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Stealthy Attacks and Robust Detectors for Cyber-Physical Systems With Bounded Disturbances: A Zonotope Approach
IF 4 3区 计算机科学
IEEE Transactions on Control of Network Systems Pub Date : 2024-10-29 DOI: 10.1109/TCNS.2024.3487648
Ziyi Guo;Jing Zhou;Tongwen Chen
{"title":"Stealthy Attacks and Robust Detectors for Cyber-Physical Systems With Bounded Disturbances: A Zonotope Approach","authors":"Ziyi Guo;Jing Zhou;Tongwen Chen","doi":"10.1109/TCNS.2024.3487648","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3487648","url":null,"abstract":"This article investigates stealthy attacks on cyber-physical systems that are monitored by a parity-space-based detector and corrupted by bounded disturbances. Specifically, this work proposes a receding horizon attack strategy subject to strict and relaxed stealthiness constraints. Necessary and sufficient conditions for the existence of strictly stealthy attacks of arbitrary lengths are derived. On the defender's side, a robust detector is designed to detect malicious attacks utilizing zonotopes to handle bounded disturbances. A new recursive update method and a reduction operator are proposed to improve the accuracy and reduce the storage space of the detector. Unlike traditional parity-space-based detectors, it is proved that any attack that can completely bypass the robust detector must be bounded. Furthermore, two methods of determining the optimal gains of the proposed detector are provided. The effectiveness of the proposed methods is demonstrated through numerical examples.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"416-429"},"PeriodicalIF":4.0,"publicationDate":"2024-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143676042","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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
Sign Hessian-Weighted Gradient Algorithms for Distributed Time-Varying Convex Optimization 分布式时变凸优化的符号黑森加权梯度算法
IF 4 3区 计算机科学
IEEE Transactions on Control of Network Systems Pub Date : 2024-10-29 DOI: 10.1109/TCNS.2024.3487629
Bomin Huang;Chengqian Yang;Fei Chen;Weiyao Lan
{"title":"Sign Hessian-Weighted Gradient Algorithms for Distributed Time-Varying Convex Optimization","authors":"Bomin Huang;Chengqian Yang;Fei Chen;Weiyao Lan","doi":"10.1109/TCNS.2024.3487629","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3487629","url":null,"abstract":"In this article, we initiate our exploration with a time-varying optimization problem, featuring linear equality constraints. To address this complex problem, we introduce a novel continuous-time sign Hessian-weighted gradient algorithm. Remarkably, our proposed approach is capable of handling the time-varying nature of the problem, all without the need for the invertibility of the Hessian matrix associated with the cost function. We present two distinct distributed algorithms: the edge-based and node-based variations. To underscore the practical effectiveness of our methodology, we provide some numerical examples, offering compelling evidence to validate our research findings.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"474-484"},"PeriodicalIF":4.0,"publicationDate":"2024-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143676103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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
Group Formation Tracking of Heterogeneous Multiagent Systems Using Reinforcement Learning
IF 4 3区 计算机科学
IEEE Transactions on Control of Network Systems Pub Date : 2024-10-29 DOI: 10.1109/TCNS.2024.3487653
Yuhan Wang;Zhuping Wang;Hao Zhang;Huaicheng Yan
{"title":"Group Formation Tracking of Heterogeneous Multiagent Systems Using Reinforcement Learning","authors":"Yuhan Wang;Zhuping Wang;Hao Zhang;Huaicheng Yan","doi":"10.1109/TCNS.2024.3487653","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3487653","url":null,"abstract":"This article introduces a novel distributed control protocol to address the problem of output group formation tracking for heterogeneous multiagent systems. In contrast to the existing group formation control protocols that rely on the system matrices, our approach leverages input-state data to design the optimal control gains in the framework of off-policy reinforcement learning. Specifically, an event-triggered distributed consensus estimator is proposed to estimate the leaders' system matrices and the convex hulls spanned by the leaders while ensuring the exclusion of Zeno behavior. Based on the proposed estimator, we establish an approximate optimal distributed control protocol for each follower to achieve output group formation tracking, which can be solved by the designed data-driven policy iteration algorithm. Finally, a numerical example is provided to show the efficacy of the proposed control approach.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"497-509"},"PeriodicalIF":4.0,"publicationDate":"2024-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143676041","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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
Dynamics and Optimization in Spatially Distributed Electrical Vehicle Charging
IF 4 3区 计算机科学
IEEE Transactions on Control of Network Systems Pub Date : 2024-10-29 DOI: 10.1109/TCNS.2024.3487650
Fernando Paganini;Andres Ferragut
{"title":"Dynamics and Optimization in Spatially Distributed Electrical Vehicle Charging","authors":"Fernando Paganini;Andres Ferragut","doi":"10.1109/TCNS.2024.3487650","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3487650","url":null,"abstract":"We consider a spatially distributed demand for electrical vehicle recharging, which must be covered by a fixed set of charging stations. Arriving electrical vehicles receive feedback on transport times to each station, and waiting times at congested ones, based on which they make a selfish selection. This selection determines total arrival rates in station queues, which are represented by a fluid state; departure rates are modeled under the assumption that clients have a given sojourn time in the system. The resulting differential equation system is analyzed with tools of optimization. We characterize the equilibrium as the solution to a specific convex program, which has connections to optimal transport problems, and also with road traffic theory. In particular, a price of anarchy appears with respect to a social planner's allocation. From a dynamical perspective, global convergence to equilibrium is established, with tools of Lagrange duality and Lyapunov theory. An extension of the model that makes customer demand elastic to observed delays is also presented, and analyzed with extensions of the optimization machinery. Simulations to illustrate the global behavior are presented, which also help validate the model beyond the fluid approximation.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"403-415"},"PeriodicalIF":4.0,"publicationDate":"2024-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143675990","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 Connectivity Maintenance of a Teleoperated Multirobot System
IF 4 3区 计算机科学
IEEE Transactions on Control of Network Systems Pub Date : 2024-10-29 DOI: 10.1109/TCNS.2024.3487640
Liu Yang;Daniela Constantinescu;Ligang Wu
{"title":"Event-Triggered Connectivity Maintenance of a Teleoperated Multirobot System","authors":"Liu Yang;Daniela Constantinescu;Ligang Wu","doi":"10.1109/TCNS.2024.3487640","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3487640","url":null,"abstract":"The information that the robots of a teleoperated multirobot system need to exchange to remain connected as they follow the commands of the human operator may strain their communications. To lighten their communications, this article proposes a distributed coordination strategy that relies onevent-triggered communications freed of Zeno behavior through hybrid dynamic event triggering. The proposed strategy maintains the multirobot system globally connected for increased agility in cluttered environments, and maintains the teleoperator passive for stable teleoperation. With the proposed coordination, the robots avoid collisions with obstacles and with each other, and eventually travel at the same velocity and maintain their desired spacings. Teleoperation of a simulated three-robot team illustrates the communications savings, and the connectivity maintenance and obstacle avoidance performance, of the proposed event-triggered distributed coordination controller.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"430-437"},"PeriodicalIF":4.0,"publicationDate":"2024-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143675985","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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
Distributed Connectivity-Preserving Control Design With Fast Convergence Over Directed Communication Topology
IF 4 3区 计算机科学
IEEE Transactions on Control of Network Systems Pub Date : 2024-10-29 DOI: 10.1109/TCNS.2024.3487622
Huifen Hong;Wenwu Yu;Guo-Ping Jiang;Xinghuo Yu
{"title":"Distributed Connectivity-Preserving Control Design With Fast Convergence Over Directed Communication Topology","authors":"Huifen Hong;Wenwu Yu;Guo-Ping Jiang;Xinghuo Yu","doi":"10.1109/TCNS.2024.3487622","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3487622","url":null,"abstract":"This work addresses the consensus problem for first-order multiagent systems with fixed-time convergence rate and heterogeneous communication range constraints. A novel class of distributed fixed-time consensus control algorithms is proposed with connectivity preservation property over directed graphs for nominal agents. Then, the proposed protocol is modified to solve the fixed-time connectivity-preserving consensus for nonlinear and disturbed multiagent systems. The edge-based representation framework is utilized and two strict Lyapunov functions are constructed to show that the initial edges can be maintained under the proposed control protocols. Furthermore, the fixed-time consensus is achieved, where all of the states reach a common value within a finite time, which is upper bounded regardless of initial states. Consequently, the convergence time can be set in advance. Two numerical examples are performed to illustrate the proposed schemes.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"485-496"},"PeriodicalIF":4.0,"publicationDate":"2024-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143676148","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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
Similarity-Based Rigidity Formation Maneuver Control of Underactuated Surface Vehicles Over Directed Graphs
IF 4 3区 计算机科学
IEEE Transactions on Control of Network Systems Pub Date : 2024-10-29 DOI: 10.1109/TCNS.2024.3487621
Yunchang Huang;Shi-Lu Dai
{"title":"Similarity-Based Rigidity Formation Maneuver Control of Underactuated Surface Vehicles Over Directed Graphs","authors":"Yunchang Huang;Shi-Lu Dai","doi":"10.1109/TCNS.2024.3487621","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3487621","url":null,"abstract":"This article develops a formation maneuver control strategy for a group of underactuated unmanned surface vehicles (USVs) under similarity rigidity framework over directed graphs. The control objective is to achieve similar formation transformations (translation, rotation, and scaling) while maintaining the desired formation shape. The desired formation shape is determined by a set of similarity constraints on the signed angle and the distance ratio of a pair of edges joining a common vertex. Instead of the error variables with respect to the angle or distance ratio usually used in traditional similarity-rigidity control methods, the relative position errors are obtained by the constant rigidity matrix. Once the position of each USV overlaps with the configuration of the target formation, the desired formation maneuver can be achieved. The proposed control strategy can be implemented in a local coordinate system and directed graphs without intervehicle communication. Simulation results demonstrate the effectiveness of the proposed control strategy.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"461-473"},"PeriodicalIF":4.0,"publicationDate":"2024-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143675987","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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
Inversion Attack and Countermeasure for Event-Based Sensor Schedule in Remote State Estimation
IF 4 3区 计算机科学
IEEE Transactions on Control of Network Systems Pub Date : 2024-10-29 DOI: 10.1109/TCNS.2024.3487656
Qiulin Xu;Junlin Xiong
{"title":"Inversion Attack and Countermeasure for Event-Based Sensor Schedule in Remote State Estimation","authors":"Qiulin Xu;Junlin Xiong","doi":"10.1109/TCNS.2024.3487656","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3487656","url":null,"abstract":"This article investigates a novel attack strategy, called inversion attack, against event scheduling that is used in remote state estimation. The scenario is that sensors transmit innovations to remote estimators, and event-based schedulers are equipped to save energy. Unlike the existing powerful cyber-attacks, the inversion attack is proposed for attackers with very limited capabilities. We demonstrate that a malicious attacker can degrade system performance simply by directly injecting an inverter into the event scheduler without any system knowledge. The stealthiness of the inversion attack is quantified by two types of failure detectors. To mitigate the attack effect, we further construct an alternative estimator as a countermeasure, based on which a defense strategy is designed for systems at risk of inversion attacks. Simulation examples are provided to validate the obtained results.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"450-460"},"PeriodicalIF":4.0,"publicationDate":"2024-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143676044","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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
Distributed Algorithm Over Time-Varying Unbalanced Graphs for Optimization Problem Subject to Multiple Local Constraints
IF 4 3区 计算机科学
IEEE Transactions on Control of Network Systems Pub Date : 2024-09-26 DOI: 10.1109/TCNS.2024.3469048
Hongzhe Liu;Wenwu Yu;Guanghui Wen;Wei Xing Zheng
{"title":"Distributed Algorithm Over Time-Varying Unbalanced Graphs for Optimization Problem Subject to Multiple Local Constraints","authors":"Hongzhe Liu;Wenwu Yu;Guanghui Wen;Wei Xing Zheng","doi":"10.1109/TCNS.2024.3469048","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3469048","url":null,"abstract":"This article addresses the optimization problem with its global objective function being composed of multiple convex functions under multiple nonidentical local constraints. The specific purpose is to resolve the studied optimization problem in a distributed manner in the presence of the time-varying unbalanced graph sequence. For this purpose, an efficient distributed discrete-time algorithm is developed over the time-varying unbalanced graph sequence by improving the classical push–pull algorithms. Moreover, for the developed distributed discrete-time algorithm, a rigorous analysis is made of its convergence property to the optimal solution as well as its convergence rate under some standard assumptions. Finally, numerical simulations are carried out to demonstrate the good performance of the designed algorithm.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"387-402"},"PeriodicalIF":4.0,"publicationDate":"2024-09-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143675979","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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
Chattering Free Distributed Event-Triggered Adaptive Attitude Synchronization of Multiple Spacecraft With Positive Minimum Interevent Times
IF 4 3区 计算机科学
IEEE Transactions on Control of Network Systems Pub Date : 2024-09-25 DOI: 10.1109/TCNS.2024.3469049
Jiang Long;Wei Wang;Yangming Guo;Zun Liu
{"title":"Chattering Free Distributed Event-Triggered Adaptive Attitude Synchronization of Multiple Spacecraft With Positive Minimum Interevent Times","authors":"Jiang Long;Wei Wang;Yangming Guo;Zun Liu","doi":"10.1109/TCNS.2024.3469049","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3469049","url":null,"abstract":"The attitude synchronization control problem of multiple uncertain spacecraft with event-triggered communication is an interesting research topic. However, the existing results are difficult to ensure the positive minimum interevent times (MIETs) while achieving asymptotic convergence performance. Besides, the drawback that the controllers of the spacecraft suffer from chattering may exist, due to the transmitted discontinuous neighbors' states. To overcome the difficulty and drawback, two novel distributed adaptive control strategies are presented under event-triggered communication condition. Specifically, we first consider the attitude synchronization convergence. To estimate the final synchronization value of the attitude while avoiding the undesirable chattering phenomenon of the controllers, a distributed attitude filter with event-triggered state transmission is presented for each spacecraft, which can generate a continuous reference signal for each spacecraft. To ensure the positive MIETs, a novel triggering condition is designed, by resorting to a clock-like variable. Based on the attitude filter and triggering condition, a distributed adaptive attitude synchronization control scheme is presented. Then, we further generalize the design idea to consider the attitude synchronization tracking of a stationary leader, where a distributed event-triggered adaptive attitude tracking control scheme is proposed. Finally, simulation results are provided to validate the effectiveness of the proposed control strategies.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"374-386"},"PeriodicalIF":4.0,"publicationDate":"2024-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143675986","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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
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