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Resilient sliding mode control for 2D CPSs under denial-of-service attacks

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Science China(Information Sciences) 2024年第6期67卷 262-278页

作者： Lingling LI Rongni YANG Zhiguang FENG Ligang WU college of intelligent Systems Science and Engineering Harbin Engineering University School of control Science and Engineering Shandong University School of Astronautics Harbin Institute of Technology

This study addresses the resilient sliding mode control(SMC) problem for two-dimensional cyber-physical systems(2D CPSs) characterized by the Roesser model under denial-of-service attack(DoSA), which can interfere with signal transmission over the communication network. First, the DoS-A model is established by introducing constraints on the Do S frequency and duration. Then, based on active or silent attack situations, the considered system is described as a switched mode. Furthermore, together with Lyapunov theory, the average dwell time technique is employed to deduce sufficient criteria that assure the existence of the desired sliding mode controller. Finally, verification examples are provided to show the validity of the established SMC scheme.

关键词： two-dimensional systems cyber-physical systems denial-of-service attack resilient sliding mode control

Design and Verification of Parallel Hip Exoskeleton Considering Output Torque Anisotropy

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Journal of Bionic Engineering 2024年第3期21卷 1305-1320页

作者： Jilong Xu Yunzhan Niu Fucai Liu Engineering Research Center of the Ministry of Education for intelligent control System and intelligent Equipment Yanshan UniversityQinhuangdao066004China Key Laboratory of Industrial Computer control Engineering of Heibei Province Yanshan UniversityQinhuangdao066004China college of Mechanical Engineering Yanshan UniversityQinhuangdao066004China

In rehabilitation training,it is crucial to consider the compatibility between exoskeletons and human legs in ***,most exoskeletons today adopt an anthropomorphic serial structure,which results in rotational centers that are not precisely aligned with the center of the hip *** address this issue,we introduce a novel exoskeleton called the Parallel Hip Exoskeleton(PH-Exo)in this ***-Exo is meticulously designed based on the anisotropic law of output *** the friction of the drive components,a dynamic model of the human-machine complex is *** analysis demonstrates that PH-Exo not only exhibits outstanding torque performance but also achieves high controllability in both flexion/extension and adduction/abduction ***,a robust controller is designed to address model uncertainty,friction,and external *** experiments indicate that under the control of the robust controller,each motor achieves excellent tracking performance.

关键词： Hip exoskeleton Parallel mechanism Misalignment Anisotropy Output torque

Hybrid Strategy of Partitioned and Monolithic Methods for Solving Strongly Coupled Analysis of Inverse and Direct Piezoelectric and Circuit Coupling

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Computer Modeling in Engineering & Sciences 2024年第8期140卷 1371-1386页

作者： Daisuke Ishihara Syunnosuke Nozaki Tomoya Niho Naoto Takayama Department of intelligent and control Systems Kyushu Institute of TechnologyFukuokaJapan

The inverse and direct piezoelectric and circuit coupling are widely observed in advanced electro-mechanical systems such as piezoelectric energy *** strongly coupled analysis methods based on direct numerical modeling for this phenomenon can be classified into partitioned or monolithic *** formulation has its advantages and disadvantages,and the choice depends on the characteristics of each coupled *** study proposes a new option:a coupled analysis strategy that combines the best features of the existing formulations,namely,the hybrid partitioned-monolithic *** analysis of inverse piezoelectricity and the monolithic analysis of direct piezoelectric and circuit interaction are strongly coupled using a partitioned iterative hierarchical *** a typical benchmark problem of a piezoelectric energy harvester,this research compares the results from the proposed method to those from the conventional strongly coupled partitioned iterative method,discussing the accuracy,stability,and computational *** proposed hybrid concept is effective for coupled multi-physics problems,including various coupling conditions.

关键词： Structure-piezoelectric-circuit interaction energy harvesting partitioned method monolithic method hybrid method

State estimation for delayed switched positive systems: delayed radius approach

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Science China(Information Sciences) 2024年第8期67卷 190-205页

作者： Weizhong CHEN Zhongyang FEI Xudong ZHAO Zheng-Guang WU School of Electronics and Information Xi'an Polytechnic University Research Institute of intelligent control and Systems Harbin Institute of Technology Key Laboratory of intelligent control and Optimization for Industrial Equipment of Ministry of Education Dalian University of Technology School of control Science and Engineering Dalian University of Technology State Key Laboratory of Industrial control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper, an interval estimation scheme is developed for delayed switched positive systems（DSPS） with mode-dependent average dwell time switching. A lossless zonotopic estimation approach is proposed for the delayed intersection zonotope with the positive generator matrix. First, considering the existence of asynchronism between the system mode and the correction matrix mode, the mismatched intersection zonotope is constructed for DSPS to verify the consistency between the system model and ***, by utilizing the introduced radius definitions, the ?∞performance is addressed to optimize the size of delayed intersection zonotopes. Subsequently, we present a joint-design approach of switching signals and the mode-dependent correction matrix by constructing positive generator matrix-based delayed radius functions. Furthermore, guaranteed nonnegative state bounds are derived for the considered DSPS based on the proposed lossless zonotopic estimation criteria. Finally, detailed simulations are conducted to validate the feasibility and superiority of the developed methods.

关键词： delayed switched positive systems interval estimation asynchronous correction matrix zonotopes mode-dependent average dwell time

Event-triggered predefined-time control for full-state constrained nonlinear systems: A novel command filtering error compensation method

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Science China(Technological Sciences) 2024年第9期67卷 2867-2880页

作者： PAN YingNan CHEN YiLin LIANG HongJing college of control Science and Engineering Bohai UniversityJinzhou 121013China School of Automation Engineering University of Electronic Science and Technology of ChinaChengdu 611731China Laboratory of Electromagnetic Space Cognition and intelligent control Beijing 100089China

In this paper, a command filter-based adaptive fuzzy predefined-time event-triggered tracking control problem is investigated for uncertain nonlinear systems with time-varying full-state constraints. By designing a sliding mode differentiator, the inherent computational complexity problem within the predefined-time backstepping framework is solved. Different from the existing command filter-based finite-time and fixed-time control strategies that the convergence time of the filtering error is adjusted through the system initial value or numerous parameters, a novel command filtering error compensation method is presented,which tunes one control parameter to make the filtering error converge in the predefined time, thereby reducing the complexity of design and analysis of processing the filtering error. Then, an improved event-triggered mechanism(ETM) that builds upon the switching threshold strategy, in which an inverse cotangent function is designed to replace the residual term of the ETM,is proposed to gradually release the controller's dependence on the residual term with increasing time. Furthermore, a tan-type nonlinear mapping technique is applied to tackle the time-varying full-state constraints problem. By the predefined-time stability theory, all signals in the uncertain nonlinear systems exhibit predefined-time stability. Finally, the feasibility of the proposed algorithm is substantiated through two simulation results.

关键词： predefined-time control command filtering error compensation method event-triggered mechanism time-varying full-state constraints uncertain nonlinear systems

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Autonomous relative optical navigation based on unified modeling of external systematic errors

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Chinese Journal of Aeronautics 2024年第3期37卷 282-289页

作者： Dayi WANG Bowen SUN Maodeng LI Jiaxing LI Haiyin ZHOU Beijing Institute of Spacecraft System Engineering Beijing 100191China college of Sciences National University of Defense TechnologyChangsha 410073China National Key Laboratory of Space intelligent control Beijing Institute of Control EngineeringBeijing 100191China

To solve the problem that external systematic errors of the optical camera cannot be fully estimated due to limited computing resources,a unified dimensionality reduction representation method for the external systematic errors of the optical camera is proposed,and autonomous relative optical navigation is *** camera translational and misalignment errors are converted into a three-dimensional rotation error,whose differential model can be established through specific attitude control and appropriate ***,the rotation error and the relative motion state are jointly estimated in an augmented Kalman filter *** with the traditional method that estimates the camera translational and misalignment errors,the proposed method reduces the computational complexity in that the estimated state dimension is ***,as demonstrated by numerical simulation,the estimation accuracy is improved significantly.

关键词： Unified model Systematic errors Optical navigation Observability analysis Calibration

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A FAS approach for stabilization of generalized chained forms: part 2. Continuous control laws

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Science China(Information Sciences) 2024年第3期67卷 114-135页

作者： Guang-Ren DUAN Center for control Theory and Guidance Technology Harbin Institute of Technology Shenzhen Key Laboratory of control Theory and intelligent Systems Southern University of Science and Technology

In this paper, continuous time-varying stabilizing controllers for the type of general nonholonomic systems proposed and treated in part 1 are designed using the fully actuated system(FAS) approach. The key step is to differentiate the first scalar equation, and by control of the obtained second-order scalar system, a proportional plus integral feedback form for the first control variable is obtained. With the solution to this designed second-order scalar system, the rest equations in the nonholonomic system form an independent time-varying subsystem which is then handled by the FAS approach. The overall designed controller contains an almost arbitrarily chosen design parameter, and is proven to guarantee the uniformly and globally exponential stability of the closed-loop system. The proposed approach is simple and effective,and is demonstrated with a practical example of ship control.

关键词： nonholonomic systems feedback stabilization fully actuated systems Lyapunov stability continuous controllers

Epitaxial growth of borophene on graphene surface towards efficient and broadband photodetector

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Nano Research 2024年第4期17卷 3053-3060页

作者： Zenghui Wu Chen Shifan Zitong Wu Yi Liu Wei Shao Xinchao Liang Chuang Hou Guoan Tai The State Key Laboratory of Mechanics and control of Mechanical Structures and Laboratory of intelligent Nano Materials and Devices of Ministry of Education College of Aerospace EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China

In-situ integration of multiple materials with well-defined interfaces as heterostructures is of great interest due to their unique properties and potential for new device *** of its polymorphism and diverse bonding geometries,borophene is a promising candidate for two-dimensional heterostructures,but suitable synthesis conditions have limited its potential *** this end,we demonstrate the vertical borophene and graphene heterostructures which form by epitaxial growth of borophene onto multilayer graphene on Cu substrates via chemical vapor deposition,where hydrogen and NaBH_(4) are respectively used as the carrier gas and the boron *** lattice structure of the as-synthesized borophene well coincides with the predictedα′-boron *** borophene-based photodetector shows an excellent broadband photoresponse from the ultraviolet(255 nm)to the infrared(940 nm)wavelengths,with enhanced responsivity compared to pristine borophene or graphene *** work informs emerging efforts to integrate borophene into nanoelectronic applications for both fundamental investigations and technological applications.

关键词： borophene graphene heterostructure photodetector two-dimensional materials

Energy-based Directional Pilot Protection for Distribution Networks with IBDGs Considering Unmeasured Load Switching

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CSEE Journal of Power and Energy Systems 2024年第1期10卷 139-150页

作者： Chenghan Zhou Guibin Zou Shuo Zhang Xuhui Wen Key Laboratory of Power System intelligent Dispatch and control of Ministry of Education Shandong UniversityJinan 250061China

Inverter-based distributed generations(IBDGs)are the main approach to utilizing clean energy in distribution networks(DNs).Compared with synchronous source,fault response of IBDG is very *** a result,in DNs with high penetration of IBDGs,legacy protection schemes will no longer be *** this paper,an energy-based directional pilot protection scheme suitabie for DNs with IBDGs is *** scheme considers the large range of phase angle caused by IBDG integration and uses improved energy polarity criterion to determine fault *** addition,magnitude of energy is used to distinguish between faults and load switching to overcome maloperation of directional pilot protection caused by internal unmeasured load *** proposed scheme first uses local measured information to determine fault direction sign and then exchanges the direction sign with the remote *** scheme does not require high-bandwidth communication and strict data synchronization,so it can be implemented at a low ***,simulation studies verify effectiveness of the proposed scheme.

关键词： Distribution network energy polarity inverterbased distributed generation pilot protection unmeasured load