This research paper tackles the complexities of achieving global fuzzy consensus in leader-follower systems in robotic systems,focusing on robust control systems against an advanced signal attack that integrates senso...This research paper tackles the complexities of achieving global fuzzy consensus in leader-follower systems in robotic systems,focusing on robust control systems against an advanced signal attack that integrates sensor and actuator disturbances within the dynamics of follower robots.Each follower robot has unknown dynamics and control inputs,which expose it to the risks of both sensor and actuator attacks.The leader robot,described by a secondorder,time-varying nonlinear model,transmits its position,velocity,and acceleration information to follower robots through a wireless connection.To handle the complex setup and communication among robots in the network,we design a robust hybrid distributed adaptive control strategy combining the effect of sensor and actuator attack,which ensures asymptotic consensus,extending beyond conventional bounded consensus results.The proposed framework employs fuzzy logic systems(FLSs)as proactive controllers to estimate unknown nonlinear behaviors,while also effectively managing sensor and actuator attacks,ensuring stable consensus among all agents.To counter the impact of the combined signal attack on follower dynamics,a specialized robust control mechanism is designed,sustaining system stability and performance under adversarial conditions.The efficiency of this control strategy is demonstrated through simulations conducted across two different directed communication topologies,underscoring the protocol’s adaptability,resilience,and effectiveness in maintaining global consensus under complex attack scenarios.展开更多
Previously,we had identified the various dynamic mechanisms of a wide range air to fuel ratio sensor operated in the engine exhaust by using the transfer function approach.In this study,we utilized these results to mo...Previously,we had identified the various dynamic mechanisms of a wide range air to fuel ratio sensor operated in the engine exhaust by using the transfer function approach.In this study,we utilized these results to model the real time sensor response to an engine exhaust excursion.In the fitting,we identified a new dynamic mechanism,which was not detected in the previous transfer function study.This new dynamic occurred at the stoichiometric point when the engine changed from rich to lean.This new mechanism involved the depletion of the adsorbed fuel species on the electrode surface by an oxidation process. The dynamics of this effect depends on the ratio of the diffusion flux of the sensor-coating layer to the total adsorbed gas species on the electrode surface.The smaller the ratio is,the slower the dynamic mechanism will be.展开更多
Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. T...Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.展开更多
The energy consumption in the wireless sensor networks is a very critical issue which attracts immediate attention for the sake of the growing demand of the billion dollar market in future. The Dynamic Power Manageme...The energy consumption in the wireless sensor networks is a very critical issue which attracts immediate attention for the sake of the growing demand of the billion dollar market in future. The Dynamic Power Management （DPM） technique is a way of controlling and saving the energy usage in a sensor node. Previously, researchers have proposed lifetime improving stochastic models for wireless sensor networks and limited work has been done focusing on the wireless sensor node. This paper proposes an analyser based Semi-Markov model for DPM in the event-driven sensor node. The power consumption comparison with previously proposed models without this analyser shows the analyser significant contributes to lifetime improvement. The improved model is more power efficient, presents how the DPM model observes the input event arrival and power states of the sensor node components, and then dynamically manages the power consumption of the overall system. Further, to observe the effect of event arrival, missed events, waiting time, processor utilization on the power consumption and lifetime, the proposed DPM system with the single server queuing model is developed.展开更多
文摘This research paper tackles the complexities of achieving global fuzzy consensus in leader-follower systems in robotic systems,focusing on robust control systems against an advanced signal attack that integrates sensor and actuator disturbances within the dynamics of follower robots.Each follower robot has unknown dynamics and control inputs,which expose it to the risks of both sensor and actuator attacks.The leader robot,described by a secondorder,time-varying nonlinear model,transmits its position,velocity,and acceleration information to follower robots through a wireless connection.To handle the complex setup and communication among robots in the network,we design a robust hybrid distributed adaptive control strategy combining the effect of sensor and actuator attack,which ensures asymptotic consensus,extending beyond conventional bounded consensus results.The proposed framework employs fuzzy logic systems(FLSs)as proactive controllers to estimate unknown nonlinear behaviors,while also effectively managing sensor and actuator attacks,ensuring stable consensus among all agents.To counter the impact of the combined signal attack on follower dynamics,a specialized robust control mechanism is designed,sustaining system stability and performance under adversarial conditions.The efficiency of this control strategy is demonstrated through simulations conducted across two different directed communication topologies,underscoring the protocol’s adaptability,resilience,and effectiveness in maintaining global consensus under complex attack scenarios.
文摘Previously,we had identified the various dynamic mechanisms of a wide range air to fuel ratio sensor operated in the engine exhaust by using the transfer function approach.In this study,we utilized these results to model the real time sensor response to an engine exhaust excursion.In the fitting,we identified a new dynamic mechanism,which was not detected in the previous transfer function study.This new dynamic occurred at the stoichiometric point when the engine changed from rich to lean.This new mechanism involved the depletion of the adsorbed fuel species on the electrode surface by an oxidation process. The dynamics of this effect depends on the ratio of the diffusion flux of the sensor-coating layer to the total adsorbed gas species on the electrode surface.The smaller the ratio is,the slower the dynamic mechanism will be.
基金National Hi-tech Research and Development Program of China(863 Program,No.2001AA42330).
文摘Negative step response experimental method is used in wrist force sensor＇s dynamic performance calibration. The exciting manner of negative step response method is the same as wrist force sensor＇s load in working. This experimental method needn＇t special experiment equipments. Experiment＇s dynamic repeatability is good. So wrist force sensor＇s dynamic performance is suitable to be calibrated by negative step response method. A new correlation wavelet transfer method is studied. By wavelet transfer method, the signal is decomposed into two dimensional spaces of time-frequency. So the problem of negative step exciting energy concentrating in the low frequency band is solved. Correlation wavelet transfer doesn＇t require that wavelet primary function be orthogonal and needn＇t wavelet reconstruction. So analyzing efficiency is high. An experimental bench is designed and manufactured to load the wrist force sensor orthogonal excitation force/moment. A piezoelectric force sensor is used to setup soft trigger and calculate the value of negative step excitation. A wrist force sensor is calibrated. The pulse response function is calculated after negative step excitation and step response have been transformed to positive step excitation and step response. The pulse response function is transferred to frequency response function. The wrist force sensor＇s dynamic characteristics are identified by the frequency response function.
文摘The energy consumption in the wireless sensor networks is a very critical issue which attracts immediate attention for the sake of the growing demand of the billion dollar market in future. The Dynamic Power Management （DPM） technique is a way of controlling and saving the energy usage in a sensor node. Previously, researchers have proposed lifetime improving stochastic models for wireless sensor networks and limited work has been done focusing on the wireless sensor node. This paper proposes an analyser based Semi-Markov model for DPM in the event-driven sensor node. The power consumption comparison with previously proposed models without this analyser shows the analyser significant contributes to lifetime improvement. The improved model is more power efficient, presents how the DPM model observes the input event arrival and power states of the sensor node components, and then dynamically manages the power consumption of the overall system. Further, to observe the effect of event arrival, missed events, waiting time, processor utilization on the power consumption and lifetime, the proposed DPM system with the single server queuing model is developed.
