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Robust Backstepping Control of a Quadrotor Unmanned Aerial Vehicle under Colored Noises

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Computers, Materials & Continua 2025年第1期82卷 777-798页

作者： Mehmet Karahan Electrical and electronic engineering department Atilim UniversityAnkara06830Turkey

Advances in software and hardware technologies have facilitated the production of quadrotor unmanned aerial vehicles(UAVs).Nowadays,people actively use quadrotor UAVs in essential missions such as search and rescue,counter-terrorism,firefighting,surveillance,and cargo *** performing these tasks,quadrotors must operate in noisy ***,a robust controller design that can control the altitude and attitude of the quadrotor in noisy environments is of great *** researchers have focused only on white Gaussian noise in their studies,whereas researchers need to consider the effects of all colored noises during the operation of the *** study aims to design a robust controller that is resistant to all colored ***,a nonlinear quadrotormodel was created with ***,a backstepping controller resistant to colored noises was *** backstepping controller was tested under Gaussian white,pink,brown,blue,and purple *** and Lyapunov-based controller designswere also carried out,and their time responses(rise time,overshoot,settling time)were compared with those of the backstepping *** the simulations,time was in seconds,altitude was in meters,and roll,pitch,and yaw references were in *** and settling time values were in seconds,and overshoot value was in *** the obtained values are examined,simulations prove that the proposed backstepping controller has the least overshoot and the shortest settling time under all noise types.

关键词： Backstepping control colored noises Gaussian noise Lyapunov stability quadrotor robustness PID control

Distributed optimal consensus control for multiagent systems based on event-triggered and prioritized experience replay strategies

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Science China(Information Sciences) 2025年第1期68卷 306-321页

作者： Cuijuan ZHANG Lianghao JI Shasha YANG Xing GUO Huaqing LI Chongqing Key Laboratory of Image Cognition Chongqing University of Posts and Telecommunications Key Laboratory of Intelligent Perception and computing of Anhui Province Anqing Normal University College of electronic and Information engineering Southwest University

This study uses event-triggered(ET) and reinforcement learning methods to investigate the optimal consensus control problem for cooperative-competitive multiagent systems. It proposes a novel distributed ET control strategy, which relies on a prioritized experience replay(PER) policy. This strategy not only conserves communication resources but also ensures acceptable system performance. To implement the proposed method, actor-critic(AC) dual-structured neural networks(NNs) are used to approximate the value function and control policy. In the AC NNs, the weight estimates for the NNs are updated at the moment of event triggering, resulting in a nonperiodic weight adjustment pattern. This approach decreases the computational cost in comparison with the traditional ET mechanism. The PER-based ET mechanism makes full use of valid historical data and effectively establishes a balance between system performance and communication resource ***, it does not require the following two conditions in most existing studies:(1) requirement of the system dynamics model to be known, and(2) persistent excitation. In addition, Zeno behavior is excluded from this study. Finally, a simulation is conducted to confirm the validity of the suggested approach.

关键词： multiagent systems event-triggered mechanism prioritized experience replay dual-structured neural networks optimal consensus control

Ru/NiMnB spherical cluster pillar for highly proficient green hydrogen electrocatalyst at high current density

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Journal of Energy Chemistry 2025年第1期100卷 397-408页

作者： Md Ahasan Habib Shusen Lin Mehedi Hasan Joni Sumiya Akter Dristy Rutuja Mandavkar Jae-Hun Jeong Jihoon Lee department of electronic engineering College of Electronics and InformationKwangwoon UniversityNowon-guSeoul 01897Republic of Korea

Advanced OER/HER electrocatalytic alternatives are crucial for the wide adaptation of green hydrogen ***,Ru/NiMnB spherical cluster pillar(SCP),denoted as Ru/NiMnB,is synthesized using a combination of electro-deposition and hydrothermal *** investigation of Ru doping in the NiMnB matrix revealed significant improvements in electrocatalytic *** Ru/NiMnB SCPs demonstrate superior OER/HER activity with low overpotentials of 150 and 103 mV at 50mA/cm^(2)in 1 M KOH,making them highly competitive with state-of-the-art ***,the Ru/NiMnB SCPs exhibit a low 2-E cell voltage of 2.80 V at ultra-high current density of 2,000 m A/cm^(2)in 1 M KOH,outperforming the standard benchmark electrodes of RuO_(2)||Pt/C,thereby positioning Ru/NiMnB as one of the best bifunctional *** SCPs exhibit exceptional high-current characteristics,stability and corrosion resistance,as evidenced by continuous operation at 1,000 mA/cm^(2)high-current density for over 150 h in 6 M KOH at elevated temperatures under harsh industrial *** a small amount of Ru incorporation significantly enhances the electrocatalytic performances of NiMnB,attributed to increased active sites and improved intrinsic properties such as conductivity,adsorption/desorption capability and reaction ***,Ru/NiMnB SCPs present a promising bi-functional electrode concept for efficient green H_(2)production.

关键词： Advanced electrocatalyst High current Corrosion resistance Industrial requirement

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Multi-party quantum private comparison of size relationship based on one-direction quantum walks on a circle

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Science China(Information Sciences) 2025年第2期68卷 399-400页

作者： Jintao WANG Jiangyuan LIAN Tianyu YE College of Information & electronic engineering Zhejiang Gongshang University

Quantum walks(QW) are the quantum counterpart of classical random walks, and portray a natural stochastic process when the walker randomly wanders around. In a discretetime QW system on a circle, when the walker particle generally steps towards two directions, i.e., clockwise and anticlockwise, this kind of QW is called two-direction quantum walks on a circle(TDQWC); and the walker particle always steps towards one direction or stays stationary, this kind of QW is called as one-direction quantum walks on a circle(ODQWC). ODQWC exhibits some different properties,and may induce potential applications in the field of quantum secure multi-party computation.

关键词： Quantum entanglement

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A Novel Proactive AI-Based Agents Framework for an IoE-Based Smart Things Monitoring System with Applications for Smart Vehicles

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Computers, Materials & Continua 2025年第2期82卷 1839-1855页

作者： Meng-Hua Yen Nilamadhab Mishra Win-Jet Luo Chu-En Lin department of electronic engineering National Chin-Yi University of TechnologyTaichung411030Taiwan School of computing Science&engineering VIT Bhopal UniversityBhopal466114India department of Refrigeration Air-Conditioning and Energy EngineeringNational Chin-Yi University of TechnologyTaichung411030Taiwan

The Internet of Everything(IoE)coupled with Proactive Artificial Intelligence(AI)-Based Learning Agents(PLAs)through a cloud processing system is an idea that connects all computing resources to the Internet,making it possible for these devices to communicate with one *** featured in the IoE include embedding,networking,and sensing *** achieve the intended results of the IoE and ease life for everyone involved,sensing devices and monitoring systems are linked *** IoE is used in several contexts,including intelligent cars’protection,navigation,security,and fuel *** Smart Things Monitoring System(STMS)framework,which has been proposed for early occurrence identification and theft prevention,is discussed in this *** STMS uses technologies based on the IoE and PLAs to continuously and remotely observe,control,and monitor *** STMS is familiar with the platform used by the global positioning system;as a result,the STMS can maintain a real-time record of current vehicle *** information is utilized to locate the vehicle in an accident or *** findings of the STMS system are promising for precisely identifying crashes,evaluating incident severity,and locating vehicles after collisions have ***,we formulate an ad hoc STMS network communication scenario to evaluate the efficacy of data communication by utilizing various network parameters,such as round-trip time(RTT),data packet transmission,data packet reception,and *** our experimentation,we obtained an improved communication efficiency for STMS across multiple PLAs compared to the standard greedy routing and traditional AODV *** framework facilitates adaptable solutions with communication competence by deploying Proactive PLAs in a cloud-connected smart vehicular environment.

关键词： Artificial intelligence(AI) proactive AI-based learning agents(PLA) internet of everything(IoE) smart things monitoring system(STMS) cloud processing system driving monitoring assistance system(MAS) smart vehicles

Industrial Control Anomaly Detection Based on Distributed Linear Deep Learning

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Computers, Materials & Continua 2025年第1期82卷 1129-1150页

作者： Shijie Tang Yong Ding Huiyong Wang School of Computer Science and Information Security Guilin University of Electronic TechnologyGuilin541004China School of electronic engineering and Automation Guilin University of Electronic TechnologyGuilin541004China Guangxi engineering Research Center of Industrial Internet Security and Blockchain Guilin University of Electronic TechnologyGuilin541004China Institute of Cyberspace Technology HKCT Institute for Higher EducationHong Kong999077China School of Mathematics&computing Science Guilin University of Electronic TechnologyGuilin541004China

As more and more devices in Cyber-Physical Systems(CPS)are connected to the Internet,physical components such as programmable logic controller(PLC),sensors,and actuators are facing greater risks of network attacks,and fast and accurate attack detection techniques are *** key problem in distinguishing between normal and abnormal sequences is to model sequential changes in a large and diverse field of time *** address this issue,we propose an anomaly detection method based on distributed deep *** method uses a bilateral filtering algorithm for sequential sequences to remove noise in the time series,which can maintain the edge of discrete *** use a distributed linear deep learning model to establish a sequential prediction model and adjust the threshold for anomaly detection based on the prediction error of the validation *** method can not only detect abnormal attacks but also locate the sensors that cause *** conducted experiments on the Secure Water Treatment(SWAT)and Water Distribution(WADI)public *** experimental results show that our method is superior to the baseline method in identifying the types of attacks and detecting efficiency.

关键词： Anomaly detection CPS deep learning MLP(multi-layer perceptron)

Ultra-linear FMCW laser based on time-frequency self-injection locking

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Photonics Research 2025年第1期13卷 31-39页

作者： JICHEN ZHANG SHANGYUAN LI XIAOPING ZHENG XIAOXIAO XUE department of electronic engineering Tsinghua University

Frequency-modulated continuous-wave （FMCW） light sources are essential components for coherent light detection and ranging （LiDAR）,which is ubiquitously utilized in autonomous driving,industrial monitoring,and geological remote *** FMCW LiDAR systems often face challenges in achieving high frequencysweep linearity and large excursion,which are critical for accurate distance and velocity ***,we propose a self-injection locked laser with frequency-shifted feedback to generate ultra-linear and wideband FMCW light.A record-low relative frequency nonlinearity of 6.4×10-7is achieved when the frequency excursion is 100 GHz and the repetition frequency is 1 *** the LiDAR test,a range resolution of 1.6 mm and a velocity accuracy of 3 mm/s at 300 m distance are demonstrated,and those of 8.1 mm and 6 mm/s at 1 km distance are also *** reported FMCW light source provides not only enhanced performance in coherent LiDAR,but also utilization potential in various high-precision measurement scenarios.

关键词： Diode lasers Distributed feedback lasers Heterodyne detection Optical coherence tomography Optical frequency domain reflectometry Remote sensing

Constrained Networked Predictive Control for Nonlinear Systems Using a High-Order Fully Actuated System Approach

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 478-480页

作者： Yi Huang Guo-Ping Liu Yi Yu Wenshan Hu the School of Electrical engineering and Automation Wuhan University IEEE the Center for Control Science and Technology Southern University of Science and Technology the department of Electrical and electronic engineering The Hong Kong Polytechnic University

Dear Editor,In this letter, a constrained networked predictive control strategy is proposed for the optimal control problem of complex nonlinear highorder fully actuated (HOFA) systems with noises. The method can effectively deal with nonlinearities, constraints, and noises in the system, optimize the performance metric, and present an upper bound on the stable output of the system.

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Distributed State and Fault Estimation for Cyber-Physical Systems Under DoS Attacks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 261-263页

作者： Limei Liang Rong Su Haotian Xu the School of Control Science and engineering Shandong University IEEE the School of Electrical and electronic engineering Nanyang Technological University

Dear Editor,The letter deals with the distributed state and fault estimation of the whole physical layer for cyber-physical systems(CPSs) when the cyber layer suffers from DoS attacks. With the advancement of embedded computing, communication and related hardware technologies, CPSs have attracted extensive attention and have been widely used in power system, traffic network, refrigeration system and other fields.

关键词： Observers Estimation error Sensors Physical layer Sensor systems Security Power system stability