A security issue with multi-sensor unmanned aerial vehicle(UAV)cyber physical systems(CPS)from the viewpoint of a false data injection(FDI)attacker is investigated in this paper.The FDI attacker can employ attacks on ...A security issue with multi-sensor unmanned aerial vehicle(UAV)cyber physical systems(CPS)from the viewpoint of a false data injection(FDI)attacker is investigated in this paper.The FDI attacker can employ attacks on feedback and feed-forward channels simultaneously with limited resource.The attacker aims at degrading the UAV CPS's estimation performance to the max while keeping stealthiness characterized by the Kullback-Leibler(K-L)divergence.The attacker is resource limited which can only attack part of sensors,and the attacked sensor as well as specific forms of attack signals at each instant should be considered by the attacker.Also,the sensor selection principle is investigated with respect to time invariant attack covariances.Additionally,the optimal switching attack strategies in regard to time variant attack covariances are modeled as a multi-agent Markov decision process(MDP)with hybrid discrete-continuous action space.Then,the multi-agent MDP is solved by utilizing the deep Multi-agent parameterized Q-networks(MAPQN)method.Ultimately,a quadrotor near hover system is used to validate the effectiveness of the results in the simulation section.展开更多
Nanostructured BN and BN-Co films with Cu,Co,Au as the top electrodes,and Pt as the bottom electrodes were grown by magnetron sputtering.Both BN samples and BN-Co ones show bipolar resistive switching behaviors.For th...Nanostructured BN and BN-Co films with Cu,Co,Au as the top electrodes,and Pt as the bottom electrodes were grown by magnetron sputtering.Both BN samples and BN-Co ones show bipolar resistive switching behaviors.For the sample with active Cu as the top electrode,the formation and rupture of metallic Cu conductive filaments can explain the resistive switching behavior;for the other samples,the generation and annihilation of nitrogen vacancies under the electric stimuli may contribute to the occurrence of resistive switching.Taking advantage of the formed and broken Co-N bonds during resistive switching,the saturation magnetization of the BN-Co films can be modulated.Thus,it investigated the resistive switching behavior of BN and BN-Co materials in this work.Similar to that of oxide materials,the resistive switching behaviors of the nitrides may be attributed to the movement of cations or anions within the dielectric or electrodes during the application of voltage.Additionally,ion migration may lead to the formation or breaking of Co-N bonds,which can effectively regulate the magnetism of BN-Co materials.This study extends resistive switching materials to nitrides,enabling the regulation of magnetism along with resistance changes,thus providing insights for the design of novel voltage-controlled magnetic devices and achieving multi-functionality.展开更多
针对传统恒虚警(Constant False-Alarm Rate,CFAR)检测器在非均匀噪声环境下检测性能较差的问题,本文提出了一种基于排序的自动剔除Switching-CFAR(Automatic Censoring Switching-CFAR Detector Based on Sorting,ACS-CFAR)检测器.选...针对传统恒虚警(Constant False-Alarm Rate,CFAR)检测器在非均匀噪声环境下检测性能较差的问题,本文提出了一种基于排序的自动剔除Switching-CFAR(Automatic Censoring Switching-CFAR Detector Based on Sorting,ACS-CFAR)检测器.选择参考窗中间单元为测试单元,其余单元按照幅值升序排列,根据两个分界点位置参数,选择合适的参考单元集进行背景噪声功率估计以及结合参考单元数和目标恒虚警率计算相关系数,得到最优检测门限.经过仿真对比,ACS-CFAR检测器在均匀噪声环境下检测率为98.73%,接近于单元平均恒虚警(CA-CFAR)检测器;在非均匀噪声环境下检测率为98.16%,优于可变索引恒虚警(VI-CFAR)和自动删除平均恒虚警(ACCA-CFAR)检测器,虚警率误差均控制在0.10%以内.结果表明,本文提出的ACS-CFAR检测器在均匀噪声环境以及杂波和多目标干扰环境下均具有较好的检测性能.展开更多
Leader-following stationary consensus problem is investigated for the second-order multi-agent systems with timevarying communication delay and switching topology. Based on Lyapunov-Krasovskii functional and Lyapunov-...Leader-following stationary consensus problem is investigated for the second-order multi-agent systems with timevarying communication delay and switching topology. Based on Lyapunov-Krasovskii functional and Lyapunov-Razumikhin functions respectively, consensus criterions in the form of linear matrix inequality （LMI） are obtained for the system with time-varying communication delays under static interconnection topology con- verging to the leader＇s states. Moreover, the delay-dependent consensus criterion in the form of LMI is also obtained for the system with time-invariant communication delay and switching topologies by constructing Lyapunov-Krasovskii functional. Numerical simulations present the correctness of the results.展开更多
A novel gain-scheduled switching control method for the longitudinal motion of a flexible air-breathing hypersonic vehicle （FAHV） is proposed. Firstly, velocity and altitude are selected as scheduling variables, a p...A novel gain-scheduled switching control method for the longitudinal motion of a flexible air-breathing hypersonic vehicle （FAHV） is proposed. Firstly, velocity and altitude are selected as scheduling variables, a polytopic linear parameter varying （LPV） model is developed to represent the complex nonlinear longitudinal dynamics of the FAHV. Secondly, based on the obtained polytopic LPV model, the flight envelope is divided into four smaller subregions, and four gain-scheduled controllers are designed for these parameter subregions. Then, by the defined switching characteristic function, these gain-scheduled controllers are switched in order to guarantee the closed-loop FAHV system to be asymptotically stable and satisfy a given tracking error performance criterion. The condition of gain-scheduled switching controller synthesis is given in terms of linear matrix inequalities （LMIs） which can be easily solved by using standard software packages. Finally, simulation results show the effectiveness of the presented method.展开更多
Compared with the classical Markov repairable system, the Markov repairable system with stochastic regimes switching introduced in the paper provides a more realistic description of the practical system. The system ca...Compared with the classical Markov repairable system, the Markov repairable system with stochastic regimes switching introduced in the paper provides a more realistic description of the practical system. The system can be used to model the dynamics of a repairable system whose performance regimes switch according to the external conditions. For example, to satisfy the demand variation that is typical for the power and communication systems and reduce the cost, these systems usually adjust their operating regimes. The transition rate matrices under distinct operating regimes are assumed to be different and the sojourn times in distinct regimes are governed by a finite state Markov chain. By using the theory of Markov process, Ion channel theory, and Laplace transforms, the up time of the system are studied. A numerical example is given to illustrate the obtained results. The effect of sojourn times in distinct regimes on the availability and the up time are also discussed in the numerical example.展开更多
A guaranteed cost control problem for a class of linear discrete-time switched systems with norm-bounded uncertainties is considered in this article. The purpose is to construct a switching rule and design a state fee...A guaranteed cost control problem for a class of linear discrete-time switched systems with norm-bounded uncertainties is considered in this article. The purpose is to construct a switching rule and design a state feedback control law, such that, the closed-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound for all admissible uncertainties under the constructed switching rule. A sufficient condition for the existence of guaranteed cost controllers and switching rules is derived based on the Lyapunov theory together with the linear matrix inequality （LMI） approach. Furthermore, a convex optimization problem with LMI constraints is formulated to select the suboptimal guaranteed cost controller. A numerical example demonstrates the validity of the proposed design approach.展开更多
The consensus problems of multi-agents with time-varying delays and switching topologies are studied. First, assume that an agent receives state information from its neighbors with fixed communication delays and proce...The consensus problems of multi-agents with time-varying delays and switching topologies are studied. First, assume that an agent receives state information from its neighbors with fixed communication delays and processes its own state information with time-varying self-delay respectively. The state time-delay feedback is introduced into the existing consensus protocol to begenerate an improved protocol. Then a sufficient condition is derived which can make the system with time-varying self-delays achieve the consensus. On this basis, a specific form of consensus equilibrium influenced by the initial states of agents, time-delays and state feedback intensity is figured out. In addition, the multi-agent consensus is considered with time-varying topologies. Finally, simulations are presented to il ustrate the validity of theoretical results.展开更多
Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of...Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of networks, which are aimed at ensuring that the concerned states of agents converge to a constant or time-varying reference state, new consensus tracking protocols with a constant and time-varying reference state are proposed, respectively. Particularly, by contrast with spanning tree, an improved condition of switching interaction topology is presented. And then, convergence analysis of two consensus tracking protocols is provided by Lyapunov stability theory. Moreover, consensus tracking protocol with a time-varying reference state is extended to achieve the fbrmation control. By introducing formation structure set, each agent can gain its individual desired trajectory. Finally, several simulations are worked out to illustrate the effectiveness of theoretical results. The test results show that the states of agents can converge to a desired constant or time-varying reference state. In addition, by selecting appropriate structure set, agents can maintain the expected formation under random switching interaction topologies.展开更多
The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ posit...The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.展开更多
A switching variability index （SVl） constant false alarm rate （CFAR） detector is proposed for improving the detection performance of VI-CFAR detectors in multiple targets backgrounds. When the presence of non-homo...A switching variability index （SVl） constant false alarm rate （CFAR） detector is proposed for improving the detection performance of VI-CFAR detectors in multiple targets backgrounds. When the presence of non-homogeneity in CFAR reference windows is indicated by a VI-CFAR detector, a switching- CFAR detector is introduced to optimize the performance of the VI-CFAR detector in homogeneous, multiple targets and clutter edge backgrounds. The structure and parameters selection method of the SVI-CFAR detector is presented. Comparisons with classic CFAR detectors and recently proposed detectors are also given. Theoretical analysis and simulation results show that SVICFAR detector maintains the good performance of the VI-CFAR detector in homogeneous and clutter edge backgrounds, while greatly improving the capacity of anti-multi targets.展开更多
A switching disturbance rejection attitude control law is proposed for a near space vehicle(NSV) with variable structure.The multiple flight modes, system uncertainties and disturbances of the NSV are taken into accou...A switching disturbance rejection attitude control law is proposed for a near space vehicle(NSV) with variable structure.The multiple flight modes, system uncertainties and disturbances of the NSV are taken into account based on switched nonlinear systems. Compared with traditional backstepping design methods,the proposed method utilizes the added integrals of attitude angle and angular rate tracking errors to further decrease the tracking errors. Moreover, to reduce the computation complexity, a rapid convergent differentiator is employed to obtain the derivative of the virtual control command. Finally, for disturbance rejection, based on the idea from the extended state observer(ESO), two disturbance observers are designed by using non-smooth functions to estimate the disturbances in the switched nonlinear systems. All signals of the closed-loop system are proven to be uniformly ultimately bounded under the Lyapunov function framework. Simulation results demonstrate the effectiveness of the proposed control scheme.展开更多
文摘A security issue with multi-sensor unmanned aerial vehicle(UAV)cyber physical systems(CPS)from the viewpoint of a false data injection(FDI)attacker is investigated in this paper.The FDI attacker can employ attacks on feedback and feed-forward channels simultaneously with limited resource.The attacker aims at degrading the UAV CPS's estimation performance to the max while keeping stealthiness characterized by the Kullback-Leibler(K-L)divergence.The attacker is resource limited which can only attack part of sensors,and the attacked sensor as well as specific forms of attack signals at each instant should be considered by the attacker.Also,the sensor selection principle is investigated with respect to time invariant attack covariances.Additionally,the optimal switching attack strategies in regard to time variant attack covariances are modeled as a multi-agent Markov decision process(MDP)with hybrid discrete-continuous action space.Then,the multi-agent MDP is solved by utilizing the deep Multi-agent parameterized Q-networks(MAPQN)method.Ultimately,a quadrotor near hover system is used to validate the effectiveness of the results in the simulation section.
文摘Nanostructured BN and BN-Co films with Cu,Co,Au as the top electrodes,and Pt as the bottom electrodes were grown by magnetron sputtering.Both BN samples and BN-Co ones show bipolar resistive switching behaviors.For the sample with active Cu as the top electrode,the formation and rupture of metallic Cu conductive filaments can explain the resistive switching behavior;for the other samples,the generation and annihilation of nitrogen vacancies under the electric stimuli may contribute to the occurrence of resistive switching.Taking advantage of the formed and broken Co-N bonds during resistive switching,the saturation magnetization of the BN-Co films can be modulated.Thus,it investigated the resistive switching behavior of BN and BN-Co materials in this work.Similar to that of oxide materials,the resistive switching behaviors of the nitrides may be attributed to the movement of cations or anions within the dielectric or electrodes during the application of voltage.Additionally,ion migration may lead to the formation or breaking of Co-N bonds,which can effectively regulate the magnetism of BN-Co materials.This study extends resistive switching materials to nitrides,enabling the regulation of magnetism along with resistance changes,thus providing insights for the design of novel voltage-controlled magnetic devices and achieving multi-functionality.
文摘针对传统恒虚警(Constant False-Alarm Rate,CFAR)检测器在非均匀噪声环境下检测性能较差的问题,本文提出了一种基于排序的自动剔除Switching-CFAR(Automatic Censoring Switching-CFAR Detector Based on Sorting,ACS-CFAR)检测器.选择参考窗中间单元为测试单元,其余单元按照幅值升序排列,根据两个分界点位置参数,选择合适的参考单元集进行背景噪声功率估计以及结合参考单元数和目标恒虚警率计算相关系数,得到最优检测门限.经过仿真对比,ACS-CFAR检测器在均匀噪声环境下检测率为98.73%,接近于单元平均恒虚警(CA-CFAR)检测器;在非均匀噪声环境下检测率为98.16%,优于可变索引恒虚警(VI-CFAR)和自动删除平均恒虚警(ACCA-CFAR)检测器,虚警率误差均控制在0.10%以内.结果表明,本文提出的ACS-CFAR检测器在均匀噪声环境以及杂波和多目标干扰环境下均具有较好的检测性能.
基金supported by the Fundamental Research Funds for the Central Universities(JUSRP11020)the Specialized Research Fund for the Doctoral Program of Higher Education of China(20090093120006)
文摘Leader-following stationary consensus problem is investigated for the second-order multi-agent systems with timevarying communication delay and switching topology. Based on Lyapunov-Krasovskii functional and Lyapunov-Razumikhin functions respectively, consensus criterions in the form of linear matrix inequality （LMI） are obtained for the system with time-varying communication delays under static interconnection topology con- verging to the leader＇s states. Moreover, the delay-dependent consensus criterion in the form of LMI is also obtained for the system with time-invariant communication delay and switching topologies by constructing Lyapunov-Krasovskii functional. Numerical simulations present the correctness of the results.
基金supported by the National Outstanding Youth Science Foundation(61125306)the National Natural Science Foundation of Major Research Plan(91016004+2 种基金61034002)the Specialized Research Fund for the Doctoral Program of Higher Education of China (20110092110020)the Scientific Research Foundation of Graduate School of Southeast University(YBJJ1103)
文摘A novel gain-scheduled switching control method for the longitudinal motion of a flexible air-breathing hypersonic vehicle （FAHV） is proposed. Firstly, velocity and altitude are selected as scheduling variables, a polytopic linear parameter varying （LPV） model is developed to represent the complex nonlinear longitudinal dynamics of the FAHV. Secondly, based on the obtained polytopic LPV model, the flight envelope is divided into four smaller subregions, and four gain-scheduled controllers are designed for these parameter subregions. Then, by the defined switching characteristic function, these gain-scheduled controllers are switched in order to guarantee the closed-loop FAHV system to be asymptotically stable and satisfy a given tracking error performance criterion. The condition of gain-scheduled switching controller synthesis is given in terms of linear matrix inequalities （LMIs） which can be easily solved by using standard software packages. Finally, simulation results show the effectiveness of the presented method.
基金supported by the National Natural Science Foundation of China (71071020 60705036)Beijing Excellent Doctoral Dissertation Instructor Project of Humanities and Social Sciences(yb20091000701)
文摘Compared with the classical Markov repairable system, the Markov repairable system with stochastic regimes switching introduced in the paper provides a more realistic description of the practical system. The system can be used to model the dynamics of a repairable system whose performance regimes switch according to the external conditions. For example, to satisfy the demand variation that is typical for the power and communication systems and reduce the cost, these systems usually adjust their operating regimes. The transition rate matrices under distinct operating regimes are assumed to be different and the sojourn times in distinct regimes are governed by a finite state Markov chain. By using the theory of Markov process, Ion channel theory, and Laplace transforms, the up time of the system are studied. A numerical example is given to illustrate the obtained results. The effect of sojourn times in distinct regimes on the availability and the up time are also discussed in the numerical example.
基金This project was supported by a Program for Changjiang Scholars and an Innovative Research Team in the University and the National Natural Science Foundation of P. R. China (60474015).
文摘A guaranteed cost control problem for a class of linear discrete-time switched systems with norm-bounded uncertainties is considered in this article. The purpose is to construct a switching rule and design a state feedback control law, such that, the closed-loop system is asymptotically stable and the closed-loop cost function value is not more than a specified upper bound for all admissible uncertainties under the constructed switching rule. A sufficient condition for the existence of guaranteed cost controllers and switching rules is derived based on the Lyapunov theory together with the linear matrix inequality （LMI） approach. Furthermore, a convex optimization problem with LMI constraints is formulated to select the suboptimal guaranteed cost controller. A numerical example demonstrates the validity of the proposed design approach.
基金supported by the National Natural Science Foundation of China(6087405361034006)
文摘The consensus problems of multi-agents with time-varying delays and switching topologies are studied. First, assume that an agent receives state information from its neighbors with fixed communication delays and processes its own state information with time-varying self-delay respectively. The state time-delay feedback is introduced into the existing consensus protocol to begenerate an improved protocol. Then a sufficient condition is derived which can make the system with time-varying self-delays achieve the consensus. On this basis, a specific form of consensus equilibrium influenced by the initial states of agents, time-delays and state feedback intensity is figured out. In addition, the multi-agent consensus is considered with time-varying topologies. Finally, simulations are presented to il ustrate the validity of theoretical results.
基金Projects(61075065,60774045) supported by the National Natural Science Foundation of ChinaProject supported by the Graduate Degree Thesis Innovation Foundation of Central South University,China
文摘Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated. In order to design effective consensus tracking protocols for a more general class of networks, which are aimed at ensuring that the concerned states of agents converge to a constant or time-varying reference state, new consensus tracking protocols with a constant and time-varying reference state are proposed, respectively. Particularly, by contrast with spanning tree, an improved condition of switching interaction topology is presented. And then, convergence analysis of two consensus tracking protocols is provided by Lyapunov stability theory. Moreover, consensus tracking protocol with a time-varying reference state is extended to achieve the fbrmation control. By introducing formation structure set, each agent can gain its individual desired trajectory. Finally, several simulations are worked out to illustrate the effectiveness of theoretical results. The test results show that the states of agents can converge to a desired constant or time-varying reference state. In addition, by selecting appropriate structure set, agents can maintain the expected formation under random switching interaction topologies.
基金supported by the National Natural Science Foundation of China(61074031)
文摘The distributed leadless consensus problem for multiple quadrotor systems under fixed and switching topologies is investigated. The objective is to design protocols achieving consensus for networked quadrotors＇ positions and attitudes. Because the model of a quadrotor is a strong high-order nonlinear coupling system, the approach of feedback linearization is employed to transform the model into a group of four linear subsystems among which there is no coupling. Then, a consensus algorithm is proposed which consists of a local feedback controller and interactions from the finite neighbors under fixed undirected topologies. Especially, the problem of choosing the parameters in the consensus algo-rithm is also addressed, enlightened by the results of the robust control theory. Furthermore, it is proved that the proposed algo-rithm also guarantees the consensus under undirected switching topologies. Simulation results show the effectiveness of the pro- posed algorithm.
基金supported by the National Natural Science Foundation of China(61102158)the China Postdoctoral Science Foundation(2011M500667)
文摘A switching variability index （SVl） constant false alarm rate （CFAR） detector is proposed for improving the detection performance of VI-CFAR detectors in multiple targets backgrounds. When the presence of non-homogeneity in CFAR reference windows is indicated by a VI-CFAR detector, a switching- CFAR detector is introduced to optimize the performance of the VI-CFAR detector in homogeneous, multiple targets and clutter edge backgrounds. The structure and parameters selection method of the SVI-CFAR detector is presented. Comparisons with classic CFAR detectors and recently proposed detectors are also given. Theoretical analysis and simulation results show that SVICFAR detector maintains the good performance of the VI-CFAR detector in homogeneous and clutter edge backgrounds, while greatly improving the capacity of anti-multi targets.
基金supported by the National Natural Science Foundation of China(61374012)the Aeronautical Science Foundation of China(2016ZA51011)
文摘A switching disturbance rejection attitude control law is proposed for a near space vehicle(NSV) with variable structure.The multiple flight modes, system uncertainties and disturbances of the NSV are taken into account based on switched nonlinear systems. Compared with traditional backstepping design methods,the proposed method utilizes the added integrals of attitude angle and angular rate tracking errors to further decrease the tracking errors. Moreover, to reduce the computation complexity, a rapid convergent differentiator is employed to obtain the derivative of the virtual control command. Finally, for disturbance rejection, based on the idea from the extended state observer(ESO), two disturbance observers are designed by using non-smooth functions to estimate the disturbances in the switched nonlinear systems. All signals of the closed-loop system are proven to be uniformly ultimately bounded under the Lyapunov function framework. Simulation results demonstrate the effectiveness of the proposed control scheme.
