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In this paper, the secure containment control issue for heterogeneous multi-agent systems subject to hybrid attacks is studied. In the network channels among agents, adversaries launch replay attacks such that the followers can only retrieve the previous information of their neighbors. To characterize the effects of replay attacks, a distributed auxiliary system with heterogeneous time-varying delay is constructed to estimate the convex hull of the leaders' state. The control input of each follower may be contaminated by the malicious false data injection (FDI) attacks with unknown bounded time-varying signals, which are intended to compromise the containment performance of the whole system. A local adaptive compensator is designed for each follower to eliminate the adverse effects of the FDI attacks. Based on the distributed auxiliary system and the local adaptive compensator, a secure distributed control protocol is proposed to ensure that the output trajectories of each follower can converge to the dynamic convex hull spanned by the leader outputs. Finally, two illustrative examples are provided to show the feasibility of the proposed secure control scheme. • This paper introduces a secure control protocol to dispose a more complicated attack situation. • The original Laplacian matrix is divided into several sub-Laplacian matrices associated with the heterogeneous time-varying delays. • The designed adaptive compensator can fully eliminate the adverse effects of the FDI attacks without using any information of the FDI attacks. [ABSTRACT FROM AUTHOR]

This paper tries to study the problem of finite-time synchronization for delayed semi-Markov reaction–diffusion systems. Based on the spatial and parametric characteristics of the considered systems, a new asynchronous boundary control scheme is proposed to ensure the finite-time synchronization of the drive and response systems. In the asynchronous boundary control scheme, only an actuator should be placed at the spatial boundary, which is more easier to implement and economical than the other non-boundary control strategies. Besides, the system parameters and controller follow two asynchronous semi-Markov chains for jumping, which is more practical than obeying one semi-Markov chain. Moreover, for the considered systems, we proposes a new lemma of finite-time stability, and by employing the inequality methods and variable substitution, we derive the criterion of finite-time synchronization and a correlative corollary. Finally, a numerical example and an application example on secure communication are carried out to support the developed approach. • Our study enriches the related research of semi-Markov RDSs. The obtained results guarantee the finite-time synchronization of semi-Markov RDSs, which is more effective and practical than asymptotic synchronization. • This paper proposes a novel asynchronous boundary control scheme, for the synchronization of semi-Markov RDSs. Compared with existing ones, our control scheme has obvious advantages in realizability and economy. • Based on the existing papers, in the designed controller, a constant is introduced, such that the intense chatter of controller could be reduced. • For the considered systems and designed controller, a new finite-time stability lemma is proposed, which enables the derivation of a finite-time synchronization criterion and a related corollary of this paper. [ABSTRACT FROM AUTHOR]

In recent years, distributed optimization problem have a wide range of applications in various fields. This paper considers the prescribed-time distributed optimization problem with/without constraints. Firstly, we assume the state of each agent is constrained, and the prescribed-time distributed optimization algorithm with constraints is designed on the basis of gradient projection algorithm and consensus algorithm. Secondly, the constrained distributed optimization problem is transformed into the unconstrained distributed optimization problem, and according to the gradient descent algorithm and consensus algorithm, we also propose the prescribed-time distributed optimization algorithm without constraints. By designing the appropriate objective functions, we prove the multi-agent system can converge to the optimal solution within any prescribed-time, and the convergence time is fully independent of the initial conditions and system parameters. Finally, three simulation examples are provided to verify the validity of the designed algorithms. • For distributed optimization problem with convex constraints, we design an effective prescribed-time distributed algorithm which can guarantee the multi-agent system converge to the optimal solution. • The designed algorithm in this paper can achieve convergence within any prescribed-time, and the convergence time is fully independent of the initial conditions and system parameters. • In this paper, we not only consider the condition that the agents' states are constrained, but also ensure that the multi-agent system can reach the optimal solution within any prescribed-time, which is more practical. [ABSTRACT FROM AUTHOR]

This paper addresses the automatic berthing of a maritime autonomous surface ship operating in a confined water environment subject to static obstacles, dynamic obstacles, thruster constraints, and space constraints due to shorelines. A safety-certified active disturbance rejection control (ADRC) method is proposed for achieving the automatic berthing task of an MASS in the presence of model uncertainties and ocean disturbances. An extended state observer (ESO) based on a second-order robust exact differentiator (RED) is employed to estimate an extended state vector consisting of internal model uncertainties and external ocean disturbances. With the aid of the RED-based ESO, a nominal ADRC law is designed to achieve the position and heading stabilization. To avoid collisions with static obstacles, dynamic obstacles, and shorelines, input-to-state safe high-order control barrier functions are used to guarantee safety. Optimized control signals are obtained based on a constrained quadratic programming (QP) problem within safety constraints. In order to translate the control signals into the individual thruster command, a constrained QP problem is further used to search for optimized commands in real time. It is proven that the closed-loop automatic berthing system is input-to-state stable. By using the proposed method, the MASS is able to reach the desired position and heading with collision avoidance. Simulation results verify the effectiveness of the proposed safety-certified ADRC method for automatic berthing. • This paper proposes an active disturbance rejection control method to achieve automatic berthing of an MASS. • The ISSf-HOCBFs are used for the achievement of collision avoidance with static/dynamic obstacles and shorelines. • A constrained QP problem is used to obtain the optimal commands in real time. [ABSTRACT FROM AUTHOR]

Performance requirements necessitate control designs that assure not only transient response specifications but also steady-state accuracy. Monotonic convergence of the tracking error is crucial for an efficient control design to prevent the performance degradation caused by overshooting. This needs a balanced consideration of both reaching conditions and the monotonic convergence, in the context of sliding mode control. In this paper, the dynamic behaviour of the dead-beat sliding mode control is characterized and the signum function is replaced by employing a non-switching one, in order to reduce chattering. The paper conducts a thorough analysis of monotonic convergence of both the switching and the non-switching error dynamics. By deriving the conditions for monotonic convergence, the control parameters can be strategically chosen to ensure monotonic convergence of the tracking error. Numerical and experimental results are presented to validate effectiveness of the proposed control scheme, which evaluate the tracking performance achieved by both the switching and the non-switching control methods. • The DBSMC approach uses a dead-beat reaching law for the global sliding-mode. • Both the switching and non-switching attractive laws are proposed. • The monotonic convergence is characterized by the MD-region and the SS-band. • The calculation of convergence steps of the DBSMC schemes is provided. [ABSTRACT FROM AUTHOR]

A tracking control scheme is proposed for complex dynamic network (CDN), where the CDN is regarded wholly as a dynamic composite system which consists of two mutually coupled subsystems. One subsystem consists of all nodes and the other consists of all links, and consider the weights of the links to be state variables in the latter subsystem. There are two parts in the structure of the proposed tracking control scheme: the designed controller of nodes and the synthesis of the coupling term in links. These two parts can guarantee two subsystems to asymptotically track the given reference targets, respectively. This approach originates from the communication transmission network (CTN). In CTN, for the network optimization management, the reference network topology (NT), such as the star topology, is required as a target for tracking in communication transmission (links) when each node in network needs to track its own target. The control scheme provided of this paper coincides with above requirement. And finally, a comparative simulation example is given for illustrating the effectiveness of the provided control scheme. • The dynamic equations of nodes and NT are represented by the matrix differential equations, this can contain many models in other papers and simplify the control scheme, which is rarely discussed. • The tracking targets of nodes and NT given in this paper are independent of each other, which is novel. • When all nodes track the reference targets, the eventual network layout is shown by the desired NT, which is novel. [ABSTRACT FROM AUTHOR]

To solve the position control problem of the induction motor with parameter perturbations, load disturbances, and modeling errors, a predefined-time position tracking optimization control method with prescribed performance is proposed. In practice, the rotor flux linkage of the induction motor can't be measured, and a predefined-time sliding mode observer (PTSMO) is applied to accurately estimate it. Additionally, predefined-time disturbance observers (PTDOs) are employed to identify the uncertainties in the motor system. The position and flux linkage controllers are then designed by integrating the predefined-time control approach with the prescribed performance function method, realizing accurate tracking control of the induction motor within a predefined time. Next, the adaptive genetic algorithm (AGA) and the improved particle swarm optimization (IPSO) technique are combined to optimize the designed controllers, enhancing the convergence rate and steady-state accuracy of the induction motor. Finally, comparative analyses through simulations and dSPACE simulated experiments validate the efficacy of the proposed control method, highlighting its applicability in practical motor systems. ● The predefined-time sliding mode observer is crafted to observe the rotor flux linkage, and the predefined-time disturbance observers are designed to estimate the system's uncertainties. This not only addresses the challenges of unmeasurable rotor flux linkage in practice, and the observation errors converge within a predefined time. ● This paper combines the predefined-time control and the prescribed performance method, ensuring both the transient and steady-state performances of the system, while also ensuring the motor states converge within a predefined time. ● This paper combines the AGA and the IPSO to generate the AGA_IPSO hybrid algorithm to optimize the primary controller parameters, which not only simplifies the tuning process of system parameters, but also enhances the system's convergence speed and steady-state accuracy.. [ABSTRACT FROM AUTHOR]

This paper mainly studies the consensus control strategy for a novel heuristic nonlinear multi-agent system. Compared with most existing related researches, firstly, the novel heuristic nonlinear multi-agent system has the ability to construct its communication network topology heuristically, and can withstand long-term DOS(Denial of Service) attacks, with the advantages of high practicality and security. Secondly, in order to control the multi-agent system, a control protocol based on both saturation effect and impulse control mechanism is studied, which has the advantages of high efficiency, low cost and wide applicability. Thirdly, for the multi-agent system, its dynamic model is constructed and analyzed by Lyapunov stability theory and matrix measure theory, and some sufficient conditions for achieving consensus are obtained. Finally, through two simulation experiments and some corresponding comparative analysis, the correctness, efficiency, and superiority of the theories proposed in this paper were verified. • A "heuristic communication network topology generation rule" is designed. It can scientifically solve the problem of the lack of specific design rules for communication connection among different individuals. • A "saturation impulse control protocol" is designed. It has advantages such as high efficiency and low cost. • This paper constructs a novel nonlinear dynamic model for the multi-agent system, which can withstand long-term DOS attacks. [ABSTRACT FROM AUTHOR]

To address the trajectory tracking issue of upper-limb rehabilitation exoskeleton with uncertainties and external disturbances, this paper proposes a fractional-order ultra-local model -based model-free finite-time robust controller (FO-FTRC) using predefined performance sliding surface. Different from previous model-free control strategies, a novel multi-input multi-output (MIMO) fractional-order ultra-local model which is a virtual model is proposed to approximate the complex uncertain nonlinear exoskeleton dynamics in a short sliding time window. This allows the design of controller to be independent of any exoskeleton model information and reduces the difficulty of controller design. The developed robust model-free control method incorporates a fractional-order quasi-time delay estimator (FO-QTDE), unknown disturbance estimator (UDE) as well as prescribed performance sliding mode control (PPSMC). The FO-QTDE is utilized to estimate the unknown lumped uncertainties which employs short time delayed knowledge only about the control input. However, the low-pass filter is always added for FO-QTDE when disturbances change fast, which leads to unavoidable estimation error. Then, UDE is designed to further eliminate the estimation error of FO-QTDE to enhance control performance. The PPSMC is constructed to converge sliding surface to zero in a finite time. Besides, the sliding surface is always limited in performance boundaries. After that, the overall system stability and convergence analyses are demonstrated by using the Lyapunov theorem. Finally, with the comparison to other methods of α -variable adaptive model free control (α -AMFC), time-delay estimation-based continuous nonsingular fast terminal sliding mode controller (TDE-CNFTSMC), time delay estimation (TDE)-based model-free fractional-order nonsingular fast terminal sliding mode control (MFF-TSM) and fractional-order proportion–differential (PD β), the co-simulation results on 7-degree-of-freedom (DOF) iReHave upper-limb exoskeleton virtual prototype and experiment results on 2-DOF upper-limb exoskeleton are obtained to illustrate the effectiveness and superiority of the proposed FO-FTRC method. • A fractional-order ULM is proposed to approximate complex exoskeleton to achieve MFC. • A QTDE and disturbance estimator is designed to eliminate the lumped uncertainties. • The paper achieves the FT stabilization under fractional-order ULM design framework. • The co-simulation experiments on 7-DOF iReHave exoskeleton and experiment on 2-DOF. [ABSTRACT FROM AUTHOR]

In a Networked Control System (NCS), event-triggering is often used to reduce the number of network transmission instances and improve network usage. This paper considers transmitting output data rather than the estimated state for such event-triggered schemes. Output transmission facilitates efficient transmission by reducing the size of the packets sent over the network. However, since the state observer utilizes delayed information output transmission deteriorates system performance and requires improved observer-based prediction schemes for closed-loop control. The performance of a new scheme involving the transmission of sequential output information in a single packet to improve the state observer's performance is demonstrated in this paper. A sequential observer is constructed that uses successive output information to better observe the states, and a prediction scheme is used to take care of the delays due to event-triggering, network delays, and dropouts. Further, event-triggering is employed in both the feedback and forward channels. The demonstrated efficacy of this sequential approach in the networked control of an inverted pendulum system and a DC motor system emphasizes its potential as a practical solution for improved control in NCSs, particularly in the face of network constraints and communication challenges. • The work deals networked control systems with the resource constrained communication network by incorporating event-triggering in both the feedback and forward paths. • Using a predictive control method, the network delays and dropouts, and the dropouts due to event-triggering are dealt with. • A new sequential observer is constructed to process sequential output information at the remote end for improving the state estimates. • The proposed observer reduces the communication load considerably while effectively exploiting the packet size in the network. [ABSTRACT FROM AUTHOR]