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Decentralized Dynamic Event-Triggered Communication and Active Suspension Control of In-Wheel Motor Driven Electric Vehicles with Dynamic Damping

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IEEE/CAA Journal of Automatica Sinica 2021年第5期8卷 971-986页

作者： Iftikhar Ahmad xiaohua ge Qing-Long Han the School of Software and Electrical Engineering Swinburne University of TechnologyMelbourneVIC 3122Australia

This paper addresses the co-design problem of decentralized dynamic event-triggered communication and active suspension control for an in-wheel motor driven electric vehicle equipped with a dynamic damper. The main objective is to simultaneously improve the desired suspension performance caused by various road disturbances and alleviate the network resource utilization for the concerned in-vehicle networked suspension system. First, a T-S fuzzy active suspension model of an electric vehicle under dynamic damping is established. Second,a novel decentralized dynamic event-triggered communication mechanism is developed to regulate each sensor's data transmissions such that sampled data packets on each sensor are scheduled in an independent manner. In contrast to the traditional static triggering mechanisms, a key feature of the proposed mechanism is that the threshold parameter in the event trigger is adjusted adaptively over time to reduce the network resources occupancy. Third, co-design criteria for the desired event-triggered fuzzy controller and dynamic triggering mechanisms are derived. Finally, comprehensive comparative simulation studies of a 3-degrees-of-freedom quarter suspension model are provided under both bump road disturbance and ISO-2631 classified random road disturbance to validate the effectiveness of the proposed co-design approach. It is shown that ride comfort can be greatly improved in either road disturbance case and the suspension deflection, dynamic tyre load and actuator control input are all kept below the prescribed maximum allowable limits, while simultaneously maintaining desirable communication efficiency.

关键词： Active suspension control decentralized eventtriggered control dynamic damper dynamic eventtriggered communication in-wheel motor driven electric vehicle

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Novel Stability Criteria for Linear Time-Delay Systems Using Lyapunov-Krasovskii Functionals With A Cubic Polynomial on Time-Varying Delay

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IEEE/CAA Journal of Automatica Sinica 2021年第1期8卷 77-85页

作者： Xian-Ming Zhang Qing-Long Han xiaohua ge the School of Software and Electrical Engineering Swinburne University of TechnologyMelbourneVIC 3122Australia

One of challenging issues on stability analysis of time-delay systems is how to obtain a stability criterion from a matrix-valued polynomial on a time-varying *** first contribution of this paper is to establish a necessary and sufficient condition on a matrix-valued polynomial inequality over a certain closed *** degree of such a matrix-valued polynomial can be an arbitrary finite positive *** second contribution of this paper is to introduce a novel LyapunovKrasovskii functional,which includes a cubic polynomial on a time-varying delay,in stability analysis of time-delay *** on the novel Lyapunov-Krasovskii functional and the necessary and sufficient condition on matrix-valued polynomial inequalities,two stability criteria are derived for two cases of the time-varying delay.A well-studied numerical example is given to show that the proposed stability criteria are of less conservativeness than some existing ones.

关键词： Bessel-Legendre inequality matrix-valued polynomial inequalities stability time-varying delay time-delay systems

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Exponential Synchronization of Delayed Stochastic Complex Dynamical Networks via Hybrid Impulsive Control

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IEEE/CAA Journal of Automatica Sinica 2024年第3期11卷 785-787页

作者： Yao Cui Pei Cheng xiaohua ge the School of Mathematic Science Anhui UniversityHefei 230601China IEEE the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia

Dear Editor,This letter addresses the synchronization problem of a class of delayed stochastic complex dynamical networks consisting of multiple drive and response *** aim is to achieve mean square exponential synchronization for the drive-response nodes despite the simultaneous presence of time delays and stochastic noises in node dynamics.

关键词： dynamics stochastic letter

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Attack-Resilient Distributed Cooperative Control of Virtually Coupled High-Speed Trains via Topology Reconfiguration

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 1066-1068页

作者： Shunyuan Xiao xiaohua ge Qing Wu the Institute of Advanced Technology Nanjing University of Posts and TelecommunicationsNanjing 210023China the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia the School of Engineering and Technology Central Queensland UniversityRockhampton QLD 4701Australia

Dear Editor,This letter addresses the resilient distributed cooperative control problem of a virtually coupled train convoy under stochastic disturbances and cyber *** main purpose is to achieve distributed coordinati... 详细信息

关键词： prescribed Speed trains

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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

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A Scalable Adaptive Approach to Multi-Vehicle Formation Control with Obstacle Avoidance

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IEEE/CAA Journal of Automatica Sinica 2022年第6期9卷 990-1004页

作者： xiaohua ge Qing-Long Han Jun Wang Xian-Ming Zhang IEEE School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia Department of Computer Science and School of Data Science City University of Hong KongChina

This paper deals with the problem of distributed formation tracking control and obstacle avoidance of multivehicle systems(MVSs)in complex obstacle-laden *** MVS under consideration consists of a leader vehicle with an unknown control input and a group of follower vehicles,connected via a directed interaction topology,subject to simultaneous unknown heterogeneous nonlinearities and external *** central aim is to achieve effective and collisionfree formation tracking control for the nonlinear and uncertain MVS with obstacles encountered in formation maneuvering,while not demanding global information of the interaction *** this goal,a radial basis function neural network is used to model the unknown nonlinearity of vehicle dynamics in each vehicle and repulsive potentials are employed for obstacle ***,a scalable distributed adaptive formation tracking control protocol with a built-in obstacle avoidance mechanism is *** is proved that,with the proposed protocol,the resulting formation tracking errors are uniformly ultimately bounded and obstacle collision avoidance is *** simulation results are elaborated to substantiate the effectiveness and the promising collision avoidance performance of the proposed scalable adaptive formation control approach.

关键词： Adaptive control collision avoidance distributed formation control multi-vehicle systems neural networks obstacle avoidance repulsive potential

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Resilient and Safe Platooning Control of Connected Automated Vehicles Against Intermittent Denial-of-Service Attacks

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IEEE/CAA Journal of Automatica Sinica 2023年第5期10卷 1234-1251页

作者： xiaohua ge Qing-Long Han Qing Wu Xian-Ming Zhang the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourne VIC 3122Australia the School of Engineering and Technology Central Queensland UniversityRockhampton QLD 4701Australia

Connected automated vehicles(CAVs)serve as a promising enabler for future intelligent transportation systems because of their capabilities in improving traffic efficiency and driving safety,and reducing fuel consumption and vehicle emissions.A fundamental issue in CAVs is platooning control that empowers a convoy of CAVs to be cooperatively maneuvered with desired longitudinal spacings and identical velocities on *** paper addresses the issue of resilient and safe platooning control of CAVs subject to intermittent denial-of-service(DoS)attacks that disrupt vehicle-to-vehicle ***,a heterogeneous and uncertain vehicle longitudinal dynamic model is presented to accommodate a variety of uncertainties,including diverse vehicle masses and engine inertial delays,unknown and nonlinear resistance forces,and a dynamic platoon ***,a resilient and safe distributed longitudinal platooning control law is constructed with an aim to preserve simultaneous individual vehicle stability,attack resilience,platoon safety and ***,a numerically efficient offline design algorithm for determining the desired platoon control law is developed,under which the platoon resilience against DoS attacks can be maximized but the anticipated stability,safety and scalability requirements remain ***,extensive numerical experiments are provided to substantiate the efficacy of the proposed platooning method.

关键词： Connected automated vehicles(CAVs) cooperative adaptive cruise control denial-of-service(DoS)attacks resilient control vehicle platooning vehicle-to-vehicle communication

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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

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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)

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Accumulated-state-error-based event-triggered sampling scheme and its application to H∞ control of sampled-data systems

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Science China(Information Sciences) 2024年第6期67卷 328-341页

作者： Xian-Ming ZHANG Qing-Long HAN Bao-Lin ZHANG xiaohua ge Dawei ZHANG School of Science Computingand Engineering TechnologiesSwinburne University of Technology College of Automation and Electronic Engineering Qingdao University of Science & Technology School of Mathematics Shandong University

This paper is concerned with event-triggered H∞control of sampled-data systems. Its novelties lie in three aspects:（i） A novel accumulated-state-error-based event-triggered scheme is introduced by comparing the integral of the state error from tk to t with the system state sampled at tk. This condition works well due to the fact that the so-called Zeno behaviour does not occur.（ii） A novel Lyapunov functional is constructed to establish a criterion to ensure some certain H∞performance of the closed-loop system. This Lyapunov functional is dependent on the integral of the state error involved in the event-triggered scheme.（iii） Under the event-triggered sampling scheme, suitable state-feedback controllers can be designed rather than be given a priori. Moreover, a self-triggered implementation of the proposed event-triggered sampling scheme is presented as well. Finally, a batch reactor model and an inverted pendulum system are given to demonstrate the effectiveness of the proposed method.

关键词： event-triggered sampling self-triggered implementation $H_\infty$ control looped-functional

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