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Xi Ma,Fuchun Sun,Hongbo Li,Bing He 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4
This paper investigates the tracking control problem of second-order multi-agent systems (MASs) inthe presence of unmatched disturbances and completely unknown dynamics. The extended state observer (ESO)and neural networks (NNs) are utilized to estimate and compensated the unmatched disturbances and unknowndynamics, respectively. By constructed a novel integral sliding-mode manifold incorporated with ESO output,a neural-network-based control algorithm is developed. Meanwhile, by Lyapunov theoretical analysis, the UUBstability of the tracking errors as well as within a sufficiently small region is guaranteed by the appropriate choiceof the parameters. Simulation results show that the proposed method exhibits much better control performancesthan the traditional I-SMC method, such as great robustness, reduced chattering and more accurate.
Resilient Control in the Presence of DoS Attack: Switched System Approach
Yuan Yuan,Fuchun Sun,Quanyan Zhu 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.6
This paper studies the switched resilient control of the Cyber-Physical Systems (CPSs) under Denial-of-Service (DoS) attack. We interpret the term ‘resilience’ as the ability to be both robust to the external disturbances in the physical layer, and defending against DoS attacks in the cyber layer. A hybrid-theoretical framework is proposed which is comprised of a physical control subsystem, a cyber security subsystem, and an interface which integrates the control design with the security configuration. Within this framework, the controller will switch in accordance with the competing result of the cyber attacker and defender. Our approach highlights the interaction between the physical control layer and cyber security layer and achieves the goal of coupled design. Some algorithms are provided to obtain the so-called joint defense strategies. Finally, the proposed method is applied to the voltage regulation of the Uninterrupted Power System (UPS).
Li Li,Fuchun Sun 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.2
A class of nonlinear singularly perturbed systems can be approximated by the Fuzzy Singularly Perturbed Model (FSPM).This paper proposes a new direct adaptive controller on the basis of the FSPM. The aim is to make the states of the closed-loop system follow those of the reference model. The feedback gains of the controller can be adjusted on line; and we don’t require the parameters known in prior. Lyapunov constitute techniques are used to prove the stability of the closed loop sys-tems. Finally the simulations illustrate the effectiveness of this approach.
Data Fusion-based Resilient Control System under DoS Attacks: A Game Theoretic Approach
Yuan Yuan,Fuchun Sun 제어·로봇·시스템학회 2015 International Journal of Control, Automation, and Vol.13 No.3
In this paper, the resilient control under the Denial-of-Service (DoS) attack is rebuilt within the framework of Joint Directors of Laboratories (JDL) data fusion model. The JDL data fusion process is characterized by the so-called Game-in-Game approach, where decisions are made at different layers. The interactions between different JDL levels are considered which take the form of Packet Delivery Rate of the communication channel. Some criterions to judge whether the cyber defense system is able to protect the underlying control system is provided. Finally, a numerical example is proposed to verify the validity of the proposed method.
Appearance-based Robot Visual Servo via a Wavelet Neural Network
Qingjie Zhao,Zengqi Sun,Fuchun Sun,Jihong Zhu 대한전기학회 2008 International Journal of Control, Automation, and Vol.6 No.4
This paper proposes a robot visual servo approach based on image appearance and a wavelet function neural network. The inputs of the wavelet neural network are changes of image features or the elements of image appearance vector, and the outputs are changes of robot joint angles. Image appearance vector is calculated by using eigen subspace transform algorithm. The proposed approach does not need a priori knowledge of the robot kinematics, hand-eye geometry and camera models. The experiment results on a real robot system show that the proposed method is practical and simple.
Hongbo Li,Zengqi Sun,Badong Chen,Huaping Liu,Fuchun Sun 대한전기학회 2008 International Journal of Control, Automation, and Vol.6 No.6
Networked control systems (NCSs) have gained increasing attention in recent years due to their advantages and potential applications. The network Quality-of-Service (QoS) in NCSs always fluctuates due to changes of the traffic load and available network resources. To handle the network QoS variations problem, this paper presents an intelligent scheduling control method for NCSs, where the sampling period and the control parameters are simultaneously scheduled to compensate the effect of QoS variation on NCSs performance. For NCSs with network-induced delays and packet dropouts, a discrete-time switch model is proposed. By defining a sampling-period-dependent Lyapunov function and a common quadratic Lyapunov function, the stability conditions are derived for NCSs in terms of linear matrix inequalities (LMIs). Based on the obtained stability conditions, the corresponding controller design problem is solved and the performance optimization problem is also investigated. Simulation results are given to demonstrate the effectiveness of the proposed approaches.
Xiong Luo,Zengqi Sun,Fuchun Sun 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.1
The study on nonlinear control system has received great interest from the international research field of automatic engineering. There are currently some alternative and complementary methods used to predict the behavior of nonlinear systems and design nonlinear control systems. Among them, characteristic modeling (CM) and fuzzy dynamic modeling are two effective methods. However, there are also some deficiencies in dealing with complex nonlinear system. In order to overcome the deficiencies, a novel intelligent modeling method is proposed by combining fuzzy dynamic modeling and characteristic modeling methods. Meanwhile, the proposed method also introduces the low-level learning power of neural network into the fuzzy logic system to implement parameters identification. This novel method is called neuro-fuzzy dynamic characteristic modeling (NFDCM). The neuro-fuzzy dynamic characteristic model based overall fuzzy control law is also discussed. Meanwhile the local adaptive controller is designed through the golden section adaptive control law and feedforward control law. In addition, the stability condition for the proposed closed-loop control system is briefly analyzed. The proposed approach has been shown to be effective via an example.
Robust Consensus for Networked Mechanical Systems with Coupling Time Delay
Haibo Min,Shicheng Wang,Fuchun Sun,Jinsheng Zhang 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.2
This paper studies the state consensus for a class of networked nonlinear mechanical systems with coupling time delay. In particular, robust consensus protocols for both deterministic and uncertain systems with time delay are investigated. For deterministic systems, we develop a P-like protocol which allows for variable coupling time delay. We show that it is sufficient to have only the relative position information together with a damping control term, whereas the relative velocity information is not needed for state consensus. Then, an adaptive robust control protocol is proposed for uncertain sys-tems with unknown parameters in the system dynamics and arbitrary constant coupling time delays. By introducing the passivity-based framework, we demonstrate that state consensus is still reachable in this case. Finally, a numerical example is included to illustrate the obtained results.
The Novel Infrared Target Localization Algorithm for Free Floating Space Robot
Xiong Luo,Xiaolu Jie,Huaping Liu,Fuchun Sun 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
With regards to the complicated characteristic of outer space, the infrared target recognition system has been investigated for free floating space robot. A novel algorithm is proposed based on visual location method for free floating space robot. Firstly, we set an omnidirectional camera with fixed lens on the ceiling. Here, the free floating robot is moving on the platform. Especially, in order to reduce image noise, we fix an infrared filter in the lens. Then, we place a number of infrared-emitting diodes on the free floating space robot and the targets. Finally, we can get the accurate positions and angle information of the robot and the target according to the location of the infrared light. The experimental results prove that this approach presented in this paper is an effective method for target detection and static target capture for free floating space robot.