Leader-follower formation of light-weight UAVs with novel active disturbance rejection control

Li, Jiacheng; Liu, Junmin; Huangfu, Shuaiqi; Cao, Guoyan; Yu, Dengxiu

doi:10.1016/j.apm.2022.12.032

Cited by 29 publications

(8 citation statements)

References 41 publications

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“…The active disturbance rejection control (ADRC) 33 is considered which combines an improved prescribed-time extended state observer (PTESO) and a weight optimization module based on broad learning. The control law can be expressed mathematically as: (38)…”

Section: Adrc Nonlinear State Error Feedback Control Lawmentioning

confidence: 99%

Spatial‐temporal security stability analysis and regulation against different types of attacks on industrial control systems

Feng,

Cao,

Grigoriadis

et al. 2023

Intl J Robust & Nonlinear

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In this article, reaction‐diffusion phenomena are considered in the security risk modeling of industrial control networks represented in the spatial‐temporal domain. Different types of cyber‐physical attacks, including TDS (time delay switch), FDI (false data injection), and DoS (denial of service), are modeled within a comprehensive parameteric‐varying parabolic partial differential state‐space structure. A theorem is proposed to ensure that the system is asymptotically stable with prescribed performance, which guarantees stability regardless of the various types of attacks. Finally, corresponding examples of risk control design against the different threats on industrial control networks are simulated to demonstrate the effectiveness of the results proposed in this article.

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Section: Adrc Nonlinear State Error Feedback Control Lawmentioning

confidence: 99%

Spatial‐temporal security stability analysis and regulation against different types of attacks on industrial control systems

Feng,

Cao,

Grigoriadis

et al. 2023

Intl J Robust & Nonlinear

Self Cite

View full text Add to dashboard Cite

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“…In recent years, increasing significant focus has been given to the distributed coordinated control of multi-agent systems (MASs) for its wide-spread utilizations in the area of smart grids [1], distributed sensor networks [2], power systems [3], unmanned air vehicles [4] and traffic signal control [5]. As the fundamental issue of coordinated control of MASs, for both leader-follower systems [6] and leaderless systems [7], consensus problem refers to the fact that the agents in MASs can asymptotically achieve the same desired quantity through the information exchange among their neighbours [8].…”

Section: Introductionmentioning

confidence: 99%

Optimal consensus control for multi‐agent systems: Multi‐step policy gradient adaptive dynamic programming method

Jian

Zhang

et al. 2023

IET Control Theory & Appl

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This paper presents a novel adaptive dynamic programming (ADP) method to solve the optimal consensus problem for a class of discrete‐time multi‐agent systems with completely unknown dynamics. Different from the classical RL‐based optimal control algorithms based on one‐step temporal difference method, a multi‐step‐based (also call n‐step) policy gradient ADP (MS‐PGADP) algorithm, which have been proved to be more efficient owing to its faster propagation of the reward, is proposed to obtain the iterative control policies. Moreover, a novel Q‐function is defined, which estimates the performance of performing an action in the current state. Then, through the Lyapunov stability theorem and functional analysis, the proof of optimality of the performance index function is given and the stability of the error system is also proved. Furthermore, the actor‐critic neural networks are used to implement the proposed method. Inspired by deep Q network, the target network is also introduced to guarantee the stability of NNs in the process of training. Finally, two simulations are conducted to verify the effectiveness of the proposed algorithm.

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“…In some applications, special tasks may first require multiple UAVs to form a predefined formation, and the whole formation needs to track the desired trajectory. In order to solve the problems of the UAVs formation trajectory tracking and formation control, 7 numerous approaches have been proposed from various perspectives, including virtual structure strategy, 8 behavior‐based approach, 9 leader–follower method 10,11 and so forth 12 . However, these methods have their own weakness.…”

Section: Introductionmentioning

confidence: 99%

Detection and defense of time‐varying formation for unmanned aerial vehicles against false data injection attacks and external disturbance

Wang,

Liu

2023

Intl J Robust & Nonlinear

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This article investigates the detection and defense method of time‐varying formation for unmanned aerial vehicles (UAVs) against external disturbance and false data injection attacks (FDIAs). First, to detection attacks, a distributed attack identification filter is constructed for each UAV. Second, two distributed extended state observers are designed to separate and estimate external disturbances and FDIAs. Third, the distributed time‐varying formation tracking protocol and defense strategy for attacks is designed by utilizing the estimated information. The formation system is shown to asymptotically track the desired formation and trajectory and meanwhile reject the disturbance and attacks if the expected formation satisfies the feasible condition by stability analysis. Finally, a numerical example is provided to demonstrate the effectiveness of the proposed approach.

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Leader-follower formation of light-weight UAVs with novel active disturbance rejection control

Cited by 29 publications

References 41 publications

Spatial‐temporal security stability analysis and regulation against different types of attacks on industrial control systems

Spatial‐temporal security stability analysis and regulation against different types of attacks on industrial control systems

Optimal consensus control for multi‐agent systems: Multi‐step policy gradient adaptive dynamic programming method

Detection and defense of time‐varying formation for unmanned aerial vehicles against false data injection attacks and external disturbance

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