-05DOI: 10.1109/TCNS.2025.3548243
Xiangyu Mao;Jianping He;Chongrong Fang
The distributed identification of network systems under local observation has recently become one of the research hot spots. Due to the unobservable influence of other subsystems and the noise, it is difficult for local subsystems to achieve convergent identification under local observations. This article proposes a distributed identification algorithm for local subsystems to identify their parameter matrices under local observation with a guarantee of convergence. We obtain the necessary and sufficient conditions for the convergence of local identification. We prove that by injecting an independent random signal to the local subsystem, which is easy to implement, using a simple least-squares method to identify local systems can achieve convergent identification for a certain probability. Meanwhile, we give the minimal level of variance of the injected signal that can still guarantee the convergence of the identification. Next, we add the designed input as a vector of Gaussian noises with decreasing variance to a known controller, proving that it can converge to the original controller. Simulations demonstrate the effectiveness of the proposed algorithms.
{"title":"Distributed Identification With Input Design for Network Systems","authors":"Xiangyu Mao;Jianping He;Chongrong Fang","doi":"10.1109/TCNS.2025.3548243","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3548243","url":null,"abstract":"The distributed identification of network systems under local observation has recently become one of the research hot spots. Due to the unobservable influence of other subsystems and the noise, it is difficult for local subsystems to achieve convergent identification under local observations. This article proposes a distributed identification algorithm for local subsystems to identify their parameter matrices under local observation with a guarantee of convergence. We obtain the necessary and sufficient conditions for the convergence of local identification. We prove that by injecting an independent random signal to the local subsystem, which is easy to implement, using a simple least-squares method to identify local systems can achieve convergent identification for a certain probability. Meanwhile, we give the minimal level of variance of the injected signal that can still guarantee the convergence of the identification. Next, we add the designed input as a vector of Gaussian noises with decreasing variance to a known controller, proving that it can converge to the original controller. Simulations demonstrate the effectiveness of the proposed algorithms.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"1930-1942"},"PeriodicalIF":5.0,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315387","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 : 2025-03-05DOI: 10.1109/TCNS.2025.3548205
Ziming Ren;Hao Liu;Michael V. Basin;Qing Gao
This article studies the secure robust formation control problem for heterogeneous multiagent systems involving unmanned air–ground vehicles subject to denial-of-service (DoS) attacks, external disturbances, and unknown system parametric information. For the heterogeneous agents involving nonlinear underactuated coupled dynamics and limited communication capabilities, a unified event-triggered data-driven control method is proposed, including a distributed event-triggered observer for interaction data recovery under DoS attacks and robust controllers to achieve distributed formation. The control policies and disturbances, including couplings and external disturbances, are modeled as performance optimizers and adversarial players in the zero-sum game. Robust optimal policies are obtained by developing off-policy reinforcement learning without information on system dynamical parameters. Sufficient conditions are derived to guarantee the stability of the closed-loop system under DoS attacks, and Zeno behavior for all agents can be excluded. The effectiveness of the proposed controllers is validated by presenting two simulation examples of a distributed heterogeneous formation.
{"title":"Event-Triggered Data-Driven Formation Control for Heterogeneous Multiagent Systems Subject to DoS Attacks","authors":"Ziming Ren;Hao Liu;Michael V. Basin;Qing Gao","doi":"10.1109/TCNS.2025.3548205","DOIUrl":"https://doi.org/10.1109/TCNS.2025.3548205","url":null,"abstract":"This article studies the secure robust formation control problem for heterogeneous multiagent systems involving unmanned air–ground vehicles subject to denial-of-service (DoS) attacks, external disturbances, and unknown system parametric information. For the heterogeneous agents involving nonlinear underactuated coupled dynamics and limited communication capabilities, a unified event-triggered data-driven control method is proposed, including a distributed event-triggered observer for interaction data recovery under DoS attacks and robust controllers to achieve distributed formation. The control policies and disturbances, including couplings and external disturbances, are modeled as performance optimizers and adversarial players in the zero-sum game. Robust optimal policies are obtained by developing off-policy reinforcement learning without information on system dynamical parameters. Sufficient conditions are derived to guarantee the stability of the closed-loop system under DoS attacks, and Zeno behavior for all agents can be excluded. The effectiveness of the proposed controllers is validated by presenting two simulation examples of a distributed heterogeneous formation.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 3","pages":"1968-1979"},"PeriodicalIF":5.0,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145315442","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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