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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

Secure control and filtering for industrial metaverse

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Frontiers of Information Technology & Electronic Engineering 2024年第2期25卷 179-181页

作者： Qing-Long HAN Derui DING xiaohua ge School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia Department of Control Science and Engineering University of Shanghai for Science and TechnologyShanghai 200093China

Metaverse can be regarded as a socialized and virtualized cyberspace parallel yet interactive to the real *** from the rapid development of cloud computing and digital twins,metaverse is transforming traditional control and filtering para‐digms of industrial automation systems into cyberphysical social *** this scenario,future industrial automation systems could be an integration of real-world ones and virtual twins combined with great computational power within a certain temporal and spatial range.

关键词： interactive filtering Secure

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

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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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.

关键词：

Stochastic sampled-data multi-objective control of active suspension systems for in-wheel motor driven electric vehicles

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Journal of Automation and Intelligence 2024年第1期3卷 2-18页

作者： Iftikhar Ahmad xiaohua ge Qing-Long Han School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia

This paper addresses the sampled-data multi-objective active suspension control problem for an in-wheel motor driven electric vehicle subject to stochastic sampling periods and asynchronous premise *** focus is placed on the scenario that the dynamical state of the half-vehicle active suspension system is transmitted over an in-vehicle controller area network that only permits the transmission of sampled data *** this purpose,a stochastic sampling mechanism is developed such that the sampling periods can randomly switch among different values with certain mathematical ***,an asynchronous fuzzy sampled-data controller,featuring distinct premise variables from the active suspension system,is constructed to eliminate the stringent requirement that the sampled-data controller has to share the same grades of ***,novel criteria for both stability analysis and controller design are derived in order to guarantee that the resultant closed-loop active suspension system is stochastically stable with simultaneous𝐻2 and𝐻∞performance ***,the effectiveness of the proposed stochastic sampled-data multi-objective control method is verified via several numerical cases studies in both time domain and frequency domain under various road disturbance profiles.

关键词： Active suspension system Electric vehicles In-wheel motor Stochastic sampling Dynamic dampers Sampled-data control Multi-objective control

腹腔镜输卵管切除术对异位妊娠患者卵巢储备功能及血清神经肽Y、皮质醇的影响

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实用医学杂志 2024年第6期40卷 801-806页

作者：时荣郑贤芳陶群陈君墨葛小花安徽医科大学附属巢湖医院妇科安徽巢湖238000

目的探究腹腔镜输卵管切除术对异位妊娠患者卵巢储备功能及血清神经肽Y(NPY)、皮质醇(Cor)的影响。方法选2018年6月至2021年6月于安徽医科大学附属巢湖医院就诊的异位妊娠患者82例,随机分为两组,每组41例,对照组采用腹腔镜输卵管切开... 详细信息

目的探究腹腔镜输卵管切除术对异位妊娠患者卵巢储备功能及血清神经肽Y(NPY)、皮质醇(Cor)的影响。方法选2018年6月至2021年6月于安徽医科大学附属巢湖医院就诊的异位妊娠患者82例,随机分为两组,每组41例,对照组采用腹腔镜输卵管切开取胚缝合术,观察组采用腹腔镜输卵管切除术治疗。比较两组的手术时间、术中出血量、下床活动时间、出院时间、血清NPY及Cor、卵巢窦卵泡(AFC)个数、卵巢动脉血流速度峰值、阻力指数。术后跟踪随访2年,记录成功妊娠率及异位妊娠率。结果观察组手术时间短于对照组(P 0.05)。术后1个月、术后6个月,观察组患侧卵巢血流速度峰值均低于对照组,阻力指数高于对照组(P 0.05)。观察组异位妊娠率低于对照组(P <0.05)。结论与腹腔镜输卵管切开取胚缝合术比较,腹腔镜输卵管切除术治疗异位妊娠患者,同样可保留术后卵巢AFC,且在降低术后再次异位妊娠风险上更具优势。

关键词：异位妊娠腹腔镜输卵管切除术卵巢储备功能应激反应

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

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