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Time-Varying Formation Tracking control of Heterogeneous Multi-Agent Systems With Intermittent Communications and Directed Switching Networks

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 294-296页

作者： Yuhan Wang Zhuping Wang Hao Zhang Huaicheng Yan the Shanghai Research Institute for Intelligent Autonomous Systems Tongji University the National Key Laboratory of Autonomous Intelligent Unmanned Systems the Frontiers science Center for Intelligent Autonomous System of Ministry of Education the College of electronic and information Engineering the Department of Control Science and Engineering Tongji University the Key Laboratory of Advanced control and Optimization for Chemical Processes of Ministry of Education the School of information science and Engineering East China University of Science and Technology

Dear Editor,This letter is concerned with the problem of time-varying formation tracking for heterogeneous multi-agent systems(MASs) under directed switching networks. For this purpose, our first step is to present so... 详细信息

关键词： Switches Topology Observers Formation control Event detection Switched systems Multi-agent systems control theory Autonomous systems Stability

Broad-Learning-System-Based Model-Free Adaptive Predictive control for Nonlinear MASs Under DoS Attacks

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IEEE/CAA Journal of Automatica Sinica 2025年第2期12卷 381-393页

作者： Hongxing Xiong Guangdeng Chen Hongru Ren Hongyi Li the School of Automation Guangdong-Hong Kong Joint Laboratory for Intelligent Decision and Cooperative Control Guangdong University of Technology Guangdong Provincial Key Laboratory for Intelligent Decision and Cooperative control Guangdong University of Technology the College of electronic and information Engineering Southwest University IEEE

In this paper, the containment control problem in nonlinear multi-agent systems(NMASs) under denial-of-service(DoS) attacks is addressed. Firstly, a prediction model is obtained using the broad learning technique to train historical data generated by the system offline without DoS attacks. Secondly, the dynamic linearization method is used to obtain the equivalent linearization model of NMASs. Then, a novel model-free adaptive predictive control(MFAPC) framework based on historical and online data generated by the system is proposed, which combines the trained prediction model with the model-free adaptive control method. The development of the MFAPC method motivates a much simpler robust predictive control solution that is convenient to use in the case of DoS attacks. Meanwhile, the MFAPC algorithm provides a unified predictive framework for solving consensus tracking and containment control problems. The boundedness of the containment error can be proven by using the contraction mapping principle and the mathematical induction method. Finally, the proposed MFAPC is assessed through comparative experiments.

关键词： Broad learning technique denial-of-service (DoS) model-free adaptive predictive control (MFAPC) nonlinear multi-agent systems (NMASs)

Low Latency Soft Fiberoptic Choledochoscope Robot control System

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Journal of Shanghai Jiaotong university(science) 2025年第1期30卷 43-52页

作者： ZHOU Hanwei ZHU Xinping MA Youwei WANG Kundong School of electronic information and Electrical Engineering Shanghai Jiao Tong University200240ShanghaiChina Shanghai Aerospace control technology Institute Shanghai 201109China

Soft fiberoptic choledochoscope is an important tool for the diagnose and surgical treatment of biliary ***,the traditional soft fiberoptic choledochoscope is hard to operate,due to the low position *** on the conventional soft fiberoptic choledochoscope,an electrical soft fiberoptic choledochoscope robot with a low latency was *** order to improve the controllability of the conventional choledochoscope,the wire traction mechanism and the rotation mechanism are used to bend and rotate the scope,so as to control its movement *** dead band compensation model and control algorithm of the wire traction mechanism are developed to improve the accuracy of the orientation *** human-computer interaction system and complex motion control system are developed based on ARM embedded system and *** to the high-speed synchronization channel between FPGA and peripheral,the design of low latency whole-procedure surgical mode was established and *** with a micro image sensor,real-time video back transmission was *** performance of the robot prototype was verified by animal experiment in vivo on a *** robot has an extremely low operating latency of no more than 0.402 ms,and a high bending positioning accuracy of±1.43°error margin within 99.7%confidence interval,which guarantees the safety of biliary surgery.

关键词： soft fiberoptic choledochoscope electrical control low latency in vivo animal experiment

Witness encryption with updatable ciphertexts

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science China(information sciences) 2025年第03期68卷 181-196页

作者： Yuzhu WANG Mingwu ZHANG School of Computer science and information Security Guilin University of Electronic Technology School of Computer science Hubei University of Technology

Witness encryption(WE) is a novel type of cryptographic primitive that enables a message to be encrypted via an NP instance. Anyone who possesses a solution to this instance(i.e., a witness) can then recover the message from the *** introduce a variant of WE that allows ciphertext updates, referred to as ciphertext updateable WE(CUWE). With CUWE,a user can encrypt a message using an instance x and a tag t, and those who possess a valid witness w for x and match the access policy defined by tag t can decrypt the message. Furthermore, CUWE allows for the use of an update token to change the tag t of ciphertext to a different tag. This feature enables fine-grained access control, even after the ciphertext has been created, thereby significantly increasing the usefulness of the WE scheme. We demonstrate that such a WE framework with an updatable ciphertext scheme can be constructed using our puncturable instance-based deterministic encryption(PIDE) and indistinguishability obfuscation(iO). We also propose an instantiation of PIDE utilizing puncturable pseudorandom functions(PRFs) that provide(selectively) indistinguishable security. Finally, we expand our CUWE to ciphertext-updatable functional WE(CUFWE), which offers enhanced data access control.

关键词： witness encryption NP relation updatable ciphertext access control indistinguishable obfuscation

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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)

Beyond Performance of Learning control Subject to Uncertainties and Noise: A Frequency-Domain Approach Applied to Wafer Stages

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IEEE/CAA Journal of Automatica Sinica 2025年第1期12卷 198-214页

作者： Fazhi Song Ning Cui Shuaiqi Chen Kai Zhang Yang Liu Xinkai Chen Jiubin Tan IEEE the Center of Ultra-precision Optoelectronic Instrument Engineering Harbin Institute of Technology the Key Laboratory of Ultra-Precision Intelligent Instrumentation Ministry of Industry and Information Technology the State Key Laboratory of Precision electronic Manufacturing technology and Equipment Guangdong University of Technology the Center of Ultraprecision Optoelectronic Instrument Engineering Harbin Institute of Technology the Key Laboratory of UltraPrecision Intelligent Instrumentation Ministry of Industry and Information Technology the Department of electronic and information Systems Shibaura Institute of Technology

The increasingly stringent performance requirement in integrated circuit manufacturing, characterized by smaller feature sizes and higher productivity, necessitates the wafer stage executing a extreme motion with the accuracy in terms of nanometers. This demanding requirement witnesses a widespread application of iterative learning control(ILC), given the repetitive nature of wafer scanning. ILC enables substantial performance improvement by using past measurement data in combination with the system model knowledge. However, challenges arise in cases where the data is contaminated by the stochastic noise, or when the system model exhibits significant uncertainties, constraining the achievable performance. In response to this issue, an extended state observer(ESO) based adaptive ILC approach is proposed in the frequency *** being model-based, it utilizes only a rough system model and then compensates for the resulting model uncertainties using an ESO, thereby achieving high robustness against uncertainties with minimal modeling effort. Additionally, an adaptive learning law is developed to mitigate the limited performance in the presence of stochastic noise, yielding high convergence accuracy yet without compromising convergence speed. Simulation and experimental comparisons with existing model-based and data-driven inversion-based ILC validate the effectiveness as well as the superiority of the proposed method.

关键词： Extended state observer learning control model uncertainties motion control stochastic noise

Enhanced Tube-Based Event-Triggered Stochastic Model Predictive control With Additive Uncertainties

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IEEE/CAA Journal of Automatica Sinica 2025年第3期12卷 596-605页

作者： Chenxi Gu Xinli Wang Kang Li Xiaohong Yin Shaoyuan Li Lei Wang the School of control science and Engineering Shandong University IEEE the School of electronic and Electrical Engineering University of Leeds the Qingdao University of science and technology the Department of Automation Shanghai Jiao Tong University the Key Laboratory of System control and information Processing Ministry of Education of China

This paper proposes an event-triggered stochastic model predictive control for discrete-time linear time-invariant(LTI) systems under additive stochastic disturbances. It first constructs a probabilistic invariant set and a probabilistic reachable set based on the priori knowledge of system *** with enhanced robust tubes, the chance constraints are then formulated into a deterministic form. To alleviate the online computational burden, a novel event-triggered stochastic model predictive control is developed, where the triggering condition is designed based on the past and future optimal trajectory tracking errors in order to achieve a good trade-off between system resource utilization and control performance. Two triggering parameters σ and γ are used to adjust the frequency of solving the optimization problem. The probabilistic feasibility and stability of the system under the event-triggered mechanism are also examined. Finally, numerical studies on the control of a heating, ventilation, and air conditioning(HVAC) system confirm the efficacy of the proposed control.

关键词： Event-triggered mechanism heating, ventilation, and air conditioning (HVAC) control probabilistic reachable set stochastic model predictive control

A novel active-passive protection strategy endows carbonyl iron with excellent intelligent anti-corrosion and microwave absorption dual functional characteristics

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Nano Research 2025年第1期18卷 487-500页

作者： Wei Tian Quanyuan Feng Linbo Zhang Yinfan Liu Xian Jian Longjiang Deng Institute of Microelectronics School of Information Science and TechnologySouthwest Jiaotong UniversityChengdu 611756China National Engineering Researching Centre of Electromagnetic Radiation control Materials Key Laboratory of Multi-Spectral Absorbing Materials and Structures of Ministry of EducationState Key Laboratory of Electronic Thin Films and Integrated DevicesSchool of Electronic Science and EngineeringUniversity of Electronic Science and Technology of ChinaChengdu 611731China School of Materials and Energy University of Electronic Science and Technology of ChinaChengdu 611731China The Yangtze Delta Region Institute(Huzhou)&School of electronic science and Engineering University of Electronic Science and Technology of ChinaHuzhou 313001China

Carbonyl iron absorbers(CI)face significant challenges in practical applications,such as corrosion,interface bonding failure,detachment,and high maintenance ***,we have developed intelligent self-healing technology based on proactive/passive mechanisms via in situ synthesis of self-healing factors(polydopamine/benzotriazole(PDA/BTA))and physical barrier layers(SiO_(2)/1,1,1,3,3,3-hexamethyl disilazane,SiO_(2)/HMDS)to enhance corrosion resistance,while also being compatible with efficient microwave absorption *** unique multiscale structure gives full play to the utilization of the roles of each functional layer,including the intelligent self-healing features of PDA/BTA,physical shielding and spatial confinement characteristics of SiO_(2)/HMDS,and magnetic-dielectric synergistic mechanism resulted from the good impedance matching characteristics,the conduction loss,the interfacial polarization loss and natural *** asfabricated composites achieved an exceptional minimum reflection loss value of-55.4 dB at 10.7 GHz and the effective absorption band of 7.6 ***,it still exhibits obvious self-healing and corrosion resistance characteristics after 360 h corrosion treatment,ascribed to the self-healing mechanism of PDA/BTA and the blocking intervention effect of SiO_(2)/*** work is considered to pave the way for the synthesis of high-performance magnetic absorbers,especially in enhancing their intelligent self-healing ability in corrosive environments.

关键词： microwave absorption intelligent self-healing technology carbonyl iron multiscale structure magneticdielectric synergistic mechanism

Digitally-Assisted Analog Self-Interference Cancellation for STAR System

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China Communications 2025年第03期 36-53页

作者： Pan Wensheng Shi Chengzhe Li Tong Shen Ying Shao Shihai National Key Laboratory of Wireless Communications University of Electronic Science and Technology of China Laboratory of Electromagnetic Space Cognition and Intelligent control

To enable simultaneous transmit and receive(STAR) on the same frequency in a densely deployed space with multi-interference sources, this work proposes a digitally-assisted analog selfinterference cancellation method, which can acquire reference signals through flexible wired/wireless switching access. Based on this method, the Minimum Mean Square Error algorithm with known channel state information is derived in detail, determining the upper limit of the cancellation performance, and the Adaptive Dithered Linear Search algorithm for real-time engineering cancellation is *** correctness of theoretical analysis is verified by the practical self-interference channel measured by a vector network analyzer. Furthermore, we have designed and implemented the corresponding multiinterference cancellation prototype with the digitallyassisted structure, capable of handling multiple interferences(up to three) and supporting a large receive bandwidth of 100 MHz as well as a wide frequency coverage from 30 MHz to 3000 MHz. Prototype test results demonstrate that in the presence of three interferences, when the single interference bandwidth is 0.2/2/20 MHz(corresponding to the receive bandwidth of 2/20/100 MHz), the cancellation performance can reach 46/32/22 d B or more.

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