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Communication Resource-Efficient Vehicle Platooning Control With Various Spacing Policies

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IEEE/CAA Journal of Automatica Sinica 2024年第2期11卷 362-376页

作者： Xiaohua Ge Qing-Long Han Xian-Ming Zhang derui ding IEEE School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia

Platooning represents one of the key features that connected automated vehicles may possess as it allows multiple automated vehicles to be maneuvered cooperatively with small headways on roads. However, a critical challenge in accomplishing automated vehicle platoons is to deal with the effects of intermittent and sporadic vehicle-to-vehicle data transmissions caused by limited wireless communication resources. This paper addresses the co-design problem of dynamic event-triggered communication scheduling and cooperative adaptive cruise control for a convoy of automated vehicles with diverse spacing policies. The central aim is to achieve automated vehicle platooning under various gap references with desired platoon stability and spacing performance requirements, while simultaneously improving communication efficiency. Toward this aim, a dynamic event-triggered scheduling mechanism is developed such that the intervehicle data transmissions are scheduled dynamically and efficiently over time. Then, a tractable co-design criterion on the existence of both the admissible event-driven cooperative adaptive cruise control law and the desired scheduling mechanism is derived. Finally, comparative simulation results are presented to substantiate the effectiveness and merits of the obtained results.

关键词： Automated vehicles constant time headway spacing constant spacing cooperative adaptive cruise control event-triggered communication vehicle platooning

Distributed Platooning Control of Automated Vehicles Subject to Replay Attacks Based on Proportional Integral Observers

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IEEE/CAA Journal of Automatica Sinica 2024年第09期 1954-1966页

作者： Meiling Xie derui ding Xiaohua Ge Qing-Long Han Hongli Dong Yan Song the Department of Control Science and Engineering University of Shanghai for Science and Technology IEEE the School of Science Computing and Engineering Technologies Swinburne University of Technology the Artificial Intelligence Energy Research Institute Northeast Petroleum University the Heilongjiang Provincial Key Laboratory of Networking and Intelligent Control Northeast Petroleum University the Sanya Offshore Oil & Gas Research Institute Northeast Petroleum University

Secure platooning control plays an important role in enhancing the cooperative driving safety of automated vehicles subject to various security vulnerabilities. This paper focuses on the distributed secure control issue of automated vehicles affected by replay attacks. A proportional-integral-observer(PIO) with predetermined forgetting parameters is first constructed to acquire the dynamical information of vehicles. Then, a time-varying parameter and two positive scalars are employed to describe the temporal behavior of replay attacks. In light of such a scheme and the common properties of Laplace matrices, the closed-loop system with PIO-based controllers is transformed into a switched and time-delayed one. Furthermore, some sufficient conditions are derived to achieve the desired platooning performance by the view of the Lyapunov stability theory. The controller gains are analytically determined by resorting to the solution of certain matrix inequalities only dependent on maximum and minimum eigenvalues of communication topologies. Finally, a simulation example is provided to illustrate the effectiveness of the proposed control strategy.

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Fuzzy Set-Membership Filtering for Discrete-Time Nonlinear Systems

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IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 1026-1036页

作者： Jingyang Mao Xiangyu Meng derui ding Department of Control Science and Engineering University of Shanghai for Science and TechnologyShanghai 200093China Division of Electrical and Computer Engineering Louisiana State UniversityBaton RougeLA70803 USA IEEE School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia

In this article,the problem of state estimation is addressed for discrete-time nonlinear systems subject to additive unknown-but-bounded noises by using fuzzy set-membership ***,an improved T-S fuzzy model is introduced to achieve highly accurate approximation via an affine model under each fuzzy ***,compared to traditional prediction-based ones,two types of fuzzy set-membership filters are proposed to effectively improve filtering performance,where the structure of both filters consists of two parts:prediction and *** the locally Lipschitz continuous condition of membership functions,unknown membership values in the estimation error system can be treated as multiplicative noises with respect to the estimation ***-time recursive algorithms are given to find the minimal ellipsoid containing the true ***,the proposed optimization approaches are validated via numerical simulations of a one-dimensional and a three-dimensional discrete-time nonlinear systems.

关键词： Affine model membership functions set-membership filtering stability Takagi-Sugeno fuzzy modeling

Adaptive event-triggered state estimation for large-scale systems subject to deception attacks

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Science China(Information Sciences) 2022年第2期65卷 139-154页

作者： Hanchen XIAO derui ding Hongli DONG Guoliang WEI College of Science University of Shanghai for Science and Technology Department of Control Science and Engineering University of Shanghai for Science and Technology School of Software and Electrical Engineering Swinburne University of Technology Institute of Complex Systems and Advanced Control Northeast Petroleum University

This paper addresses state estimation issues of large-scale systems with measurements subject to deception attacks, where the communication topology among sub-estimators is the same as the physical coupling structure of the subsystems. In consideration of the limited channel bandwidth, a novel adaptive event-triggered scheme is proposed for governing the data transmission among sub-estimators. With the help of Lyapunov analysis approaches, sufficient conditions are derived to ensure the input-to-state stability of the dynamics of estimation errors. Meanwhile, the bound of the estimation errors is obtained in the mean-square sense. The desired estimator parameters are presented in an analytical form dependent on the solution of a set of matrix inequalities. The developed scheme is related to the local information of the subsystems and thus satisfies the requirement of scalability. Finally, a simulation example of power systems is given to reveal the usefulness and effectiveness of the developed design scheme.

关键词： large-scale discrete-time systems adaptive event-triggering communication Adaptive event-triggering communication deception attacks input-to-state stability power systems

Consensus Control of Multi-Agent Systems Using Fault-Estimation-in-the-Loop:Dynamic Event-Triggered Case

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IEEE/CAA Journal of Automatica Sinica 2022年第8期9卷 1440-1451页

作者： Yamei Ju derui ding Xiao He Qing-Long Han Guoliang Wei Shanghai Key Lab of Modern Optical System the Department of Control Science and EngineeringUniversity of Shanghai for Science and TechnologyShanghai 200093China Department of Control Science and Engineering University of Shanghai for Science and TechnologyShanghai 200093China School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia Department of Automation BNRistTsinghua UniversityBeijing 100084China College of Science University of Shanghai for Science and TechnologyShanghai 200093China

The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication ***,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed ***,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability ***,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,***,a simulation result is employed to verify the usefulness of the proposed design framework.

关键词： Consensus control dynamic event-triggered protocol(DETP) fault compensation(FC) fault estimation multi-agent systems(MASs)

Dynamic Event-Triggered Scheduling and Platooning Control Co-Design for Automated Vehicles Over Vehicular Ad-Hoc Networks

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IEEE/CAA Journal of Automatica Sinica 2022年第1期9卷 31-46页

作者： Xiaohua Ge Shunyuan Xiao Qing-Long Han Xian-Ming Zhang derui ding Computing and Engineering Technologies Swinburne University of TechnologyMelbourneVIC 3122Australia

This paper deals with the co-design problem of event-triggered communication scheduling and platooning control over vehicular ad-hoc networks(VANETs)subject to finite communication ***,a unified model is presented to describe the coordinated platoon behavior of leader-follower vehicles in the simultaneous presence of unknown external disturbances and an unknown leader control *** such a platoon model,the central aim is to achieve robust platoon formation tracking with desired inter-vehicle spacing and same velocities and accelerations guided by the leader,while attaining improved communication *** this aim,a novel bandwidth-aware dynamic event-triggered scheduling mechanism is *** salient feature of the scheduling mechanism is that the threshold parameter in the triggering law is dynamically adjusted over time based on both vehicular state variations and bandwidth ***,a sufficient condition for platoon control system stability and performance analysis as well as a co-design criterion of the admissible event-triggered platooning control law and the desired scheduling mechanism are ***,simulation results are provided to substantiate the effectiveness and merits of the proposed co-design approach for guaranteeing a trade-off between robust platooning control performance and communication efficiency.

关键词： Automated vehicles dynamic event-triggered communication information flow topology platooning control vehicular ad-hoc networks(VANETs)

Communication Resource-Efficient Vehicle Platooning Control With Various Spacing Policies

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Neural-Network-Based Control for Discrete-Time Nonlinear Systems with Input Saturation Under Stochastic Communication Protocol

自动化学报（英文版） 2024年第2期

作者： Xiaohua Ge Qing-Long Han Xian-Ming Zhang derui ding

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IEEE/CAA Journal of Automatica Sinica 2021年第4期8卷 766-778页

作者： Xueli Wang derui ding Hongli Dong Xian-Ming Zhang Department of Control Science and Engineering University of Shanghai for Science and TechnologyShanghai 200093China School of Software and Electrical Engineering Swinburne University of TechnologyMelbourne 3122VictoriaAustralia Institute of Complex Systems and Advanced Control Northeast Petroleum UniversityDaqing 163318China

In this paper,an adaptive dynamic programming(ADP)strategy is investigated for discrete-time nonlinear systems with unknown nonlinear dynamics subject to input *** save the communication resources between the controller and the actuators,stochastic communication protocols(SCPs)are adopted to schedule the control signal,and therefore the closed-loop system is essentially a protocol-induced switching system.A neural network(NN)-based identifier with a robust term is exploited for approximating the unknown nonlinear system,and a set of switch-based updating rules with an additional tunable parameter of NN weights are developed with the help of the gradient *** virtue of a novel Lyapunov function,a sufficient condition is proposed to achieve the stability of both system identification errors and the update dynamics of NN ***,a value iterative ADP algorithm in an offline way is proposed to solve the optimal control of protocol-induced switching systems with saturation constraints,and the convergence is profoundly discussed in light of mathematical ***,an actor-critic NN scheme is developed to approximate the control law and the proposed performance index function in the framework of ADP,and the stability of the closed-loop system is analyzed in view of the Lyapunov ***,the numerical simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Adaptive dynamic programming(ADP) constrained inputs neural network(NN) stochastic communication protocols(SCPs) suboptimal control

Dynamic Event-triggered Control and Estimation: A Survey

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International Journal of Automation and computing 2021年第6期18卷 857-886页

作者： Xiaohua Ge Qing-Long Han Xian-Ming Zhang derui ding School of Software and Electrical Engineering Swinburne University of TechnologyMelbourne 3122Australia

The efficient utilization of computation and communication resources became a critical design issue in a wide range of networked systems due to the finite computation and processing capabilities of system components(e.g., sensor, controller) and shared network bandwidth. Event-triggered mechanisms(ETMs) are regarded as a major paradigm shift in resource-constrained applications compared to the classical time-triggered mechanisms, which allows a trade-off to be achieved between desired control/estimation performance and improved resource efficiency. In recent years, dynamic event-triggered mechanisms(DETMs) are emerging as a promising enabler to fulfill more resource-efficient and flexible design requirements. This paper provides a comprehensive review of the latest developments in dynamic event-triggered control and estimation for networked systems. Firstly, a unified event-triggered control and estimation framework is established, which empowers several fundamental issues associated with the construction and implementation of the desired ETM and controller/estimator to be systematically investigated. Secondly, the motivations of DETMs and their main features and benefits are outlined. Then, two typical classes of DETMs based on auxiliary dynamic variables(ADVs) and dynamic threshold parameters(DTPs) are elaborated. In addition, the main techniques of constructing ADVs and DTPs are classified, and their corresponding analysis and design methods are discussed. Furthermore, three application examples are provided to evaluate different ETMs and verify how and under what conditions DETMs are superior to their static and periodic counterparts. Finally, several challenging issues are envisioned to direct the future research.

关键词： Networked systems dynamic event-triggered control dynamic event-triggered estimation dynamic event-triggered mechanisms vehicle active suspension system water distribution and supply system