Outlier-Resistant Observer-Based Control for a Class of Networked Systems Under Encoding–Decoding Mechanism

National Natural Science Foundation of China; Natural Science Foundation of Heilongjiang Province of China; Key Laboratory of Advanced Perception and Intelligent Control of High-end Equipment of Ministry of Education in Anhui Polytechnic University of China; Alexander von Humboldt Foundation of Germany

Cluster Synchronization Control for Discrete-Time Complex Dynamical Networks: When Data Transmission Meets Constrained Bit Rate

© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.National Natural Science Foundation of China; Local Innovative and Research Teams Project of Guangdong Special Support Program; Alexander von Humboldt Foundation of German

Maximum Correntropy Filtering for Complex Networks With Uncertain Dynamical Bias: Enabling Componentwise Event-Triggered Transmission

10.13039/501100001809-National Natural Science Foundation of China (Grant Number: 62203016, U2241214, T2121002 and 61933007);; 10.13039/501100002858-China Postdoctoral Science Foundation (Grant Number: 2021TQ0009); Royal Society, U (Grant Number: 0000DONOTUSETHIS0000.K); Alexander von Humboldt Foundation of Germany

Optimization and Communication in UAV Networks

UAVs are becoming a reality and attract increasing attention. They can be remotely controlled or completely autonomous and be used alone or as a fleet and in a large set of applications. They are constrained by hardware since they cannot be too heavy and rely on batteries. Their use still raises a large set of exciting new challenges in terms of trajectory optimization and positioning when they are used alone or in cooperation, and communication when they evolve in swarm, to name but a few examples. This book presents some new original contributions regarding UAV or UAV swarm optimization and communication aspects

Computational Intelligence for Cooperative Swarm Control

Over the last few decades, swarm intelligence (SI) has shown significant benefits in many practical applications. Real-world applications of swarm intelligence include disaster response and wildlife conservation. Swarm robots can collaborate to search for survivors, locate victims, and assess damage in hazardous environments during an earthquake or natural disaster. They can coordinate their movements and share data in real-time to increase their efficiency and effectiveness while guiding the survivors. In addition to tracking animal movements and behaviour, robots can guide animals to or away from specific areas. Sheep herding is a significant source of income in Australia that could be significantly enhanced if the human shepherd could be supported by single or multiple robots. Although the shepherding framework has become a popular SI mechanism, where a leading agent (sheepdog) controls a swarm of agents (sheep) to complete a task, controlling a swarm of agents is still not a trivial task, especially in the presence of some practical constraints. For example, most of the existing shepherding literature assumes that each swarm member has an unlimited sensing range to recognise all other members’ locations. However, this is not practical for physical systems. In addition, current approaches do not consider shepherding as a distributed system where an agent, namely a central unit, may observe the environment and commu- nicate with the shepherd to guide the swarm. However, this brings another hurdle when noisy communication channels between the central unit and the shepherd af- fect the success of the mission. Also, the literature lacks shepherding models that can cope with dynamic communication systems. Therefore, this thesis aims to design a multi-agent learning system for effective shepherding control systems in a partially observable environment under communication constraints. To achieve this goal, the thesis first introduces a new methodology to guide agents whose sensing range is limited. In this thesis, the sheep are modelled as an induced network to represent the sheep’s sensing range and propose a geometric method for finding a shepherd-impacted subset of sheep. The proposed swarm optimal herding point uses a particle swarm optimiser and a clustering mechanism to find the sheepdog’s near-optimal herding location while considering flock cohesion. Then, an improved version of the algorithm (named swarm optimal modified centroid push) is proposed to estimate the sheepdog’s intermediate waypoints to the herding point considering the sheep cohesion. The approaches outperform existing shepherding methods in reducing task time and increasing the success rate for herding. Next, to improve shepherding in noisy communication channels, this thesis pro- poses a collaborative learning-based method to enhance communication between the central unit and the herding agent. The proposed independent pre-training collab- orative learning technique decreases the transmission mean square error by half in 10% of the training time compared to existing approaches. The algorithm is then ex- tended so that the sheepdog can read the modulated herding points from the central unit. The results demonstrate the efficiency of the new technique in time-varying noisy channels. Finally, the central unit is modelled as a mobile agent to lower the time-varying noise caused by the sheepdog’s motion during the task. So, I propose a Q-learning- based incremental search to increase transmission success between the shepherd and the central unit. In addition, two unique reward functions are presented to ensure swarm guidance success with minimal energy consumption. The results demonstrate an increase in the success rate for shepherding

Spectrum sensing for cognitive radios: Algorithms, performance, and limitations

Inefficient use of radio spectrum is becoming a serious problem as more and more wireless systems are being developed to operate in crowded spectrum bands. Cognitive radio offers a novel solution to overcome the underutilization problem by allowing secondary usage of the spectrum resources along with high reliable communication. Spectrum sensing is a key enabler for cognitive radios. It identifies idle spectrum and provides awareness regarding the radio environment which are essential for the efficient secondary use of the spectrum and coexistence of different wireless systems. The focus of this thesis is on the local and cooperative spectrum sensing algorithms. Local sensing algorithms are proposed for detecting orthogonal frequency division multiplexing (OFDM) based primary user (PU) transmissions using their autocorrelation property. The proposed autocorrelation detectors are simple and computationally efficient. Later, the algorithms are extended to the case of cooperative sensing where multiple secondary users (SUs) collaborate to detect a PU transmission. For cooperation, each SU sends a local decision statistic such as log-likelihood ratio (LLR) to the fusion center (FC) which makes a final decision. Cooperative sensing algorithms are also proposed using sequential and censoring methods. Sequential detection minimizes the average detection time while censoring scheme improves the energy efficiency. The performances of the proposed algorithms are studied through rigorous theoretical analyses and extensive simulations. The distributions of the decision statistics at the SU and the test statistic at the FC are established conditioned on either hypothesis. Later, the effects of quantization and reporting channel errors are considered. Main aim in studying the effects of quantization and channel errors on the cooperative sensing is to provide a framework for the designers to choose the operating values of the number of quantization bits and the target bit error probability (BEP) for the reporting channel such that the performance loss caused by these non-idealities is negligible. Later a performance limitation in the form of BEP wall is established for the cooperative sensing schemes in the presence of reporting channel errors. The BEP wall phenomenon is important as it provides the feasible values for the reporting channel BEP used for designing communication schemes between the SUs and the FC