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
针对CARACaS(Control Architecture for Robotic Agent Command and Sensing)无人自主框架、核心组件、示范验证和应用发展情况进行综述。首先,简要描述了自主框架的组成及其软件架构的设计原则和思路,对行为、动态规划和感知三类引擎...针对CARACaS(Control Architecture for Robotic Agent Command and Sensing)无人自主框架、核心组件、示范验证和应用发展情况进行综述。首先,简要描述了自主框架的组成及其软件架构的设计原则和思路,对行为、动态规划和感知三类引擎的技术特征进行分析,讨论了世界模型的构建原则和方式;其次,较为详细地分析了CARACaS技术典型示范验证和拓展应用情况,讨论了水面无人艇自主导航应用中CARACaS感知系统技术演化和发展;然后,考虑CARACaS技术示范验证与美国无人行业领军代表——空间集成系统公司SIS(Spatial Integrated Systems)集成开发工作密切相关,概要总结了SIS集成技术特点和最新进展;最后,结合美军在无人领域重点研究技术的发展情况,给出了几点启示。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.
文摘针对CARACaS(Control Architecture for Robotic Agent Command and Sensing)无人自主框架、核心组件、示范验证和应用发展情况进行综述。首先,简要描述了自主框架的组成及其软件架构的设计原则和思路,对行为、动态规划和感知三类引擎的技术特征进行分析,讨论了世界模型的构建原则和方式;其次,较为详细地分析了CARACaS技术典型示范验证和拓展应用情况,讨论了水面无人艇自主导航应用中CARACaS感知系统技术演化和发展;然后,考虑CARACaS技术示范验证与美国无人行业领军代表——空间集成系统公司SIS(Spatial Integrated Systems)集成开发工作密切相关,概要总结了SIS集成技术特点和最新进展;最后,结合美军在无人领域重点研究技术的发展情况,给出了几点启示。
