IEEE Transactions on Systems Man Cybernetics-Systems最新文献_第6页

Consensus Tracking of Disturbed Second-Order Multiagent Systems With Actuator Attacks: Reinforcement-Learning-Based Approach 具有致动器攻击的扰动二阶多智能体系统的一致性跟踪：基于强化学习的方法

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-29 DOI: 10.1109/TSMC.2025.3559784

Huawei Liu;Guanghui Wen;Junjie Fu;Zhexin Luo;Dezhi Zheng;C. L. Philip Chen

{"title":"Consensus Tracking of Disturbed Second-Order Multiagent Systems With Actuator Attacks: Reinforcement-Learning-Based Approach","authors":"Huawei Liu;Guanghui Wen;Junjie Fu;Zhexin Luo;Dezhi Zheng;C. L. Philip Chen","doi":"10.1109/TSMC.2025.3559784","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3559784","url":null,"abstract":"This article is devoted to solving the leaderless and leader-following consensus tracking problems for a class of disturbed second-order multiagent systems (MASs) under the influence of actuator attacks. To achieve this, a two-step control strategy is developed, where the effects of disturbances and actuator attacks on the achievement of consensus tracking are addressed in distinct stages. In the first step, a reference system model is constructed for each agent. Upon which a sliding mode control (SMC) protocol is constructed and utilized to resolve the consensus tracking problem of disturbed second-order MASs in the absence of actuator attacks, facilitating the design of a baseline control term for the MASs under consideration. In the second step, a secure control policy is trained using an off-policy soft actor-critic algorithm, aiming at achieving secure consensus tracking in the presence of actuator attacks. Both numerical simulations and a multipendulum consensus example verify that the designed control structure has better control performance than using only the SMC method and also effectively improves the training efficiency over the traditional reinforcement learning (RL) alone method.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 8","pages":"5166-5176"},"PeriodicalIF":8.6,"publicationDate":"2025-04-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144657336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Time and Energy Costs for Consensus of Multiagent Systems With a Novel Adaptive Switching Control 基于自适应切换控制的多智能体系统一致性的时间和能量代价

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-28 DOI: 10.1109/TSMC.2025.3559230

Jiaqi Chang;Haifeng Dai;Yongzheng Sun;Guanghui Wen

引用次数: 0

Event-Triggered Vibration Control of an Axially Moving Belt System With Output Constraint 带输出约束的轴向运动带系统的事件触发振动控制

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-28 DOI: 10.1109/TSMC.2025.3560728

Yukan Zheng;Xiangqian Yao;Yu Liu

引用次数: 0

Robust AI-Driven Target-Object-Free Hybrid Vision/Force Control of Industrial Robotic Systems 鲁棒人工智能驱动的工业机器人系统无目标-无物体混合视觉/力控制

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-28 DOI: 10.1109/TSMC.2025.3561241

Ehsan Zakeri;Wen-Fang Xie

{"title":"Robust AI-Driven Target-Object-Free Hybrid Vision/Force Control of Industrial Robotic Systems","authors":"Ehsan Zakeri;Wen-Fang Xie","doi":"10.1109/TSMC.2025.3561241","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3561241","url":null,"abstract":"This article introduces a robust AI-driven hybrid vision/force control (HVFC) method for industrial robots. The proposed HVFC method exploits Superpoint, a pretrained deep convolutional neural network (DCNN), as the AI agent to extract interest points for image-based visual servoing (IBVS), making it a target-object-free method. This tackles the limited workspace issue of eye-in-hand robots interacting with a workpiece due to the short distance between the camera and the workpiece, including a target object or landmarks. A learning-by-demonstration (LBD) method is also developed to generate the desired interest points associated with the desired path on the workpiece for interaction. To handle the issue of a high and variable number of interest points for use in IBVS, a set of six independent image features is extracted from the detected interest points, resulting in an invertible image interaction matrix, leading to global stability and a robust control process. To perform HVFC, a hierarchical orthogonal sliding manifold is defined, allowing force control in the normal direction and IBVS in the rest. Further, a filtered terminal integral sliding-mode controller is developed to stabilize the manifold, resulting in high tracking accuracy and robust performance against uncertainties and measurement noises. The experimental results of polishing and sanding the surfaces of a flat plastic board, a wooden airplane propeller, and a metal pegboard demonstrate the feasibility and superiority of the proposed HVFC-LBD method over conventional counterparts in terms of workspace expansion, robustness, and tracking accuracy.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"4899-4914"},"PeriodicalIF":8.6,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308585","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Practical Prescribed Time Control Framework for Decentralized Robust Steering of Connected Automated Vehicles Under Deception Attacks 欺骗攻击下网联自动驾驶车辆分散鲁棒转向的实用规定时间控制框架

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-28 DOI: 10.1109/TSMC.2025.3561509

Xuelei Qi;Chen Li;Wei Ni;Quan Z. Sheng;Hongjun Ma

{"title":"Practical Prescribed Time Control Framework for Decentralized Robust Steering of Connected Automated Vehicles Under Deception Attacks","authors":"Xuelei Qi;Chen Li;Wei Ni;Quan Z. Sheng;Hongjun Ma","doi":"10.1109/TSMC.2025.3561509","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3561509","url":null,"abstract":"Effective vehicle control contributes to the safety and efficiency of connected automated vehicles (CAVs). Many existing solutions do not consider the maximum effective communication distance and bearing angle constraints between vehicles. This article proposes a novel prescribed performance method to handle distance and angle constraints to achieve vehicle stability under deception attacks. A key aspect is that the above two constraints are successfully transformed from inequality-constrained form to equivalent equation unconstrained form through introducing error transformations, and we prove that the errors of distance and angle are strictly contained within the boundary of the performance function. Another key aspect is to use adaptive bias radial basis function neural network (RBFNN) to approximate unknown nonlinear functions and deception attacks in the system and integrate the approximated results into recursive construction to design adaptive laws and multilane merging control laws. Analysis shows that all signals in a closed-loop system are practical prescribed time stable. Simulations validate that our control method has a faster convergence time than the existing advanced two-dimensional (2-D) vehicle approach and can adaptively adjust convergence to predefined sets under different attack intensities.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"4915-4929"},"PeriodicalIF":8.6,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308227","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Lyapunov-Like Characterization of Stipulated-Time Stability: Controller and Observer Design 规定时间稳定性的类lyapunov表征：控制器和观测器设计

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-28 DOI: 10.1109/TSMC.2025.3559189

Jixing Lv;Changhong Wang;Lihua Xie

引用次数: 0

A Computing-for-Communication Method Without Additional Protocols and Traffic for Networked Multiagent Scheduling 网络多智能体调度中一种无需附加协议和流量的通信计算方法

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-28 DOI: 10.1109/TSMC.2025.3562100

Runfeng Chen;Jie Li;Yiting Chen;Yuchong Huang;Xiangke Wang;Lincheng Shen

{"title":"A Computing-for-Communication Method Without Additional Protocols and Traffic for Networked Multiagent Scheduling","authors":"Runfeng Chen;Jie Li;Yiting Chen;Yuchong Huang;Xiangke Wang;Lincheng Shen","doi":"10.1109/TSMC.2025.3562100","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3562100","url":null,"abstract":"Multiagent scheduling has recently been reinvigorated by the burgeoning application of swarm, receiving significant attention due to its new characteristics. The market-based method is a fast distributed scheduling method that is naturally suitable for agent swarm, while its multiround communication is inevitably affected by the environment and the performance deteriorates. This article proposes an idea of computing-for-communication (CFC) with improving or even appropriately increasing computation to reduce communication rounds and improve the performance meanwhile, which does not add additional communication protocols and traffic but may moderately increase the amount of computation and storage. First, a new scoring function and a local optimization method are proposed to improve the agent’s schedule and resolve the conflict among agents in advance. Second, an agent location inference method and task-related agent selection strategy are presented for local optimization, which is expected to avoid the increase of communication in locations and the waste of computation on irrelevant agents. Third, some modifications for removing and adding tasks are proposed to further improve the performance of scheduling. Finally, extensive Monte Carlo experiments demonstrate the commendable performance of the proposed method in comparison with the representative consensus-based bundle algorithm (CBBA) and performance impact algorithm (PI).","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"4841-4853"},"PeriodicalIF":8.6,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308261","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Optimal Sequential-Parallel Test Strategy Generation Method for Complex Systems 复杂系统的最优序并行测试策略生成方法

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-28 DOI: 10.1109/TSMC.2025.3560997

Jingyuan Wang;Zhen Liu;Jiahong Wang;Min Wang;Borui Gu;Yuhua Cheng

{"title":"Optimal Sequential-Parallel Test Strategy Generation Method for Complex Systems","authors":"Jingyuan Wang;Zhen Liu;Jiahong Wang;Min Wang;Borui Gu;Yuhua Cheng","doi":"10.1109/TSMC.2025.3560997","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3560997","url":null,"abstract":"One of the core tasks of design for testability (DFT) is to generate an optimal test strategy based on the test mode, to isolate faults quickly and accurately. There are currently two modes: 1) sequential test mode (STM) and 2) parallel test mode (PTM). For complex systems, limited testing resources are difficult to meet parallel test conditions, so STM is mostly used. The multisignal flow graph is a widely used model for generating optimal sequential test strategy (STS) in DFT. However, this STM-based model overlooks the possibility of conducting some tests in parallel, resulting in lengthy test time and greatly affecting the reliability and security of the systems. To solve this problem, an optimal sequential-parallel test strategy (SPTS) generation method is proposed. First, a new test mode of global sequential testing and local parallel testing is proposed to generalize the original model. Second, to overcome the combinatorial explosion caused by the new model, we approximate the discrete model to continuous and derive a probability heuristic function. Then, a neural network-intelligent algorithm structure is established to simplify the complex recursion of the heuristic function. Finally, this heuristic function is used to guide the generation of SPTS, which has a shorter test time than STS. Simulation results show that the reduction in time is related to the type and number of locally parallel tests, and reaches 39.5% in a real case.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"5054-5068"},"PeriodicalIF":8.6,"publicationDate":"2025-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308396","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robust Training in Multiagent Deep Reinforcement Learning Against Optimal Adversary 针对最优对手的多智能体深度强化学习鲁棒训练

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-25 DOI: 10.1109/TSMC.2025.3561276

Weiran Guo;Guanjun Liu;Ziyuan Zhou;Jiacun Wang;Ying Tang;Miaomiao Wang

{"title":"Robust Training in Multiagent Deep Reinforcement Learning Against Optimal Adversary","authors":"Weiran Guo;Guanjun Liu;Ziyuan Zhou;Jiacun Wang;Ying Tang;Miaomiao Wang","doi":"10.1109/TSMC.2025.3561276","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3561276","url":null,"abstract":"Industry 5.0 enhances manufacturing ability through efficient human-machine interaction, combining human resources and robots to complete tasks more accurately and effectively. Artificial intelligence (AI) plays an essential role in Industry 5.0. As a branch in AI, multiagent deep reinforcement learning (MADRL) attracts vast attention in both academia and industry. However, there is a gap between virtual and physical environments in terms of how clean an observed state is. In addition, state adversarial attacks can seriously impact the performance of MADRL. Hence, how to improve the robustness of MADRL algorithms is an important research topic. In this article, we propose an optimal policy-based state adversary attack method that would make the MADRL algorithm more robust when it is applied in the training process of agents. Two case studies related to Industry 5.0 and a general case study are presented in which robustness training against the optimal adversarial attack is tested. The MADRL algorithms involved in the experiments include centralized training and decentralized execution (CTDE) framework and shared experience actor-critic (SEAC) to demonstrate the universality of our method.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"4957-4968"},"PeriodicalIF":8.6,"publicationDate":"2025-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308395","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Event-Triggered Robust Adaptive Fault-Tolerant Tracking and Vibration Control for the Rigid-Flexible Coupled Robotic Mechanisms With Large Beam-Deformations 大梁变形刚柔耦合机器人机构的事件触发鲁棒自适应容错跟踪与振动控制

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-25 DOI: 10.1109/TSMC.2025.3560247

Xingyu Zhou;Haoping Wang;Ke Wu;Yang Tian;Gang Zheng

{"title":"Event-Triggered Robust Adaptive Fault-Tolerant Tracking and Vibration Control for the Rigid-Flexible Coupled Robotic Mechanisms With Large Beam-Deformations","authors":"Xingyu Zhou;Haoping Wang;Ke Wu;Yang Tian;Gang Zheng","doi":"10.1109/TSMC.2025.3560247","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3560247","url":null,"abstract":"A detailed modeling approach that utilizes the virtual work idea is developed for modeling the dynamical formulas of the rigid-flexible coupled robotic mechanisms (RFCRMs) with large beam-deformations across the horizontal plane. To follow the required angular positions of RFCRMs, a virtual robust linear quadratic state feedback (RLQSF) input is constructed using the converted full-actuated model in conjunction with an event-triggered robust adaptive fault-tolerant control (ETRAFTC) approach. The integration of virtual input and the proposed RLQSF law design enables simultaneous angular tracking and vibration elimination. To make up for the defective actuators with part loss of efficacy and evaluate the unknown fault parameters, an adaptive estimation law with a projection mapping operator is adopted. With the help of the Lyapunov direct approach, the angular position tracking errors and the flexible vibration of RFCRMs are demonstrated to converge to a tiny confined compact set with fewer communications. At last, the performance of the designed ETRAFTC is presented via three numerical scenarios.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"5040-5053"},"PeriodicalIF":8.6,"publicationDate":"2025-04-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0