{"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}
{"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}
{"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}
{"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}
{"title":"Privacy-Preserving Distributed Nash Equilibrium Seeking for Noncooperative Games With Masked Interactive Information","authors":"Xin Cai","doi":"10.1109/TCNS.2024.3469030","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3469030","url":null,"abstract":"The privacy preservation problem in distributed Nash equilibrium (NE) seeking for noncooperative games is studied in this article. Different from adding random noises to the transmitted data in estimators for some global information, a dynamical privacy preservation method is used to both protect each agent's strategy and avoid reconstructing the privacy of agents. Thus, a novel distributed algorithm is proposed with the masked interactive information to seek NE. Moreover, a discrete-time communication scheme is designed based on an event-triggering rule without the Zeno behavior for the multiagent noncooperative game. The accurate convergence of the designed distributed algorithm is established, rather than the bounded convergence of the differential privacy-based algorithms. The performance of the designed algorithm with communication delay is also analyzed. Cournot competition with distributed energy resources is taken as an example to verify the proposed algorithm.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"351-360"},"PeriodicalIF":4.0,"publicationDate":"2024-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143676147","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}
{"title":"Model-Free Learning and Optimal Policy Design in Multiagent MDPs Under Probabilistic Agent Dropout","authors":"Carmel Fiscko;Soummya Kar;Bruno Sinopoli","doi":"10.1109/TCNS.2024.3469031","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3469031","url":null,"abstract":"This work studies a multiagent Markov decision process (MDP) that can undergo agent dropout and the computation of policies for the postdropout system based on control and sampling of the predropout system. The central planner's objective is to find an optimal policy that maximizes the value of the expected system given a priori knowledge of the agents' dropout probabilities. For MDPs with a certain transition independence and reward separability structure, we assume that removing agents from the system forms a new MDP comprised of the remaining agents with new state and action spaces, transition dynamics that marginalize the removed agents, and rewards that are independent of the removed agents. We first show that under these assumptions, the value of the expected postdropout system can be represented by a single MDP; this “robust MDP” eliminates the need to evaluate all <inline-formula><tex-math>$2^{N}$</tex-math></inline-formula> realizations of the system, where <inline-formula><tex-math>$N$</tex-math></inline-formula> denotes the number of agents. More significantly, in a model-free context, it is shown that the robust MDP value can be estimated with samples generated by the predropout system, meaning that robust policies can be found before dropout occurs. This fact is used to propose a policy importance sampling (IS) routine that performs policy evaluation for dropout scenarios while controlling the existing system with good predropout policies. The policy IS routine produces value estimates for both the robust MDP and specific postdropout system realizations and is justified with exponential confidence bounds. Finally, the utility of this approach is verified in simulation, showing how structural properties of agent dropout can help a controller find good postdropout policies before dropout occurs.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"361-373"},"PeriodicalIF":4.0,"publicationDate":"2024-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143675889","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}
Apostolos I. Rikos;Christoforos N. Hadjicostis;Karl H. Johansson
{"title":"Quantized Privacy-Preserving Algorithms for Homogeneous and Heterogeneous Networks With Finite Transmission Guarantees","authors":"Apostolos I. Rikos;Christoforos N. Hadjicostis;Karl H. Johansson","doi":"10.1109/TCNS.2024.3468990","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3468990","url":null,"abstract":"Privacy protection is increasingly critical in various applications due to the prevalence of networked systems. In this article, we focus on preserving the privacy of nodes' initial states while computing their average in a network. Curious nodes attempt to identify the initial states of other nodes without interfering in the computation. To address this challenge, we propose two privacy-preserving algorithms. The first algorithm operates over homogeneous networks, i.e., nodes have consistent processing delays and are able to communicate in a synchronous fashion. The second algorithm operates over heterogeneous networks, i.e., nodes have varying processing delays and communicate in an asynchronous fashion. Our algorithms exhibit efficient communication, finite-time convergence, and operation termination after convergence, making them suitable for resource-constrained environments. We also present topological conditions under which our algorithms enable privacy preservation. Finally, we apply our algorithms to a smart grid system and compare their performance against other algorithms, emphasizing their advantages in communication efficiency, convergence rate, and privacy preservation.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"325-337"},"PeriodicalIF":4.0,"publicationDate":"2024-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143675980","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}
{"title":"Distributed Event-Triggered Cooperative Output Regulation for Multiagent Systems","authors":"Jiakang Han;Xiaoqun Wu;Bing Mao;Hui Liu;Jinhu Lü","doi":"10.1109/TCNS.2024.3469029","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3469029","url":null,"abstract":"The cooperative output regulation problem of heterogeneous nonlinear multiagent systems is investigated by using the distributed event-triggered control. One of the main challenges in solving this problem is removing the restrictions imposed on the exosystem matrix while avoiding using global information. To address this challenge, a distributed event-triggered observer is proposed for each agent to estimate the upper bound of the norm of the exosystem matrix, based on which all agents can obtain the same upper bound in finite time. In particular, two types of distributed event-triggered observers are designed to estimate the exosystem matrix and the exosystem state. Meanwhile, with a clock-like variable being incorporated into the event-triggered mechanism, the existence of a positive minimum interevent time can be guaranteed for each agent. Furthermore, external disturbances with known dynamics can be compensated effectively by the proposed adaptive controllers. A numerical example is finally given to illustrate the effectiveness of the proposed control technique.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"338-350"},"PeriodicalIF":4.0,"publicationDate":"2024-09-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143676143","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}
Ahmed S. Alahmed;Guido Cavraro;Andrey Bernstein;Lang Tong
{"title":"A Decentralized Market Mechanism for Energy Communities Under Operating Envelopes","authors":"Ahmed S. Alahmed;Guido Cavraro;Andrey Bernstein;Lang Tong","doi":"10.1109/TCNS.2024.3466651","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3466651","url":null,"abstract":"We propose an operating envelopes (OEs) aware energy community market mechanism that dynamically charges/rewards its members based on two-part pricing. The OEs are imposed exogenously by a regulated distribution system operator (DSO) on the energy community's revenue meter and are subject to a generalized net energy metering tariff design. By formulating the interaction of the community operator and its members as a Stackelberg game, we show that the proposed two-part pricing achieves a Nash equilibrium and maximizes the community's social welfare in a decentralized fashion while ensuring that the community's operation abides by the OEs. The market mechanism conforms with the cost-causation principle and guarantees community members a surplus level no less than their maximum surplus when they autonomously face the DSO. The dynamic and uniform community price is a monotonically decreasing function of the community's aggregate renewable generation. We also analyze the impact of exogenous parameters, such as NEM rates and OEs, on the value of joining the community. Lastly, through numerical studies, we showcase the community's welfare and pricing, and compare its members' surplus to customers under the DSO's regime.","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"12 1","pages":"313-324"},"PeriodicalIF":4.0,"publicationDate":"2024-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143675982","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}
{"title":"IEEE Transactions on Control of Network Systems Information for Authors","authors":"","doi":"10.1109/TCNS.2024.3441430","DOIUrl":"https://doi.org/10.1109/TCNS.2024.3441430","url":null,"abstract":"","PeriodicalId":56023,"journal":{"name":"IEEE Transactions on Control of Network Systems","volume":"11 3","pages":"1730-1731"},"PeriodicalIF":4.0,"publicationDate":"2024-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10684317","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142274899","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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}