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910 publications from this institution

Null-Space-Based Time-Varying Formation Control of Uncertain Nonlinear Second-Order Multiagent Systems With Collision Avoidance

In this paper, the time-varying formation control problem with collision avoidance is addressed for uncertain nonlinear second-order multi-agent systems in a null-space-based behavioral control architecture. To guarantee the tracking and coordination performance simultaneously, a novel and flexible time-varying formation task strategy is designed where only neighborhood information is necessary. Moreover, the agent radius and a sine function are introduced such that the collision avoidance task function describes collision risk more accurately in contrast to existing results. Then, two fixed-time sliding mode controllers with constant and variable exponent coefficients, respectively, are proposed to track the desired trajectory generated by null space projection. Also, the theoretical results for the task design and trajectory tracking are obtained by using the Lyapunov stability theory. Numerical simulation and practical experiments are finally conducted to illustrate the effectiveness and superiority of the proposed method.

Changbing Zheng, Zhong‐Hua Pang, Jing-Xu Wang et al. 2022Article

Fixed-Time Stability and Stabilization

This chapter introduces some basic results of finite-time and fixed-time stability and stabilization. To illustrate these results, three interesting examples are first presented to give an insight into the key feature on a standard structure of finite-time and...

Zongyu Zuo, Qinglong Qinglong Han, Boda Ning 2019Chapter in a book

Received Signal Strength Indicator-Based Indoor Localization Using Distributed Set-Membership Filtering

Most of the existing localization schemes necessitate a priori statistical characteristic of measurement noise, which may be unrealistic in practical applications. This article addresses the problem of indoor localization by implementing distributed set-membership filtering based on a received signal strength indicator (RSSI) under unknown-but-bounded process and measurement noises. First, the transmit power and the path-loss exponent are estimated by a novel least-squares curve fitting (LSCF) method in RSSI-based localization. Since the localization process of trilateration is susceptible to inaccuracy caused by the noise-affected distance measurements, a convex optimization method is then developed to obtain the state ellipsoid estimation under the unknown-but-bounded noises. Third, a recursive algorithm is established to compute the global ellipsoid that guarantees to locate the true target at every time step. Finally, experimental validation is presented to demonstrate the accuracy and effectiveness of the proposed set-membership filtering method for indoor localization.

Bo Yang, Quanwei Qiu, Qinglong Qinglong Han et al. 2020Article

Intelligent Computing, Networked Control, and Their Engineering Applications

The three-volume set CCIS 761, CCIS 762, and CCIS 763 constitutes the thoroughly refereed proceedings of the International Conference on Life System

Dong Yue, Peng Chen, Dajun Du et al. 2017Book

Fixed-Time Resilient Edge-Triggered Estimation and Control of Surface Vehicles for Cooperative Target Tracking Under Attacks

This paper is concerned with the cooperative target tracking of under-actuated unmanned surface vehicles (USVs) with event-triggered communications subject to denial-of-service (DoS) attacks. The target position information can be sensed by a fraction of follower USVs only. A fixed-time resilient cooperative edge-triggered estimation and control architecture is presented for achieving cooperative target tracking under DoS attacks. Specifically, a distributed edge-triggered fixed-time extended state observer (ESO) is designed to recover the position and velocity of the target with a prescribed time regardless of the unreliable communication network subject to DoS attacks. Moreover, the communication burden of the network is reduced by the proposed edge-triggered mechanism. In the control law design, a fixed-time ESO is designed for estimating the model uncertainties and external disturbances in an earth-fixed reference frame. Then, a fixed-time target tracking control law is proposed for each follower USV based on the fixed-time ESO. It is proven that the error signals in the closed-loop control system of USVs are convergent to the origin in a fixed time. An example is provided to substantiate the effectiveness of the proposed fixed-time resilient cooperative edge-triggered estimation and control architecture for USVs.

Shengnan Gao, Zhouhua Peng, Lu Liu et al. 2022Article

T-S Fuzzy Dynamic Positioning Controller Design for UMVs

This chapter deals with T-STakagi-Sugeno (T-S) fuzzy dynamic positioning controller design for a UMVUnmanned Marine Vehicles (UMVs) in network environments. Network-based T-S fuzzy DPS models for the UMVUnmanned Marine Vehicles (UMVs) are first established. Then, by taking into consideration an asynchronous difference between the normalized membership function of the T-S fuzzy DPSDynamic Positioning Systems (DPSs) and that of the controller, stabilityStability and stabilizationStabilization criteria are derived.

Yu‐Long Wang, Qinglong Qinglong Han, Chen Peng et al. 2023Chapter in a book

Distributed Maximum Correntropy Filtering for Stochastic Nonlinear Systems Under Deception Attacks

This article focuses on the distributed maximum correntropy filtering issue for general stochastic nonlinear systems subject to deception attacks. The considered nonlinear functions consist of a determined one and a stochastic one, and the stochastic signals sent by deception attacks with identified statistic characteristics could be non-Gaussian. The corresponding calculation formulas of both the filter gains and the upper bound of the filter error covariance are proposed by means of the Taylor series expansion and the fixed-point iterative update rule, where the weighted maximum correntropy criterion is utilized to take the place of traditional minimum covariance indexes. Such an upper bound is only dependent on the local information, neighbor information, and the identified statistics of deception attacks and, therefore, the developed filtering scheme realizes the requirement of distributed calculation. Furthermore, a simplified version is obtained by removing weights in the correntropy criterion. Finally, an illustrative example is given to verify the effectiveness of developed distributed maximum correntropy filtering subject to deception attacks.

Haifang Song, Derui Ding, Hongli Dong et al. 2020Article

MUTS-Based Cooperative Target Stalking for A Multi-USV System

This paper is concerned with the cooperative target stalking for a multi-unmanned surface vehicle (multi-USV) system. Based on the multi-agent deep deterministic policy gradient (MADDPG) algorithm, a multi-USV target stalking (MUTS) algorithm is proposed. Firstly, a V-type probabilistic data extraction method is proposed for the first time to overcome shortcomings of the MADDPG algorithm. The advantages of the proposed method are twofold: 1) it can reduce the amount of data and shorten training time; 2) it can filter out more important data in the experience buffer for training. Secondly, in order to avoid the collisions of USVs during the stalking process, an action constraint method called Safe DDPG is introduced. Finally, the MUTS algorithm and some existing algorithms are compared in cooperative target stalking scenarios. In order to demonstrate the effectiveness of the proposed MUTS algorithm in stalking tasks, mission operating scenarios and reward functions are well designed in this paper. The proposed MUTS algorithm can help the multi-USV system avoid internal collisions during the mission execution. Moreover, compared with some existing algorithms, the newly proposed one can provide a higher convergence speed and a narrower convergence domain.

Chengcheng Wang, Yu‐Long Wang, Qinglong Qinglong Han et al. 2022Article

Stability analysis for a partial element equivalent circuit (PEEC) model of neutral type

This paper is concerned with the robust stability analysis problem for a partial element equivalent circuit (PEEC) model of neutral type. Based on the Lyapunov stability theory and a linear matrix inequality (LMI) approach, some sufficient delay-dependent stability conditions are derived. A numerical example shows that the result using the method in the paper is less conservative than that using some existing methods in the literature.

Qinglong Qinglong Han, Yue Dong, Xin Ma 2005Article

Prescribed Scaler Curvatures for Homogeneous Toric Bundles

In this paper, we study the generalized Abreu equation on a Delzant ploytope $Δ\subset \mathbb{R}^2$ and prove the existence of the constant scalar metrics of homogeneous toric bundles under the assumption of an appropriate stability.

Bohui Chen, Qinglong Qinglong Han, An-Min Li et al. 2016Preprint

Network-Based Heading Control of UMVs

This chapter addresses network-based heading controlHeading control and rudder oscillation reduction for a UMVUnmanned Marine Vehicles (UMVs) equipped with single rudder in network environments. A novel network-based model is first established by constructing a heading controlHeading control error system and purposely dropping some control input packets, which are received by a steering machine. Then a stabilization criterion is derived to guarantee the heading angle tracking performance and to reduce the oscillation of the rudder angle.

Yu‐Long Wang, Qinglong Qinglong Han, Chen Peng et al. 2023Chapter in a book

New Lyapunov–Krasovskii Functionals for Global Asymptotic Stability of Delayed Neural Networks

This brief deals with the problem of global asymptotic stability for a class of delayed neural networks. Some new Lyapunov-Krasovskii functionals are constructed by nonuniformly dividing the delay interval into multiple segments, and choosing proper functionals with different weighting matrices corresponding to different segments in the Lyapunov-Krasovskii functionals. Then using these new Lyapunov-Krasovskii functionals, some new delay-dependent criteria for global asymptotic stability are derived for delayed neural networks, where both constant time delays and time-varying delays are treated. These criteria are much less conservative than some existing results, which is shown through a numerical example.

Xian‐Ming Zhang, Qinglong Qinglong Han 2009Article

Fixed-Time Cooperative Control for Nonholonomic Chained-Form Multi-Agent Systems

This chapter deals with the consensus tracking problem for a multi-agent system with nonholonomic chained-form dynamics. A distributed observer is first proposed for each follower to estimate the state and the input of the leader simultaneously in fixed-time under...

Zongyu Zuo, Qinglong Qinglong Han, Boda Ning 2019Chapter in a book

Deep Learning Based Attack Detection for Cyber-Physical System Cybersecurity: A Survey

With the booming of cyber attacks and cyber criminals against cyber-physical systems (CPSs), detecting these attacks remains challenging. It might be the worst of times, but it might be the best of times because of opportunities brought by machine learning (ML), in particular deep learning (DL). In general, DL delivers superior performance to ML because of its layered setting and its effective algorithm for extract useful information from training data. DL models are adopted quickly to cyber attacks against CPS systems. In this survey, a holistic view of recently proposed DL solutions is provided to cyber attack detection in the CPS context. A six-step DL driven methodology is provided to summarize and analyze the surveyed literature for applying DL methods to detect cyber attacks against CPS systems. The methodology includes CPS scenario analysis, cyber attack identification, ML problem formulation, DL model customization, data acquisition for training, and performance evaluation. The reviewed works indicate great potential to detect cyber attacks against CPS through DL modules. Moreover, excellent performance is achieved partly because of several high-quality datasets that are readily available for public use. Furthermore, challenges, opportunities, and research trends are pointed out for future research.

Jun Zhang, Lei Pan, Qinglong Qinglong Han et al. 2021Article

Time-delay effect on equivalent control based single-input sliding mode control systems

This paper studies the time-delay effect on the equivalent control based sliding mode control. Conditions to guarantee the boundedness of the control system steady states under the time delayed equivalent control based sliding mode control are obtained. Maximum upper bound of the delay time to guarantee boundedness is estimated. Simulations are conducted to verify the theoretical results.

Xinghuo Yu, Qinglong Qinglong Han, Xiangjun Li et al. 2008Article

A NEW INTEGRAL INEQUALITY APPROACH TO DELAY‐DEPENDENT ROBUST H∞ CONTROL

A design method for the robust H ∞ control of an uncertain linear system with a time‐varying state delay is proposed. First, an integral inequality that we recently obtained is employed to establish a new delay‐dependent bounded real lemma for a system with a time‐varying delay. The lemma uses neither a model transformation nor a bounding technique for cross terms. Then, the lemma is used in combination with a matrix decomposition method to derive delay‐dependent conditions for the existence of robust H ∞ control based on linear matrix inequalities. Finally, some numerical examples are given to demonstrate the validity of the method.

Xian‐Ming Zhang, Min Wu, Qinglong Qinglong Han et al. 2006Article

Cyber Code Intelligence for Android Malware Detection

Evolving Android malware poses a severe security threat to mobile users, and machine-learning (ML)-based defense techniques attract active research. Due to the lack of knowledge, many zero-day families' malware may remain undetected until the classifier gains specialized knowledge. The most existing ML-based methods will take a long time to learn new malware families in the latest malware family landscape. Existing ML-based Android malware detection and classification methods struggle with the fast evolution of the malware landscape, particularly in terms of the emergence of zero-day malware families and limited representation of single-view features. In this article, a new multiview feature intelligence (MFI) framework is developed to learn the representation of a targeted capability from known malware families for recognizing unknown and evolving malware with the same capability. The new framework performs reverse engineering to extract multiview heterogeneous features, including semantic string features, API call graph features, and smali opcode sequential features. It can learn the representation of a targeted capability from known malware families through a series of processes of feature analysis, selection, aggregation, and encoding, to detect unknown Android malware with shared target capability. We create a new dataset with ground-truth information regarding capability. Many experiments are conducted on the new dataset to evaluate the performance and effectiveness of the new method. The results demonstrate that the new method outperforms three state-of-the-art methods, including: 1) Drebin; 2) MaMaDroid; and 3) N -opcode, when detecting unknown Android malware with targeted capabilities.

Junyang Qiu, Qinglong Qinglong Han, Wei Luo et al. 2022Article

Tracking control for network-based T-S fuzzy systems with asynchronous constraints

This paper considers H ∞ tracking control for a class of network-based T-S fuzzy systems with available asynchronous constraints on membership functions. Using a fuzzy controller associated with available sampled-data of both premise variables and feedback states, the network-based control system is equivalent to an asynchronous T-S fuzzy system with an interval time-varying sawtooth delay. Notice that the routine relaxation methods in traditional T-S fuzzy systems can not be used for stability analysis and controller design of the asynchronous fuzzy system since common product terms of membership functions can not be grouped. Instead, a new relaxation method is proposed by using asynchronous constraints on fuzzy membership functions to introduce some free weighting matrices. By using the proposed relaxation method and a new discontinuous Lyapunov-Krasovskii functional, some criteria on H ∞ tracking performance analysis and controller design are derived. Compared with the existing results, the derived criteria are of less conservatism and allow the existence of a network-based fuzzy controller with different gains, which can ensure a better H ∞ tracking performance. The effectiveness of the proposed method is illustrated by an example.

Dawei Zhang, Qinglong Qinglong Han, Xinchun Jia 2012Article

Network-Based Control of Unmanned Marine Vehicles

This book presents systematic results for stability analysis, stabilization, and fault detection of networked control systems and offers benchmark examples

Yu‐Long Wang, Qinglong Qinglong Han, Chen Peng et al. 2023Book

Network-based output tracking control for T–S fuzzy systems using an event-triggered communication scheme

This paper is concerned with network-based output tracking control for a T–S fuzzy system. An event-triggered communication scheme, under which the threshold depends on the latest successfully transmitted sampled-data, is introduced to reduce network resource utilization. Taking the event-triggered communication scheme and the asynchronous operation between the fuzzy system and the fuzzy controller, the resulting system is modeled as an asynchronous threshold–error-dependent system with an interval time-varying delay. A new delay-dependent criterion for L 2 -gain tracking performance of the asynchronous system is derived by applying the deviation bounds of asynchronous normalized membership functions. Based on this performance criterion, some criteria on the existence of the fuzzy tracking controller are established. A co-design algorithm is presented to obtain the control gains and the event-triggering parameters simultaneously. An example is given to illustrate the effectiveness of the proposed method.

Dawei Zhang, Qinglong Qinglong Han, Xinchun Jia 2015Article

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