IET Control Theory and Applications最新文献_第10页

Learning passive policies with virtual energy tanks in robotics 在机器人中利用虚拟能源罐学习被动策略

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-25 DOI: 10.1049/cth2.12558

Riccardo Zanella, Gianluca Palli, Stefano Stramigioli, Federico Califano

{"title":"Learning passive policies with virtual energy tanks in robotics","authors":"Riccardo Zanella, Gianluca Palli, Stefano Stramigioli, Federico Califano","doi":"10.1049/cth2.12558","DOIUrl":"https://doi.org/10.1049/cth2.12558","url":null,"abstract":"Within a robotic context, the techniques of passivity-based control and reinforcement learning are merged with the goal of eliminating some of their reciprocal weaknesses, as well as inducing novel promising features in the resulting framework. The contribution is framed in a scenario where passivity-based control is implemented by means of virtual energy tanks, a control technique developed to achieve closed-loop passivity for any arbitrary control input. Albeit the latter result is heavily used, it is discussed why its practical application at its current stage remains rather limited, which makes contact with the highly debated claim that passivity-based techniques are associated with a loss of performance. The use of reinforcement learning allows to learn a control policy that can be passivized using the energy tank architecture, combining the versatility of learning approaches and the system theoretic properties which can be inferred due to the energy tanks. Simulations show the validity of the approach, as well as novel interesting research directions in energy-aware robotics.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 5","pages":"541-550"},"PeriodicalIF":2.6,"publicationDate":"2024-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12558","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140104545","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive multi-level differential coupling control strategy for dual-motor servo synchronous system based on global backstepping super-twisting control 基于全局反步进超扭曲控制的双电机伺服同步系统自适应多级差分耦合控制策略

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-23 DOI: 10.1049/cth2.12613

Taoyu Wang, Shiyan Sun

{"title":"Adaptive multi-level differential coupling control strategy for dual-motor servo synchronous system based on global backstepping super-twisting control","authors":"Taoyu Wang, Shiyan Sun","doi":"10.1049/cth2.12613","DOIUrl":"10.1049/cth2.12613","url":null,"abstract":"A new dual-motor servo steering system with improved reliability and safety is proposed. But, despite the advantages of the proposed servo system, it is strongly coupled, non-linear and multivariable, where the biggest challenge lies in its tracking and synchronization control. To improve the tracking and synchronization control performance of the proposed servo system, a tracking and synchronization control strategy based on backstepping super-twisting control and multi-level differential coupling is presented. First, a parallel model of the dual-motor is established. Then, backstepping and super-twisting control algorithms are integrated while adaptively optimizing key parameters to ensure the robustness and tracking performance of each motor. After that, an angular synchronization controller with multi-level differential coupling and backstepping super-twisting algorithm is proposed to compensate for the synchronization error of the dual-motor system caused by parameter uncertainty. Finally, the simulation is carried out using Simulink to verify the effectiveness of the proposed control strategy.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 15","pages":"1892-1909"},"PeriodicalIF":2.2,"publicationDate":"2024-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12613","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139603974","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Smart meter privacy control strategy based on multi-agent hidden Markov energy management model under low trust communication 低信任通信下基于多代理隐马尔科夫能源管理模式的智能电表隐私控制策略

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-23 DOI: 10.1049/cth2.12623

Qingchen Wang, Qing Xu, Xiyu Lei, Dazhong Ma

{"title":"Smart meter privacy control strategy based on multi-agent hidden Markov energy management model under low trust communication","authors":"Qingchen Wang, Qing Xu, Xiyu Lei, Dazhong Ma","doi":"10.1049/cth2.12623","DOIUrl":"10.1049/cth2.12623","url":null,"abstract":"With the popularity of smart meters, the frequent information exchange between smart grids and consumers leads to easy leakage of consumers' electricity consumption data. These leaked electricity consumption data are obtained by some malicious attackers and used to infer consumers' behavioural patterns by non-intrusive load monitoring (NILM), which seriously threatens consumers' privacy. Therefore, the multi-agent Hidden Markov energy management model is proposed in this paper to safeguard the privacy of consumers. First, a weighted Bayesian risk model is proposed, which combines privacy leakage risks and energy storage system (ESS) losses in a microgrid with multiple agents. Next, a three-loop model for lithium batteries is constructed to quantify the capacity degradation and cost issues of the ESS. Finally, the multi-objective optimization problem is resolved by integrating the Bayesian risk model with a hidden Markov model to simulate attackers. The proposed multi-agent Markov decision process method is validated on Electricity Consumption and Occupancy (ECO) dataset, and control strategies are evaluated based on different weights in the Bayesian risk model. The results demonstrate that by incorporating the multi-agent approach and energy storage system capacity degradation into the privacy protection strategy, the lifespan of the energy storage system can be significantly increased.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 16","pages":"2192-2202"},"PeriodicalIF":2.2,"publicationDate":"2024-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12623","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139603385","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Variable step-size estimation over UDP-based wireless networks with application to a hydrogen-powered UAV 基于 UDP 的无线网络上的可变步长估计，应用于氢动力无人机

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-15 DOI: 10.1049/cth2.12621

Shi Liang, Chenxiao Cai, Min Xia, Hong Lin

引用次数: 0

Fault estimation for nonlinear uncertain time-delay systems based on unknown input observer 基于未知输入观测器的非线性不确定时延系统故障估计

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-12 DOI: 10.1049/cth2.12620

Ataollah Azarbani, Ahmad Fakharian, Mohammad Bagher Menhaj

引用次数: 0

A detection and rerouting mechanism for platoon control of non-linear autonomous vehicles under denial of service attacks 拒绝服务攻击下非线性自动驾驶车辆排控制的检测和重新路由机制

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-09 DOI: 10.1049/cth2.12614

Xiaofei Zhang, Haiping Du, Zhijuan Jia, Yuchu He, Yanyan Yang

{"title":"A detection and rerouting mechanism for platoon control of non-linear autonomous vehicles under denial of service attacks","authors":"Xiaofei Zhang, Haiping Du, Zhijuan Jia, Yuchu He, Yanyan Yang","doi":"10.1049/cth2.12614","DOIUrl":"10.1049/cth2.12614","url":null,"abstract":"This paper presents a novel detection and rerouting mechanism for distributed adaptive platoon control of non-linear autonomous connected vehicles under denial of service (DoS) attacks. DoS attacks can cause delays or losses of data packets due to blocked communication channels, leading to reducing platoon performance or even collisions among vehicles. To tackle this issue, the proposed mechanism detects and reroutes communication topology depending on the real-time topology and the number of link failures. Real-time detection divides the scenario of DoS attacks into three parts. According to the different scenarios, rerouting mechanisms will be utilized. A controller adapted to real-time variable communication topology is also designed in this scheme. The adjacency matrix of the real-time communication topology generated by the rerouting mechanism is used to update the controller so that the platoon can remain in a stable state without being affected by DoS attacks. In addition, the sliding mode controller and the observer are designed by solving linear matrix inequalities, and the platoon stability and internal stability are proven. Numerical simulation studies demonstrate that the proposed mechanism and control design can reduce the vehicle state estimate error and platoon-tracking error to ideal states under DoS attacks. The proposed method solves the problem that the existing methods have not considered the number of link failures and the inability to restore communication when the communication topology is paralyzed.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 6","pages":"798-813"},"PeriodicalIF":2.6,"publicationDate":"2024-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12614","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139443633","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Tangent barrier Lyapunov function based adaptive event-triggered control for CPS under false data injection attacks 虚假数据注入攻击下基于切线屏障 Lyapunov 函数的 CPS 事件触发自适应控制

IF 2.2 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-09 DOI: 10.1049/cth2.12616

Baoling Miao, Qiang Zeng, Lei Liu

引用次数: 0

On the explicit Hermitian solutions of the continuous-time algebraic Riccati matrix equation for controllable systems 论可控系统连续时间代数里卡提矩阵方程的显式赫米特解

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-09 DOI: 10.1049/cth2.12618

Liangyin Zhang, Michael Z. Q. Chen, Zhiwei Gao, Lifeng Ma

{"title":"On the explicit Hermitian solutions of the continuous-time algebraic Riccati matrix equation for controllable systems","authors":"Liangyin Zhang, Michael Z. Q. Chen, Zhiwei Gao, Lifeng Ma","doi":"10.1049/cth2.12618","DOIUrl":"10.1049/cth2.12618","url":null,"abstract":"This paper proposes explicit solutions for the algebraic Riccati matrix equation. For single-input systems in controllable canonical form, the explicit Hermitian solutions of the non-homogeneous Riccati equation are obtained using the entries of the system matrix, the closed-loop system matrix, and the weighting matrix. The unknown entries of the closed-loop system matrix are solved by scalar quadratic equations. For a homogeneous Riccati equation with a zero weighting matrix, the explicit solutions are proposed analytically in terms of the system eigenvalues. The advantages of the explicit solutions are threefold: first, if the system is controllable, the solution is directly given and the invariant subspaces of the Hamiltonian matrix are not required; second, if the system is near singularity, the explicit solution has higher numerical precision compared with the solution computed by numerical algorithms; third, for a real system in the controllable canonical form, the non-negativity can be analysed for the explicit almost stabilizing solution.","PeriodicalId":50382,"journal":{"name":"IET Control Theory and Applications","volume":"18 7","pages":"834-845"},"PeriodicalIF":2.6,"publicationDate":"2024-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1049/cth2.12618","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139443146","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

An adaptive neural design for planar rigid formation of three coleaders in unknown flowfields 用于未知流场中三个协同领导的平面刚性形成的自适应神经设计

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-08 DOI: 10.1049/cth2.12617

Weibin Chen, Peng Xu, Yang-Yang Chen

引用次数: 0

Small-gain based stabilizing control for hybrid systems: Application to bipedal walking robot 基于小增益的混合系统稳定控制：双足行走机器人的应用

IF 2.6 4区计算机科学

IET Control Theory and Applications Pub Date : 2024-01-04 DOI: 10.1049/cth2.12612

Fatemeh Khademian, Mehdi Rahmani

引用次数: 0