Reliable and accurate cooperative positioning is vital to intelligent connected vehicles(ICVs),in which vehicle-vehicle relative measurements are integrated to provide stable locationaware services.However,in zero-tru...Reliable and accurate cooperative positioning is vital to intelligent connected vehicles(ICVs),in which vehicle-vehicle relative measurements are integrated to provide stable locationaware services.However,in zero-trust autonomous driving environments,the possibility of measurement failures and malicious communication attacks tends to reduce positioning performance.With this in mind,this paper presents an ultra-wide bandwidth(UWB)based cooperative positioning system with the specific objective of ICV localization in zero-trust driving environments.Firstly,to overcome measurement degradation under non-line-ofsight(NLOS)propagation conditions,this study proposes a decentralized 3D cooperative positioning method based on a distributed Kalman filter(DKF)by integrating relative rangeazimuth-elevation measurements,unlike the state-of-the-art methods that rely on only one single relative range information to update motion states.More specifically,in contrast to pioneering studies that mainly focus on the positioning problem arising from only one single type of communication attack(either false data injection(FDI)or denial of service(DoS)),we consider a more challenging case of secure cooperative state estimation under mixed FDI and DoS attacks.To this end,a singular-value decomposition(SVD)-assisted decoupled DKF algorithm is proposed in this work,in which a novel update-triggered inter-vehicular communication mechanism is introduced to ensure robust positioning performance against communication attacks while maintaining low transmission load between individuals.To verify the effectiveness in practical 3D NLOS scenarios,we design an intelligent connected multi-robot platform based on a robot operating system(ROS)and UWB technology.Consequently,extensive experimental results demonstrate its superiority and feasibility by achieving a high positioning accuracy of 0.68 m under adverse attacks,especially in the case of hybrid FDI and DoS attacks.In addition,several critical discussions,including the impact of attack parameters,resilience assessment,and a comparison with event-triggered methods,are provided in this work.Moreover,a demo video has been uploaded in the supplementary materials for a detailed presentation.展开更多
This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative ...This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.展开更多
This paper proposes a tube-based method for the asynchronous observation problem of discrete-time switched linear systems in the presence of amplitude-bounded disturbances.Sufficient stability conditions of the nomina...This paper proposes a tube-based method for the asynchronous observation problem of discrete-time switched linear systems in the presence of amplitude-bounded disturbances.Sufficient stability conditions of the nominal observer error system under mode-dependent persistent dwell-time(MPDT)switching are first established. Taking the disturbances into account, a novel asynchronous MPDT robust positive invariant(RPI) set and an asynchronous MPDT generalized RPI(GRPI)set are determined for the difference system between the nominal and disturbed observer error systems. Further, the global uniform asymptotical stability of the observer error system is established in the sense of converging to the asynchronous MPDT GRPI set, i.e., the cross section of the tube of the observer error system. Finally, the proposed results are validated on a space robot manipulator example.展开更多
基金supported in part by the National Natural Science Foundation of China(62273065,62003064,62303386)the Natural Science Foundation of Chongqing(CSTB2023NSCQ-LZX0014)+1 种基金the Science and Technology Research Program of Chongqing Municipal Education Commission(KJZDK201800701,KJQN202000717)Sichuan Science and Technology Program(2024NSFSC0525).
文摘Reliable and accurate cooperative positioning is vital to intelligent connected vehicles(ICVs),in which vehicle-vehicle relative measurements are integrated to provide stable locationaware services.However,in zero-trust autonomous driving environments,the possibility of measurement failures and malicious communication attacks tends to reduce positioning performance.With this in mind,this paper presents an ultra-wide bandwidth(UWB)based cooperative positioning system with the specific objective of ICV localization in zero-trust driving environments.Firstly,to overcome measurement degradation under non-line-ofsight(NLOS)propagation conditions,this study proposes a decentralized 3D cooperative positioning method based on a distributed Kalman filter(DKF)by integrating relative rangeazimuth-elevation measurements,unlike the state-of-the-art methods that rely on only one single relative range information to update motion states.More specifically,in contrast to pioneering studies that mainly focus on the positioning problem arising from only one single type of communication attack(either false data injection(FDI)or denial of service(DoS)),we consider a more challenging case of secure cooperative state estimation under mixed FDI and DoS attacks.To this end,a singular-value decomposition(SVD)-assisted decoupled DKF algorithm is proposed in this work,in which a novel update-triggered inter-vehicular communication mechanism is introduced to ensure robust positioning performance against communication attacks while maintaining low transmission load between individuals.To verify the effectiveness in practical 3D NLOS scenarios,we design an intelligent connected multi-robot platform based on a robot operating system(ROS)and UWB technology.Consequently,extensive experimental results demonstrate its superiority and feasibility by achieving a high positioning accuracy of 0.68 m under adverse attacks,especially in the case of hybrid FDI and DoS attacks.In addition,several critical discussions,including the impact of attack parameters,resilience assessment,and a comparison with event-triggered methods,are provided in this work.Moreover,a demo video has been uploaded in the supplementary materials for a detailed presentation.
基金supported by the National Natural Science Foundation of China (62073303,61673356)Hubei Provincial Natural Science Foundation of China (2015CFA010)the 111 Project(B17040)。
文摘This article focuses on dynamic event-triggered mechanism(DETM)-based model predictive control(MPC) for T-S fuzzy systems.A hybrid dynamic variables-dependent DETM is carefully devised,which includes a multiplicative dynamic variable and an additive dynamic variable.The addressed DETM-based fuzzy MPC issue is described as a “min-max” optimization problem(OP).To facilitate the co-design of the MPC controller and the weighting matrix of the DETM,an auxiliary OP is proposed based on a new Lyapunov function and a new robust positive invariant(RPI) set that contain the membership functions and the hybrid dynamic variables.A dynamic event-triggered fuzzy MPC algorithm is developed accordingly,whose recursive feasibility is analysed by employing the RPI set.With the designed controller,the involved fuzzy system is ensured to be asymptotically stable.Two examples show that the new DETM and DETM-based MPC algorithm have the advantages of reducing resource consumption while yielding the anticipated performance.
基金supported in part by the National Defense Basic Scientific Research Program of China(JCKY2018603C015)Cultivation Plan of Major Research Program of Harbin Institute of Technology(ZDXMPY20180101)
文摘This paper proposes a tube-based method for the asynchronous observation problem of discrete-time switched linear systems in the presence of amplitude-bounded disturbances.Sufficient stability conditions of the nominal observer error system under mode-dependent persistent dwell-time(MPDT)switching are first established. Taking the disturbances into account, a novel asynchronous MPDT robust positive invariant(RPI) set and an asynchronous MPDT generalized RPI(GRPI)set are determined for the difference system between the nominal and disturbed observer error systems. Further, the global uniform asymptotical stability of the observer error system is established in the sense of converging to the asynchronous MPDT GRPI set, i.e., the cross section of the tube of the observer error system. Finally, the proposed results are validated on a space robot manipulator example.
