Fault Tolerant Control for Networked Control Systems with Packet Loss and Time Delay

In this paper,a fault tolerant control with the consideration of actuator fault for a networked control system （NCS） with packet loss is addressed.The NCS with data packet loss can be described as a switched system model.Packet loss dependent Lyapunov function is used and a fault tolerant controller is proposed respectively for arbitrary packet loss process and Markovian packet loss process.Considering a controlled plant with external energy-bounded disturbance,a robust H ∞ fault tolerant controller is designed for the NCS.These results are also expanded to the NCS with packet loss and networked-induced delay.Numerical examples are given to illustrate the effectiveness of the proposed design method.

Packet-loss-dependent stabilization of NCSs with network-induced delay and packet dropout

This paper is concerned with controller design of net- worked control systems （NCSs） with both network-induced delay and arbitrary packet dropout. By using a packet-loss-dependent Lyapunov function, sufficient conditions for state/output feedback stabilization and corresponding control laws are derived via a switched system approach. Different from the existing results, the proposed stabilizing controllers design is dependent on the packet loss occurring in the last two transmission intervals due to the network-induced delay. The cone complementary lineara- tion （CCL） methodology is used to solve the non-convex feasibility problem by formulating it into an optimization problem subject to linear matrix inequality （LMI） constraints. Numerical examples and simulations are worked out to demonstrate the effectiveness and validity of the proposed techniques.

Kalman Filtering with Partial Markovian Packet Losses

We consider the Kalman filtering problem in a networked environment where there are partial or entire packet losses described by a two state Markovian process. Based on random packet arrivals of the sensor measurements and the Kalman filter updates with partial packet, the statistical properties of estimator error covariance matrix iteration and stability of the estimator are studied. It is shown that to guarantee the stability of the Kalman filter, the communication network is required to provide for each of the sensor measurements an associated throughput, which captures all the rates of the successive sensor measurements losses. We first investigate a general discrete-time linear system with the observation partitioned into two parts and give sufficient conditions of the stable estimator. Furthermore, we extend the results to a more general case where the observation is partitioned into n parts. The results are illustrated with some simple numerical examples.

基于事件触发的Delta算子网络控制系统故障检测

针对网络控制系统在高速采样情况下,网络中由于通信网络带宽受限发生时延和丢包所引起的故障问题,文中采用了基于事件触发机制和Delta算子相结合的故障检测方法。在对故障检测滤波器和控制器进行协同设计的同时,在Delta算子滤波器模型中加入构造向量,避免了参数设计时双线性项的产生。构造δ域的Lyapunov-Krasovskii泛函,对残差系统的稳定性和H∞性能进行分析。数值仿真实例验证了文中所提事件触发机制的有效性,并通过残差评价函数证明了其对故障的灵敏度较高。

基于局部洪泛优化的低轨星座分布式路由算法

针对传统分布式路由算法应用于大型低轨星座时拥塞控制能力有限的问题,提出了基于局部洪泛优化的分布式路由算法。该算法通过局部洪泛的机制收集星间链路的拥塞信息,以应对局部通信需求密集所导致的常见拥塞现象;通过局部路径优化,以较低运行开销实现了流量疏导和网络负载均衡。并且该算法可适用于多层低轨卫星网络结构,不会产生路由环路,对卫星随机故障具有宽适应性。仿真实验表明:该算法在通信需求分布不均的高网络负载情况下能降低2%~10%的丢包率,并对网络随机故障具有鲁棒的表现。

网络控制系统中利用主动丢包的重放攻击检测方法

为实现网络控制系统(Networked Control Systems,NCS)中重放攻击的检测,在现有研究利用物理水印检测重放攻击的启发下,设计了利用主动丢包对重放攻击进行实时检测的方法 .首先,在理论层面上,利用系统输出的残差构建检测函数,并通过受攻击前后检测函数的变化,证明该检测方法的有效性.然后,以一辆四轮汽车为被控对象,比较车辆受攻击前后速度与检测函数的变化.最后,综合考虑车辆对重放攻击的检测结果与速度跟踪结果,确定车辆的最优主动丢包率的范围区间.结果表明:加入主动丢包前,车辆受到重放攻击时,速度会发生剧烈变化而检测函数几乎没有变化;加入主动丢包后,车辆受到重放攻击时,速度剧烈变化的同时检测函数也产生了剧烈的变化;主动丢包率为12%~16%时,系统既能够准确地检测出重放攻击,又能够保证车辆平稳行驶,为后续的重放攻击检测研究提供了参考.

基于加权质心算法的无线传感网络丢包节点定位技术

针对无线传感网络中丢包节点的定位问题,提出一种基于加权质心算法的定位技术.分析无线传感网络节点分布和拓扑结构后,采用RSSI的测距模型改进加权质心算法,经测距模型将RSSI值转换成丢包节点与周围节点的距离,采用加权质心定位算法求解WSN丢包节点定位误差,以3个锚节点作为圆心,锚节点距离作为半径构建圆,计算3个圆交点的坐标后,求出由3个交点构建三角形的质心位置平均值,该值为WSN丢包节点定位坐标,实现无线传感网络丢包节点定位.实验结果表明:该方法应用效果较好,其平均转发率为98.18%,平均检测率为98.36%,能有效定位出WSN丢包节点,提高了WSN网络的稳定性,使得WSN数据传输更加可靠,保障了WSN数据传输质量.

物联网环境下光纤通信网络总线链路丢包率推断

光纤通信网络总线链路在应用过程中容易受到带宽限制,导致光纤通信网络链路丢包率检测精度差、推断效率低,不能满足用户数据传输需求。为此,提出物联网环境下光纤通信网络总线链路丢包率推断方法。根据光纤通信网络路由矩阵,获取物联网环境下光纤网络的通信状态,依据时序分析策略检测网络总线链路数据传输中的薄弱环节,分析不同时段间变量的关联性,建立线性回归模型,计算下个时段预测值,获取总线链路传输状态。计算每条线路的时空关联性,结合背景流量,采用最小二乘法推断链路丢包率。实验结果表明,所提方法的故障识别率高于95%,误差因子与相对误差在0.2和0.02以下,推断耗时低于2 ms,为光纤通信网络的数据传输提供参考。

基于综合交互信任的工业安全路由性能仿真优化

工业网络安全直接影响到工业的效益。使用经过改进处理信任评估模型,与两跳实时可靠路由协议THTP相结合,设计出一种建立在工业无线传感器网络节点上的安全路由协议NCS。通过更新直接信任值交互次数的方式来抵御由恶意节点发起的暴力攻击,利用推荐节点提供的推荐信任可靠度可以去除不可靠推荐节点,促进网络安全性的显著提升。研究结果表明:通过实时更新NCS的节点交互次数可以快速减小网络受到恶意节点影响时信任值,使丢包率明显降低。

智能变电站PMU频率跳变问题的诊断及处理

某省区WAMS(广域测量系统)中某智能变电站数字化PMU(相量测量单元)偶尔出现频率跳变现象。首先,调取频率跳变时刻的动态数据记录和录波文件,结合现场运行方式进行分析,得出两次频率跳变事件的原因。然后,通过调整智能终端模拟量阈值、改进SV(采样值)组网模式、划分交换机VLAN(虚拟局域网)、调整装置带宽阈值,解决了SV丢点造成的频率波动;同时对SV补点提升PMU装置SV异常容错能力,丢帧数小于3不会造成频率波动超限。接着,查找现场扰动源,分析扰动造成PMU频率波动的原因,提出基于触发录波文件的扰动快速识别方法。最后,通过实验验证了所提方法的有效性。

基于网络控制系统对医院网络安全的分析及优化

近年来,随着医院信息化的迅猛发展,尽管为医院工作带来了便利,但同时带来了网络安全隐.患。网络控制系统(Network Control Systems,NCS)具有成本低、便于创建和维护.灵活性强、便于系统故障诊断等优势,成为一种备受关注的网絡安全隐患消除方案。在利用网絡控制系统維持网絡稳定的过程中,面临时滞、数据丢包、数据包时序错乱等问题,这些实际应用中不可避免的情况使得网絡控制系统的分析和设计变得异常复杂。文章主要研究了网络控制系统的模型建立、稳定性分析以及控制器设计等问题,同时通过进行仿真实验,验证了所得到的理论结果的可行性和有效性。

计及信息不确定性的多端交直流混合配电网分布式二级协同控制

分布式一致性控制(distributed consensus control,DCC)因其灵活协同能力成为交直流混合配电网二次控制的新途径.然而,传统DCC并未考虑实际通信环境中存在的随机时变时延和数据丢包问题,这致使其在非理想通信环境下难以稳定跟踪一致性期望目标.为此,本文提出一种计及信息不确定性的分布式二级协同控制策略.利用变量累加补偿机制,对时变时延和数据丢包进行统一等效.进而基于附加一致性算法(surplus consensus algorithm,SCA)构建具有零稳态误差特性的估计器,并对其收敛性进行推导证明.在此基础上,设计稳态收敛性能不受通信约束干扰的SCA-DCC控制器,实现非理想通信环境下的精准平均电压偏差调节和有功功率成比例分配.随后,以时延容忍度为指标优化SCA-DCC控制器参数,满足系统在不同通信条件下的稳定需求,进一步增强控制器的通信鲁棒性.仿真结果表明,在不同功率扰动和故障工况下,与现有控制策略相比,所提控制策略能够克服时变时延和数据丢包产生的负面影响,在维持较优动态响应性能的同时使稳态电压偏差降低73.08%~85.25%,具有控制精度高和抗扰动能力强的特点.

Survey on the stability of networked control systems

The insertion of the communication network in the feedback control loop makes the analysis and design of a network control system more complex, and induces some issues that degrade the control system＇s performance and even cause system instability. The main aspects are focused on the stability analysis of Network Control Systems （NCSs） with network-induced delays, data packet dropouts, and multiple-packet transmission. These issues must be considered in the design of an NCS. This work summarizes the main research results, and remarks on some related handling approaches and techniques. The main purpose of the survey is to present the new research state of NCSs and to point out some fields of future work.

Grid-based energy-aware routing in wireless sensor networks

The model of energy cost in a wireless sensor network （WSN）environment is built, and the energy awareness and the wireless interference mainly due to different path loss models are studied. A special case of a clustering scheme, a twodimensional grid clustering mechanism, is adopted. Clusterheads are rotated evenly among all sensor nodes in an efficient and decentralized manner, based on the residual energy in the battery and the random backoff time. In addition to transmitting and receiving packets within the sensors＇ electrical and amplification circuits, extra energy is needed in the retransmission of packets due to packet collisions caused by severe interference. By analysis and mathematical derivation, which are based on planar geometry, it is shown that the total energy consumed in the network is directly related to the gridstructure in the proposed grid based clustering mechanism. The transmission range is determined by cluster size, and the path loss exponent is determined by nodal separation. The summation of overall interference is caused by all the sensors that are transmitting concurrently. By analysis and simulation, an optimal grid structure with the corresponding grid size is presented, which balances between maximizing energy conservation and minimizing overall interference in wireless sensor networks.

Newapproach to stochastic stability and controller design for networked control systems

This paper addresses the random time-delays and packet losses issues of networked control systems （NCS） within the framework of jump linear systems with mode-dependent time-delays. A new delay-dependent condition on the stochastic stability is proposed by a new stochastic Lyapunov-Krasovskii functional. The condition is formulated as a set of coupled linear matrix inequalities （LMIs）. As an example to verify the proposed method, an inverted-pendulum system with network is considered. The simulation results demonstrate the effectiveness of the method.

Energy Aware Routing Protocol for Cognitive Radio Networks

In this article, a routing protocol EARP (Energy Aware Routing Protocol) with the terminal node is proposed, to deal with the impact of the limited energy resources of Cognitive Radio Networks on the whole network routing. The protocol allows choosing the route from the neighbor nodes in different transmission paths, according to energy consumption of a single node and the full path. If the path breaks, the protocol will increase local routing maintenance strategy. It effectively reduces the retransmission caused by the situation, and improves the routing efficiency. It also can prevent the link transmission process selecting the fault route due to the energy depletion. Through simulation experiments compared with the LEACH (Low Energy Adaptive Clustering Hierarchy) routing protocol, the results showed that in the same experimental environment, the proposed EARP could obviously balance the load, protect low energy nodes, prolong the network survival time and reduce packet loss rate and packet delay of data delivery. So it can improve the energy consumption of sensing node and provide routing capabilities.

Assessment of Quality of Experience (QoE) of Web and Video Services over a Mobile Network Using a Network Emulator

This paper investigates the subjective assessment of QoE of web and video services over a mobile network. To achieve this, the authors used the network emulator (NetEm) traffic control functionality to simulate the dynamic behaviour of a mobile network. Experiments were conducted in a laboratory setting and test conditions were varied to ascertain the QoE, with a focus on QoE metrics such as delay and packet loss ratio. From the experiments conducted, it was observed that there was a negative correlation between delay and average mean opinion score (MOS), and between packet loss ratio and average MOS. The results obtained can be adopted by network operators to provide better services which would lead to improved subscriber base and profitability for the operators and better QoE for the end users.

Reliability and Feedback of Multiple Hop Wireless Networks

This paper analyzes fault-tolerance over the entire design life of a class of multiple-hop wireless networks, where cooperative transmission schemes are used. The networks are subject to both node failure and random channel fading. A node lifetime distribution is modeled with an increasing failure rate, where the node power consumption level enters the parameters of the distribution. A method for assessing both link and network reliabilities projected at the network＇s design life is developed. Link reliability is enhanced through use of redundant nodes. The number of redundant nodes is restricted by the cooperative transmission scheme used. The link reliability is then used to establish a re-transmission control policy that minimizes an expected cost involving power, bandwidth expenditures, and packet loss. The benefit and cost of feedback in network operations are examined. The results of a simulation study under specific node processing times are presented. The study quantifies the effect of loop closure frequency, acknowledgment deadline, and nodes＇ storage capacity on the performance of the network in terms of network lifetime, packet loss rate, and false alarm rate. The study concludes that in a network where energy is severely constrained, feedback must be applied judiciously.

Joint Optimization Strategy for Video Transmission over Distributed Cognitive Radio Networks

A novel joint optimization strategy for the secondary user( SU) was proposed to consider the short-term and long-term video transmissions over distributed cognitive radio networks( DCRNs).Since the long-term video transmission consisted of a series of shortterm transmissions, the optimization problem in the video transmission was a composite optimization process. Firstly,considering some factors like primary user's( PU's) collision limitations,non-synchronization between SU and PU,and SU's limited buffer size, the short-term optimization problem was formulated as a mixed integer non-linear program( MINLP) to minimize the block probability of video packets. Secondly,combining the minimum packet block probability obtained in shortterm optimization and SU's constraint on hardware complexity,the partially observable Markov decision process( POMDP) framework was proposed to learn PU's statistic information over DCRNs.Moreover,based on the proposed framework,joint optimization strategy was designed to obtain the minimum packet loss rate in long-term video transmission. Numerical simulation results were provided to demonstrate validity of our strategies.