Transactions of the Institute of Measurement and Control最新文献

{"title":"Adaptive secure lateral control of autonomous electric vehicles under denial-of-service attacks","authors":"Haiyan Liu, Yadong Wang, Kunfeng Wang","doi":"10.1177/01423312241233780","DOIUrl":"https://doi.org/10.1177/01423312241233780","url":null,"abstract":"In this paper, the adaptive lateral control problem is considered for autonomous electric vehicles under denial-of-service (DoS) attacks. Autonomous electric vehicles require high-precision position and pose information for the lateral control, which can be obtained from the global positioning system (GPS). However, this kind of sensors is easily susceptible to malicious DoS attacks. To mitigate the performance degradation caused by DoS attacks on GPS, a state observer is designed based on the measurements of inertial measurement units (IMUs), such that the position and pose information of vehicles can be estimated. Then, by adopting the observer states and backstepping technique, a novel adaptive secure switching control scheme is proposed. Subsequently, a stability condition is derived, which guarantees that the tracking errors converge to a compact set, and the attack effects on system dynamic performance are weakened. The stability condition also reveals the relationships among the attack durations, design parameters, and tracking errors, which can be used to guide the selection of design parameters. Simulation results are provided to validate the effectiveness and robustness of the proposed control scheme.","PeriodicalId":507087,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"30 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140247659","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Finite-time control for input-saturated system based on event-triggered strategy","authors":"Qian Wang, Zhiqiang Zhang, Yuqi Jiang","doi":"10.1177/01423312241232471","DOIUrl":"https://doi.org/10.1177/01423312241232471","url":null,"abstract":"For systems with higher control accuracy requirements, the requirements for convergence time are also higher, such as requiring the system to maintain stability in a finite time. This paper studies the finite-time control for input-saturated system based on the event-triggered strategy and the parametric Lyapunov equation. A finite-time state feedback controller and a finite-time output feedback controller are designed by introducing a time-varying parameter which can be obtained by solving a differential equation. The proposed methods make the closed-loop system stable in finite time and save the system resources. The designed controller overcomes the problem of slow convergence speed caused by low-gain feedback control. The numerical simulation results demonstrate the effectiveness of the proposed methods.","PeriodicalId":507087,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"136 37","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140251524","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Distributed finite-time optimization algorithms of higher-order multiagent systems with uncertain nonlinearities","authors":"Guipu Li, Zixing Wu, Gui Chen","doi":"10.1177/01423312241232459","DOIUrl":"https://doi.org/10.1177/01423312241232459","url":null,"abstract":"There are few distributed finite-time optimization results of nonlinear multiagent systems in the published literatures, especially in the case that system nonlinearities are unknown. In this paper, distributed finite-time optimization problem is investigated for higher-order multiagent systems with uncertain nonlinearities. The agent dynamics are permitted to be heterogeneous with different nonlinearities and different orders. This problem is solved by embedded control approach-based distributed finite-time optimization algorithms, which consist of two parts. In the first part, a first-order finite-time optimal signal generator is designed, of which outputs reach the minimizer of the global cost function in finite time. In the second part, embedding the generator into the feedback loop and taking the outputs of the generator as the reference outputs of the agents, and combining finite-time control and feedback domination technique together, tracking controllers are designed for the higher-order nonlinear multiagent systems to track their local optimal reference outputs in finite time. It is rigorously proven that under the proposed distributed optimization algorithms, all the agent outputs reach a bounded neighbor region of the global minimizer in finite time. The effectiveness of the proposed control algorithms is illustrated by simulations.","PeriodicalId":507087,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"2 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140255069","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Event-triggered H∞ control for switched systems based on interval observer","authors":"Chuanjing Wu, Yue-E. Wang, Di Wu","doi":"10.1177/01423312241232005","DOIUrl":"https://doi.org/10.1177/01423312241232005","url":null,"abstract":"The paper studies the design of interval observer–based event-triggered [Formula: see text] controller for switched systems with frequent asynchronism. We first propose an interval observer–based event-triggered mechanism, which is used to transmit the observer states and the activated mode information for controller updating. Then, we design an interval observer–based event-triggered [Formula: see text] controller for the considered systems. By using the controller mode–dependent Lyapunov function method, sufficient conditions for the globally exponential stability of the closed-loop switched systems are obtained under average dwell time switching law. Moreover, we prove that the interevent interval length is a positive constant, which can exclude the Zeno behavior. Compared with the literature, the paper removes the strict requirement of at most one switch between two event-triggered instants, that is, frequent switches within an interevent interval are allowed. Finally, a numerical example is given to verify the effectiveness of the proposed method.","PeriodicalId":507087,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"69 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140254956","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Exponential finite-time circle formation of multi-agent systems and its application in circle containment","authors":"Xiaolin Zhu, Huiyang Liu","doi":"10.1177/01423312241232354","DOIUrl":"https://doi.org/10.1177/01423312241232354","url":null,"abstract":"This paper studies the exponential finite-time formation problems for a group of locomotive agents that maintain order on a circle. In an ideal environment, that is, without external disturbances, a combined protocol with linear continuous-time states and their nonlinear continuous functions is proposed. Each agent can adjust the movement speed itself by changing the exponent of the nonlinear function. The obtained closed-loop system will converge with an exponential speed when the initial states of the agents are far from the target location, and with a finite-time speed nearby. For the case with external disturbances, a combined protocol with linear continuous-time states and their sign functions is presented. Due to the discontinuity of the sign functions, the Filippov solutions are employed. The exponential finite-time circle formation will be achieved even in the existence of external disturbances. Moreover, the above result is extended to the application in circle containment, where the defenders will form a circle formation to surround the swarm of protectees. Finally, several computational simulations illustrate the validity of the proposed protocols.","PeriodicalId":507087,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"44 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140255435","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Predictive fault-tolerant control for nonlinear batch processes with small time delays via iterative learning control: A Lyapunov–Razumikhin approach","authors":"Hui Li, Shiqi Wang, Hui-yuan Shi, Ping Li, Chengli Su","doi":"10.1177/01423312241234694","DOIUrl":"https://doi.org/10.1177/01423312241234694","url":null,"abstract":"For batch processes with small time delays and actuator partial fault, the existing methods based on iterative learning control still have some limitations, including the conservative and computationally burdensome of stability conditions and the limited fault-tolerant control capabilities. For this background, an iterative learning robust predictive fault-tolerant control method is developed, which integrates the Lyapunov–Razumikhin function method and derives stability conditions based on robust positive definite invariant set and terminal constraint set. With small time delays, the stability conditions of the system deduced using the Lyapunov–Razumikhin function are solved at a lower computational cost, which is due to the fact that the dimensionality of the stabilization condition is directly related to the size of the time delay, and thus the small time delay implies a lower dimensionality. Especially, the computational effort for solving the stability conditions online is reduced, allowing real-time control law gains to be obtained and combined with historical batches of control inputs, reducing the learning cycles of the system, and realizing stable tracking of the setpoints within shorter operating batches. Moreover, the robust positive invariant set and the set of terminal constraints are able to constrain the state of the system within a safe range for all possible uncertainties, bounded disturbances, and faults. This makes the proposed methods based on them more robust and fault tolerant. Finally, a nonlinear batch reactor is used as an example to demonstrate the effectiveness and feasibility of the developed method.","PeriodicalId":507087,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"34 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140255313","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Interactive control algorithm for shoulder-amputated prosthesis and object based on reinforcement learning","authors":"Baojiang Li, Haiyan Ye, Yutin Guo, Haiyan Wang, Shengjie Qiu, Jibo Bai","doi":"10.1177/01423312241233108","DOIUrl":"https://doi.org/10.1177/01423312241233108","url":null,"abstract":"As a prosthesis made to compensate for the residual loss of the amputee’s limb, the shoulder disarticulation upper limb prosthesis replaces the missing arm function of the shoulder amputee to a certain extent. However, the current upper limb prosthesis mainly interacts with the outside world through the prosthetic hand for grasping and gripping, and the interaction between other parts and the environment is often neglected, which is not in line with the use habits of the human arm. To address this problem, this paper proposes a reinforcement learning–based method for controlling the forearm interaction of a shoulder-disconnected upper limb prosthesis, and analyzes and solves the forces during the interaction, reducing the impact of uncertainty on interaction actions and accelerating training while ensuring the stability of handheld items. We evaluated the performance of the control method during the interaction between the upper limb prosthesis and the external environment through simulation experiments. After the training, the bionic arm was able to push the object into the target range for different objects and pushing distance requirements, which showed the good control effect of the method. Also, the control method can be applied to improve the interaction between the robotic arm and the environment.","PeriodicalId":507087,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"49 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140257458","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Simultaneous Damping and Frequency Control in AC Microgrid Using Coordinated Control Considering Time Delay and Noise","authors":"Amit Arora, M. Bhadu, Arvind Kumar","doi":"10.1177/01423312241230735","DOIUrl":"https://doi.org/10.1177/01423312241230735","url":null,"abstract":"The incorporation of converter-based generating sources in utility-scale microgrids causes frequency instability and low-frequency oscillations (LFOs), which is also a reason for degeneration in system stability. Damping frequency control is an essential part of alternating current (AC) microgrid system operation and control. Sudden changes in load, variations in renewable power outputs due to changes in solar insolation or wind speed, and so on factors cause the system frequency to deviate from the nominal value. Therefore, the role of a frequency controller is to maintain the dynamic stability in an AC microgrid by retaining the system frequency at the nominal value. Again, AC microgrids with high renewable power penetration face even more difficulty in maintaining frequency stability because of their poor inertial response. The research presented here proposes a novel approach for grid-connected AC microgrid oscillation damping and frequency control that simultaneously takes into consideration time delay and noise. To improve the frequency response and dampen LFOs by providing the voltage and frequency within the specified range, a coordinated technique-based control approach is adopted. In the developed hybrid control, the frequency controller relies on active power modulation, while the power oscillation damping controller is dependent on reactive power modulation. To improve stability and reduce communication consequences such as noise and signal latency (time delay), the developed power oscillation damping controller and frequency controller are coordinated along with the robust linear quadratic Gaussian controller. The comparative investigation of the effectiveness of the coordinated control technique is employed in the software of MATLAB/Simulink for grid-connected AC microgrid. The outcome of the simulation illustrates the superior effectiveness of the suggested controller over the traditional droop controller for huge power flows under disturbance with various operating conditions, under/overfrequency events, time delay, and noise. This grid encouragement capability for AC microgrids is anticipated to lead to novel possibilities for generating revenue.","PeriodicalId":507087,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"43 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140264471","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and implementation of multispectral band gonioradiometer for ultraviolet light sources measurements","authors":"Abdallah M. Karmalawi","doi":"10.1177/01423312241230132","DOIUrl":"https://doi.org/10.1177/01423312241230132","url":null,"abstract":"The aim of this study is to design a multispectral band gonioradiometer that can measure the distribution of irradiance from ultraviolet (UV) light sources using different band spectrum detectors. One detector is sensitive to UVA, while the other is sensitive to UVC. The gonioradiometer can also acquire signals from both detectors simultaneously, including the UVC/blue spectral band. The system is driven by software developed in LabVIEW, which allows for interactive front-panel user interfaces to record the signals. The uncertainty associated with the angular irradiance distribution measurements using the gonioradiometer system was evaluated to be approximately 2% for UVA, 2.4% for UVC, and less than 1.8% for blue light measurements (at k = 2).","PeriodicalId":507087,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"6 16","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139957753","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Distributed set-membership estimation for automated straddle carriers using smart sensors","authors":"Yang Chen, Yilian Zhang, Nan Xia, Wangqiang Niu, Qinqin Fan","doi":"10.1177/01423312241228893","DOIUrl":"https://doi.org/10.1177/01423312241228893","url":null,"abstract":"Considering the harsh environment of the port, automated straddle carriers, characterized by their large size, tall frame, and high center of gravity, may experience instability during steering and transportation due to inaccurate state estimation. Thus, this paper explores state estimation techniques for automated straddle carriers utilizing smart sensors which are capable of data measurement and processing. First, using the steering principles and lateral characteristics of automated straddle carriers, a dynamic linear model is established based on Newton’s second law of motion. Then, in order to enhance the reliability and flexibility of state estimation, a distributed smart sensor network structure is introduced. In addition, considering the challenge of unknown-but-bounded noise and the precision demands of the considered automated straddle carrier, a modified distributed set-membership estimation algorithm is proposed and is derived sufficient conditions for the existence of the estimation set for the considered automated straddle carriers. Finally, the effectiveness and superiority of the proposed method are demonstrated by performance analyses.","PeriodicalId":507087,"journal":{"name":"Transactions of the Institute of Measurement and Control","volume":"47 17","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139961268","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}