Finite-time Prescribed Performance Time-Varying Formation Control for Second-Order Multi-Agent Systems With Non-Strict Feedback Based on a Neural Network Observer

This paper studies the problem of time-varying formation control with finite-time prescribed performance for nonstrict feedback second-order multi-agent systems with unmeasured states and unknown nonlinearities.To eliminate nonlinearities,neural networks are applied to approximate the inherent dynamics of the system.In addition,due to the limitations of the actual working conditions,each follower agent can only obtain the locally measurable partial state information of the leader agent.To address this problem,a neural network state observer based on the leader state information is designed.Then,a finite-time prescribed performance adaptive output feedback control strategy is proposed by restricting the sliding mode surface to a prescribed region,which ensures that the closed-loop system has practical finite-time stability and that formation errors of the multi-agent systems converge to the prescribed performance bound in finite time.Finally,a numerical simulation is provided to demonstrate the practicality and effectiveness of the developed algorithm.

DNBP-CCA:A Novel Approach to Enhancing Heterogeneous Data Traffic and Reliable Data Transmission for Body Area Network

The increased adoption of Internet of Medical Things (IoMT) technologies has resulted in the widespread use ofBody Area Networks (BANs) in medical and non-medical domains. However, the performance of IEEE 802.15.4-based BANs is impacted by challenges related to heterogeneous data traffic requirements among nodes, includingcontention during finite backoff periods, association delays, and traffic channel access through clear channelassessment (CCA) algorithms. These challenges lead to increased packet collisions, queuing delays, retransmissions,and the neglect of critical traffic, thereby hindering performance indicators such as throughput, packet deliveryratio, packet drop rate, and packet delay. Therefore, we propose Dynamic Next Backoff Period and Clear ChannelAssessment (DNBP-CCA) schemes to address these issues. The DNBP-CCA schemes leverage a combination ofthe Dynamic Next Backoff Period (DNBP) scheme and the Dynamic Next Clear Channel Assessment (DNCCA)scheme. The DNBP scheme employs a fuzzy Takagi, Sugeno, and Kang (TSK) model’s inference system toquantitatively analyze backoff exponent, channel clearance, collision ratio, and data rate as input parameters. Onthe other hand, the DNCCA scheme dynamically adapts the CCA process based on requested data transmission tothe coordinator, considering input parameters such as buffer status ratio and acknowledgement ratio. As a result,simulations demonstrate that our proposed schemes are better than some existing representative approaches andenhance data transmission, reduce node collisions, improve average throughput, and packet delivery ratio, anddecrease average packet drop rate and packet delay.

Quantization and Event-Triggered Policy Design for Encrypted Networked Control

This paper proposes a novel event-driven encrypted control framework for linear networked control systems(NCSs),which relies on two modified uniform quantization policies,the Paillier cryptosystem,and an event-triggered strategy.Due to the fact that only integers can work in the Pailler cryptosystem,both the real-valued control gain and system state need to be first quantized before encryption.This is dramatically different from the existing quantized control methods,where only the quantization of a single value,e.g.,the control input or the system state,is considered.To handle this issue,static and dynamic quantization policies are presented,which achieve the desired integer conversions and guarantee asymptotic convergence of the quantized system state to the equilibrium.Then,the quantized system state is encrypted and sent to the controller when the triggering condition,specified by a state-based event-triggered strategy,is satisfied.By doing so,not only the security and confidentiality of data transmitted over the communication network are protected,but also the ciphertext expansion phenomenon can be relieved.Additionally,by tactfully designing the quantization sensitivities and triggering error,the proposed event-driven encrypted control framework ensures the asymptotic stability of the overall closedloop system.Finally,a simulation example of the secure motion control for an inverted pendulum cart system is presented to evaluate the effectiveness of the theoretical results.

Ultimately Bounded Output Feedback Control for Networked Nonlinear Systems With Unreliable Communication Channel: A Buffer-Aided Strategy

This paper concerns ultimately bounded output-feedback control problems for networked systems with unknown nonlinear dynamics. Sensor-to-observer signal transmission is facilitated over networks that has communication constraints.These transmissions are carried out over an unreliable communication channel. In order to enhance the utilization rate of measurement data, a buffer-aided strategy is novelly employed to store historical measurements when communication networks are inaccessible. Using the neural network technique, a novel observer-based controller is introduced to address effects of signal transmission behaviors and unknown nonlinear dynamics.Through the application of stochastic analysis and Lyapunov stability, a joint framework is constructed for analyzing resultant system performance under the introduced controller. Subsequently, existence conditions for the desired output-feedback controller are delineated. The required parameters for the observerbased controller are then determined by resolving some specific matrix inequalities. Finally, a simulation example is showcased to confirm method efficacy.

A Fractional-Order Ultra-Local Model-Based Adaptive Neural Network Sliding Mode Control of n-DOF Upper-Limb Exoskeleton With Input Deadzone

This paper proposes an adaptive neural network sliding mode control based on fractional-order ultra-local model for n-DOF upper-limb exoskeleton in presence of uncertainties,external disturbances and input deadzone.Considering the model complexity and input deadzone,a fractional-order ultra-local model is proposed to formulate the original dynamic system for simple controller design.Firstly,the control gain of ultra-local model is considered as a constant.The fractional-order sliding mode technique is designed to stabilize the closed-loop system,while fractional-order time-delay estimation is combined with neural network to estimate the lumped disturbance.Correspondingly,a fractional-order ultra-local model-based neural network sliding mode controller(FO-NNSMC) is proposed.Secondly,to avoid disadvantageous effect of improper gain selection on the control performance,the control gain of ultra-local model is considered as an unknown parameter.Then,the Nussbaum technique is introduced into the FO-NNSMC to deal with the stability problem with unknown gain.Correspondingly,a fractional-order ultra-local model-based adaptive neural network sliding mode controller(FO-ANNSMC) is proposed.Moreover,the stability analysis of the closed-loop system with the proposed method is presented by using the Lyapunov theory.Finally,with the co-simulations on virtual prototype of 7-DOF iReHave upper-limb exoskeleton and experiments on 2-DOF upper-limb exoskeleton,the obtained compared results illustrate the effectiveness and superiority of the proposed method.

Deep Learning Social Network Access Control Model Based on User Preferences

A deep learning access controlmodel based on user preferences is proposed to address the issue of personal privacy leakage in social networks.Firstly,socialusers andsocialdata entities are extractedfromthe social networkandused to construct homogeneous and heterogeneous graphs.Secondly,a graph neural networkmodel is designed based on user daily social behavior and daily social data to simulate the dissemination and changes of user social preferences and user personal preferences in the social network.Then,high-order neighbor nodes,hidden neighbor nodes,displayed neighbor nodes,and social data nodes are used to update user nodes to expand the depth and breadth of user preferences.Finally,a multi-layer attention network is used to classify user nodes in the homogeneous graph into two classes:allow access and deny access.The fine-grained access control problem in social networks is transformed into a node classification problem in a graph neural network.The model is validated using a dataset and compared with other methods without losing generality.The model improved accuracy by 2.18%compared to the baseline method GraphSAGE,and improved F1 score by 1.45%compared to the baseline method,verifying the effectiveness of the model.

Evolution and Governance of the Structure of Marine Economic Networks in China’s Coastal Areas: Based on Sea-related A-share Listed Companies

Data on discrete,isolated attributes of the marine economy are often used in traditional marine economic research.However,as the focus of urban research shifts from internal static attributes to external dynamic linkages,the importance of marine economic net-work research is beginning to emerge.The construction of the marine economic network in China’s coastal areas is necessary to change the flow of land and sea resources and optimize regional marine economic development.Employing data from headquarters and branches of sea-related A-share listed enterprises to construct the marine economic network in China,we use social network analysis(SNA)to discuss the characteristics of its evolution as of 2010,2015,and 2020 and its governance.The following results were obtained.1)In terms of topological characteristics,the scale of the marine economic network in China’s coastal areas has accelerated and expan-ded,and the connections have become increasingly close;thus,this development has complex network characteristics.2)In terms of spatial structure,the intensity of the connection fluctuates and does not form stable development support;the group structure gradually becomes clear,but the overall pattern is fragmented;there are spatial differences in marine economic agglomeration radiation;the radi-ation effect of the eastern marine economic circle is obvious;and the polarization effect of northern and southern marine economic circles is significant.On this basis,we construct a framework for the governance of a marine economic network with the market,the government,and industry as the three governing bodies.By clarifying the driving factors and building objectives of marine economic network construction,this study aims to foster the high-quality development of China’s marine economy.

Self-Triggered Set Stabilization of Boolean Control Networks and Its Applications

Set stabilization is one of the essential problems in engineering systems, and self-triggered control(STC) can save the storage space for interactive information, and can be successfully applied in networked control systems with limited communication resources. In this study, the set stabilization problem and STC design of Boolean control networks are investigated via the semi-tensor product technique. On the one hand, the largest control invariant subset is calculated in terms of the strongly connected components of the state transition graph, by which a graph-theoretical condition for set stabilization is derived. On the other hand, a characteristic function is exploited to determine the triggering mechanism and feasible controls. Based on this, the minimum-time and minimum-triggering open-loop, state-feedback and output-feedback STCs for set stabilization are designed,respectively. As classic applications of self-triggered set stabilization, self-triggered synchronization, self-triggered output tracking and self-triggered output regulation are discussed as well. Additionally, several practical examples are given to illustrate the effectiveness of theoretical results.

Target Controllability of Multi-Layer Networks With High-Dimensional Nodes

This paper studies the target controllability of multilayer complex networked systems,in which the nodes are highdimensional linear time invariant(LTI)dynamical systems,and the network topology is directed and weighted.The influence of inter-layer couplings on the target controllability of multi-layer networks is discussed.It is found that even if there exists a layer which is not target controllable,the entire multi-layer network can still be target controllable due to the inter-layer couplings.For the multi-layer networks with general structure,a necessary and sufficient condition for target controllability is given by establishing the relationship between uncontrollable subspace and output matrix.By the derived condition,it can be found that the system may be target controllable even if it is not state controllable.On this basis,two corollaries are derived,which clarify the relationship between target controllability,state controllability and output controllability.For the multi-layer networks where the inter-layer couplings are directed chains and directed stars,sufficient conditions for target controllability of networked systems are given,respectively.These conditions are easier to verify than the classic criterion.

A Stroke-Limitation AMD Control System with Variable Gain and Limited Area for High-Rise Buildings

Collisions between a moving mass and an anti-collision device increase structural responses and threaten structural safety.An active mass damper(AMD)with stroke limitations is often used to avoid collisions.However,a strokelimited AMD control system with a fixed limited area shortens the available AMD stroke and leads to significant control power.To solve this problem,the design approach with variable gain and limited area(VGLA)is proposed in this study.First,the boundary of variable-limited areas is calculated based on the real-time status of the moving mass.The variable gain(VG)expression at the variable limited area is deduced by considering the saturation of AMD stroke.Then,numerical simulations of a stroke-limited AMD control system with VGLA are conducted on a high-rise building structure.These numerical simulations show that the proposed approach has superior strokelimitation performance compared with a stroke-limited AMD control system with a fixed limited area.Finally,the proposed approach is validated through experiments on a four-story steel frame.

Method for the posture control of bionic mechanical wheel-legged vehicles in hilly and mountainous areas

In response to the weaknesses of traditional agricultural equipment chassis with poor environmental adaptability and inferior mobility, a novel unmanned agricultural machinery chassis has been developed that can operate stably and efficiently under various complex terrain conditions. Initially, a new wheel-legged structure was designed by drawing inspiration from the motion principles of grasshopper hind legs and combining them with pneumatic-hydraulic linkage mechanisms. Kinematic analysis was conducted on this wheel-legged configuration by utilizing the D-H parameter method, which revealed that its end effector has a travel range of 0-450 mm in the X-direction, 0-840 mm in the Y-direction, and 0-770 mm in the Z-direction, thereby providing the structural foundation for features such as independent four-wheel steering, adjustable wheel track, automatic vehicle body elevation adjustment, and maintaining a level body posture on different slopes. Subsequently, theoretical analysis and structural parameter calculations were completed to design each subsystem of the unmanned chassis. Further, kinematic analysis of the wheel-legged unmanned chassis was carried out using RecurDyn, which substantiated the feasibility of achieving functions like slope leveling and autonomous obstacle negotiation. An omnidirectional leveling control system was also established, taking into account factors such as pitch angle, roll angle, virtual leg deployment, and center of gravity height. Joint simulations using Adams and Matlab were performed on the wheel-legged unmanned chassis, comparing its leveling performance with that of a PID control system. The results indicated that the maximum absolute value of leveling error was 1.08° for the pitch angle and 1.19° for the roll angle, while the standard deviations were 0.216 47° for the pitch angle and 0.176 22° for the roll angle, demonstrating that the wheel-legged unmanned chassis surpassed the PID control system in leveling performance, thus validating the correctness and feasibility of its full-directional body posture leveling control in complex environments. Finally, the wheel-legged unmanned chassis was fabricated, assembled, and subjected to in-place leveling and ground clearance adjustment tests. The experimental outcomes showed that the vehicle was capable of achieving in-place leveling with response speed and leveling accuracy meeting practical operational requirements under the action of the posture control system. Moreover, the adjustable ground clearance proved sufficient to meet the demands of actual obstacle crossing scenarios.

The Effect of Key Nodes on theMalware Dynamics in the Industrial Control Network

As industrialization and informatization becomemore deeply intertwined,industrial control networks have entered an era of intelligence.The connection between industrial control networks and the external internet is becoming increasingly close,which leads to frequent security accidents.This paper proposes a model for the industrial control network.It includes a malware containment strategy that integrates intrusion detection,quarantine,and monitoring.Basedonthismodel,the role of keynodes in the spreadofmalware is studied,a comparisonexperiment is conducted to validate the impact of the containment strategy.In addition,the dynamic behavior of the model is analyzed,the basic reproduction number is computed,and the disease-free and endemic equilibrium of the model is also obtained by the basic reproduction number.Moreover,through simulation experiments,the effectiveness of the containment strategy is validated,the influence of the relevant parameters is analyzed,and the containment strategy is optimized.In otherwords,selective immunity to key nodes can effectively suppress the spread ofmalware andmaintain the stability of industrial control systems.The earlier the immunization of key nodes,the better.Once the time exceeds the threshold,immunizing key nodes is almost ineffective.The analysis provides a better way to contain the malware in the industrial control network.

An intelligent control method based on artificial neural network for numerical flight simulation of the basic finner projectile with pitching maneuver

In this paper,an intelligent control method applying on numerical virtual flight is proposed.The proposed algorithm is verified and evaluated by combining with the case of the basic finner projectile model and shows a good application prospect.Firstly,a numerical virtual flight simulation model based on overlapping dynamic mesh technology is constructed.In order to verify the accuracy of the dynamic grid technology and the calculation of unsteady flow,a numerical simulation of the basic finner projectile without control is carried out.The simulation results are in good agreement with the experiment data which shows that the algorithm used in this paper can also be used in the design and evaluation of the intelligent controller in the numerical virtual flight simulation.Secondly,combined with the real-time control requirements of aerodynamic,attitude and displacement parameters of the projectile during the flight process,the numerical simulations of the basic finner projectile’s pitch channel are carried out under the traditional PID(Proportional-Integral-Derivative)control strategy and the intelligent PID control strategy respectively.The intelligent PID controller based on BP(Back Propagation)neural network can realize online learning and self-optimization of control parameters according to the acquired real-time flight parameters.Compared with the traditional PID controller,the concerned control variable overshoot,rise time,transition time and steady state error and other performance indicators have been greatly improved,and the higher the learning efficiency or the inertia coefficient,the faster the system,the larger the overshoot,and the smaller the stability error.The intelligent control method applying on numerical virtual flight is capable of solving the complicated unsteady motion and flow with the intelligent PID control strategy and has a strong promotion to engineering application.

Autonomous Vehicle Platoons In Urban Road Networks:A Joint Distributed Reinforcement Learning and Model Predictive Control Approach

In this paper, platoons of autonomous vehicles operating in urban road networks are considered. From a methodological point of view, the problem of interest consists of formally characterizing vehicle state trajectory tubes by means of routing decisions complying with traffic congestion criteria. To this end, a novel distributed control architecture is conceived by taking advantage of two methodologies: deep reinforcement learning and model predictive control. On one hand, the routing decisions are obtained by using a distributed reinforcement learning algorithm that exploits available traffic data at each road junction. On the other hand, a bank of model predictive controllers is in charge of computing the more adequate control action for each involved vehicle. Such tasks are here combined into a single framework:the deep reinforcement learning output(action) is translated into a set-point to be tracked by the model predictive controller;conversely, the current vehicle position, resulting from the application of the control move, is exploited by the deep reinforcement learning unit for improving its reliability. The main novelty of the proposed solution lies in its hybrid nature: on one hand it fully exploits deep reinforcement learning capabilities for decisionmaking purposes;on the other hand, time-varying hard constraints are always satisfied during the dynamical platoon evolution imposed by the computed routing decisions. To efficiently evaluate the performance of the proposed control architecture, a co-design procedure, involving the SUMO and MATLAB platforms, is implemented so that complex operating environments can be used, and the information coming from road maps(links,junctions, obstacles, semaphores, etc.) and vehicle state trajectories can be shared and exchanged. Finally by considering as operating scenario a real entire city block and a platoon of eleven vehicles described by double-integrator models, several simulations have been performed with the aim to put in light the main f eatures of the proposed approach. Moreover, it is important to underline that in different operating scenarios the proposed reinforcement learning scheme is capable of significantly reducing traffic congestion phenomena when compared with well-reputed competitors.

New Rural Community Construction or Retention Development:A Comparative Analysis of Rural Settlement Transition Mechanism in Plain Agriculture Area of China Based on Actor Network Theory

It is an important way to realize rural revitalization and sustainable development to guide rural settlement transition(RST)in an appropriate way.This paper uses actor network theory(ANT)to construct a theoretical framework for the study of RST.Taking two typical villages with different transition paths in rural areas of North China Plain as examples,this paper reveals the mechanism of RST and makes a comparative analysis.The results show that:1)after identifying problems and obligatory passage point,key actors recruit heterogeneous actors into the actor network by entrusting them with common interests,and realize RST under the system operation.2)Rural settlements under different transition paths have similarities in the problems to be solved,collective actions and policy factors,but there are differences in the transition process,mechanism and effect.The actor network and mechanism of RST through the path of new rural community construction are more complex and the transition effect is more thorough.In contrast,the degree of RST of retention development path is limited if there is no resource and location advantage.3)Based on the applicable conditions of different paths,this paper designs a logical framework of‘Situation-Structure-Behavior-Result’to scientifically guide the identification of RST paths under the background of rural revitalization.

Priority Based Energy Efficient MAC Protocol by Varying Data Ratefor Wireless Body Area Network

Wireless Body Area Network(WBAN)is a cutting-edge technology that is being used in healthcare applications to monitor critical events in the human body.WBAN is a collection of in-body and on-body sensors that monitor human physical parameters such as temperature,blood pressure,pulse rate,oxygen level,body motion,and so on.They sense the data and communicate it to the Body Area Network(BAN)Coordinator.The main challenge for the WBAN is energy consumption.These issues can be addressed by implementing an effective Medium Access Control(MAC)protocol that reduces energy consumption and increases network lifetime.The purpose of the study is to minimize the energy consumption and minimize the delay using IEEE 802.15.4 standard.In our proposed work,if any critical events have occurred the proposed work is to classify and prioritize the data.We gave priority to the highly critical data to get the Guarantee Tine Slots(GTS)in IEEE 802.15.4 standard superframe to achieve greater energy efficiency.The proposed MAC provides higher data rates for critical data based on the history and current condition and also provides the best reliable service to high critical data and critical data by predicting node similarity.As an outcome,we proposed a MAC protocol for Variable Data Rates(MVDR).When compared to existing MAC protocols,the MVDR performed very well with low energy intake,less interruption,and an enhanced packet-sharing ratio.

Cluster DetectionMethod of Endogenous Security Abnormal Attack Behavior in Air Traffic Control Network

In order to enhance the accuracy of Air Traffic Control(ATC)cybersecurity attack detection,in this paper,a new clustering detection method is designed for air traffic control network security attacks.The feature set for ATC cybersecurity attacks is constructed by setting the feature states,adding recursive features,and determining the feature criticality.The expected information gain and entropy of the feature data are computed to determine the information gain of the feature data and reduce the interference of similar feature data.An autoencoder is introduced into the AI(artificial intelligence)algorithm to encode and decode the characteristics of ATC network security attack behavior to reduce the dimensionality of the ATC network security attack behavior data.Based on the above processing,an unsupervised learning algorithm for clustering detection of ATC network security attacks is designed.First,determine the distance between the clustering clusters of ATC network security attack behavior characteristics,calculate the clustering threshold,and construct the initial clustering center.Then,the new average value of all feature objects in each cluster is recalculated as the new cluster center.Second,it traverses all objects in a cluster of ATC network security attack behavior feature data.Finally,the cluster detection of ATC network security attack behavior is completed by the computation of objective functions.The experiment took three groups of experimental attack behavior data sets as the test object,and took the detection rate,false detection rate and recall rate as the test indicators,and selected three similar methods for comparative test.The experimental results show that the detection rate of this method is about 98%,the false positive rate is below 1%,and the recall rate is above 97%.Research shows that this method can improve the detection performance of security attacks in air traffic control network.

Coordinated Voltage Control of Distribution Network ConsideringMultiple Types of Electric Vehicles

The couple between the power network and the transportation network(TN)is deepening gradually with the increasing penetration rate of electric vehicles(EV),which also poses a great challenge to the traditional voltage control scheme.In this paper,we propose a coordinated voltage control strategy for the active distribution networks considering multiple types of EV.In the first stage,the action of on-load tap changer and capacitor banks,etc.,are determined by optimal power flow calculation,and the node electricity price is also determined based on dynamic time-of-use tariff mechanism.In the second stage,multiple operating scenarios of multiple types of EVs such as cabs,private cars and buses are considered,and the scheduling results of each EV are solved by building an optimization model based on constraints such as queuing theory,Floyd-Warshall algorithm and traffic flow information.In the third stage,the output power of photovoltaic and energy storage systems is fine-tuned in the normal control mode.The charging power of EVs is also regulated in the emergency control mode to reduce the voltage deviation,and the amount of regulation is calculated based on the fair voltage control mode of EVs.Finally,we test the modified IEEE 33-bus distribution system coupled with the 24-bus Beijing TN.The simulation results show that the proposed scheme can mitigate voltage violations well.

Time-varying parameters estimation with adaptive neural network EKF for missile-dual control system

In this paper, a filtering method is presented to estimate time-varying parameters of a missile dual control system with tail fins and reaction jets as control variables. In this method, the long-short-term memory(LSTM) neural network is nested into the extended Kalman filter(EKF) to modify the Kalman gain such that the filtering performance is improved in the presence of large model uncertainties. To avoid the unstable network output caused by the abrupt changes of system states,an adaptive correction factor is introduced to correct the network output online. In the process of training the network, a multi-gradient descent learning mode is proposed to better fit the internal state of the system, and a rolling training is used to implement an online prediction logic. Based on the Lyapunov second method, we discuss the stability of the system, the result shows that when the training error of neural network is sufficiently small, the system is asymptotically stable. With its application to the estimation of time-varying parameters of a missile dual control system, the LSTM-EKF shows better filtering performance than the EKF and adaptive EKF(AEKF) when there exist large uncertainties in the system model.

A fuzzy control and neural network based rotor speed controller for maximum power point tracking in permanent magnet synchronous wind power generation system

When the wind speed changes significantly in a permanent magnet synchronous wind power generation system,the maximum power point cannot be easily determined in a timely manner.This study proposes a maximum power reference signal search method based on fuzzy control,which is an improvement to the climbing search method.A neural network-based parameter regulator is proposed to address external wind speed fluctuations,where the parameters of a proportional-integral controller is adjusted to accurately monitor the maximum power point under different wind speed conditions.Finally,the effectiveness of this method is verified via Simulink simulation.