This paper discusses and compares some common architectures used inautonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that wasimplemented successfully in the Robotics Lab of the Dep...This paper discusses and compares some common architectures used inautonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that wasimplemented successfully in the Robotics Lab of the Department of Precision Mechanical Engineering.Fuzzy controller was used to implement the emergency behavior, the behaviors arbitration wasimplemented using the subsumption architecture. In an unknown dynamic indoor environment, the robotachieved real-time obstacle avoidance properties that are cruel for mobile robotics.展开更多
In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static ...In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.展开更多
Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at...Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment,this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints.Considering the fixed-wing UAV swarm flight problem in complex environment,a virtual tube model based on generator curve is established.The tube keeping,centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary.On this basis,a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace.This cooperative control method eliminates the need for respective pre-planned trajectories,reduces communication requirements,and achieves a high level of intelligence.Simulation results show that the proposed behaviorbased UAV swarm cooperative control method is able to make the fixed-wing UAV swarm,which is faster and unable to hover,fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes,and the spacing between the UAVs is larger than the minimum safe distance during the flight.展开更多
While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous ...While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous navigation in an unknown dynamic environment for a single and a group of three wheeled omnidirectional mobile robots(TWOMRs). The robot has to track a dynamic target while avoiding dynamic obstacles and dynamic walls in an unknown and very dense environment. It adopts a behavior-based controller that consists of four behaviors: "target tracking", "obstacle avoidance", "dynamic wall following" and "avoid robots". The paper considers the problem of kinematic saturation. In addition, it introduces a strategy for predicting the velocity of dynamic obstacles based on two successive measurements of the ultrasonic sensors to calculate the velocity of the obstacle expressed in the sensor frame. Furthermore, the paper proposes a strategy to deal with dynamic walls even when they have U-like or V-like shapes. The approach can also deal with the formation control of a group of robots based on the leader-follower structure and the behavior-based control, where the robots have to get together and maintain a given formation while navigating toward the target, avoiding obstacles and walls in a dynamic environment. The effectiveness of the proposed approaches is demonstrated via simulation.展开更多
Two limitations of current integrity measurement architectures are pointed out:(1)a reference value is required for every measured entity to verify the system states,as is impractical however;(2)malicious user can for...Two limitations of current integrity measurement architectures are pointed out:(1)a reference value is required for every measured entity to verify the system states,as is impractical however;(2)malicious user can forge proof of inexistent system states.This paper proposes a trustworthy integrity measurement architecture,BBACIMA,through enforcing behavior-based access control for trusted platform module(TPM).BBACIMA introduces a TPM reference monitor(TPMRM)to ensure the trustworthiness of integrity measurement.TPMRM enforces behavior-based access control for the TPM and is isolated from other entities which may be malicious.TPMRM is the only entity manipulating TPM directly and all PCR(platform configuration register)operation requests must pass through the security check of it so that only trusted processes can do measurement and produce the proof of system states.Through these mechanisms malicious user can not enforce attack which is feasible in current measurement architectures.展开更多
This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mi...This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mission is disturbed by the measurement noise and the target adversarial behavior.To address these problems,a model-free Combined Adaptive-length Datadriven Predictive Controller(CADPC)is proposed.It consists of a separated subsystem identification method and a combined predictive control strategy.The subsystem identification method is composed of an adaptive data length,thereby reducing sensitivity to undetermined measurement noises and disturbances.Based on the subsystem identification,the combined predictive controller is established,reducing calculating resource.The stability of the CADPC is rigorously proven using the Input-to-State Stable(ISS)theorem and the small-gain theorem.Simulations demonstrate that CADPC effectively handles the model-free space robot post operation in the presence of significant disturbances,state measurement noise,and control input errors.It achieves improved steady-state accuracy,reduced steady-state control consumption,and minimized control input chattering.展开更多
Mosquito-borne diseases pose a significant global health threat,necessitating the development of innovative vector control strategies.In this study,we investigated the potential of harnessing host immunity against mos...Mosquito-borne diseases pose a significant global health threat,necessitating the development of innovative vector control strategies.In this study,we investigated the potential of harnessing host immunity against mosquitoes through vaccination.Using Culex pipiens(C.pipiens)as a model,we demonstrated that polyclonal antibodies against C.pipiens abdominal protein extracts significantly impaired oviposition and increased mosquito mortality,primarily through the classical complement activation pathways.However,repeated exposure led to resistance,indicating potential adaptation.Proteomic analysis identified metabolic proteins as key targets,with Gene Ontology and Kyoto Encyclopedia of Genes and Genomes enrichment analyses highlighting their roles in carboxylic acid metabolism,tyrosine degradation,and the proteasome pathways.Notably,cross-species reactivity was revealed by Western blotting,showing strong binding of Culex-specific antibodies to Anopheles and Aedes abdominal proteins.This study provides mechanistic insights into antibody-based mosquito suppression,highlighting its potential as an innovative vector control strategy while underscoring the need for further research on resistance management and ecological impacts.展开更多
This paper examines a model that combines vortex generators and leading-edge tubercles for controlling the laminar separation bubble(LSB)over an airfoil at low Reynolds numbers(Re).This new concept of passive flow con...This paper examines a model that combines vortex generators and leading-edge tubercles for controlling the laminar separation bubble(LSB)over an airfoil at low Reynolds numbers(Re).This new concept of passive flow control technique utilizing a tubercle and vortex generator(VG)close to the leading edge was analyzed numerically for a NACA0015 airfoil.In this study,the Shear Stress Transport(SST)turbulence model was employed in the numerical modelling.Numerical modelling was completed using the ANSYS-Fluent 18.2 solver.Analyses were conducted to investigate the flow pattern and understand the underlying LSB control phenomena that enabled the new passive flow control method to provide this significant performance benefit.The findings indicated that the new concept of passive flow control technique suppressed the formation of an LSB at the suction surface of the NACA0015 airfoil,resulting in a higher lift coefficient and improved aerodynamic performance.Improvements in LSB dynamics and aerodynamic performance through the passive flow control method lead to increased energy output and enhanced stability.展开更多
Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybr...Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybrid control method was proposed.This method included a hybrid controller composed of a slope-based controller and a proportional-integral-derivative(PID)controller.The speed of agricultural machinery was influenced by longitudinal forces,which were divided into two parts:one part was slope-related forces and conventional resistance,and the other was hard-to-estimate forces,such as sliding friction.For the first part,a slope-based controller was designed;for the second part,a PID controller was implemented.By combining these two controllers,the system can dynamically adjust the throttle opening and the brake master cylinder pressure,ensuring steady speed travel on sloping farmland.Simulation tests at a target speed of 7 km/h demonstrated that the proposed controller maintained a stable speed,achieving a root mean square error of 0.13 km/h and a mean absolute percentage error of 1.6%.Field tests on a practical experimental platform validated the method’s effectiveness,with results showing consistent control performance across varying slope conditions.The proposed controller demonstrated superior control performance.Experimental data verified that this method can achieve precise control of the agricultural machinery’s movement speed,meeting the stability requirements for agricultural operations.展开更多
This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relativ...This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.展开更多
As a closed-loop learning control method,repetitive control has been widely used in a variety of areas from appliances to aviation.A repetitive control system features perfect reference tracking and disturbance reject...As a closed-loop learning control method,repetitive control has been widely used in a variety of areas from appliances to aviation.A repetitive control system features perfect reference tracking and disturbance rejection in the steady state for periodic signals with a fixed period.This characteristic is important not only for conventional technologies and conventional industries but also for advanced technologies and emerging industries.This paper first explains the concept of repetitive control from its original idea.Next,it describes the structure of a repetitive controller as an internal model and shows the respective points of continuous-and discrete-time repetitive control.It presents a categorized list of practical applications of repetitive control.Moreover,two concrete applications,namely the control of a robotic manipulator and a rotating system,demonstrate the validity of the method with experimental results.Several current studies in this field are also reviewed,and some challenges and future studies for repetitive control are provided.展开更多
This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper cons...This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper constructs an internal model to learn the information of the states and input of the grid-connected inverter under steady state.Second,by utilizing the internal model principle,the paper turns the tracking control problem into the robust stabilization control problem based on some appropriate coordinate transformations.Then,The paper designs a dynamics state feedback control law to deal with this robust stabilization problem,and thus the solution of the robust current tracking control problem of three-phase grid-connected inverters can be obtained.This control method can ensure the asymptotic stability of the closedloop system.Finally,the paper illustrates the effectiveness of the proposed control approach through several groups of simulations,and compares it with the feedforward control method to verify the robustness of the proposed control method to uncertain parameters.展开更多
Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion...Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.展开更多
To solve the problem of in-flight actuator faults and parameter uncertainties for multiple Unmanned Aerial Vehicles(UAVs),and reduce the communication and computational resource consumption of multiple UAVs,a Fraction...To solve the problem of in-flight actuator faults and parameter uncertainties for multiple Unmanned Aerial Vehicles(UAVs),and reduce the communication and computational resource consumption of multiple UAVs,a Fraction-Order(FO)sliding-mode Fault-Tolerant Cooperative Control(FTCC)strategy is proposed for multiple UAVs based on Event-Triggered Communication Mechanism(ET-COM-M)and Event-Triggered Control Mechanism(ET-CON-M).First,by considering the limited communication bandwidth of multiple UAVs in formation,an ET-COM-M is designed to significantly reduce communication times.Then,a distributed observer is skillfully constructed to estimate the reference signals for follower UAVs.Moreover,the adaptive strategy is incorporated into the Radial Basis Function Neural Network(RBFNN)to learn the lumped unknown terms for handling bias actuator faults and parameter uncertainties.Besides,the Nussbaum method is used to deal with the loss-of-effectiveness faults.To further achieve the refined control performance against faults,FO calculus is artfully integrated into the sliding-mode control protocol with ET-CON-M.Finally,Zeno behavior is excluded by rigorous theoretical analysis and Lyapunov stability is proved to show the effectiveness of the designed FTCC strategy.Simulation results show that the designed FTCC strategy with Event-Triggered Mechanism(ETM)can guarantee the safety of multiple UAVs and simultaneously reduce the communication and control frequencies,making the developed control scheme applicable in engineering.展开更多
Mobile wheel-legged robots exhibiting mobility,stability and reliability have garnered heightened research attention in demanding real-world scenarios,especially in material transport,emergency response and space expl...Mobile wheel-legged robots exhibiting mobility,stability and reliability have garnered heightened research attention in demanding real-world scenarios,especially in material transport,emergency response and space exploration.The kinematics model merely delineates the geometric relationship of the controlled objective,disregarding force feedback.This study investigates model predictive trajectory tracking control utilising the robot dynamic model(DRMPC)in the context of unpredictable interactions.The predictive tracking controller for the wheel-legged robot is introduced in the context of position tracking.A dynamic approximator is employed to address the uncertain interactions in the tracking process.Ultimately,cosimulation and empirical tests are conducted to demonstrate the efficacy of the devised control methodology,which achieves high precision and dependable robustness.This work can elucidate the technical and practical oversight of autonomous movement in complicated environments and enhance the manoeuverability and flexibility.展开更多
This paper is concerned with adaptive consensus tracking control of nonlinear multi-agent systems with actuator faults and unknown nonidentical control directions under double semi-Markovian switching topologies.Consi...This paper is concerned with adaptive consensus tracking control of nonlinear multi-agent systems with actuator faults and unknown nonidentical control directions under double semi-Markovian switching topologies.Considering the complex working environment and the stability differences in communication links between leaders and followers,a double semi-Markov process is first introduced to describe the random switching of communication topologies in the leader-follower structure.In order to address challenges from the unknown nonidentical control directions and partial loss of effectiveness actuator faults,a completely independent parameter is introduced into the Nussbaum function to overcome the inherent obstacle of mutual cancellation and avoid the rapid growth rate.Considering only the state information of agents is transmitted among the agents,an adaptive distributed fault-tolerant consensus tracking control is proposed based on the double semi-Markovian switching topologies using the designed Nussbaum function.Furthermore,the stability of the closed-loop nonlinear multi-agent systems is analyzed using contradiction argument and Lyapunov theorem,from which the asymptotic consensus tracking in mean square sense can be obtained.A numerical simulation example is provided to verify the effectiveness of the proposed algorithm.展开更多
This paper presents an adaptive formation control method for a heterogeneous robot swarm,utilising a multilevel formation task tree to model various types of formation tasks and a single-state distributed k-winner-tak...This paper presents an adaptive formation control method for a heterogeneous robot swarm,utilising a multilevel formation task tree to model various types of formation tasks and a single-state distributed k-winner-take-all(S-DKWTA)algorithm to address the MRTA problem.In addition,we propose an enhanced load reassignment algorithm to resolve conflicts when using S-DKWTA.The S-DKWTA algorithm demonstrates the capability to manage multiple objectives and dynamically select leaders in real-time,thereby optimising formation efficiency and reducing energy consumption.The proposed approach integrates an enhanced artificial potential field(APF)to govern the motion of heterogeneous robot systems which encompasses both unmanned ground vehicles(UGVs)and unmanned aerial vehicles(UAVs),thereby achieving collision and obstacle avoidance.Simulations employing UGVs and UAVs swarm to achieve formation movement demonstrate the efficacy of this approach.The amalgamation of S-DKWTA and improved APF ensures stable and adaptable formation control,underscoring its potential for diverse multirobot applications.展开更多
In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to ...In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to obtain the maximal positive definite solution of nonlinear matrix equation X+A^(*)X|^(-α)A=Q with the case 0<α≤1.Based on this method,a new iterative algorithm is developed,and its convergence proof is given.Finally,two numerical examples are provided to show the effectiveness of the proposed method.展开更多
As an important resource in data link,time slots should be strategically allocated to enhance transmission efficiency and resist eavesdropping,especially considering the tremendous increase in the number of nodes and ...As an important resource in data link,time slots should be strategically allocated to enhance transmission efficiency and resist eavesdropping,especially considering the tremendous increase in the number of nodes and diverse communication needs.It is crucial to design control sequences with robust randomness and conflict-freeness to properly address differentiated access control in data link.In this paper,we propose a hierarchical access control scheme based on control sequences to achieve high utilization of time slots and differentiated access control.A theoretical bound of the hierarchical control sequence set is derived to characterize the constraints on the parameters of the sequence set.Moreover,two classes of optimal hierarchical control sequence sets satisfying the theoretical bound are constructed,both of which enable the scheme to achieve maximum utilization of time slots.Compared with the fixed time slot allocation scheme,our scheme reduces the symbol error rate by up to 9%,which indicates a significant improvement in anti-interference and eavesdropping capabilities.展开更多
A novel aperiodically intermittent impulse control(AIIC)method is proposed to investigate the exponential synchronization in mean square(ESMS)of a class of impulsive stochastic infinite-dimensional systems with Poisso...A novel aperiodically intermittent impulse control(AIIC)method is proposed to investigate the exponential synchronization in mean square(ESMS)of a class of impulsive stochastic infinite-dimensional systems with Poisson jumps(ISIDSP).The AIIC control strategy inherits the flexibility of aperiodically intermittent control,including the variable control period,adjustable control interval length,and the discretization of impulsive control.In addition,this article introduces a novel mild Itô's formula.By leveraging semigroup theory,the contraction mapping principle,and graph theory,along with constructing the Lyapunov function,the criterion for the existence and uniqueness of a mild solution of ISIDSP is thereby established.Furthermore,the mean-square exponential synchronization problem of the above systems is resolved,and the constraints within the mild solution domain are alleviated.These criteria clarify the impact of control parameters,control intervals and network topology on ESMS.The theoretical results are subsequently applied to a class of neural networks with reaction-diffusion processes,and the validity of the results is verified using numerical simulations.展开更多
文摘This paper discusses and compares some common architectures used inautonomous mobile robotics. Then it describes a behavior-based autonomous mobile robot that wasimplemented successfully in the Robotics Lab of the Department of Precision Mechanical Engineering.Fuzzy controller was used to implement the emergency behavior, the behaviors arbitration wasimplemented using the subsumption architecture. In an unknown dynamic indoor environment, the robotachieved real-time obstacle avoidance properties that are cruel for mobile robotics.
文摘In this paper, a fuzzy behavior-based approach for a three wheeled omnidirectional mobile robot(TWOMR) navigation has been proposed. The robot has to track either static or dynamic target while avoiding either static or dynamic obstacles along its path. A simple controller design is adopted, and to do so, two fuzzy behaviors "Track the Target" and "Avoid Obstacles and Wall Following" are considered based on reduced rule bases(six and five rules respectively). This strategy employs a system of five ultrasonic sensors which provide the necessary information about obstacles in the environment. Simulation platform was designed to demonstrate the effectiveness of the proposed approach.
基金co-supported by the National Natural Science Foundation of China(No.61903350)the Ministry of Education industry-university-research innovation project,China(No.2021ZYA02002)the Beijing Institute of Technology Research Fund Program for Young Scholars,China(No.3010011182130)。
文摘Unmanned Aerial Vehicle(UAV)swarm collaboration enhances mission effectiveness.However,fixed-wing UAV swarm flights face collaborative safety control problems within a limited airspace in complex environments.Aimed at the cooperative control problem of fixed-wing UAV swarm flights under the airspace constraints of a virtual tube in a complex environment,this paper proposes a behavior-based distributed control method for fixed-wing UAV swarm considering flight safety constraints.Considering the fixed-wing UAV swarm flight problem in complex environment,a virtual tube model based on generator curve is established.The tube keeping,centerline tracking and flight safety behavioral control strategies of the UAV swarm are designed to ensure that the UAV swarm flies along the inside of the virtual tube safety and does not go beyond its boundary.On this basis,a maneuvering decision-making method based on behavioral fusion is proposed to ensure the safe flight of UAV swarm in the restricted airspace.This cooperative control method eliminates the need for respective pre-planned trajectories,reduces communication requirements,and achieves a high level of intelligence.Simulation results show that the proposed behaviorbased UAV swarm cooperative control method is able to make the fixed-wing UAV swarm,which is faster and unable to hover,fly along the virtual tube airspace under various virtual tube shapes and different swarm sizes,and the spacing between the UAVs is larger than the minimum safe distance during the flight.
文摘While different species in nature have safely solved the problem of navigation in a dynamic environment, this remains a challenging task for researchers around the world. The paper addresses the problem of autonomous navigation in an unknown dynamic environment for a single and a group of three wheeled omnidirectional mobile robots(TWOMRs). The robot has to track a dynamic target while avoiding dynamic obstacles and dynamic walls in an unknown and very dense environment. It adopts a behavior-based controller that consists of four behaviors: "target tracking", "obstacle avoidance", "dynamic wall following" and "avoid robots". The paper considers the problem of kinematic saturation. In addition, it introduces a strategy for predicting the velocity of dynamic obstacles based on two successive measurements of the ultrasonic sensors to calculate the velocity of the obstacle expressed in the sensor frame. Furthermore, the paper proposes a strategy to deal with dynamic walls even when they have U-like or V-like shapes. The approach can also deal with the formation control of a group of robots based on the leader-follower structure and the behavior-based control, where the robots have to get together and maintain a given formation while navigating toward the target, avoiding obstacles and walls in a dynamic environment. The effectiveness of the proposed approaches is demonstrated via simulation.
基金the National High Technology Research and Development Plan of China(2007AA01Z412)the National Key Technology R&D Program of China(2006BAH02A02)the National Natural Science Foundation of China(60603017)
文摘Two limitations of current integrity measurement architectures are pointed out:(1)a reference value is required for every measured entity to verify the system states,as is impractical however;(2)malicious user can forge proof of inexistent system states.This paper proposes a trustworthy integrity measurement architecture,BBACIMA,through enforcing behavior-based access control for trusted platform module(TPM).BBACIMA introduces a TPM reference monitor(TPMRM)to ensure the trustworthiness of integrity measurement.TPMRM enforces behavior-based access control for the TPM and is isolated from other entities which may be malicious.TPMRM is the only entity manipulating TPM directly and all PCR(platform configuration register)operation requests must pass through the security check of it so that only trusted processes can do measurement and produce the proof of system states.Through these mechanisms malicious user can not enforce attack which is feasible in current measurement architectures.
基金supported by the National Natural Science Foundation of China(No.12372045)the National Key Research and the Development Program of China(Nos.2023YFC2205900,2023YFC2205901)。
文摘This paper solves the problem of model-free dual-arm space robot maneuvering after non-cooperative target capture under high control quality requirements.The explicit system model is unavailable,and the maneuvering mission is disturbed by the measurement noise and the target adversarial behavior.To address these problems,a model-free Combined Adaptive-length Datadriven Predictive Controller(CADPC)is proposed.It consists of a separated subsystem identification method and a combined predictive control strategy.The subsystem identification method is composed of an adaptive data length,thereby reducing sensitivity to undetermined measurement noises and disturbances.Based on the subsystem identification,the combined predictive controller is established,reducing calculating resource.The stability of the CADPC is rigorously proven using the Input-to-State Stable(ISS)theorem and the small-gain theorem.Simulations demonstrate that CADPC effectively handles the model-free space robot post operation in the presence of significant disturbances,state measurement noise,and control input errors.It achieves improved steady-state accuracy,reduced steady-state control consumption,and minimized control input chattering.
基金supported by the National Natural Science Foundation of China(Grant No.82472312).
文摘Mosquito-borne diseases pose a significant global health threat,necessitating the development of innovative vector control strategies.In this study,we investigated the potential of harnessing host immunity against mosquitoes through vaccination.Using Culex pipiens(C.pipiens)as a model,we demonstrated that polyclonal antibodies against C.pipiens abdominal protein extracts significantly impaired oviposition and increased mosquito mortality,primarily through the classical complement activation pathways.However,repeated exposure led to resistance,indicating potential adaptation.Proteomic analysis identified metabolic proteins as key targets,with Gene Ontology and Kyoto Encyclopedia of Genes and Genomes enrichment analyses highlighting their roles in carboxylic acid metabolism,tyrosine degradation,and the proteasome pathways.Notably,cross-species reactivity was revealed by Western blotting,showing strong binding of Culex-specific antibodies to Anopheles and Aedes abdominal proteins.This study provides mechanistic insights into antibody-based mosquito suppression,highlighting its potential as an innovative vector control strategy while underscoring the need for further research on resistance management and ecological impacts.
基金the Scientific Research Projects Unit of Erciyes University under contract no:FDS-2022-11532 and FOA-2025-14773.
文摘This paper examines a model that combines vortex generators and leading-edge tubercles for controlling the laminar separation bubble(LSB)over an airfoil at low Reynolds numbers(Re).This new concept of passive flow control technique utilizing a tubercle and vortex generator(VG)close to the leading edge was analyzed numerically for a NACA0015 airfoil.In this study,the Shear Stress Transport(SST)turbulence model was employed in the numerical modelling.Numerical modelling was completed using the ANSYS-Fluent 18.2 solver.Analyses were conducted to investigate the flow pattern and understand the underlying LSB control phenomena that enabled the new passive flow control method to provide this significant performance benefit.The findings indicated that the new concept of passive flow control technique suppressed the formation of an LSB at the suction surface of the NACA0015 airfoil,resulting in a higher lift coefficient and improved aerodynamic performance.Improvements in LSB dynamics and aerodynamic performance through the passive flow control method lead to increased energy output and enhanced stability.
文摘Steady speed control of agricultural machinery can improve operating quality and efficiency.To address the impact of farmland slope variations on the speed stability of unmanned operation agricultural machinery,a hybrid control method was proposed.This method included a hybrid controller composed of a slope-based controller and a proportional-integral-derivative(PID)controller.The speed of agricultural machinery was influenced by longitudinal forces,which were divided into two parts:one part was slope-related forces and conventional resistance,and the other was hard-to-estimate forces,such as sliding friction.For the first part,a slope-based controller was designed;for the second part,a PID controller was implemented.By combining these two controllers,the system can dynamically adjust the throttle opening and the brake master cylinder pressure,ensuring steady speed travel on sloping farmland.Simulation tests at a target speed of 7 km/h demonstrated that the proposed controller maintained a stable speed,achieving a root mean square error of 0.13 km/h and a mean absolute percentage error of 1.6%.Field tests on a practical experimental platform validated the method’s effectiveness,with results showing consistent control performance across varying slope conditions.The proposed controller demonstrated superior control performance.Experimental data verified that this method can achieve precise control of the agricultural machinery’s movement speed,meeting the stability requirements for agricultural operations.
文摘This study investigates prescribed-time position tracking control for electromagnetic satellite formations subject to model uncertainties and external disturbances.Using the Clohessy-Wiltshire equations as the relative motion dynamics model,a prescribed time output feedback control strategy is proposed.A prescribed-time extended state observer is designed to estimate the relative velocity and external disturbances.The disturbance estimates are then used as the feedforward component of the controller.Building on this framework,a novel prescribed-time active disturbance rejection control strategy for position tracking is developed via a backstepping control design.The convergence of the extended state observer and the stability of the closed-loop system are rigorously analyzed using Lyapunov stability theory.Numerical simulations are performed to validate the effectiveness of the proposed controller.
基金supported in part by the Japan Society for the Promotion of Science Grants-in-Aid for Scientific Research(B)(23K25252,24K03325)the National Natural Science Foundation of China(61873348)the Natural Science Foundation of Hubei Province,China(2020CFA031)。
文摘As a closed-loop learning control method,repetitive control has been widely used in a variety of areas from appliances to aviation.A repetitive control system features perfect reference tracking and disturbance rejection in the steady state for periodic signals with a fixed period.This characteristic is important not only for conventional technologies and conventional industries but also for advanced technologies and emerging industries.This paper first explains the concept of repetitive control from its original idea.Next,it describes the structure of a repetitive controller as an internal model and shows the respective points of continuous-and discrete-time repetitive control.It presents a categorized list of practical applications of repetitive control.Moreover,two concrete applications,namely the control of a robotic manipulator and a rotating system,demonstrate the validity of the method with experimental results.Several current studies in this field are also reviewed,and some challenges and future studies for repetitive control are provided.
基金Supported by the Fundamental Research Funds for the Central Universities(2024ZYGXZR047)the National Natural Science Foundation of China(62373156)the Guangdong Basic and Applied Basic Research Foundation(2024A1515011736)。
文摘This article investigates the robust current tracking control problem of three-phase grid-connected inverters with LCL filter under external disturbance by a dynamic state feedback control method.First,this paper constructs an internal model to learn the information of the states and input of the grid-connected inverter under steady state.Second,by utilizing the internal model principle,the paper turns the tracking control problem into the robust stabilization control problem based on some appropriate coordinate transformations.Then,The paper designs a dynamics state feedback control law to deal with this robust stabilization problem,and thus the solution of the robust current tracking control problem of three-phase grid-connected inverters can be obtained.This control method can ensure the asymptotic stability of the closedloop system.Finally,the paper illustrates the effectiveness of the proposed control approach through several groups of simulations,and compares it with the feedforward control method to verify the robustness of the proposed control method to uncertain parameters.
文摘Aiming to solve the steering instability and hysteresis of agricultural robots in the process of movement,a fusion PID control method of particle swarm optimization(PSO)and genetic algorithm(GA)was proposed.The fusion algorithm took advantage of the fast optimization ability of PSO to optimize the population screening link of GA.The Simulink simulation results showed that the convergence of the fitness function of the fusion algorithm was accelerated,the system response adjustment time was reduced,and the overshoot was almost zero.Then the algorithm was applied to the steering test of agricultural robot in various scenes.After modeling the steering system of agricultural robot,the steering test results in the unloaded suspended state showed that the PID control based on fusion algorithm reduced the rise time,response adjustment time and overshoot of the system,and improved the response speed and stability of the system,compared with the artificial trial and error PID control and the PID control based on GA.The actual road steering test results showed that the PID control response rise time based on the fusion algorithm was the shortest,about 4.43 s.When the target pulse number was set to 100,the actual mean value in the steady-state regulation stage was about 102.9,which was the closest to the target value among the three control methods,and the overshoot was reduced at the same time.The steering test results under various scene states showed that the PID control based on the proposed fusion algorithm had good anti-interference ability,it can adapt to the changes of environment and load and improve the performance of the control system.It was effective in the steering control of agricultural robot.This method can provide a reference for the precise steering control of other robots.
基金supported in part by National Natural Science Foundation of China(Nos.62373188,62003162)the Natural Science Foundation of Jiangsu Province of China(Nos.BK20240182,BK20222012)+2 种基金the Industry-University Research Innovation Foundation for the Chinese Ministry of Education(No.2021ZYA02005)the Aeronautical Science Foundation of China(Nos.20220007052003,20200007018001)the Fundamental Research Funds for the Central Universities,China(Nos.NE2024004,NI2024001)。
文摘To solve the problem of in-flight actuator faults and parameter uncertainties for multiple Unmanned Aerial Vehicles(UAVs),and reduce the communication and computational resource consumption of multiple UAVs,a Fraction-Order(FO)sliding-mode Fault-Tolerant Cooperative Control(FTCC)strategy is proposed for multiple UAVs based on Event-Triggered Communication Mechanism(ET-COM-M)and Event-Triggered Control Mechanism(ET-CON-M).First,by considering the limited communication bandwidth of multiple UAVs in formation,an ET-COM-M is designed to significantly reduce communication times.Then,a distributed observer is skillfully constructed to estimate the reference signals for follower UAVs.Moreover,the adaptive strategy is incorporated into the Radial Basis Function Neural Network(RBFNN)to learn the lumped unknown terms for handling bias actuator faults and parameter uncertainties.Besides,the Nussbaum method is used to deal with the loss-of-effectiveness faults.To further achieve the refined control performance against faults,FO calculus is artfully integrated into the sliding-mode control protocol with ET-CON-M.Finally,Zeno behavior is excluded by rigorous theoretical analysis and Lyapunov stability is proved to show the effectiveness of the designed FTCC strategy.Simulation results show that the designed FTCC strategy with Event-Triggered Mechanism(ETM)can guarantee the safety of multiple UAVs and simultaneously reduce the communication and control frequencies,making the developed control scheme applicable in engineering.
基金supported by the National Natural Science Foundation of China(62203176,62173038)Guangzhou Key Research and Development Program(2025B03J0072)+5 种基金Guangdong High-Level Talents Special Support Programme(2024TQ08Z107)Anhui Province Natural Science Funds for Distinguished Young Scholar(2308085J02)State Key Laboratory of Intelligent Vehicle Safety Technology(IVSTSKL-202402,IVSTSKL-202430,IVSTSKL-202508,IVSTSKL-202520)State Key Laboratory of Intelligent Green Vehicle and Mobility(KFY2417)State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body(32215010),Wuhu Major Scientific and Technological Achievements Engineering Project(2021zc04).
文摘Mobile wheel-legged robots exhibiting mobility,stability and reliability have garnered heightened research attention in demanding real-world scenarios,especially in material transport,emergency response and space exploration.The kinematics model merely delineates the geometric relationship of the controlled objective,disregarding force feedback.This study investigates model predictive trajectory tracking control utilising the robot dynamic model(DRMPC)in the context of unpredictable interactions.The predictive tracking controller for the wheel-legged robot is introduced in the context of position tracking.A dynamic approximator is employed to address the uncertain interactions in the tracking process.Ultimately,cosimulation and empirical tests are conducted to demonstrate the efficacy of the devised control methodology,which achieves high precision and dependable robustness.This work can elucidate the technical and practical oversight of autonomous movement in complicated environments and enhance the manoeuverability and flexibility.
基金supported by the National Natural Science Foundation of China(62333011,62020106003)the Natural Science Foundation of Jiangsu Province of China(BK20222012)+1 种基金the Fundamental Research Funds for the Central Universities(NE2024005)the Postgraduate Research&Practice Innovation Program of Jiangsu Province(KYCX24_0594)。
文摘This paper is concerned with adaptive consensus tracking control of nonlinear multi-agent systems with actuator faults and unknown nonidentical control directions under double semi-Markovian switching topologies.Considering the complex working environment and the stability differences in communication links between leaders and followers,a double semi-Markov process is first introduced to describe the random switching of communication topologies in the leader-follower structure.In order to address challenges from the unknown nonidentical control directions and partial loss of effectiveness actuator faults,a completely independent parameter is introduced into the Nussbaum function to overcome the inherent obstacle of mutual cancellation and avoid the rapid growth rate.Considering only the state information of agents is transmitted among the agents,an adaptive distributed fault-tolerant consensus tracking control is proposed based on the double semi-Markovian switching topologies using the designed Nussbaum function.Furthermore,the stability of the closed-loop nonlinear multi-agent systems is analyzed using contradiction argument and Lyapunov theorem,from which the asymptotic consensus tracking in mean square sense can be obtained.A numerical simulation example is provided to verify the effectiveness of the proposed algorithm.
基金supported by the National Natural Science Foundation of China(624B2140).
文摘This paper presents an adaptive formation control method for a heterogeneous robot swarm,utilising a multilevel formation task tree to model various types of formation tasks and a single-state distributed k-winner-take-all(S-DKWTA)algorithm to address the MRTA problem.In addition,we propose an enhanced load reassignment algorithm to resolve conflicts when using S-DKWTA.The S-DKWTA algorithm demonstrates the capability to manage multiple objectives and dynamically select leaders in real-time,thereby optimising formation efficiency and reducing energy consumption.The proposed approach integrates an enhanced artificial potential field(APF)to govern the motion of heterogeneous robot systems which encompasses both unmanned ground vehicles(UGVs)and unmanned aerial vehicles(UAVs),thereby achieving collision and obstacle avoidance.Simulations employing UGVs and UAVs swarm to achieve formation movement demonstrate the efficacy of this approach.The amalgamation of S-DKWTA and improved APF ensures stable and adaptable formation control,underscoring its potential for diverse multirobot applications.
基金Supported in part by Natural Science Foundation of Guangxi(2023GXNSFAA026246)in part by the Central Government's Guide to Local Science and Technology Development Fund(GuikeZY23055044)in part by the National Natural Science Foundation of China(62363003)。
文摘In this paper,we consider the maximal positive definite solution of the nonlinear matrix equation.By using the idea of Algorithm 2.1 in ZHANG(2013),a new inversion-free method with a stepsize parameter is proposed to obtain the maximal positive definite solution of nonlinear matrix equation X+A^(*)X|^(-α)A=Q with the case 0<α≤1.Based on this method,a new iterative algorithm is developed,and its convergence proof is given.Finally,two numerical examples are provided to show the effectiveness of the proposed method.
基金supported by the National Science Foundation of China(No.62171387)the Science and Technology Program of Sichuan Province(No.2024NSFSC0468)the China Postdoctoral Science Foundation(No.2019M663475).
文摘As an important resource in data link,time slots should be strategically allocated to enhance transmission efficiency and resist eavesdropping,especially considering the tremendous increase in the number of nodes and diverse communication needs.It is crucial to design control sequences with robust randomness and conflict-freeness to properly address differentiated access control in data link.In this paper,we propose a hierarchical access control scheme based on control sequences to achieve high utilization of time slots and differentiated access control.A theoretical bound of the hierarchical control sequence set is derived to characterize the constraints on the parameters of the sequence set.Moreover,two classes of optimal hierarchical control sequence sets satisfying the theoretical bound are constructed,both of which enable the scheme to achieve maximum utilization of time slots.Compared with the fixed time slot allocation scheme,our scheme reduces the symbol error rate by up to 9%,which indicates a significant improvement in anti-interference and eavesdropping capabilities.
基金supported in part by the National Natural Science Foundation of China(12471422,62573274,12371173)the Natural Science Foundation of Shandong Province of China(ZR2022LLZ003,ZR2024MF001)the Funding for Visiting Studies and Research by Teachers in Ordinary Undergraduate Colleges and Universities in Shandong Province。
文摘A novel aperiodically intermittent impulse control(AIIC)method is proposed to investigate the exponential synchronization in mean square(ESMS)of a class of impulsive stochastic infinite-dimensional systems with Poisson jumps(ISIDSP).The AIIC control strategy inherits the flexibility of aperiodically intermittent control,including the variable control period,adjustable control interval length,and the discretization of impulsive control.In addition,this article introduces a novel mild Itô's formula.By leveraging semigroup theory,the contraction mapping principle,and graph theory,along with constructing the Lyapunov function,the criterion for the existence and uniqueness of a mild solution of ISIDSP is thereby established.Furthermore,the mean-square exponential synchronization problem of the above systems is resolved,and the constraints within the mild solution domain are alleviated.These criteria clarify the impact of control parameters,control intervals and network topology on ESMS.The theoretical results are subsequently applied to a class of neural networks with reaction-diffusion processes,and the validity of the results is verified using numerical simulations.
