CPS Oriented Control Design for Networked Surveillance Robots With Multiple Physical Constraints

Khan, Muhammad Umer; Li, Shuai; Wang, Qixin; Shao, Zili

doi:10.1109/tcad.2016.2524653

Cited by 40 publications

(23 citation statements)

References 54 publications

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“…Thus, it can be used as fault detector. Moreover, by (10), designing the observer gain  such that the columns of matrix  −  is totally linear independent from the columns of , while guaranteeing that all eigenvalues of  −  are all with negative real parts, should be one of the major further considerations.…”

Section: Attack Detection Observer Designmentioning

confidence: 99%

“…Such systems interact intensively between physical entities and cyber infrastructure and commonly exist in the industrial processes and our daily lives . CPSs are hot topics recently and literature for investigation on CPSs is available . Due to the complexity of the CPSs, dealing with the security issues of a CPS becomes extraordinarily significant.…”

Section: Introductionmentioning

confidence: 99%

“…2,3 CPSs are hot topics recently and literature for investigation on CPSs is available. [4][5][6][7][8][9][10][11] Due to the complexity of the CPSs, dealing with the security issues of a CPS becomes extraordinarily significant. Therefore, for a CPS, to avoid fault occurrence by protecting the system from being attacked in both physical layer and cyber layer is crucial.…”

Section: Introductionmentioning

confidence: 99%

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Sensor attack detection and isolation based on sliding mode observer for cyber‐physical systems

Zhu

Zhang

2020

Adaptive Control & Signal

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Summary This article investigates the sensor attack detection and isolation problems for cyber‐physical systems under attacked situation. To begin with, an overall system is constructed for the network of dynamic system and all the issues are dealt with for the overall system instead of every subsystem. Then, we prove that the preconditions which are made on the original subsystem can be transferred on to the overall system. After this, for the overall system, a sliding mode observer that is robust to the disturbance but sensitive to the sensor attack is designed as sensor attack detector to issue an alarm when at least one subsystem is attacked. In addition, we cope with the sensor fault isolation problem by building an augmented descriptor system for the overall system and we further prove that the precondition can be kept for the augmented descriptor system. Then, another robust sliding mode observer is designed to reach the goal of attack isolation. Finally, a simulation example is given to verify the effectiveness of the proposed methods.

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Section: Attack Detection Observer Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Sensor attack detection and isolation based on sliding mode observer for cyber‐physical systems

Zhu

Zhang

2020

Adaptive Control & Signal

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“…Formation control is defined as the coordination of multiple agents that enter into and maintain a specific formation. Potential application areas of formation control include cooperative tasks such as exploration, surveillance, search and rescue, transportation of large objects and control of arrays of satellites [6], [7], [8], [9].…”

Section: Introductionmentioning

confidence: 99%

Event-Triggered Coordination for Formation Tracking Control in Constrained Space With Limited Communication

Liu

Goh

et al. 2019

IEEE Trans. Cybern.

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In this paper, the formation tracking control is studied for a multiagent system (MAS) with communication limitations. The objective is to control a group of agents to track a desired trajectory while maintaining a given formation in nonomniscient constrained space. The role switching triggered by the detection of unexpected spatial constraints facilitates efficiency of event-triggered control in communication bandwidth, energy consumption, and processor usage. A coordination mechanism is proposed based on a novel role ``coordinator'' to indirectly spread environmental information among the whole communication network and form a feedback link from followers to the leader to guarantee the formation keeping. A formation scaling factor is introduced to scale up or scale down the given formation size in the case that the region is impassable for MAS with the original formation size. Controllers for the leader and followers are designed and the adaptation law is developed for the formation scaling factor. The conditions for asymptotic stability of MAS are discussed based on the Lyapunov theory. Simulation results are presented to illustrate the performance of proposed approaches.

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“…In fact, there are constraints in most physical systems with various forms, for example, physical stoppages, saturation, performance, and safety specifications, such as restricted robot manipulation system [24], application to chemical process [25], networked surveillance robots systems [26], and nonuniform gantry crane [27]. In recent years, the barrier Lyapunov functions become the main tools to solve the constrained problem which was proposed for the first time in [28].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Neural Networks Control Using Barrier Lyapunov Functions for DC Motor System with Time‐Varying State Constraints

2018

Complexity

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This paper proposes an adaptive neural network (NN) control approach for a direct-current (DC) system with full state constraints. To guarantee that state constraints always remain in the asymmetric time-varying constraint regions, the asymmetric time-varying Barrier Lyapunov Function (BLF) is employed to structure an adaptive NN controller. As we all know that the constant constraint is only a special case of the time-varying constraint, hence, the proposed control method is more general for dealing with constraint problem as compared with the existing works on DC systems. As far as we know, this system is the first studied situations with timevarying constraints. Using Lyapunov analysis, all signals in the closed-loop system are proved to be bounded and the constraints are not violated. In this paper, the effectiveness of the control method is demonstrated by simulation results.

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CPS Oriented Control Design for Networked Surveillance Robots With Multiple Physical Constraints

Cited by 40 publications

References 54 publications

Sensor attack detection and isolation based on sliding mode observer for cyber‐physical systems

Sensor attack detection and isolation based on sliding mode observer for cyber‐physical systems

Event-Triggered Coordination for Formation Tracking Control in Constrained Space With Limited Communication

Adaptive Neural Networks Control Using Barrier Lyapunov Functions for DC Motor System with Time‐Varying State Constraints

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