Distributed filtering of networked dynamic systems with non-gaussian noises over sensor networks: A survey

summary:Sensor networks are regarded as a promising technology in the field of information perception and processing owing to the ease of deployment, cost-effectiveness, flexibility, as well as reliability. The information exchange among sensors inevitably suffers from various network-induced phenomena caused by the limited resource utilization and complex application scenarios, and thus is required to be governed by suitable resource-saving communication mechanisms. It is also noteworthy that noises in system dynamics and sensor measurements are ubiquitous and in general unknown but can be bounded, rather than follow specific Gaussian distributions as assumed in Kalman-type filtering. Particular attention of this paper is paid to a survey of recent advances in distributed filtering of networked dynamic systems with non-Gaussian noises over sensor networks. First, two types of widely employed structures of distributed filters are reviewed, the corresponding analysis is systematically addressed, and some interesting results are provided. The inherent purpose of adding consensus terms into the distributed filters is profoundly disclosed. Then, some representative models characterizing various network-induced phenomena are reviewed and their corresponding analytical strategies are exhibited in detail. Furthermore, recent results on distributed filtering with non-Gaussian noises are sorted out in accordance with different network-induced phenomena and system models. Another emphasis is laid on recent developments of distributed filtering with various communication scheduling, which are summarized based on the inherent characteristics of their dynamic behavior associated with mathematical models. Finally, the state-of-the-art of distributed filtering and challenging issues, ranging from scalability, security to applications, are raised to guide possible future research

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

An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment

International audienceIn this paper, we study longitudinal motion controlof car-like vehicles platoon navigating in an urban environmentwith minimum communication links. To achieve a higher trafficflow, a constant-spacing policy between successive vehicles iscommonly used but this is at a cost of an increased number ofcommunication links as any vehicle information must broadcastto all its followers. Therefore, we propose a distributed observer-based control law that depends both on communicated andmeasured information. Our formulation allows designing thecontrol law directly in the curvilinear coordinates. Internal andstring stability analysis are conducted. We provide simulationresults, through dynamic vehicular mobility simulator, to illus-trate the feasibility of the proposed approach and corroborate our theoretical findings

An Observer-based Longitudinal Control of Car-like Vehicles Platoon Navigating in an Urban Environment

International audienceIn this paper, we study longitudinal motion controlof car-like vehicles platoon navigating in an urban environmentwith minimum communication links. To achieve a higher trafficflow, a constant-spacing policy between successive vehicles iscommonly used but this is at a cost of an increased number ofcommunication links as any vehicle information must broadcastto all its followers. Therefore, we propose a distributed observer-based control law that depends both on communicated andmeasured information. Our formulation allows designing thecontrol law directly in the curvilinear coordinates. Internal andstring stability analysis are conducted. We provide simulationresults, through dynamic vehicular mobility simulator, to illus-trate the feasibility of the proposed approach and corroborate our theoretical findings

Control and game-theoretic methods for secure cyber-physical-human systems

This work focuses on systems comprising tightly interconnected physical and digital components. Those, aptly named, cyber-physical systems will be the core of the Fourth Industrial Revolution. Thus, cyber-physical systems will be called upon to interact with humans, either in a cooperative fashion, or as adversaries to malicious human agents that will seek to corrupt their operation. In this work, we will present methods that enable an autonomous system to operate safely among human agents and to gain an advantage in cyber-physical security scenarios by employing tools from control, game and learning theories. Our work revolves around three main axes: unpredictability-based defense, operation among agents with bounded rationality and verification of safety properties for autonomous systems. In taking advantage of the complex nature of cyber-physical systems, our unpredictability-based defense work will focus both on attacks on actuating and sensing components, which will be addressed via a novel switching-based Moving Target Defense framework, and on Denial-of-Service attacks on the underlying network via a zero-sum game exploiting redundant communication channels. Subsequently, we will take a more abstract view of complex system security by exploring the principles of bounded rationality. We will show how attackers of bounded rationality can coordinate in inducing erroneous decisions to a system while they remain stealthy. Methods of cognitive hierarchy will be employed for decision prediction, while closed form solutions of the optimization problem and the conditions of convergence to the Nash equilibrium will be investigated. The principles of bounded rationality will be brought to control systems via the use of policy iteration algorithms, enabling data-driven attack prediction in a more realistic fashion than what can be offered by game equilibrium solutions. The issue of intelligence in security scenarios will be further considered via concepts of learning manipulation through a proposed framework where bounded rationality is understood as a hierarchy in learning, rather than optimizing, capability. This viewpoint will allow us to propose methods of exploiting the learning process of an imperfect opponent in order to affect their cognitive state via the use of tools from optimal control theory. Finally, in the context of safety, we will explore verification and compositionality properties of linear systems that are designed to be added to a cascade network of similar systems. To obfuscate the need for knowledge of the system's dynamics, we will state decentralized conditions that guarantee a specific dissipativity properties for the system, which are shown to be solved by reinforcement learning techniques. Subsequently, we will propose a framework that employs a hierarchical solution of temporal logic specifications and reinforcement learning problems for optimal tracking.Ph.D

Platooning of Car-like Vehicles in Urban Environments: An Observer-based Approach Considering Actuator Dynamics and Time delays

International audienceIn this paper, a distributed observer-based approach is proposed to control the longitudinal motion of car-like vehicle platoon moving in an urban environment. To the best of our knowledge, this is the first work presenting an observer-based platoon controller that combines the advantages of high traffic capacity and a minimum number of communication links. To achieve a high traffic flow, a constant-spacing policy is used. However, for that policy, to make platoon string stable, the leader information must be broadcast to all the vehicles. Therefore, we propose a control law in which the predecessor position information is acquired by a sensor-based link while a communication-based link is used to obtain the leader information. Then, an observer is designed and integrated into the control law such that the velocity information of the predecessor can be estimated without the need to communicate with the preceding vehicle. For navigation in urban environments, we present a third order platoon model represented in the curvilinear coordinates. Conditions for asymptotic stability and string stability are given considering the vehicle actuator dynamics and the induced network/sensor time delay. Finally, we provide both simulation and real-time results to validate our approach feasibility and to corroborate our theoretical findings. Index Terms-platoon in urban environments, curvilinear coordinates , observer-based longitudinal control, limited communication , high traffic flow

Intelligent Sensor Networks

In the last decade, wireless or wired sensor networks have attracted much attention. However, most designs target general sensor network issues including protocol stack (routing, MAC, etc.) and security issues. This book focuses on the close integration of sensing, networking, and smart signal processing via machine learning. Based on their world-class research, the authors present the fundamentals of intelligent sensor networks. They cover sensing and sampling, distributed signal processing, and intelligent signal learning. In addition, they present cutting-edge research results from leading experts